diff options
Diffstat (limited to 'libraries/Firmata/Firmata.cpp')
| -rw-r--r-- | libraries/Firmata/Firmata.cpp | 466 |
1 files changed, 233 insertions, 233 deletions
diff --git a/libraries/Firmata/Firmata.cpp b/libraries/Firmata/Firmata.cpp index 4e59d27..9a18615 100644 --- a/libraries/Firmata/Firmata.cpp +++ b/libraries/Firmata/Firmata.cpp @@ -29,18 +29,18 @@ extern "C" { void sendValueAsTwo7bitBytes(int value) { - Serial.print(value & B01111111, BYTE); // LSB - Serial.print(value >> 7 & B01111111, BYTE); // MSB + Serial.print(value & B01111111, BYTE); // LSB + Serial.print(value >> 7 & B01111111, BYTE); // MSB } void startSysex(void) { - Serial.print(START_SYSEX, BYTE); + Serial.print(START_SYSEX, BYTE); } void endSysex(void) { - Serial.print(END_SYSEX, BYTE); + Serial.print(END_SYSEX, BYTE); } //****************************************************************************** @@ -49,8 +49,8 @@ void endSysex(void) FirmataClass::FirmataClass(void) { - firmwareVersionCount = 0; - systemReset(); + firmwareVersionCount = 0; + systemReset(); } //****************************************************************************** @@ -60,83 +60,83 @@ FirmataClass::FirmataClass(void) /* begin method for overriding default serial bitrate */ void FirmataClass::begin(void) { - Serial.begin(115200); - blinkVersion(); - delay(300); - printVersion(); + Serial.begin(57600); + blinkVersion(); + delay(300); + printVersion(); } /* begin method for overriding default serial bitrate */ void FirmataClass::begin(long speed) { - blinkVersion(); + blinkVersion(); #if defined(__AVR_ATmega128__) // Wiring - Serial.begin((uint32_t)speed); + Serial.begin((uint32_t)speed); #else - Serial.begin(speed); + Serial.begin(speed); #endif - delay(300); - printVersion(); - printFirmwareVersion(); + delay(300); + printVersion(); + printFirmwareVersion(); } // output the protocol version message to the serial port void FirmataClass::printVersion(void) { - Serial.print(REPORT_VERSION, BYTE); - Serial.print(FIRMATA_MAJOR_VERSION, BYTE); - Serial.print(FIRMATA_MINOR_VERSION, BYTE); + Serial.print(REPORT_VERSION, BYTE); + Serial.print(FIRMATA_MAJOR_VERSION, BYTE); + Serial.print(FIRMATA_MINOR_VERSION, BYTE); } void FirmataClass::blinkVersion(void) { - // flash the pin with the protocol version - pinMode(VERSION_BLINK_PIN,OUTPUT); - pin13strobe(FIRMATA_MAJOR_VERSION, 200, 400); - delay(300); - pin13strobe(2,1,4); // separator, a quick burst - delay(300); - pin13strobe(FIRMATA_MINOR_VERSION, 200, 400); + // flash the pin with the protocol version + pinMode(VERSION_BLINK_PIN,OUTPUT); + pin13strobe(FIRMATA_MAJOR_VERSION, 200, 400); + delay(300); + pin13strobe(2,1,4); // separator, a quick burst + delay(300); + pin13strobe(FIRMATA_MINOR_VERSION, 200, 400); } void FirmataClass::printFirmwareVersion(void) { - byte i; - - if(firmwareVersionCount) { // make sure that the name has been set before reporting - startSysex(); - Serial.print(REPORT_FIRMWARE, BYTE); - Serial.print(firmwareVersionVector[0]); // major version number - Serial.print(firmwareVersionVector[1]); // minor version number - for(i=2; i<firmwareVersionCount; ++i) { - sendValueAsTwo7bitBytes(firmwareVersionVector[i]); - } - endSysex(); + byte i; + + if(firmwareVersionCount) { // make sure that the name has been set before reporting + startSysex(); + Serial.print(REPORT_FIRMWARE, BYTE); + Serial.print(firmwareVersionVector[0]); // major version number + Serial.print(firmwareVersionVector[1]); // minor version number + for(i=2; i<firmwareVersionCount; ++i) { + sendValueAsTwo7bitBytes(firmwareVersionVector[i]); } + endSysex(); + } } void FirmataClass::setFirmwareNameAndVersion(const char *name, byte major, byte minor) { - const char *filename; - char *extension; - -// parse out ".cpp" and "applet/" that comes from using __FILE__ - extension = strstr(name, ".cpp"); - filename = strrchr(name, '/') + 1; //points to slash, +1 gets to start of filename - // add two bytes for version numbers - if(extension && filename) { - firmwareVersionCount = extension - filename + 2; - } else { - firmwareVersionCount = strlen(name) + 2; - filename = name; - } - firmwareVersionVector = (byte *) malloc(firmwareVersionCount); - firmwareVersionVector[firmwareVersionCount] = 0; - firmwareVersionVector[0] = major; - firmwareVersionVector[1] = minor; - strncpy((char*)firmwareVersionVector + 2, filename, firmwareVersionCount - 2); -// alas, no snprintf on Arduino -// snprintf(firmwareVersionVector, MAX_DATA_BYTES, "%c%c%s", -// (char)major, (char)minor, firmwareVersionVector); + const char *filename; + char *extension; + + // parse out ".cpp" and "applet/" that comes from using __FILE__ + extension = strstr(name, ".cpp"); + filename = strrchr(name, '/') + 1; //points to slash, +1 gets to start of filename + // add two bytes for version numbers + if(extension && filename) { + firmwareVersionCount = extension - filename + 2; + } else { + firmwareVersionCount = strlen(name) + 2; + filename = name; + } + firmwareVersionVector = (byte *) malloc(firmwareVersionCount); + firmwareVersionVector[firmwareVersionCount] = 0; + firmwareVersionVector[0] = major; + firmwareVersionVector[1] = minor; + strncpy((char*)firmwareVersionVector + 2, filename, firmwareVersionCount - 2); + // alas, no snprintf on Arduino + // snprintf(firmwareVersionVector, MAX_DATA_BYTES, "%c%c%s", + // (char)major, (char)minor, firmwareVersionVector); } //------------------------------------------------------------------------------ @@ -144,123 +144,123 @@ void FirmataClass::setFirmwareNameAndVersion(const char *name, byte major, byte int FirmataClass::available(void) { - return Serial.available(); + return Serial.available(); } void FirmataClass::processSysexMessage(void) { - switch(storedInputData[0]) { //first byte in buffer is command - case REPORT_FIRMWARE: - printFirmwareVersion(); - break; - case FIRMATA_STRING: - if(currentStringCallback) { - byte bufferLength = (sysexBytesRead - 1) / 2; - char *buffer = (char*)malloc(bufferLength * sizeof(char)); - byte i = 1; - byte j = 0; - while(j < bufferLength) { - buffer[j] = (char)storedInputData[i]; - i++; - buffer[j] += (char)(storedInputData[i] << 7); - i++; - j++; - } - (*currentStringCallback)(buffer); - } - break; - default: - if(currentSysexCallback) - (*currentSysexCallback)(storedInputData[0], sysexBytesRead - 1, storedInputData + 1); + switch(storedInputData[0]) { //first byte in buffer is command + case REPORT_FIRMWARE: + printFirmwareVersion(); + break; + case STRING_DATA: + if(currentStringCallback) { + byte bufferLength = (sysexBytesRead - 1) / 2; + char *buffer = (char*)malloc(bufferLength * sizeof(char)); + byte i = 1; + byte j = 0; + while(j < bufferLength) { + buffer[j] = (char)storedInputData[i]; + i++; + buffer[j] += (char)(storedInputData[i] << 7); + i++; + j++; + } + (*currentStringCallback)(buffer); } + break; + default: + if(currentSysexCallback) + (*currentSysexCallback)(storedInputData[0], sysexBytesRead - 1, storedInputData + 1); + } } void FirmataClass::processInput(void) { - int inputData = Serial.read(); // this is 'int' to handle -1 when no data - int command; + int inputData = Serial.read(); // this is 'int' to handle -1 when no data + int command; - // TODO make sure it handles -1 properly - - if (parsingSysex) { - if(inputData == END_SYSEX) { - //stop sysex byte - parsingSysex = false; - //fire off handler function - processSysexMessage(); - } else { - //normal data byte - add to buffer - storedInputData[sysexBytesRead] = inputData; - sysexBytesRead++; - } - } else if( (waitForData > 0) && (inputData < 128) ) { - waitForData--; - storedInputData[waitForData] = inputData; - if( (waitForData==0) && executeMultiByteCommand ) { // got the whole message - switch(executeMultiByteCommand) { - case ANALOG_MESSAGE: - if(currentAnalogCallback) { - (*currentAnalogCallback)(multiByteChannel, - (storedInputData[0] << 7) - + storedInputData[1]); - } - break; - case DIGITAL_MESSAGE: - if(currentDigitalCallback) { - (*currentDigitalCallback)(multiByteChannel, - (storedInputData[0] << 7) - + storedInputData[1]); - } - break; - case SET_PIN_MODE: - if(currentPinModeCallback) - (*currentPinModeCallback)(storedInputData[1], storedInputData[0]); - break; - case REPORT_ANALOG: - if(currentReportAnalogCallback) - (*currentReportAnalogCallback)(multiByteChannel,storedInputData[0]); - break; - case REPORT_DIGITAL: - if(currentReportDigitalCallback) - (*currentReportDigitalCallback)(multiByteChannel,storedInputData[0]); - break; - } - executeMultiByteCommand = 0; - } + // TODO make sure it handles -1 properly + + if (parsingSysex) { + if(inputData == END_SYSEX) { + //stop sysex byte + parsingSysex = false; + //fire off handler function + processSysexMessage(); } else { - // remove channel info from command byte if less than 0xF0 - if(inputData < 0xF0) { - command = inputData & 0xF0; - multiByteChannel = inputData & 0x0F; - } else { - command = inputData; - // commands in the 0xF* range don't use channel data + //normal data byte - add to buffer + storedInputData[sysexBytesRead] = inputData; + sysexBytesRead++; + } + } else if( (waitForData > 0) && (inputData < 128) ) { + waitForData--; + storedInputData[waitForData] = inputData; + if( (waitForData==0) && executeMultiByteCommand ) { // got the whole message + switch(executeMultiByteCommand) { + case ANALOG_MESSAGE: + if(currentAnalogCallback) { + (*currentAnalogCallback)(multiByteChannel, + (storedInputData[0] << 7) + + storedInputData[1]); } - switch (command) { - case ANALOG_MESSAGE: - case DIGITAL_MESSAGE: - case SET_PIN_MODE: - waitForData = 2; // two data bytes needed - executeMultiByteCommand = command; - break; - case REPORT_ANALOG: - case REPORT_DIGITAL: - waitForData = 1; // two data bytes needed - executeMultiByteCommand = command; - break; - case START_SYSEX: - parsingSysex = true; - sysexBytesRead = 0; - break; - case SYSTEM_RESET: - systemReset(); - break; - case REPORT_VERSION: - Firmata.printVersion(); - break; + break; + case DIGITAL_MESSAGE: + if(currentDigitalCallback) { + (*currentDigitalCallback)(multiByteChannel, + (storedInputData[0] << 7) + + storedInputData[1]); } + break; + case SET_PIN_MODE: + if(currentPinModeCallback) + (*currentPinModeCallback)(storedInputData[1], storedInputData[0]); + break; + case REPORT_ANALOG: + if(currentReportAnalogCallback) + (*currentReportAnalogCallback)(multiByteChannel,storedInputData[0]); + break; + case REPORT_DIGITAL: + if(currentReportDigitalCallback) + (*currentReportDigitalCallback)(multiByteChannel,storedInputData[0]); + break; + } + executeMultiByteCommand = 0; + } + } else { + // remove channel info from command byte if less than 0xF0 + if(inputData < 0xF0) { + command = inputData & 0xF0; + multiByteChannel = inputData & 0x0F; + } else { + command = inputData; + // commands in the 0xF* range don't use channel data } + switch (command) { + case ANALOG_MESSAGE: + case DIGITAL_MESSAGE: + case SET_PIN_MODE: + waitForData = 2; // two data bytes needed + executeMultiByteCommand = command; + break; + case REPORT_ANALOG: + case REPORT_DIGITAL: + waitForData = 1; // two data bytes needed + executeMultiByteCommand = command; + break; + case START_SYSEX: + parsingSysex = true; + sysexBytesRead = 0; + break; + case SYSTEM_RESET: + systemReset(); + break; + case REPORT_VERSION: + Firmata.printVersion(); + break; + } + } } //------------------------------------------------------------------------------ @@ -269,31 +269,31 @@ void FirmataClass::processInput(void) // send an analog message void FirmataClass::sendAnalog(byte pin, int value) { - // pin can only be 0-15, so chop higher bits - Serial.print(ANALOG_MESSAGE | (pin & 0xF), BYTE); - sendValueAsTwo7bitBytes(value); + // pin can only be 0-15, so chop higher bits + Serial.print(ANALOG_MESSAGE | (pin & 0xF), BYTE); + sendValueAsTwo7bitBytes(value); } // send a single digital pin in a digital message void FirmataClass::sendDigital(byte pin, int value) { - /* TODO add single pin digital messages to the protocol, this needs to - * track the last digital data sent so that it can be sure to change just - * one bit in the packet. This is complicated by the fact that the - * numbering of the pins will probably differ on Arduino, Wiring, and - * other boards. The DIGITAL_MESSAGE sends 14 bits at a time, but it is - * probably easier to send 8 bit ports for any board with more than 14 - * digital pins. - */ - - // TODO: the digital message should not be sent on the serial port every - // time sendDigital() is called. Instead, it should add it to an int - // which will be sent on a schedule. If a pin changes more than once - // before the digital message is sent on the serial port, it should send a - // digital message for each change. - -// if(value == 0) -// sendDigitalPortPair(); + /* TODO add single pin digital messages to the protocol, this needs to + * track the last digital data sent so that it can be sure to change just + * one bit in the packet. This is complicated by the fact that the + * numbering of the pins will probably differ on Arduino, Wiring, and + * other boards. The DIGITAL_MESSAGE sends 14 bits at a time, but it is + * probably easier to send 8 bit ports for any board with more than 14 + * digital pins. + */ + + // TODO: the digital message should not be sent on the serial port every + // time sendDigital() is called. Instead, it should add it to an int + // which will be sent on a schedule. If a pin changes more than once + // before the digital message is sent on the serial port, it should send a + // digital message for each change. + + // if(value == 0) + // sendDigitalPortPair(); } @@ -301,33 +301,33 @@ void FirmataClass::sendDigital(byte pin, int value) // send an 8-bit port in a single digital message (protocol v2) void FirmataClass::sendDigitalPort(byte portNumber, int portData) { - Serial.print(DIGITAL_MESSAGE | (portNumber & 0xF),BYTE); - Serial.print(portData % 128, BYTE); // Tx bits 0-6 - Serial.print(portData >> 7, BYTE); // Tx bits 7-13 + Serial.print(DIGITAL_MESSAGE | (portNumber & 0xF),BYTE); + Serial.print(portData % 128, BYTE); // Tx bits 0-6 + Serial.print(portData >> 7, BYTE); // Tx bits 7-13 } void FirmataClass::sendSysex(byte command, byte bytec, byte* bytev) { - byte i; - startSysex(); - Serial.print(command, BYTE); - for(i=0; i<bytec; i++) { - sendValueAsTwo7bitBytes(bytev[i]); - } - endSysex(); + byte i; + startSysex(); + Serial.print(command, BYTE); + for(i=0; i<bytec; i++) { + sendValueAsTwo7bitBytes(bytev[i]); + } + endSysex(); } void FirmataClass::sendString(byte command, const char* string) { - sendSysex(command, strlen(string), (byte *)string); + sendSysex(command, strlen(string), (byte *)string); } // send a string as the protocol string type void FirmataClass::sendString(const char* string) { - sendString(FIRMATA_STRING, string); + sendString(STRING_DATA, string); } @@ -336,43 +336,43 @@ void FirmataClass::sendString(const char* string) // generic callbacks void FirmataClass::attach(byte command, callbackFunction newFunction) { - switch(command) { - case ANALOG_MESSAGE: currentAnalogCallback = newFunction; break; - case DIGITAL_MESSAGE: currentDigitalCallback = newFunction; break; - case REPORT_ANALOG: currentReportAnalogCallback = newFunction; break; - case REPORT_DIGITAL: currentReportDigitalCallback = newFunction; break; - case SET_PIN_MODE: currentPinModeCallback = newFunction; break; - } + switch(command) { + case ANALOG_MESSAGE: currentAnalogCallback = newFunction; break; + case DIGITAL_MESSAGE: currentDigitalCallback = newFunction; break; + case REPORT_ANALOG: currentReportAnalogCallback = newFunction; break; + case REPORT_DIGITAL: currentReportDigitalCallback = newFunction; break; + case SET_PIN_MODE: currentPinModeCallback = newFunction; break; + } } void FirmataClass::attach(byte command, systemResetCallbackFunction newFunction) { - switch(command) { - case SYSTEM_RESET: currentSystemResetCallback = newFunction; break; - } + switch(command) { + case SYSTEM_RESET: currentSystemResetCallback = newFunction; break; + } } void FirmataClass::attach(byte command, stringCallbackFunction newFunction) { - switch(command) { - case FIRMATA_STRING: currentStringCallback = newFunction; break; - } + switch(command) { + case STRING_DATA: currentStringCallback = newFunction; break; + } } void FirmataClass::attach(byte command, sysexCallbackFunction newFunction) { - currentSysexCallback = newFunction; + currentSysexCallback = newFunction; } void FirmataClass::detach(byte command) { - switch(command) { - case SYSTEM_RESET: currentSystemResetCallback = NULL; break; - case FIRMATA_STRING: currentStringCallback = NULL; break; - case START_SYSEX: currentSysexCallback = NULL; break; - default: - attach(command, (callbackFunction)NULL); - } + switch(command) { + case SYSTEM_RESET: currentSystemResetCallback = NULL; break; + case STRING_DATA: currentStringCallback = NULL; break; + case START_SYSEX: currentSysexCallback = NULL; break; + default: + attach(command, (callbackFunction)NULL); + } } // sysex callbacks @@ -402,24 +402,24 @@ void FirmataClass::detach(byte command) // resets the system state upon a SYSTEM_RESET message from the host software void FirmataClass::systemReset(void) { - byte i; + byte i; - waitForData = 0; // this flag says the next serial input will be data - executeMultiByteCommand = 0; // execute this after getting multi-byte data - multiByteChannel = 0; // channel data for multiByteCommands + waitForData = 0; // this flag says the next serial input will be data + executeMultiByteCommand = 0; // execute this after getting multi-byte data + multiByteChannel = 0; // channel data for multiByteCommands - for(i=0; i<MAX_DATA_BYTES; i++) { - storedInputData[i] = 0; - } + for(i=0; i<MAX_DATA_BYTES; i++) { + storedInputData[i] = 0; + } - parsingSysex = false; - sysexBytesRead = 0; + parsingSysex = false; + sysexBytesRead = 0; - if(currentSystemResetCallback) - (*currentSystemResetCallback)(); + if(currentSystemResetCallback) + (*currentSystemResetCallback)(); - //flush(); //TODO uncomment when Firmata is a subclass of HardwareSerial + //flush(); //TODO uncomment when Firmata is a subclass of HardwareSerial } @@ -428,14 +428,14 @@ void FirmataClass::systemReset(void) // used for flashing the pin for the version number void FirmataClass::pin13strobe(int count, int onInterval, int offInterval) { - byte i; - pinMode(VERSION_BLINK_PIN, OUTPUT); - for(i=0; i<count; i++) { - delay(offInterval); - digitalWrite(VERSION_BLINK_PIN, HIGH); - delay(onInterval); - digitalWrite(VERSION_BLINK_PIN, LOW); - } + byte i; + pinMode(VERSION_BLINK_PIN, OUTPUT); + for(i=0; i<count; i++) { + delay(offInterval); + digitalWrite(VERSION_BLINK_PIN, HIGH); + delay(onInterval); + digitalWrite(VERSION_BLINK_PIN, LOW); + } } |