diff --git a/cores/validation/validation_firmata/build_as6/test.atsln b/cores/validation/validation_firmata/build_as6/test.atsln
new file mode 100644
index 0000000000000000000000000000000000000000..749e8031642f7e15c4630fbe5342fce033772a6c
--- /dev/null
+++ b/cores/validation/validation_firmata/build_as6/test.atsln
@@ -0,0 +1,20 @@
+
+Microsoft Visual Studio Solution File, Format Version 11.00
+# Atmel Studio Solution File, Format Version 11.00
+Project("{E66E83B9-2572-4076-B26E-6BE79FF3018A}") = "test", "test.cppproj", "{B3F859AD-E162-4C2F-9684-EAC6932FEC80}"
+EndProject
+Global
+ GlobalSection(SolutionConfigurationPlatforms) = preSolution
+ Debug|ARM = Debug|ARM
+ Release|ARM = Release|ARM
+ EndGlobalSection
+ GlobalSection(ProjectConfigurationPlatforms) = postSolution
+ {B3F859AD-E162-4C2F-9684-EAC6932FEC80}.Debug|ARM.ActiveCfg = Debug|ARM
+ {B3F859AD-E162-4C2F-9684-EAC6932FEC80}.Debug|ARM.Build.0 = Debug|ARM
+ {B3F859AD-E162-4C2F-9684-EAC6932FEC80}.Release|ARM.ActiveCfg = Release|ARM
+ {B3F859AD-E162-4C2F-9684-EAC6932FEC80}.Release|ARM.Build.0 = Release|ARM
+ EndGlobalSection
+ GlobalSection(SolutionProperties) = preSolution
+ HideSolutionNode = FALSE
+ EndGlobalSection
+EndGlobal
diff --git a/cores/validation/validation_firmata/build_as6/test.cppproj b/cores/validation/validation_firmata/build_as6/test.cppproj
new file mode 100644
index 0000000000000000000000000000000000000000..9b7f439503a2060204f41696ce078cc27c346db1
--- /dev/null
+++ b/cores/validation/validation_firmata/build_as6/test.cppproj
@@ -0,0 +1,458 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+ <PropertyGroup>
+ <SchemaVersion>2.0</SchemaVersion>
+ <ProjectVersion>6.2</ProjectVersion>
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+ <ProjectGuid>{b3f859ad-e162-4c2f-9684-eac6932fec80}</ProjectGuid>
+ <avrdevice>ATSAMD21G18A</avrdevice>
+ <avrdeviceseries>none</avrdeviceseries>
+ <OutputType>Executable</OutputType>
+ <Language>CPP</Language>
+ <OutputFileName>$(MSBuildProjectName)</OutputFileName>
+ <OutputFileExtension>.elf</OutputFileExtension>
+ <OutputDirectory>$(MSBuildProjectDirectory)\$(Configuration)</OutputDirectory>
+ <AssemblyName>test</AssemblyName>
+ <Name>test</Name>
+ <RootNamespace>test</RootNamespace>
+ <ToolchainFlavour>Native</ToolchainFlavour>
+ <KeepTimersRunning>true</KeepTimersRunning>
+ <OverrideVtor>false</OverrideVtor>
+ <CacheFlash>false</CacheFlash>
+ <ProgFlashFromRam>true</ProgFlashFromRam>
+ <RamSnippetAddress>0x20000000</RamSnippetAddress>
+ <UncachedRange />
+ <OverrideVtorValue>exception_table</OverrideVtorValue>
+ <BootSegment>2</BootSegment>
+ <eraseonlaunchrule>1</eraseonlaunchrule>
+ <AsfFrameworkConfig>
+ <framework-data xmlns="">
+ <options />
+ <configurations />
+ <files />
+ <documentation help="" />
+ <offline-documentation help="" />
+ <dependencies>
+ <content-extension eid="atmel.asf" uuidref="Atmel.ASF" version="3.17.0" />
+ </dependencies>
+ </framework-data>
+ </AsfFrameworkConfig>
+ <avrtool>com.atmel.avrdbg.tool.edbg</avrtool>
+ <avrtoolinterface>SWD</avrtoolinterface>
+ <com_atmel_avrdbg_tool_samice>
+ <ToolOptions>
+ <InterfaceProperties>
+ </InterfaceProperties>
+ <InterfaceName>SWD</InterfaceName>
+ </ToolOptions>
+ <ToolType>com.atmel.avrdbg.tool.samice</ToolType>
+ <ToolNumber>28010306</ToolNumber>
+ <ToolName>SAM-ICE</ToolName>
+ </com_atmel_avrdbg_tool_samice>
+ <UseGdb>True</UseGdb>
+ <com_atmel_avrdbg_tool_edbg>
+ <ToolOptions>
+ <InterfaceProperties>
+ <SwdClock>4000000</SwdClock>
+ </InterfaceProperties>
+ <InterfaceName>SWD</InterfaceName>
+ </ToolOptions>
+ <ToolType>com.atmel.avrdbg.tool.edbg</ToolType>
+ <ToolNumber>ATML2320021800000009</ToolNumber>
+ <ToolName>EDBG</ToolName>
+ </com_atmel_avrdbg_tool_edbg>
+ </PropertyGroup>
+ <PropertyGroup Condition=" '$(Configuration)' == 'Release' ">
+ <ToolchainSettings>
+ <ArmGccCpp>
+ <armgcc.common.outputfiles.hex>True</armgcc.common.outputfiles.hex>
+ <armgcc.common.outputfiles.lss>True</armgcc.common.outputfiles.lss>
+ <armgcc.common.outputfiles.eep>True</armgcc.common.outputfiles.eep>
+ <armgcc.common.outputfiles.bin>True</armgcc.common.outputfiles.bin>
+ <armgcc.common.outputfiles.srec>True</armgcc.common.outputfiles.srec>
+ <armgcc.compiler.symbols.DefSymbols>
+ <ListValues>
+ <Value>NDEBUG</Value>
+ </ListValues>
+ </armgcc.compiler.symbols.DefSymbols>
+ <armgcc.compiler.directories.IncludePaths>
+ <ListValues>
+ <Value>../../../../../../../tools/CMSIS/Device/ATMEL</Value>
+ <Value>../../../../../../../tools/CMSIS/CMSIS/Include</Value>
+ <Value>../../../../arduino</Value>
+ <Value>../../../../arduino/USB</Value>
+ <Value>../../../../../variants/arduino_zero</Value>
+ <Value>../../../../../libraries/SPI</Value>
+ <Value>../../../../../libraries/Wire</Value>
+ </ListValues>
+ </armgcc.compiler.directories.IncludePaths>
+ <armgcc.compiler.optimization.level>Optimize for size (-Os)</armgcc.compiler.optimization.level>
+ <armgcc.compiler.optimization.PrepareFunctionsForGarbageCollection>True</armgcc.compiler.optimization.PrepareFunctionsForGarbageCollection>
+ <armgcc.compiler.warnings.AllWarnings>True</armgcc.compiler.warnings.AllWarnings>
+ <armgcccpp.compiler.symbols.DefSymbols>
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+ <Value>NDEBUG</Value>
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+ </armgcccpp.compiler.symbols.DefSymbols>
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+ <Value>../../../../../../../tools/CMSIS/Device/ATMEL</Value>
+ <Value>../../../../../../../tools/CMSIS/CMSIS/Include</Value>
+ <Value>../../../../arduino</Value>
+ <Value>../../../../arduino/USB</Value>
+ <Value>../../../../../variants/arduino_zero</Value>
+ <Value>../../../../../libraries/SPI</Value>
+ <Value>../../../../../libraries/Wire</Value>
+ </ListValues>
+ </armgcccpp.compiler.directories.IncludePaths>
+ <armgcccpp.compiler.optimization.level>Optimize for size (-Os)</armgcccpp.compiler.optimization.level>
+ <armgcccpp.compiler.optimization.PrepareFunctionsForGarbageCollection>True</armgcccpp.compiler.optimization.PrepareFunctionsForGarbageCollection>
+ <armgcccpp.compiler.warnings.AllWarnings>True</armgcccpp.compiler.warnings.AllWarnings>
+ <armgcccpp.linker.libraries.Libraries>
+ <ListValues>
+ <Value>libm</Value>
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+ </armgcccpp.linker.libraries.Libraries>
+ <armgcccpp.linker.libraries.LibrarySearchPaths>
+ <ListValues>
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+ </ListValues>
+ </armgcccpp.linker.libraries.LibrarySearchPaths>
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+ </ListValues>
+ </armgcccpp.preprocessingassembler.general.IncludePaths>
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+ </ToolchainSettings>
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+ <PropertyGroup Condition=" '$(Configuration)' == 'Debug' ">
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+ <ArmGccCpp>
+ <armgcc.common.outputfiles.hex>True</armgcc.common.outputfiles.hex>
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+ <armgcc.compiler.directories.IncludePaths>
+ <ListValues>
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+ <Value>../../../../../../../tools/CMSIS/CMSIS/Include</Value>
+ <Value>../../../../arduino</Value>
+ <Value>../../../../arduino/USB</Value>
+ <Value>../../../../../variants/arduino_zero</Value>
+ <Value>../../../../../libraries/SPI</Value>
+ <Value>../../../../../libraries/Wire</Value>
+ </ListValues>
+ </armgcc.compiler.directories.IncludePaths>
+ <armgcc.compiler.optimization.level>Optimize (-O1)</armgcc.compiler.optimization.level>
+ <armgcc.compiler.optimization.PrepareFunctionsForGarbageCollection>True</armgcc.compiler.optimization.PrepareFunctionsForGarbageCollection>
+ <armgcc.compiler.optimization.PrepareDataForGarbageCollection>True</armgcc.compiler.optimization.PrepareDataForGarbageCollection>
+ <armgcc.compiler.optimization.DebugLevel>Maximum (-g3)</armgcc.compiler.optimization.DebugLevel>
+ <armgcc.compiler.warnings.AllWarnings>True</armgcc.compiler.warnings.AllWarnings>
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+ <armgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>True</armgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>
+ <armgcccpp.compiler.symbols.DefSymbols>
+ <ListValues>
+ <Value>DEBUG</Value>
+ <Value>USB_VID=0x2341</Value>
+ <Value>USB_PID=0x004d</Value>
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+ </armgcccpp.compiler.symbols.DefSymbols>
+ <armgcccpp.compiler.directories.DefaultIncludePath>False</armgcccpp.compiler.directories.DefaultIncludePath>
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+ <ListValues>
+ <Value>../../../../../../../tools/CMSIS/Device/ATMEL</Value>
+ <Value>../../../../../../../tools/CMSIS/CMSIS/Include</Value>
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+ <Value>../../../../arduino/USB</Value>
+ <Value>../../../../../variants/arduino_zero</Value>
+ <Value>../../../../../libraries/SPI</Value>
+ <Value>../../../../../libraries/Wire</Value>
+ </ListValues>
+ </armgcccpp.compiler.directories.IncludePaths>
+ <armgcccpp.compiler.optimization.level>Optimize (-O1)</armgcccpp.compiler.optimization.level>
+ <armgcccpp.compiler.optimization.PrepareFunctionsForGarbageCollection>True</armgcccpp.compiler.optimization.PrepareFunctionsForGarbageCollection>
+ <armgcccpp.compiler.optimization.PrepareDataForGarbageCollection>True</armgcccpp.compiler.optimization.PrepareDataForGarbageCollection>
+ <armgcccpp.compiler.optimization.DebugLevel>Maximum (-g3)</armgcccpp.compiler.optimization.DebugLevel>
+ <armgcccpp.compiler.warnings.AllWarnings>True</armgcccpp.compiler.warnings.AllWarnings>
+ <armgcccpp.compiler.miscellaneous.OtherFlags>-std=c++98</armgcccpp.compiler.miscellaneous.OtherFlags>
+ <armgcccpp.linker.general.UseNewlibNano>True</armgcccpp.linker.general.UseNewlibNano>
+ <armgcccpp.linker.libraries.Libraries>
+ <ListValues>
+ <Value>libm</Value>
+ </ListValues>
+ </armgcccpp.linker.libraries.Libraries>
+ <armgcccpp.linker.libraries.LibrarySearchPaths>
+ <ListValues>
+ <Value>../../../../../variants/arduino_zero/linker_scripts/gcc</Value>
+ </ListValues>
+ </armgcccpp.linker.libraries.LibrarySearchPaths>
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+ <armgcccpp.linker.memorysettings.ExternalRAM />
+ <armgcccpp.linker.miscellaneous.LinkerFlags>--specs=nosys.specs -Tflash_with_bootloader.ld</armgcccpp.linker.miscellaneous.LinkerFlags>
+ <armgcccpp.assembler.general.IncludePaths>
+ <ListValues>
+ <Value>../../../arduino</Value>
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+ <armgcccpp.preprocessingassembler.general.IncludePaths>
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+ </armgcccpp.preprocessingassembler.general.IncludePaths>
+ <armgcccpp.preprocessingassembler.debugging.DebugLevel>Default (-Wa,-g)</armgcccpp.preprocessingassembler.debugging.DebugLevel>
+ </ArmGccCpp>
+ </ToolchainSettings>
+ </PropertyGroup>
+ <ItemGroup>
+ <Folder Include="core" />
+ <Folder Include="Wire" />
+ <Folder Include="SPI" />
+ <Folder Include="variant" />
+ </ItemGroup>
+ <ItemGroup>
+ <Compile Include="..\..\..\..\libraries\SPI\SPI.cpp">
+ <SubType>compile</SubType>
+ <Link>SPI\SPI.cpp</Link>
+ </Compile>
+ <Compile Include="..\..\..\..\libraries\SPI\SPI.h">
+ <SubType>compile</SubType>
+ <Link>SPI\SPI.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\..\libraries\Wire\Wire.cpp">
+ <SubType>compile</SubType>
+ <Link>Wire\Wire.cpp</Link>
+ </Compile>
+ <Compile Include="..\..\..\..\libraries\Wire\Wire.h">
+ <SubType>compile</SubType>
+ <Link>Wire\Wire.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\..\variants\arduino_zero\pins_arduino.h">
+ <SubType>compile</SubType>
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+ </Compile>
+ <Compile Include="..\..\..\..\variants\arduino_zero\variant.cpp">
+ <SubType>compile</SubType>
+ <Link>variant\variant.cpp</Link>
+ </Compile>
+ <Compile Include="..\..\..\..\variants\arduino_zero\variant.h">
+ <SubType>compile</SubType>
+ <Link>variant\variant.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\Arduino.h">
+ <SubType>compile</SubType>
+ <Link>core\Arduino.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\binary.h">
+ <SubType>compile</SubType>
+ <Link>core\binary.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\Client.h">
+ <SubType>compile</SubType>
+ <Link>core\Client.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\delay.c">
+ <SubType>compile</SubType>
+ <Link>core\delay.c</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\delay.h">
+ <SubType>compile</SubType>
+ <Link>core\delay.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\HardwareSerial.h">
+ <SubType>compile</SubType>
+ <Link>core\HardwareSerial.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\hooks.c">
+ <SubType>compile</SubType>
+ <Link>core\hooks.c</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\IPAddress.cpp">
+ <SubType>compile</SubType>
+ <Link>core\IPAddress.cpp</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\IPAddress.h">
+ <SubType>compile</SubType>
+ <Link>core\IPAddress.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\itoa.c">
+ <SubType>compile</SubType>
+ <Link>core\itoa.c</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\itoa.h">
+ <SubType>compile</SubType>
+ <Link>core\itoa.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\main.cpp">
+ <SubType>compile</SubType>
+ <Link>core\main.cpp</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\Print.cpp">
+ <SubType>compile</SubType>
+ <Link>core\Print.cpp</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\Print.h">
+ <SubType>compile</SubType>
+ <Link>core\Print.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\Printable.h">
+ <SubType>compile</SubType>
+ <Link>core\Printable.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\Reset.cpp">
+ <SubType>compile</SubType>
+ <Link>core\Reset.cpp</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\Reset.h">
+ <SubType>compile</SubType>
+ <Link>core\Reset.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\RingBuffer.cpp">
+ <SubType>compile</SubType>
+ <Link>core\RingBuffer.cpp</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\RingBuffer.h">
+ <SubType>compile</SubType>
+ <Link>core\RingBuffer.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\SERCOM.cpp">
+ <SubType>compile</SubType>
+ <Link>core\SERCOM.cpp</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\SERCOM.h">
+ <SubType>compile</SubType>
+ <Link>core\SERCOM.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\Server.h">
+ <SubType>compile</SubType>
+ <Link>core\Server.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\startup.c">
+ <SubType>compile</SubType>
+ <Link>core\startup.c</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\Stream.cpp">
+ <SubType>compile</SubType>
+ <Link>core\Stream.cpp</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\Stream.h">
+ <SubType>compile</SubType>
+ <Link>core\Stream.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\Tone.h">
+ <SubType>compile</SubType>
+ <Link>core\Tone.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\Uart.cpp">
+ <SubType>compile</SubType>
+ <Link>core\Uart.cpp</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\Uart.h">
+ <SubType>compile</SubType>
+ <Link>core\Uart.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\Udp.h">
+ <SubType>compile</SubType>
+ <Link>core\Udp.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\WCharacter.h">
+ <SubType>compile</SubType>
+ <Link>core\WCharacter.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\WInterrupts.c">
+ <SubType>compile</SubType>
+ <Link>core\WInterrupts.c</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\WInterrupts.h">
+ <SubType>compile</SubType>
+ <Link>core\WInterrupts.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\wiring.c">
+ <SubType>compile</SubType>
+ <Link>core\wiring.c</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\wiring.h">
+ <SubType>compile</SubType>
+ <Link>core\wiring.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\wiring_analog.c">
+ <SubType>compile</SubType>
+ <Link>core\wiring_analog.c</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\wiring_analog.h">
+ <SubType>compile</SubType>
+ <Link>core\wiring_analog.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\wiring_constants.h">
+ <SubType>compile</SubType>
+ <Link>core\wiring_constants.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\wiring_digital.c">
+ <SubType>compile</SubType>
+ <Link>core\wiring_digital.c</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\wiring_digital.h">
+ <SubType>compile</SubType>
+ <Link>core\wiring_digital.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\wiring_private.h">
+ <SubType>compile</SubType>
+ <Link>core\wiring_private.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\wiring_pulse.h">
+ <SubType>compile</SubType>
+ <Link>core\wiring_pulse.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\wiring_shift.c">
+ <SubType>compile</SubType>
+ <Link>core\wiring_shift.c</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\wiring_shift.h">
+ <SubType>compile</SubType>
+ <Link>core\wiring_shift.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\WMath.cpp">
+ <SubType>compile</SubType>
+ <Link>core\WMath.cpp</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\WMath.h">
+ <SubType>compile</SubType>
+ <Link>core\WMath.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\WString.cpp">
+ <SubType>compile</SubType>
+ <Link>core\WString.cpp</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\WString.h">
+ <SubType>compile</SubType>
+ <Link>core\WString.h</Link>
+ </Compile>
+ <Compile Include="..\..\..\arduino\WVariant.h">
+ <SubType>compile</SubType>
+ <Link>core\WVariant.h</Link>
+ </Compile>
+ <Compile Include="..\test.cpp">
+ <SubType>compile</SubType>
+ <Link>test.cpp</Link>
+ </Compile>
+ </ItemGroup>
+ <Import Project="$(AVRSTUDIO_EXE_PATH)\\Vs\\Compiler.targets" />
+</Project>
\ No newline at end of file
diff --git a/cores/validation/validation_firmata/test.cpp b/cores/validation/validation_firmata/test.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..0d3ba59281565d03f060ce16b0a53a5458e3a0c0
--- /dev/null
+++ b/cores/validation/validation_firmata/test.cpp
@@ -0,0 +1,668 @@
+/*
+ Copyright (c) 2014 Arduino. All right 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.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ See the GNU Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+*/
+
+#include "Arduino.h"
+
+/*
+ * 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);
+
+ 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);
+ }
+ }
+ }
+}