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Diffstat (limited to 'libraries/Firmata/Firmata.h')
| -rw-r--r-- | libraries/Firmata/Firmata.h | 169 |
1 files changed, 169 insertions, 0 deletions
diff --git a/libraries/Firmata/Firmata.h b/libraries/Firmata/Firmata.h new file mode 100644 index 0000000..a926462 --- /dev/null +++ b/libraries/Firmata/Firmata.h @@ -0,0 +1,169 @@ +/* + Firmata.h - Firmata library + Copyright (C) 2006-2008 Hans-Christoph Steiner. 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. +*/ + +#ifndef Firmata_h +#define Firmata_h + +#include <WProgram.h> +#include <inttypes.h> + + +/* Version numbers for the protocol. The protocol is still changing, so these + * version numbers are important. This number can be queried so that host + * software can test whether it will be compatible with the currently + * installed firmware. */ +#define FIRMATA_MAJOR_VERSION 2 // for non-compatible changes +#define FIRMATA_MINOR_VERSION 0 // for backwards compatible changes +#define VERSION_BLINK_PIN 13 // digital pin to blink version on + +#define MAX_DATA_BYTES 32 // max number of data bytes in non-Sysex messages + +// message command bytes (128-255/0x80-0xFF) +#define DIGITAL_MESSAGE 0x90 // send data for a digital pin +#define ANALOG_MESSAGE 0xE0 // send data for an analog pin (or PWM) +#define REPORT_ANALOG 0xC0 // enable analog input by pin # +#define REPORT_DIGITAL 0xD0 // enable digital input by port pair +// +#define SET_PIN_MODE 0xF4 // set a pin to INPUT/OUTPUT/PWM/etc +// +#define REPORT_VERSION 0xF9 // report protocol version +#define SYSTEM_RESET 0xFF // reset from MIDI +// +#define START_SYSEX 0xF0 // start a MIDI Sysex message +#define END_SYSEX 0xF7 // end a MIDI Sysex message + +// extended command set using sysex (0-127/0x00-0x7F) +/* 0x00-0x0F reserved for custom commands */ +#define SERVO_CONFIG 0x70 // set max angle, minPulse, maxPulse, freq +#define FIRMATA_STRING 0x71 // a string message with 14-bits per char +#define REPORT_FIRMWARE 0x79 // report name and version of the firmware +#define SYSEX_NON_REALTIME 0x7E // MIDI Reserved for non-realtime messages +#define SYSEX_REALTIME 0x7F // MIDI Reserved for realtime messages + +// pin modes +//#define INPUT 0x00 // defined in wiring.h +//#define OUTPUT 0x01 // defined in wiring.h +#define ANALOG 0x02 // analog pin in analogInput mode +#define PWM 0x03 // digital pin in PWM output mode +#define SERVO 0x04 // digital pin in Servo output mode + + +extern "C" { +// callback function types + typedef void (*callbackFunction)(byte, int); + typedef void (*systemResetCallbackFunction)(void); + typedef void (*stringCallbackFunction)(char*); + typedef void (*sysexCallbackFunction)(byte command, byte argc, byte*argv); +} + + +// TODO make it a subclass of HardwareSerial +class FirmataClass +{ +public: + FirmataClass(); +/* Arduino constructors */ + void begin(); + void begin(long); +/* querying functions */ + void printVersion(void); + void blinkVersion(void); + void printFirmwareVersion(void); +// void setFirmwareVersion(byte major, byte minor); // see macro below + void setFirmwareNameAndVersion(const char *name, byte major, byte minor); +/* serial receive handling */ + int available(void); + void processInput(void); +/* serial send handling */ + void sendAnalog(byte pin, int value); + void sendDigital(byte pin, int value); + void sendDigitalPort(byte portNumber, int portData); + void sendString(const char* string); + void sendString(byte command, const char* string); + void sendSysex(byte command, byte bytec, byte* bytev); +// void print(); // TODO implement so it's compatible to Serial +// void println(); // TODO implement so it's compatible to Serial +/* attach & detach callback functions to messages */ + void attach(byte command, callbackFunction newFunction); + void attach(byte command, systemResetCallbackFunction newFunction); + void attach(byte command, stringCallbackFunction newFunction); + void attach(byte command, sysexCallbackFunction newFunction); + void detach(byte command); +// void flush(); // TODO implement flush, probably by subclassing + +private: +/* firmware name and version */ + byte firmwareVersionCount; + byte *firmwareVersionVector; +/* input message handling */ + byte waitForData; // this flag says the next serial input will be data + byte executeMultiByteCommand; // execute this after getting multi-byte data + byte multiByteChannel; // channel data for multiByteCommands + byte storedInputData[MAX_DATA_BYTES]; // multi-byte data +/* sysex */ + boolean parsingSysex; + int sysexBytesRead; +/* callback functions */ + callbackFunction currentAnalogCallback; + callbackFunction currentDigitalCallback; + callbackFunction currentReportAnalogCallback; + callbackFunction currentReportDigitalCallback; + callbackFunction currentPinModeCallback; + systemResetCallbackFunction currentSystemResetCallback; + stringCallbackFunction currentStringCallback; + sysexCallbackFunction currentSysexCallback; + +/* private methods ------------------------------ */ + void processSysexMessage(void); + void systemReset(void); + void pin13strobe(int count, int onInterval, int offInterval); +}; + +extern FirmataClass Firmata; + +/*============================================================================== + * MACROS + *============================================================================*/ + +/* shortcut for setFirmwareNameAndVersion() that uses __FILE__ to set the + * firmware name. It needs to be a macro so that __FILE__ is included in the + * firmware source file rather than the library source file. + */ +#define setFirmwareVersion(x, y) setFirmwareNameAndVersion(__FILE__, x, y) + +// total number of pins currently supported +#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) // Arduino NG and Diecimila +#define TOTAL_ANALOG_PINS 8 +#define TOTAL_DIGITAL_PINS 22 // 14 digital + 8 analog +#define TOTAL_PORTS 3 // total number of ports for the board +#define ANALOG_PORT 2 // port# of analog used as digital +#elif defined(__AVR_ATmega8__) // old Arduinos +#define TOTAL_ANALOG_PINS 6 +#define TOTAL_DIGITAL_PINS 20 // 14 digital + 6 analog +#define TOTAL_PORTS 3 // total number of ports for the board +#define ANALOG_PORT 2 // port# of analog used as digital +#elif defined(__AVR_ATmega128__)// Wiring +#define TOTAL_ANALOG_PINS 8 +#define TOTAL_DIGITAL_PINS 51 +#define TOTAL_PORTS 6 // total number of ports for the board +#define ANALOG_PORT 2 // port# of analog used as digital +#else // anything else +#define TOTAL_ANALOG_PINS 6 +#define TOTAL_DIGITAL_PINS 14 +#define TOTAL_PORTS 3 // total number of ports for the board +#define ANALOG_PORT 2 // port# of analog used as digital +#endif + + + +#endif /* Firmata_h */ + |