Und Noch die Configurable Firmata :
#include <Firmata.h>
//#include <SPI.h>
//#include <Ethernet.h>
#if defined ethernet_h || defined UIPETHERNET_H || defined _YUN_CLIENT_H_
#define NETWORK_FIRMATA
//replace with ip of server you want to connect to, comment out if using 'remote_host'
#define remote_ip IPAddress(192,168,0,1)
//replace with hostname of server you want to connect to, comment out if using 'remote_ip'
#define remote_host "server.local"
//replace with the port that your server is listening on
#define remote_port 3030
//replace with arduinos ip-address. Comment out if Ethernet-startup should use dhcp. Is ignored on Yun
#define local_ip IPAddress(192,168,0,6)
//replace with ethernet shield mac. It's mandatory every device is assigned a unique mac. Is ignored on Yun
const byte mac[] = {0x90, 0xA2, 0xDA, 0x0D, 0x07, 0x02};
#endif
// To configure, save this file to your working directory so you can edit it
// then comment out the include and declaration for any features that you do
// not need below.
// Also note that the current compile size for an Arduino Uno with all of the
// following features enabled is about 22.4k. If you are using an older Arduino
// or other microcontroller with less memory you will not be able to include
// all of the following feature classes.
#include <utility/DigitalInputFirmata.h>
DigitalInputFirmata digitalInput;
#include <utility/DigitalOutputFirmata.h>
DigitalOutputFirmata digitalOutput;
#include <utility/AnalogInputFirmata.h>
AnalogInputFirmata analogInput;
#include <utility/AnalogOutputFirmata.h>
AnalogOutputFirmata analogOutput;
#include <Servo.h> //wouldn't load from ServoFirmata.h in Arduino1.0.3
#include <utility/ServoFirmata.h>
ServoFirmata servo;
#include <Wire.h> //wouldn't load from I2CFirmata.h in Arduino1.0.3
#include <utility/I2CFirmata.h>
I2CFirmata i2c;
#include <utility/OneWireFirmata.h>
OneWireFirmata oneWire;
#include <utility/StepperFirmata.h>
StepperFirmata stepper;
#include <utility/FirmataExt.h>
FirmataExt firmataExt;
#include <utility/FirmataScheduler.h>
FirmataScheduler scheduler;
#include <utility/EncoderFirmata.h>
EncoderFirmata encoder;
// dependencies. Do not comment out the following lines
#if defined AnalogOutputFirmata_h || defined ServoFirmata_h
#include <utility/AnalogWrite.h>
#endif
#if defined AnalogInputFirmata_h || defined I2CFirmata_h || defined EncoderFirmata_h
#include <utility/FirmataReporting.h>
FirmataReporting reporting;
#endif
// dependencies for Network Firmata. Do not comment out.
#ifdef NETWORK_FIRMATA
#if defined remote_ip && defined remote_host
#error "cannot define both remote_ip and remote_host at the same time!"
#endif
#include <utility/EthernetClientStream.h>
#ifdef _YUN_CLIENT_H_
YunClient client;
#else
EthernetClient client;
#endif
#if defined remote_ip && !defined remote_host
#ifdef local_ip
EthernetClientStream stream(client, local_ip, remote_ip, NULL, remote_port);
#else
EthernetClientStream stream(client, IPAddress(0, 0, 0, 0), remote_ip, NULL, remote_port);
#endif
#endif
#if !defined remote_ip && defined remote_host
#ifdef local_ip
EthernetClientStream stream(client, local_ip, IPAddress(0, 0, 0, 0), remote_host, remote_port);
#else
EthernetClientStream stream(client, IPAddress(0, 0, 0, 0), IPAddress(0, 0, 0, 0), remote_host, remote_port);
#endif
#endif
#endif
void systemResetCallback()
{
// initialize a defalt state
// 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)) {
#ifdef AnalogInputFirmata_h
// turns off pullup, configures everything
Firmata.setPinMode(i, ANALOG);
#endif
} else if (IS_PIN_DIGITAL(i)) {
#ifdef DigitalOutputFirmata_h
// sets the output to 0, configures portConfigInputs
Firmata.setPinMode(i, OUTPUT);
#endif
}
}
#ifdef FirmataExt_h
firmataExt.reset();
#endif
}
void setup()
{
#ifdef NETWORK_FIRMATA
#ifdef _YUN_CLIENT_H_
Bridge.begin();
#else
#ifdef local_ip
Ethernet.begin((uint8_t *)mac, local_ip); //start ethernet
#else
Ethernet.begin((uint8_t *)mac); //start ethernet using dhcp
#endif
#endif
delay(1000);
#endif
Firmata.setFirmwareVersion(FIRMATA_MAJOR_VERSION, FIRMATA_MINOR_VERSION);
#if defined AnalogOutputFirmata_h || defined ServoFirmata_h
/* analogWriteCallback is declared in AnalogWrite.h */
Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
#endif
#ifdef FirmataExt_h
#ifdef DigitalInputFirmata_h
firmataExt.addFeature(digitalInput);
#endif
#ifdef DigitalOutputFirmata_h
firmataExt.addFeature(digitalOutput);
#endif
#ifdef AnalogInputFirmata_h
firmataExt.addFeature(analogInput);
#endif
#ifdef AnalogOutputFirmata_h
firmataExt.addFeature(analogOutput);
#endif
#ifdef ServoFirmata_h
firmataExt.addFeature(servo);
#endif
#ifdef I2CFirmata_h
firmataExt.addFeature(i2c);
#endif
#ifdef OneWireFirmata_h
firmataExt.addFeature(oneWire);
#endif
#ifdef StepperFirmata_h
firmataExt.addFeature(stepper);
#endif
#ifdef FirmataReporting_h
firmataExt.addFeature(reporting);
#endif
#ifdef FirmataScheduler_h
firmataExt.addFeature(scheduler);
#endif
#ifdef EncoderFirmata_h
firmataExt.addFeature(encoder);
#endif
#endif
/* systemResetCallback is declared here (in ConfigurableFirmata.ino) */
Firmata.attach(SYSTEM_RESET, systemResetCallback);
// Network Firmata communicates with Ethernet-shields over SPI. Therefor all
// SPI-pins must be set to IGNORE. Otherwise Firmata would break SPI-communication.
// add Pin 10 and configure pin 53 as output if using a MEGA with Ethernetshield.
// No need to ignore pin 10 on MEGA with ENC28J60, as here pin 53 should be connected to SS:
#ifdef NETWORK_FIRMATA
// ignore SPI and pin 4 that is SS for SD-Card on Ethernet-shield
for (byte i = 0; i < TOTAL_PINS; i++) {
if (IS_PIN_SPI(i)
|| 4 == i
// || 10==i //explicitly ignore pin 10 on MEGA as 53 is hardware-SS but Ethernet-shield uses pin 10 for SS
) {
Firmata.setPinMode(i, IGNORE);
}
}
// pinMode(PIN_TO_DIGITAL(53), OUTPUT); configure hardware-SS as output on MEGA
pinMode(PIN_TO_DIGITAL(4), OUTPUT); // switch off SD-card bypassing Firmata
digitalWrite(PIN_TO_DIGITAL(4), HIGH); // SS is active low;
// start up Network Firmata:
Firmata.begin(stream);
#else
// start up the default Firmata using Serial interface:
Firmata.begin(57600);
#endif
systemResetCallback(); // reset to default config
}
void loop()
{
#ifdef DigitalInputFirmata_h
/* DIGITALREAD - as fast as possible, check for changes and output them to the
* stream buffer using Firmata.write() */
digitalInput.report();
#endif
/* STREAMREAD - processing incoming messagse as soon as possible, while still
* checking digital inputs. */
while (Firmata.available()) {
Firmata.processInput();
#ifdef FirmataScheduler_h
if (!Firmata.isParsingMessage()) {
goto runtasks;
}
}
if (!Firmata.isParsingMessage()) {
runtasks: scheduler.runTasks();
#endif
}
/* SEND STREAM WRITE BUFFER - TO DO: make sure that the stream buffer doesn't go over
* 60 bytes. use a timer to sending an event character every 4 ms to
* trigger the buffer to dump. */
#ifdef FirmataReporting_h
if (reporting.elapsed()) {
#ifdef AnalogInputFirmata_h
/* ANALOGREAD - do all analogReads() at the configured sampling interval */
analogInput.report();
#endif
#ifdef I2CFirmata_h
// report i2c data for all device with read continuous mode enabled
i2c.report();
#endif
#ifdef EncoderFirmata_h
// report encoders positions if reporting enabled.
encoder.report();
#endif
}
#endif
#ifdef StepperFirmata_h
stepper.update();
#endif
#if defined NETWORK_FIRMATA && !defined local_ip &&!defined _YUN_CLIENT_H_
if (Ethernet.maintain())
{
stream.maintain(Ethernet.localIP());
}
#endif
}
