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July 16, 2014 18:25
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Modified firmata protocol that works on the arduino YUN linux side communicating to the arduino side using the ttyATH0 serialport interface.
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/* | |
* 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 clink on the following link | |
* to open the download page in your default browser. | |
* | |
* http://firmata.org/wiki/Download | |
*/ | |
/* | |
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) 2009-2011 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. | |
formatted using the GNU C formatting and indenting | |
*/ | |
/* | |
* TODO: use Program Control to load stored profiles from EEPROM | |
*/ | |
#include <Servo.h> | |
#include <Wire.h> | |
#include <Firmata.h> | |
// move the following defines to Firmata.h? | |
#define I2C_WRITE B00000000 | |
#define I2C_READ B00001000 | |
#define I2C_READ_CONTINUOUSLY B00010000 | |
#define I2C_STOP_READING B00011000 | |
#define I2C_READ_WRITE_MODE_MASK B00011000 | |
#define I2C_10BIT_ADDRESS_MODE_MASK B00100000 | |
#define MAX_QUERIES 8 | |
#define MINIMUM_SAMPLING_INTERVAL 10 | |
#define REGISTER_NOT_SPECIFIED -1 | |
/*============================================================================== | |
* GLOBAL VARIABLES | |
*============================================================================*/ | |
/* 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 pinConfig[TOTAL_PINS]; // configuration of every pin | |
byte portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else | |
int pinState[TOTAL_PINS]; // any value that has been written | |
/* timer variables */ | |
unsigned long currentMillis; // store the current value from millis() | |
unsigned long previousMillis; // for comparison with currentMillis | |
int samplingInterval = 19; // how often to run the main loop (in ms) | |
/* i2c data */ | |
struct i2c_device_info { | |
byte addr; | |
byte reg; | |
byte bytes; | |
}; | |
/* for i2c read continuous more */ | |
i2c_device_info query[MAX_QUERIES]; | |
byte i2cRxData[32]; | |
boolean isI2CEnabled = false; | |
signed char queryIndex = -1; | |
unsigned int i2cReadDelayTime = 0; // default delay time between i2c read request and Wire.requestFrom() | |
Servo servos[MAX_SERVOS]; | |
/*============================================================================== | |
* FUNCTIONS | |
*============================================================================*/ | |
void readAndReportData(byte address, int theRegister, byte numBytes) { | |
// 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 != REGISTER_NOT_SPECIFIED) { | |
Wire.beginTransmission(address); | |
#if ARDUINO >= 100 | |
Wire.write((byte)theRegister); | |
#else | |
Wire.send((byte)theRegister); | |
#endif | |
Wire.endTransmission(); | |
// 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()) { | |
i2cRxData[0] = address; | |
i2cRxData[1] = theRegister; | |
for (int i = 0; i < numBytes; i++) { | |
#if ARDUINO >= 100 | |
i2cRxData[2 + i] = Wire.read(); | |
#else | |
i2cRxData[2 + i] = Wire.receive(); | |
#endif | |
} | |
} | |
else { | |
if (numBytes > Wire.available()) { | |
Firmata.sendString("I2C Read Error: Too many bytes received"); | |
} else { | |
Firmata.sendString("I2C Read Error: Too few bytes received"); | |
} | |
} | |
// 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 Serial output queue using Serial.print() */ | |
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 (pinConfig[pin] == I2C && isI2CEnabled && 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_SERVO(pin) && mode != SERVO && servos[PIN_TO_SERVO(pin)].attached()) { | |
servos[PIN_TO_SERVO(pin)].detach(); | |
} | |
if (IS_PIN_ANALOG(pin)) { | |
reportAnalogCallback(PIN_TO_ANALOG(pin), mode == ANALOG ? 1 : 0); // turn on/off reporting | |
} | |
if (IS_PIN_DIGITAL(pin)) { | |
if (mode == INPUT) { | |
portConfigInputs[pin / 8] |= (1 << (pin & 7)); | |
} else { | |
portConfigInputs[pin / 8] &= ~(1 << (pin & 7)); | |
} | |
} | |
pinState[pin] = 0; | |
switch (mode) { | |
case ANALOG: | |
if (IS_PIN_ANALOG(pin)) { | |
if (IS_PIN_DIGITAL(pin)) { | |
pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver | |
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups | |
} | |
pinConfig[pin] = ANALOG; | |
} | |
break; | |
case INPUT: | |
if (IS_PIN_DIGITAL(pin)) { | |
pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver | |
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups | |
pinConfig[pin] = INPUT; | |
} | |
break; | |
case OUTPUT: | |
if (IS_PIN_DIGITAL(pin)) { | |
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable PWM | |
pinMode(PIN_TO_DIGITAL(pin), OUTPUT); | |
pinConfig[pin] = OUTPUT; | |
} | |
break; | |
case PWM: | |
if (IS_PIN_PWM(pin)) { | |
pinMode(PIN_TO_PWM(pin), OUTPUT); | |
analogWrite(PIN_TO_PWM(pin), 0); | |
pinConfig[pin] = PWM; | |
} | |
break; | |
case SERVO: | |
if (IS_PIN_SERVO(pin)) { | |
pinConfig[pin] = SERVO; | |
if (!servos[PIN_TO_SERVO(pin)].attached()) { | |
servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin)); | |
} | |
} | |
break; | |
case I2C: | |
if (IS_PIN_I2C(pin)) { | |
// mark the pin as i2c | |
// the user must call I2C_CONFIG to enable I2C for a device | |
pinConfig[pin] = I2C; | |
} | |
break; | |
default: | |
Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM | |
} | |
// TODO: save status to EEPROM here, if changed | |
} | |
void analogWriteCallback(byte pin, int value) | |
{ | |
if (pin < TOTAL_PINS) { | |
switch (pinConfig[pin]) { | |
case SERVO: | |
if (IS_PIN_SERVO(pin)) | |
servos[PIN_TO_SERVO(pin)].write(value); | |
pinState[pin] = value; | |
break; | |
case PWM: | |
if (IS_PIN_PWM(pin)) | |
analogWrite(PIN_TO_PWM(pin), value); | |
pinState[pin] = value; | |
break; | |
} | |
} | |
} | |
void digitalWriteCallback(byte port, int value) | |
{ | |
byte pin, lastPin, 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)) { | |
// only write to OUTPUT and INPUT (enables pullup) | |
// do not touch pins in PWM, ANALOG, SERVO or other modes | |
if (pinConfig[pin] == OUTPUT || pinConfig[pin] == INPUT) { | |
pinWriteMask |= mask; | |
pinState[pin] = ((byte)value & mask) ? 1 : 0; | |
} | |
} | |
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); | |
} | |
} | |
// TODO: save status to EEPROM here, if changed | |
} | |
void reportDigitalCallback(byte port, int value) | |
{ | |
if (port < TOTAL_PORTS) { | |
reportPINs[port] = (byte)value; | |
} | |
// 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 slaveAddress; | |
byte slaveRegister; | |
byte data; | |
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 mode is not yet supported"); | |
return; | |
} | |
else { | |
slaveAddress = argv[0]; | |
} | |
switch (mode) { | |
case I2C_WRITE: | |
Wire.beginTransmission(slaveAddress); | |
for (byte i = 2; i < argc; i += 2) { | |
data = argv[i] + (argv[i + 1] << 7); | |
#if ARDUINO >= 100 | |
Wire.write(data); | |
#else | |
Wire.send(data); | |
#endif | |
} | |
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 | |
readAndReportData(slaveAddress, (int)slaveRegister, data); | |
} | |
else { | |
// a slave register is NOT specified | |
data = argv[2] + (argv[3] << 7); // bytes to read | |
readAndReportData(slaveAddress, (int)REGISTER_NOT_SPECIFIED, data); | |
} | |
break; | |
case I2C_READ_CONTINUOUSLY: | |
if ((queryIndex + 1) >= MAX_QUERIES) { | |
// too many queries, just ignore | |
Firmata.sendString("too many queries"); | |
break; | |
} | |
queryIndex++; | |
query[queryIndex].addr = slaveAddress; | |
query[queryIndex].reg = argv[2] + (argv[3] << 7); | |
query[queryIndex].bytes = argv[4] + (argv[5] << 7); | |
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 { | |
// 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 < MAX_QUERIES) { | |
query[i].addr = query[i + 1].addr; | |
query[i].reg = query[i + 1].addr; | |
query[i].bytes = query[i + 1].bytes; | |
} | |
} | |
queryIndex--; | |
} | |
break; | |
default: | |
break; | |
} | |
break; | |
case I2C_CONFIG: | |
delayTime = (argv[0] + (argv[1] << 7)); | |
if (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_SERVO(pin)) { | |
if (servos[PIN_TO_SERVO(pin)].attached()) | |
servos[PIN_TO_SERVO(pin)].detach(); | |
servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse); | |
setPinModeCallback(pin, 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)OUTPUT); | |
Firmata.write(1); | |
} | |
if (IS_PIN_ANALOG(pin)) { | |
Firmata.write(ANALOG); | |
Firmata.write(10); | |
} | |
if (IS_PIN_PWM(pin)) { | |
Firmata.write(PWM); | |
Firmata.write(8); | |
} | |
if (IS_PIN_SERVO(pin)) { | |
Firmata.write(SERVO); | |
Firmata.write(14); | |
} | |
if (IS_PIN_I2C(pin)) { | |
Firmata.write(I2C); | |
Firmata.write(1); // to do: determine appropriate value | |
} | |
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((byte)pinConfig[pin]); | |
Firmata.write((byte)pinState[pin] & 0x7F); | |
if (pinState[pin] & 0xFF80) Firmata.write((byte)(pinState[pin] >> 7) & 0x7F); | |
if (pinState[pin] & 0xC000) Firmata.write((byte)(pinState[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; | |
} | |
} | |
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, I2C); | |
} | |
} | |
isI2CEnabled = true; | |
// is there enough time before the first I2C request to call this here? | |
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; | |
// uncomment the following if or when the end() method is added to Wire library | |
// Wire.end(); | |
} | |
/*============================================================================== | |
* SETUP() | |
*============================================================================*/ | |
void systemResetCallback() | |
{ | |
// initialize a defalt state | |
// TODO: option to load config from EEPROM instead of default | |
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; | |
} | |
// pins with analog capability default to analog input | |
// otherwise, pins default to digital output | |
for (byte i = 0; i < TOTAL_PINS; i++) { | |
if (IS_PIN_ANALOG(i)) { | |
// turns off pullup, configures everything | |
setPinModeCallback(i, ANALOG); | |
} else { | |
// sets the output to 0, configures portConfigInputs | |
setPinModeCallback(i, OUTPUT); | |
} | |
} | |
// by default, do not report any analog inputs | |
analogInputsToReport = 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); | |
} | |
*/ | |
} | |
void setup() | |
{ | |
Firmata.setFirmwareVersion(FIRMATA_MAJOR_VERSION, FIRMATA_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(START_SYSEX, sysexCallback); | |
Firmata.attach(SYSTEM_RESET, systemResetCallback); | |
Serial1.begin(57600); // Set the baud. | |
Firmata.begin(Serial1); | |
//Firmata.begin(57600); | |
systemResetCallback(); // reset to default config | |
} | |
/*============================================================================== | |
* LOOP() | |
*============================================================================*/ | |
void loop() | |
{ | |
byte pin, analogPin; | |
/* DIGITALREAD - as fast as possible, check for changes and output them to the | |
* FTDI buffer using Serial.print() */ | |
checkDigitalInputs(); | |
/* SERIALREAD - processing incoming messagse as soon as possible, while still | |
* checking digital inputs. */ | |
while (Firmata.available()) | |
Firmata.processInput(); | |
/* SEND FTDI WRITE BUFFER - make sure that the FTDI buffer doesn't go over | |
* 60 bytes. use a timer to sending an event character every 4 ms to | |
* trigger the buffer to dump. */ | |
currentMillis = millis(); | |
if (currentMillis - previousMillis > samplingInterval) { | |
previousMillis += samplingInterval; | |
/* ANALOGREAD - do all analogReads() at the configured sampling interval */ | |
for (pin = 0; pin < TOTAL_PINS; pin++) { | |
if (IS_PIN_ANALOG(pin) && pinConfig[pin] == 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); | |
} | |
} | |
} | |
} |
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