208 lines
9.6 KiB
C++
208 lines
9.6 KiB
C++
/*
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Firmata.h - Firmata library v2.5.1 - 2015-12-26
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Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved.
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Copyright (C) 2009-2015 Jeff Hoefs. All rights reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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See file LICENSE.txt for further informations on licensing terms.
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*/
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#ifndef Firmata_h
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#define Firmata_h
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#include "Boards.h" /* Hardware Abstraction Layer + Wiring/Arduino */
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/* Version numbers for the protocol. The protocol is still changing, so these
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* version numbers are important.
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* Query using the REPORT_VERSION message.
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*/
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#define FIRMATA_PROTOCOL_MAJOR_VERSION 2 // for non-compatible changes
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#define FIRMATA_PROTOCOL_MINOR_VERSION 5 // for backwards compatible changes
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#define FIRMATA_PROTOCOL_BUGFIX_VERSION 1 // for bugfix releases
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/* Version numbers for the Firmata library.
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* The firmware version will not always equal the protocol version going forward.
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* Query using the REPORT_FIRMWARE message.
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*/
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#define FIRMATA_FIRMWARE_MAJOR_VERSION 2
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#define FIRMATA_FIRMWARE_MINOR_VERSION 5
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#define FIRMATA_FIRMWARE_BUGFIX_VERSION 1
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/* DEPRECATED as of Firmata v2.5.1. As of 2.5.1 there are separate version numbers for
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* the protocol version and the firmware version.
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*/
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#define FIRMATA_MAJOR_VERSION 2 // same as FIRMATA_PROTOCOL_MAJOR_VERSION
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#define FIRMATA_MINOR_VERSION 5 // same as FIRMATA_PROTOCOL_MINOR_VERSION
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#define FIRMATA_BUGFIX_VERSION 1 // same as FIRMATA_PROTOCOL_BUGFIX_VERSION
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#define MAX_DATA_BYTES 64 // max number of data bytes in incoming messages
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// Arduino 101 also defines SET_PIN_MODE as a macro in scss_registers.h
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#ifdef SET_PIN_MODE
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#undef SET_PIN_MODE
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#endif
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// message command bytes (128-255/0x80-0xFF)
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#define DIGITAL_MESSAGE 0x90 // send data for a digital port (collection of 8 pins)
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#define ANALOG_MESSAGE 0xE0 // send data for an analog pin (or PWM)
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#define REPORT_ANALOG 0xC0 // enable analog input by pin #
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#define REPORT_DIGITAL 0xD0 // enable digital input by port pair
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//
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#define SET_PIN_MODE 0xF4 // set a pin to INPUT/OUTPUT/PWM/etc
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#define SET_DIGITAL_PIN_VALUE 0xF5 // set value of an individual digital pin
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//
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#define REPORT_VERSION 0xF9 // report protocol version
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#define SYSTEM_RESET 0xFF // reset from MIDI
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//
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#define START_SYSEX 0xF0 // start a MIDI Sysex message
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#define END_SYSEX 0xF7 // end a MIDI Sysex message
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// extended command set using sysex (0-127/0x00-0x7F)
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/* 0x00-0x0F reserved for user-defined commands */
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#define SERIAL_MESSAGE 0x60 // communicate with serial devices, including other boards
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#define ENCODER_DATA 0x61 // reply with encoders current positions
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#define SERVO_CONFIG 0x70 // set max angle, minPulse, maxPulse, freq
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#define STRING_DATA 0x71 // a string message with 14-bits per char
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#define STEPPER_DATA 0x72 // control a stepper motor
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#define ONEWIRE_DATA 0x73 // send an OneWire read/write/reset/select/skip/search request
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#define SHIFT_DATA 0x75 // a bitstream to/from a shift register
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#define I2C_REQUEST 0x76 // send an I2C read/write request
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#define I2C_REPLY 0x77 // a reply to an I2C read request
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#define I2C_CONFIG 0x78 // config I2C settings such as delay times and power pins
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#define EXTENDED_ANALOG 0x6F // analog write (PWM, Servo, etc) to any pin
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#define PIN_STATE_QUERY 0x6D // ask for a pin's current mode and value
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#define PIN_STATE_RESPONSE 0x6E // reply with pin's current mode and value
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#define CAPABILITY_QUERY 0x6B // ask for supported modes and resolution of all pins
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#define CAPABILITY_RESPONSE 0x6C // reply with supported modes and resolution
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#define ANALOG_MAPPING_QUERY 0x69 // ask for mapping of analog to pin numbers
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#define ANALOG_MAPPING_RESPONSE 0x6A // reply with mapping info
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#define REPORT_FIRMWARE 0x79 // report name and version of the firmware
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#define SAMPLING_INTERVAL 0x7A // set the poll rate of the main loop
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#define SCHEDULER_DATA 0x7B // send a createtask/deletetask/addtotask/schedule/querytasks/querytask request to the scheduler
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#define SYSEX_NON_REALTIME 0x7E // MIDI Reserved for non-realtime messages
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#define SYSEX_REALTIME 0x7F // MIDI Reserved for realtime messages
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// these are DEPRECATED to make the naming more consistent
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#define FIRMATA_STRING 0x71 // same as STRING_DATA
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#define SYSEX_I2C_REQUEST 0x76 // same as I2C_REQUEST
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#define SYSEX_I2C_REPLY 0x77 // same as I2C_REPLY
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#define SYSEX_SAMPLING_INTERVAL 0x7A // same as SAMPLING_INTERVAL
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// pin modes
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//#define INPUT 0x00 // defined in Arduino.h
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//#define OUTPUT 0x01 // defined in Arduino.h
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#define PIN_MODE_ANALOG 0x02 // analog pin in analogInput mode
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#define PIN_MODE_PWM 0x03 // digital pin in PWM output mode
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#define PIN_MODE_SERVO 0x04 // digital pin in Servo output mode
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#define PIN_MODE_SHIFT 0x05 // shiftIn/shiftOut mode
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#define PIN_MODE_I2C 0x06 // pin included in I2C setup
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#define PIN_MODE_ONEWIRE 0x07 // pin configured for 1-wire
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#define PIN_MODE_STEPPER 0x08 // pin configured for stepper motor
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#define PIN_MODE_ENCODER 0x09 // pin configured for rotary encoders
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#define PIN_MODE_SERIAL 0x0A // pin configured for serial communication
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#define PIN_MODE_PULLUP 0x0B // enable internal pull-up resistor for pin
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#define PIN_MODE_IGNORE 0x7F // pin configured to be ignored by digitalWrite and capabilityResponse
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#define TOTAL_PIN_MODES 13
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// DEPRECATED as of Firmata v2.5
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#define ANALOG 0x02 // same as PIN_MODE_ANALOG
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#define PWM 0x03 // same as PIN_MODE_PWM
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#define SERVO 0x04 // same as PIN_MODE_SERVO
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#define SHIFT 0x05 // same as PIN_MODE_SHIFT
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#define I2C 0x06 // same as PIN_MODE_I2C
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#define ONEWIRE 0x07 // same as PIN_MODE_ONEWIRE
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#define STEPPER 0x08 // same as PIN_MODE_STEPPER
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#define ENCODER 0x09 // same as PIN_MODE_ENCODER
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extern "C" {
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// callback function types
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typedef void (*callbackFunction)(byte, int);
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typedef void (*systemResetCallbackFunction)(void);
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typedef void (*stringCallbackFunction)(char *);
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typedef void (*sysexCallbackFunction)(byte command, byte argc, byte *argv);
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}
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// TODO make it a subclass of a generic Serial/Stream base class
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class FirmataClass
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{
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public:
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FirmataClass();
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/* Arduino constructors */
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void begin();
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void begin(long);
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void begin(Stream &s);
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/* querying functions */
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void printVersion(void);
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void blinkVersion(void);
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void printFirmwareVersion(void);
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//void setFirmwareVersion(byte major, byte minor); // see macro below
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void setFirmwareNameAndVersion(const char *name, byte major, byte minor);
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/* serial receive handling */
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int available(void);
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void processInput(void);
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/* serial send handling */
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void sendAnalog(byte pin, int value);
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void sendDigital(byte pin, int value); // TODO implement this
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void sendDigitalPort(byte portNumber, int portData);
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void sendString(const char *string);
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void sendString(byte command, const char *string);
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void sendSysex(byte command, byte bytec, byte *bytev);
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void write(byte c);
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/* attach & detach callback functions to messages */
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void attach(byte command, callbackFunction newFunction);
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void attach(byte command, systemResetCallbackFunction newFunction);
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void attach(byte command, stringCallbackFunction newFunction);
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void attach(byte command, sysexCallbackFunction newFunction);
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void detach(byte command);
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/* utility methods */
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void sendValueAsTwo7bitBytes(int value);
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void startSysex(void);
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void endSysex(void);
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private:
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Stream *FirmataStream;
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/* firmware name and version */
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byte firmwareVersionCount;
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byte *firmwareVersionVector;
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/* input message handling */
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byte waitForData; // this flag says the next serial input will be data
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byte executeMultiByteCommand; // execute this after getting multi-byte data
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byte multiByteChannel; // channel data for multiByteCommands
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byte storedInputData[MAX_DATA_BYTES]; // multi-byte data
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/* sysex */
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boolean parsingSysex;
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int sysexBytesRead;
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/* callback functions */
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callbackFunction currentAnalogCallback;
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callbackFunction currentDigitalCallback;
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callbackFunction currentReportAnalogCallback;
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callbackFunction currentReportDigitalCallback;
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callbackFunction currentPinModeCallback;
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callbackFunction currentPinValueCallback;
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systemResetCallbackFunction currentSystemResetCallback;
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stringCallbackFunction currentStringCallback;
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sysexCallbackFunction currentSysexCallback;
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/* private methods ------------------------------ */
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void processSysexMessage(void);
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void systemReset(void);
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void strobeBlinkPin(byte pin, int count, int onInterval, int offInterval);
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};
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extern FirmataClass Firmata;
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/*==============================================================================
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* MACROS
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*============================================================================*/
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/* shortcut for setFirmwareNameAndVersion() that uses __FILE__ to set the
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* firmware name. It needs to be a macro so that __FILE__ is included in the
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* firmware source file rather than the library source file.
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*/
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#define setFirmwareVersion(x, y) setFirmwareNameAndVersion(__FILE__, x, y)
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#endif /* Firmata_h */
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