代碼:

1. void loop()
   
2. {
   
3.   byte pin, analogPin;
   
4. 
   
5.   /* DIGITALREAD - as fast as possible, check for changes and output them to the
   
6.    * FTDI buffer using Serial.print()  */
   
7.   checkDigitalInputs();
   
8. 
   
9.   /* STREAMREAD - processing incoming messagse as soon as possible, while still
   
10.    * checking digital inputs.  */
    
11.   while (Firmata.available())
    
12.     Firmata.processInput();
    
13. 
    
14.   // TODO - ensure that Stream buffer doesn't go over 60 bytes
    
15. 
    
16.   currentMillis = millis();
    
17.   if (currentMillis - previousMillis > samplingInterval) {
    
18.     previousMillis += samplingInterval;
    
19.     /* ANALOGREAD - do all analogReads() at the configured sampling interval */
    
20.     for (pin = 0; pin < TOTAL_PINS; pin++) {
    
21.       if (IS_PIN_ANALOG(pin) && Firmata.getPinMode(pin) == PIN_MODE_ANALOG) {
    
22.         analogPin = PIN_TO_ANALOG(pin);
    
23.         if (analogInputsToReport & (1 << analogPin)) {
    
24.           Firmata.sendAnalog(analogPin, analogRead(analogPin));
    
25.         }
    
26.       }
    
27.     }
    
28.     // report i2c data for all device with read continuous mode enabled
    
29.     if (queryIndex > -1) {
    
30.       for (byte i = 0; i < queryIndex + 1; i++) {
    
31.         readAndReportData(query[i].addr, query[i].reg, query[i].bytes, query[i].stopTX);
    
32.       }
    
33.     }
    
34.   }
    
35. 
    
36. #ifdef FIRMATA_SERIAL_FEATURE
    
37.   serialFeature.update();
    
38. #endif
    
39. }