void StepperFirmata::handleCapability(byte pin)
{
if (IS_PIN_DIGITAL(pin)) {
Firmata.write(STEPPER);
Firmata.write(21); //21 bits used for number of steps
}
}
uint8_t readPort(uint8_t port, uint8_t bitmask)
{
uint8_t out=0, pin=port*8;
if ((IS_PIN_DIGITAL(pin+0)) && (bitmask & 0x01) && ( digitalRead(pin+0))) out |= 0x01;
if ((IS_PIN_DIGITAL(pin+1)) && (bitmask & 0x02) && ( digitalRead(pin+1))) out |= 0x02;
if ((IS_PIN_DIGITAL(pin+2)) && (bitmask & 0x04) && ( digitalRead(pin+2))) out |= 0x04;
if ((IS_PIN_DIGITAL(pin+3)) && (bitmask & 0x08) && ( digitalRead(pin+3))) out |= 0x08;
if ((IS_PIN_DIGITAL(pin+4)) && (bitmask & 0x10) && ( digitalRead(pin+4))) out |= 0x10;
if ((IS_PIN_DIGITAL(pin+5)) && (bitmask & 0x20) && ( digitalRead(pin+5))) out |= 0x20;
if ((IS_PIN_DIGITAL(pin+6)) && (bitmask & 0x40) && ( digitalRead(pin+6))) out |= 0x40;
if ((IS_PIN_DIGITAL(pin+7)) && (bitmask & 0x80) && ( digitalRead(pin+7))) out |= 0x80;
return out;
}
boolean StepperFirmata::handlePinMode(byte pin, int mode)
{
if (mode == STEPPER) {
if (IS_PIN_DIGITAL(pin)) {
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable PWM
pinMode(PIN_TO_DIGITAL(pin), OUTPUT);
return true;
}
}
return false;
}
boolean AnalogInputFirmata::handlePinMode(byte pin, int mode)
{
if (IS_PIN_ANALOG(pin)) {
if (mode == PIN_MODE_ANALOG) {
reportAnalog(PIN_TO_ANALOG(pin), 1); // turn on reporting
if (IS_PIN_DIGITAL(pin)) {
pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
}
return true;
} else {
reportAnalog(PIN_TO_ANALOG(pin), 0); // turn off reporting
}
}
return false;
}
