diff --git a/examples/StandardFirmataWebSocket-esp8266/ExampleStandardFirmataCommon.h b/examples/StandardFirmataWebSocket-esp8266/ExampleStandardFirmataCommon.h new file mode 100644 index 00000000..730916ed --- /dev/null +++ b/examples/StandardFirmataWebSocket-esp8266/ExampleStandardFirmataCommon.h @@ -0,0 +1,827 @@ +/* + Firmata is a generic protocol for communicating with microcontrollers + from software on a host computer. It is intended to work with + any host computer software package. + + To download a host software package, please click on the following link + to open the list of Firmata client libraries in your default browser. + + https://github.com/firmata/arduino#firmata-client-libraries + + Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved. + Copyright (C) 2010-2011 Paul Stoffregen. All rights reserved. + Copyright (C) 2009 Shigeru Kobayashi. All rights reserved. + Copyright (C) 2009-2017 Jeff Hoefs. All rights reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + See file LICENSE.txt for further informations on licensing terms. + + Last updated August 17th, 2017 +*/ + +//#include <-- sketch must include this file + +#ifndef SERVO +#define SERVO Servo +#endif + +#ifndef ANALOGWRITE +#define ANALOGWRITE_PIN_MODE_PWM analogWrite +#endif + +#define I2C_WRITE 0x00 //B00000000 +#define I2C_READ 0x08 //B00001000 +#define I2C_READ_CONTINUOUSLY 0x10 //B00010000 +#define I2C_STOP_READING 0x18 //B00011000 +#define I2C_READ_WRITE_MODE_MASK 0x18 //B00011000 +#define I2C_10BIT_ADDRESS_MODE_MASK 0x20 //B00100000 +#define I2C_END_TX_MASK 0x40 //B01000000 +#define I2C_STOP_TX 1 +#define I2C_RESTART_TX 0 +#define I2C_MAX_QUERIES 8 +#define I2C_REGISTER_NOT_SPECIFIED -1 + +// the minimum interval for sampling analog input +#define MINIMUM_SAMPLING_INTERVAL 1 + +/*============================================================================== + * GLOBAL VARIABLES + *============================================================================*/ + +#ifdef FIRMATA_SERIAL_FEATURE +SerialFirmata serialFeature; +#endif + +/* analog inputs */ +int analogInputsToReport = 0; // bitwise array to store pin reporting + +/* digital input ports */ +byte reportPINs[TOTAL_PORTS]; // 1 = report this port, 0 = silence +byte previousPINs[TOTAL_PORTS]; // previous 8 bits sent + +/* pins configuration */ +byte portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else + +/* timer variables */ +unsigned long currentMillis; // store the current value from millis() +unsigned long previousMillis; // for comparison with currentMillis +unsigned int samplingInterval = 19; // how often to run the main loop (in ms) + +/* i2c data */ +struct i2c_device_info { + byte addr; + int reg; + byte bytes; + byte stopTX; +}; + +/* for i2c read continuous mode */ +i2c_device_info query[I2C_MAX_QUERIES]; + +byte i2cRxData[64]; +boolean isI2CEnabled = false; +signed char queryIndex = -1; +// default delay time between i2c read request and Wire.requestFrom() +unsigned int i2cReadDelayTime = 0; + +Servo servos[MAX_SERVOS]; +byte servoPinMap[TOTAL_PINS]; +byte detachedServos[MAX_SERVOS]; +byte detachedServoCount = 0; +byte servoCount = 0; + +boolean isResetting = false; + +// Forward declare a few functions to avoid compiler errors with older versions +// of the Arduino IDE. +void setPinModeCallback(byte, int); +void reportAnalogCallback(byte analogPin, int value); +void sysexCallback(byte, byte, byte*); + +/* utility functions */ +void wireWrite(byte data) +{ +#if ARDUINO >= 100 + Wire.write((byte)data); +#else + Wire.send(data); +#endif +} + +byte wireRead(void) +{ +#if ARDUINO >= 100 + return Wire.read(); +#else + return Wire.receive(); +#endif +} + +/*============================================================================== + * FUNCTIONS + *============================================================================*/ + +void attachServo(byte pin, int minPulse, int maxPulse) +{ + if (servoCount < MAX_SERVOS) { + // reuse indexes of detached servos until all have been reallocated + if (detachedServoCount > 0) { + servoPinMap[pin] = detachedServos[detachedServoCount - 1]; + if (detachedServoCount > 0) detachedServoCount--; + } else { + servoPinMap[pin] = servoCount; + servoCount++; + } + if (minPulse > 0 && maxPulse > 0) { + servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse); + } else { + servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin)); + } + } else { + Firmata.sendString("Max servos attached"); + } +} + +void detachServo(byte pin) +{ + servos[servoPinMap[pin]].detach(); + // if we're detaching the last servo, decrement the count + // otherwise store the index of the detached servo + if (servoPinMap[pin] == servoCount && servoCount > 0) { + servoCount--; + } else if (servoCount > 0) { + // keep track of detached servos because we want to reuse their indexes + // before incrementing the count of attached servos + detachedServoCount++; + detachedServos[detachedServoCount - 1] = servoPinMap[pin]; + } + + servoPinMap[pin] = 255; +} + +void enableI2CPins() +{ + byte i; + // is there a faster way to do this? would probaby require importing + // Arduino.h to get SCL and SDA pins + for (i = 0; i < TOTAL_PINS; i++) { + if (IS_PIN_I2C(i)) { + // mark pins as i2c so they are ignore in non i2c data requests + setPinModeCallback(i, PIN_MODE_I2C); + } + } + + isI2CEnabled = true; + + Wire.begin(); +} + +/* disable the i2c pins so they can be used for other functions */ +void disableI2CPins() { + isI2CEnabled = false; + // disable read continuous mode for all devices + queryIndex = -1; +} + +void readAndReportData(byte address, int theRegister, byte numBytes, byte stopTX) { + // allow I2C requests that don't require a register read + // for example, some devices using an interrupt pin to signify new data available + // do not always require the register read so upon interrupt you call Wire.requestFrom() + if (theRegister != I2C_REGISTER_NOT_SPECIFIED) { + Wire.beginTransmission(address); + wireWrite((byte)theRegister); + Wire.endTransmission(stopTX); // default = true + // do not set a value of 0 + if (i2cReadDelayTime > 0) { + // delay is necessary for some devices such as WiiNunchuck + delayMicroseconds(i2cReadDelayTime); + } + } else { + theRegister = 0; // fill the register with a dummy value + } + + Wire.requestFrom(address, numBytes); // all bytes are returned in requestFrom + + // check to be sure correct number of bytes were returned by slave + if (numBytes < Wire.available()) { + Firmata.sendString("I2C: Too many bytes received"); + } else if (numBytes > Wire.available()) { + Firmata.sendString("I2C: Too few bytes received"); + numBytes = Wire.available(); + } + + i2cRxData[0] = address; + i2cRxData[1] = theRegister; + + for (int i = 0; i < numBytes && Wire.available(); i++) { + i2cRxData[2 + i] = wireRead(); + } + + // send slave address, register and received bytes + Firmata.sendSysex(SYSEX_I2C_REPLY, numBytes + 2, i2cRxData); +} + +void outputPort(byte portNumber, byte portValue, byte forceSend) +{ + // pins not configured as INPUT are cleared to zeros + portValue = portValue & portConfigInputs[portNumber]; + // only send if the value is different than previously sent + if (forceSend || previousPINs[portNumber] != portValue) { + Firmata.sendDigitalPort(portNumber, portValue); + previousPINs[portNumber] = portValue; + } +} + +/* ----------------------------------------------------------------------------- + * check all the active digital inputs for change of state, then add any events + * to the output queue using Stream.write() (Serial is a Stream) */ +void checkDigitalInputs(void) +{ + /* Using non-looping code allows constants to be given to readPort(). + * The compiler will apply substantial optimizations if the inputs + * to readPort() are compile-time constants. */ + if (TOTAL_PORTS > 0 && reportPINs[0]) outputPort(0, readPort(0, portConfigInputs[0]), false); + if (TOTAL_PORTS > 1 && reportPINs[1]) outputPort(1, readPort(1, portConfigInputs[1]), false); + if (TOTAL_PORTS > 2 && reportPINs[2]) outputPort(2, readPort(2, portConfigInputs[2]), false); + if (TOTAL_PORTS > 3 && reportPINs[3]) outputPort(3, readPort(3, portConfigInputs[3]), false); + if (TOTAL_PORTS > 4 && reportPINs[4]) outputPort(4, readPort(4, portConfigInputs[4]), false); + if (TOTAL_PORTS > 5 && reportPINs[5]) outputPort(5, readPort(5, portConfigInputs[5]), false); + if (TOTAL_PORTS > 6 && reportPINs[6]) outputPort(6, readPort(6, portConfigInputs[6]), false); + if (TOTAL_PORTS > 7 && reportPINs[7]) outputPort(7, readPort(7, portConfigInputs[7]), false); + if (TOTAL_PORTS > 8 && reportPINs[8]) outputPort(8, readPort(8, portConfigInputs[8]), false); + if (TOTAL_PORTS > 9 && reportPINs[9]) outputPort(9, readPort(9, portConfigInputs[9]), false); + if (TOTAL_PORTS > 10 && reportPINs[10]) outputPort(10, readPort(10, portConfigInputs[10]), false); + if (TOTAL_PORTS > 11 && reportPINs[11]) outputPort(11, readPort(11, portConfigInputs[11]), false); + if (TOTAL_PORTS > 12 && reportPINs[12]) outputPort(12, readPort(12, portConfigInputs[12]), false); + if (TOTAL_PORTS > 13 && reportPINs[13]) outputPort(13, readPort(13, portConfigInputs[13]), false); + if (TOTAL_PORTS > 14 && reportPINs[14]) outputPort(14, readPort(14, portConfigInputs[14]), false); + if (TOTAL_PORTS > 15 && reportPINs[15]) outputPort(15, readPort(15, portConfigInputs[15]), false); +} + +// ----------------------------------------------------------------------------- +/* sets the pin mode to the correct state and sets the relevant bits in the + * two bit-arrays that track Digital I/O and PWM status + */ +void setPinModeCallback(byte pin, int mode) +{ + if (Firmata.getPinMode(pin) == PIN_MODE_IGNORE) + return; + + if (Firmata.getPinMode(pin) == PIN_MODE_I2C && isI2CEnabled && mode != PIN_MODE_I2C) { + // disable i2c so pins can be used for other functions + // the following if statements should reconfigure the pins properly + disableI2CPins(); + } + if (IS_PIN_DIGITAL(pin) && mode != PIN_MODE_SERVO) { + if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) { + detachServo(pin); + } + } + if (IS_PIN_ANALOG(pin)) { + // turn on/off reporting + reportAnalogCallback(PIN_TO_ANALOG(pin), mode == PIN_MODE_ANALOG ? 1 : 0); + } + if (IS_PIN_DIGITAL(pin)) { + if (mode == INPUT || mode == PIN_MODE_PULLUP) { + portConfigInputs[pin / 8] |= (1 << (pin & 7)); + } else { + portConfigInputs[pin / 8] &= ~(1 << (pin & 7)); + } + } + Firmata.setPinState(pin, 0); + switch (mode) { + case PIN_MODE_ANALOG: + if (IS_PIN_ANALOG(pin)) { + if (IS_PIN_DIGITAL(pin)) { + pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver +#if ARDUINO <= 100 + // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6 + digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups +#endif + } + Firmata.setPinMode(pin, PIN_MODE_ANALOG); + } + break; + case INPUT: + if (IS_PIN_DIGITAL(pin)) { + pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver +#if ARDUINO <= 100 + // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6 + digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups +#endif + Firmata.setPinMode(pin, INPUT); + } + break; + case PIN_MODE_PULLUP: + if (IS_PIN_DIGITAL(pin)) { + pinMode(PIN_TO_DIGITAL(pin), INPUT_PULLUP); + Firmata.setPinMode(pin, PIN_MODE_PULLUP); + Firmata.setPinState(pin, 1); + } + break; + case OUTPUT: + if (IS_PIN_DIGITAL(pin)) { + if (Firmata.getPinMode(pin) == PIN_MODE_PWM) { + // Disable PWM if pin mode was previously set to PWM. + digitalWrite(PIN_TO_DIGITAL(pin), LOW); + } + pinMode(PIN_TO_DIGITAL(pin), OUTPUT); + Firmata.setPinMode(pin, OUTPUT); + } + break; + case PIN_MODE_PWM: + if (IS_PIN_PWM(pin)) { + pinMode(PIN_TO_PWM(pin), OUTPUT); + ANALOGWRITE_PIN_MODE_PWM(PIN_TO_PWM(pin), 0); + Firmata.setPinMode(pin, PIN_MODE_PWM); + } + break; + case PIN_MODE_SERVO: + if (IS_PIN_DIGITAL(pin)) { + Firmata.setPinMode(pin, PIN_MODE_SERVO); + if (servoPinMap[pin] == 255 || !servos[servoPinMap[pin]].attached()) { + // pass -1 for min and max pulse values to use default values set + // by Servo library + attachServo(pin, -1, -1); + } + } + break; + case PIN_MODE_I2C: + if (IS_PIN_I2C(pin)) { + // mark the pin as i2c + // the user must call I2C_CONFIG to enable I2C for a device + Firmata.setPinMode(pin, PIN_MODE_I2C); + } + break; + case PIN_MODE_SERIAL: +#ifdef FIRMATA_SERIAL_FEATURE + serialFeature.handlePinMode(pin, PIN_MODE_SERIAL); +#endif + break; + default: + Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM + } + // TODO: save status to EEPROM here, if changed +} + +/* + * Sets the value of an individual pin. Useful if you want to set a pin value but + * are not tracking the digital port state. + * Can only be used on pins configured as OUTPUT. + * Cannot be used to enable pull-ups on Digital INPUT pins. + */ +void setPinValueCallback(byte pin, int value) +{ + if (pin < TOTAL_PINS && IS_PIN_DIGITAL(pin)) { + if (Firmata.getPinMode(pin) == OUTPUT) { + Firmata.setPinState(pin, value); + digitalWrite(PIN_TO_DIGITAL(pin), value); + } + } +} + +void analogWriteCallback(byte pin, int value) +{ + if (pin < TOTAL_PINS) { + switch (Firmata.getPinMode(pin)) { + case PIN_MODE_SERVO: + if (IS_PIN_DIGITAL(pin)) + servos[servoPinMap[pin]].write(value); + Firmata.setPinState(pin, value); + break; + case PIN_MODE_PWM: + if (IS_PIN_PWM(pin)) + ANALOGWRITE_PIN_MODE_PWM(PIN_TO_PWM(pin), value); + Firmata.setPinState(pin, value); + break; + } + } +} + +void digitalWriteCallback(byte port, int value) +{ + byte pin, lastPin, pinValue, mask = 1, pinWriteMask = 0; + + if (port < TOTAL_PORTS) { + // create a mask of the pins on this port that are writable. + lastPin = port * 8 + 8; + if (lastPin > TOTAL_PINS) lastPin = TOTAL_PINS; + for (pin = port * 8; pin < lastPin; pin++) { + // do not disturb non-digital pins (eg, Rx & Tx) + if (IS_PIN_DIGITAL(pin)) { + // do not touch pins in PWM, ANALOG, SERVO or other modes + if (Firmata.getPinMode(pin) == OUTPUT || Firmata.getPinMode(pin) == INPUT) { + pinValue = ((byte)value & mask) ? 1 : 0; + if (Firmata.getPinMode(pin) == OUTPUT) { + pinWriteMask |= mask; + } else if (Firmata.getPinMode(pin) == INPUT && pinValue == 1 && Firmata.getPinState(pin) != 1) { + // only handle INPUT here for backwards compatibility +#if ARDUINO > 100 + pinMode(pin, INPUT_PULLUP); +#else + // only write to the INPUT pin to enable pullups if Arduino v1.0.0 or earlier + pinWriteMask |= mask; +#endif + } + Firmata.setPinState(pin, pinValue); + } + } + mask = mask << 1; + } + writePort(port, (byte)value, pinWriteMask); + } +} + + +// ----------------------------------------------------------------------------- +/* sets bits in a bit array (int) to toggle the reporting of the analogIns + */ +//void FirmataClass::setAnalogPinReporting(byte pin, byte state) { +//} +void reportAnalogCallback(byte analogPin, int value) +{ + if (analogPin < TOTAL_ANALOG_PINS) { + if (value == 0) { + analogInputsToReport = analogInputsToReport & ~ (1 << analogPin); + } else { + analogInputsToReport = analogInputsToReport | (1 << analogPin); + // prevent during system reset or all analog pin values will be reported + // which may report noise for unconnected analog pins + if (!isResetting) { + // Send pin value immediately. This is helpful when connected via + // ethernet, wi-fi or bluetooth so pin states can be known upon + // reconnecting. + Firmata.sendAnalog(analogPin, analogRead(analogPin)); + } + } + } + // TODO: save status to EEPROM here, if changed +} + +void reportDigitalCallback(byte port, int value) +{ + if (port < TOTAL_PORTS) { + reportPINs[port] = (byte)value; + // Send port value immediately. This is helpful when connected via + // ethernet, wi-fi or bluetooth so pin states can be known upon + // reconnecting. + if (value) outputPort(port, readPort(port, portConfigInputs[port]), true); + } + // do not disable analog reporting on these 8 pins, to allow some + // pins used for digital, others analog. Instead, allow both types + // of reporting to be enabled, but check if the pin is configured + // as analog when sampling the analog inputs. Likewise, while + // scanning digital pins, portConfigInputs will mask off values from any + // pins configured as analog +} + +/*============================================================================== + * SYSEX-BASED commands + *============================================================================*/ + +void sysexCallback(byte command, byte argc, byte *argv) +{ + byte mode; + byte stopTX; + byte slaveAddress; + byte data; + int slaveRegister; + unsigned int delayTime; + + switch (command) { + case I2C_REQUEST: + mode = argv[1] & I2C_READ_WRITE_MODE_MASK; + if (argv[1] & I2C_10BIT_ADDRESS_MODE_MASK) { + Firmata.sendString("10-bit addressing not supported"); + return; + } + else { + slaveAddress = argv[0]; + } + + // need to invert the logic here since 0 will be default for client + // libraries that have not updated to add support for restart tx + if (argv[1] & I2C_END_TX_MASK) { + stopTX = I2C_RESTART_TX; + } + else { + stopTX = I2C_STOP_TX; // default + } + + switch (mode) { + case I2C_WRITE: + Wire.beginTransmission(slaveAddress); + for (byte i = 2; i < argc; i += 2) { + data = argv[i] + (argv[i + 1] << 7); + wireWrite(data); + } + Wire.endTransmission(); + delayMicroseconds(70); + break; + case I2C_READ: + if (argc == 6) { + // a slave register is specified + slaveRegister = argv[2] + (argv[3] << 7); + data = argv[4] + (argv[5] << 7); // bytes to read + } + else { + // a slave register is NOT specified + slaveRegister = I2C_REGISTER_NOT_SPECIFIED; + data = argv[2] + (argv[3] << 7); // bytes to read + } + readAndReportData(slaveAddress, (int)slaveRegister, data, stopTX); + break; + case I2C_READ_CONTINUOUSLY: + if ((queryIndex + 1) >= I2C_MAX_QUERIES) { + // too many queries, just ignore + Firmata.sendString("too many queries"); + break; + } + if (argc == 6) { + // a slave register is specified + slaveRegister = argv[2] + (argv[3] << 7); + data = argv[4] + (argv[5] << 7); // bytes to read + } + else { + // a slave register is NOT specified + slaveRegister = (int)I2C_REGISTER_NOT_SPECIFIED; + data = argv[2] + (argv[3] << 7); // bytes to read + } + queryIndex++; + query[queryIndex].addr = slaveAddress; + query[queryIndex].reg = slaveRegister; + query[queryIndex].bytes = data; + query[queryIndex].stopTX = stopTX; + break; + case I2C_STOP_READING: + byte queryIndexToSkip; + // if read continuous mode is enabled for only 1 i2c device, disable + // read continuous reporting for that device + if (queryIndex <= 0) { + queryIndex = -1; + } else { + queryIndexToSkip = 0; + // if read continuous mode is enabled for multiple devices, + // determine which device to stop reading and remove it's data from + // the array, shifiting other array data to fill the space + for (byte i = 0; i < queryIndex + 1; i++) { + if (query[i].addr == slaveAddress) { + queryIndexToSkip = i; + break; + } + } + + for (byte i = queryIndexToSkip; i < queryIndex + 1; i++) { + if (i < I2C_MAX_QUERIES) { + query[i].addr = query[i + 1].addr; + query[i].reg = query[i + 1].reg; + query[i].bytes = query[i + 1].bytes; + query[i].stopTX = query[i + 1].stopTX; + } + } + queryIndex--; + } + break; + default: + break; + } + break; + case I2C_CONFIG: + delayTime = (argv[0] + (argv[1] << 7)); + + if (argc > 1 && delayTime > 0) { + i2cReadDelayTime = delayTime; + } + + if (!isI2CEnabled) { + enableI2CPins(); + } + + break; + case SERVO_CONFIG: + if (argc > 4) { + // these vars are here for clarity, they'll optimized away by the compiler + byte pin = argv[0]; + int minPulse = argv[1] + (argv[2] << 7); + int maxPulse = argv[3] + (argv[4] << 7); + + if (IS_PIN_DIGITAL(pin)) { + if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) { + detachServo(pin); + } + attachServo(pin, minPulse, maxPulse); + setPinModeCallback(pin, PIN_MODE_SERVO); + } + } + break; + case SAMPLING_INTERVAL: + if (argc > 1) { + samplingInterval = argv[0] + (argv[1] << 7); + if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) { + samplingInterval = MINIMUM_SAMPLING_INTERVAL; + } + } else { + //Firmata.sendString("Not enough data"); + } + break; + case EXTENDED_ANALOG: + if (argc > 1) { + int val = argv[1]; + if (argc > 2) val |= (argv[2] << 7); + if (argc > 3) val |= (argv[3] << 14); + analogWriteCallback(argv[0], val); + } + break; + case CAPABILITY_QUERY: + Firmata.write(START_SYSEX); + Firmata.write(CAPABILITY_RESPONSE); + for (byte pin = 0; pin < TOTAL_PINS; pin++) { + if (IS_PIN_DIGITAL(pin)) { + Firmata.write((byte)INPUT); + Firmata.write(1); + Firmata.write((byte)PIN_MODE_PULLUP); + Firmata.write(1); + Firmata.write((byte)OUTPUT); + Firmata.write(1); + } + if (IS_PIN_ANALOG(pin)) { + Firmata.write(PIN_MODE_ANALOG); + Firmata.write(10); // 10 = 10-bit resolution + } + if (IS_PIN_PWM(pin)) { + Firmata.write(PIN_MODE_PWM); + Firmata.write(DEFAULT_PWM_RESOLUTION); + } + if (IS_PIN_DIGITAL(pin)) { + Firmata.write(PIN_MODE_SERVO); + Firmata.write(14); + } + if (IS_PIN_I2C(pin)) { + Firmata.write(PIN_MODE_I2C); + Firmata.write(1); // TODO: could assign a number to map to SCL or SDA + } +#ifdef FIRMATA_SERIAL_FEATURE + serialFeature.handleCapability(pin); +#endif + Firmata.write(127); + } + Firmata.write(END_SYSEX); + break; + case PIN_STATE_QUERY: + if (argc > 0) { + byte pin = argv[0]; + Firmata.write(START_SYSEX); + Firmata.write(PIN_STATE_RESPONSE); + Firmata.write(pin); + if (pin < TOTAL_PINS) { + Firmata.write(Firmata.getPinMode(pin)); + Firmata.write((byte)Firmata.getPinState(pin) & 0x7F); + if (Firmata.getPinState(pin) & 0xFF80) Firmata.write((byte)(Firmata.getPinState(pin) >> 7) & 0x7F); + if (Firmata.getPinState(pin) & 0xC000) Firmata.write((byte)(Firmata.getPinState(pin) >> 14) & 0x7F); + } + Firmata.write(END_SYSEX); + } + break; + case ANALOG_MAPPING_QUERY: + Firmata.write(START_SYSEX); + Firmata.write(ANALOG_MAPPING_RESPONSE); + for (byte pin = 0; pin < TOTAL_PINS; pin++) { + Firmata.write(IS_PIN_ANALOG(pin) ? PIN_TO_ANALOG(pin) : 127); + } + Firmata.write(END_SYSEX); + break; + + case SERIAL_MESSAGE: +#ifdef FIRMATA_SERIAL_FEATURE + serialFeature.handleSysex(command, argc, argv); +#endif + break; + } +} + +/*============================================================================== + * SETUP() + *============================================================================*/ + +void systemResetCallback() +{ + isResetting = true; + + // initialize a defalt state + // TODO: option to load config from EEPROM instead of default + +#ifdef FIRMATA_SERIAL_FEATURE + serialFeature.reset(); +#endif + + if (isI2CEnabled) { + disableI2CPins(); + } + + for (byte i = 0; i < TOTAL_PORTS; i++) { + reportPINs[i] = false; // by default, reporting off + portConfigInputs[i] = 0; // until activated + previousPINs[i] = 0; + } + + for (byte i = 0; i < TOTAL_PINS; i++) { + // pins with analog capability default to analog input + // otherwise, pins default to digital output + if (IS_PIN_ANALOG(i)) { + // turns off pullup, configures everything + setPinModeCallback(i, PIN_MODE_ANALOG); + } else if (IS_PIN_DIGITAL(i)) { + // sets the output to 0, configures portConfigInputs + setPinModeCallback(i, OUTPUT); + } + + servoPinMap[i] = 255; + } + // by default, do not report any analog inputs + analogInputsToReport = 0; + + detachedServoCount = 0; + servoCount = 0; + + /* send digital inputs to set the initial state on the host computer, + * since once in the loop(), this firmware will only send on change */ + /* + TODO: this can never execute, since no pins default to digital input + but it will be needed when/if we support EEPROM stored config + for (byte i=0; i < TOTAL_PORTS; i++) { + outputPort(i, readPort(i, portConfigInputs[i]), true); + } + */ + isResetting = false; +} + +void initFirmataCommonBegin() +{ + Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_MINOR_VERSION); + + Firmata.attach(ANALOG_MESSAGE, analogWriteCallback); + Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback); + Firmata.attach(REPORT_ANALOG, reportAnalogCallback); + Firmata.attach(REPORT_DIGITAL, reportDigitalCallback); + Firmata.attach(SET_PIN_MODE, setPinModeCallback); + Firmata.attach(SET_DIGITAL_PIN_VALUE, setPinValueCallback); + Firmata.attach(START_SYSEX, sysexCallback); + Firmata.attach(SYSTEM_RESET, systemResetCallback); +} + +void initFirmataCommonEnd() +{ + systemResetCallback(); // reset to default config +} + +/*============================================================================== + * LOOP() + *============================================================================*/ +void loopFirmataCommon(bool bleSpecific = false) +{ + byte pin, analogPin; + + /* DIGITALREAD - as fast as possible, check for changes and output them to the + * Stream buffer using Stream.print() */ + checkDigitalInputs(); + + /* STREAMREAD - processing incoming messagse as soon as possible, while still + * checking digital inputs. */ + while (Firmata.available()) { + Firmata.processInput(); + } + + // TODO - ensure that Stream buffer doesn't go over 60 bytes + + currentMillis = millis(); + if (currentMillis - previousMillis > samplingInterval) { + if (bleSpecific) { + previousMillis = currentMillis; + } else { + previousMillis += samplingInterval; // no drift + } + /* ANALOGREAD - do all analogReads() at the configured sampling interval */ + for (pin = 0; pin < TOTAL_PINS; pin++) { + if (IS_PIN_ANALOG(pin) && Firmata.getPinMode(pin) == PIN_MODE_ANALOG) { + analogPin = PIN_TO_ANALOG(pin); + if (analogInputsToReport & (1 << analogPin)) { + Firmata.sendAnalog(analogPin, analogRead(analogPin)); + } + } + } + // report i2c data for all device with read continuous mode enabled + if (queryIndex > -1) { + for (byte i = 0; i < queryIndex + 1; i++) { + readAndReportData(query[i].addr, query[i].reg, query[i].bytes, query[i].stopTX); + } + } + } + +#ifdef FIRMATA_SERIAL_FEATURE + serialFeature.update(); +#endif +} diff --git a/examples/StandardFirmataWebSocket-esp8266/StandardFirmataWebSocket-esp8266.ino b/examples/StandardFirmataWebSocket-esp8266/StandardFirmataWebSocket-esp8266.ino new file mode 100644 index 00000000..059ebfb1 --- /dev/null +++ b/examples/StandardFirmataWebSocket-esp8266/StandardFirmataWebSocket-esp8266.ino @@ -0,0 +1,215 @@ +/* + Firmata is a generic protocol for communicating with microcontrollers + from software on a host computer. It is intended to work with + any host computer software package. + + To download a host software package, please click on the following link + to open the list of Firmata client libraries in your default browser. + + https://github.com/firmata/arduino#firmata-client-libraries + + Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved. + Copyright (C) 2010-2011 Paul Stoffregen. All rights reserved. + Copyright (C) 2009 Shigeru Kobayashi. All rights reserved. + Copyright (C) 2009-2016 Jeff Hoefs. All rights reserved. + Copyright (C) 2015-2016 Jesse Frush. All rights reserved. + Copyright (C) 2016 Jens B. All rights reserved. + Copyright (C) 2020 david gauchard. All rights reserved (esp8266/websocket) + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + See file LICENSE.txt for further informations on licensing terms. + + Last updated June 1st, 2020 +*/ + +#ifndef STASSID +// WiFi credentials +#define STASSID "your_network_name" +#define STAPSK "your_wpa_passphrase" +#endif + +#define LOG_ENABLED 1 // 0 or 1 +#define DEBUG_ENABLED 0 // 0 or 1 +#define WS_PORT 3031 // websocket port +#define SERIAL_BAUD 9600 + +#include +#include +#include + +#include // mDNS from esp8266 Arduino standard library +#include // https://github.com/Links2004/arduinoWebSockets +#include // https://github.com/paulo-raca/ArduinoBufferedStreams + +#include "ExampleStandardFirmataCommon.h" + +#if LOG_ENABLED +#define LOG(x...) do { x; } while (0) +#define IS_IGNORE_PIN(i) ((i) == 1) // 1 == Serial TX +#else +#define LOG(x...) do { (void)0; } while (0) +#endif + +#if LOG_ENABLED && DEBUG_ENABLED +#define DEBUG(x...) do { x; } while (0) +#else +#define DEBUG(x...) do { (void)0; } while (0) +#endif + +// everything written to firmataStream will be readable from firmataInternalStream +// everything written to firmataInternalStream will be readable from firmataStream +// firmataInternalStream is the stream given to Firmata +// websocket functions will read and write on firmataStream +PipedStreamPair pipe; // streamify data coming from websocket +PipedStream& firmataInternalStream = pipe.first; +PipedStream& firmataStream = pipe.second; + +WebSocketsServer webSocket(WS_PORT); + +/* + * StandardFirmataWiFi communicates with WiFi shields over SPI. Therefore all + * SPI pins must be set to IGNORE. Otherwise Firmata would break SPI communication. + * Additional pins may also need to be ignored depending on the particular board or + * shield in use. + */ +void ignorePins() +{ +#ifdef IS_IGNORE_PIN + for (byte i = 0; i < TOTAL_PINS; i++) { + if (IS_IGNORE_PIN(i)) { + Firmata.setPinMode(i, PIN_MODE_IGNORE); + } + } +#endif +} + +void initTransport() +{ + WiFi.persistent(false); + WiFi.mode(WIFI_STA); + WiFi.begin(STASSID, STAPSK); + LOG(Serial.printf("Connecting to SSID '%s'...\n", STASSID)); + while (WiFi.status() != WL_CONNECTED) + { + delay(1000); + LOG(Serial.print('.')); + } + LOG(Serial.printf("Connected, IP address: %s\n", WiFi.localIP().toString().c_str())); +} + +int clients = 0; + +void webSocketEvent(uint8_t num, WStype_t type, uint8_t * payload, size_t length) +{ + DEBUG(Serial.printf("[ws:%u,t:%d,l:%zd]: ", num, (int)type, length)); + + switch(type) { + + case WStype_DISCONNECTED: + DEBUG(Serial.println("Disconnected!")); + clients--; + break; + + case WStype_CONNECTED: + { + DEBUG(Serial.printf("Connected from %s url:%s\n", webSocket.remoteIP(num).toString().c_str(), (const char*)payload)); + webSocket.sendTXT(num, "Firmata WebSocket Server ready for your network/wireless service"); + clients++; + } + break; + + case WStype_TEXT: + DEBUG(Serial.printf("Informative Text from WebSocket: '%s'\n", (const char*)payload)); + break; + + case WStype_BIN: + DEBUG(Serial.printf("binary from WebSocket\n")); +#if 1 + // !! there _is_ a Print::write(ptr,size_t) !? + for (size_t i = 0; i < length; i++) + { + if (firmataStream.write(payload[i]) != 1) { + LOG(Serial.println("stream error writing to firmataStream")); + } + } +#else + if (firmataStream.write(payload, length) != length) { + LOG(Serial.println("stream error writing to firmataStream")); + } +#endif + break; + + default: + DEBUG(Serial.println("TODO: unhandled WS message type")); + } +} + +void initWebSocket() +{ + webSocket.begin(); + webSocket.onEvent(webSocketEvent); + LOG(Serial.println("WS: initialized")); +} + +void initFirmata() +{ + initFirmataCommonBegin(); + ignorePins(); + Firmata.begin(firmataInternalStream); + initFirmataCommonEnd(); +} + +void setup() +{ + LOG(Serial.begin(SERIAL_BAUD)); + + initTransport(); + initWebSocket(); + initFirmata(); + MDNS.begin("firmata"); // "firmata.local" will be the mDNS name in LAN +} + +/*============================================================================== + * LOOP() + *============================================================================*/ +void loop() +{ + loopFirmataCommon(); + webSocket.loop(); + MDNS.update(); + + size_t firmata2WSLen = firmataStream.available(); + +#if DEBUG_ENABLED + static unsigned long last = 0; + if (millis() - last > 5000) + { + last += 1000; + Serial.printf("Firmata to WS: available=%zd --- WS to Firmata: available=%zd\n", + firmata2WSLen, + firmataInternalStream.available()); + } +#endif + + if (clients && firmata2WSLen) + { + DEBUG(Serial.printf("Firmata -> WS: %zd bytes\n", firmata2WSLen)); + + static byte tempBuffer [MAX_DATA_BYTES]; + if (firmata2WSLen > sizeof(tempBuffer)) + firmata2WSLen = sizeof(tempBuffer); + if ( firmataStream.readBytes(tempBuffer, firmata2WSLen) == firmata2WSLen + && webSocket.broadcastBIN(tempBuffer, firmata2WSLen)) + { + DEBUG(Serial.printf("Successfully broadcasted-to-websocket a binary message of %zd bytes\n", firmata2WSLen)); + } + else + { + LOG(Serial.printf("Error broadcasting-to-websocket a binary message of %zd bytes\n", firmata2WSLen)); + } + } +} diff --git a/examples/StandardFirmataWebSocket-esp8266/wsdemo.html b/examples/StandardFirmataWebSocket-esp8266/wsdemo.html new file mode 100644 index 00000000..ea9243d0 --- /dev/null +++ b/examples/StandardFirmataWebSocket-esp8266/wsdemo.html @@ -0,0 +1,142 @@ + + + + + + + + + + + + + + + + +