/*
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 1 // for backwards compatible changes
#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 user-defined commands */
#define SERVO_CONFIG 0x70 // set max angle, minPulse, maxPulse, freq
#define STRING_DATA 0x71 // a string message with 14-bits per char
#define SHIFT_DATA 0x75 // a bitstream to/from a shift register
#define I2C_REQUEST 0x76 // send an I2C read/write request
#define I2C_REPLY 0x77 // a reply to an I2C read request
#define I2C_CONFIG 0x78 // config I2C settings such as delay times and power pins
#define REPORT_FIRMWARE 0x79 // report name and version of the firmware
#define SAMPLING_INTERVAL 0x7A // set the poll rate of the main loop
#define SYSEX_NON_REALTIME 0x7E // MIDI Reserved for non-realtime messages
#define SYSEX_REALTIME 0x7F // MIDI Reserved for realtime messages
// these are DEPRECATED to make the naming more consistent
#define FIRMATA_STRING 0x71 // same as STRING_DATA
#define SYSEX_I2C_REQUEST 0x76 // same as I2C_REQUEST
#define SYSEX_I2C_REPLY 0x77 // same as I2C_REPLY
#define SYSEX_SAMPLING_INTERVAL 0x7A // same as SAMPLING_INTERVAL
// 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
#define SHIFT 0x05 // shiftIn/shiftOut mode
#define I2C 0x06 // pin included in I2C setup
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
#define FIRST_ANALOG_PIN 14 // pin# corresponding to analog 0
#define VERSION_BLINK_PIN 13 // digital pin to blink version on
#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
#define FIRST_ANALOG_PIN 14 // pin# corresponding to analog 0
#define VERSION_BLINK_PIN 13 // digital pin to blink version on
#elif defined(__AVR_ATmega1280__)// Arduino Mega
#define TOTAL_ANALOG_PINS 16
#define TOTAL_DIGITAL_PINS 70 // 54 digital + 16 analog
#define TOTAL_PORTS 9 // total number of ports for the board
#define ANALOG_PORT 8 // port# of analog used as digital
#define FIRST_ANALOG_PIN 54 // pin# corresponding to analog 0
#define VERSION_BLINK_PIN 13 // digital pin to blink version on
#elif defined(__AVR_ATmega128__)// Wiring
#define TOTAL_ANALOG_PINS 8
#define TOTAL_DIGITAL_PINS 51
#define TOTAL_PORTS 7 // total number of ports for the board
#define ANALOG_PORT 5 // port# of analog used as digital
#define FIRST_ANALOG_PIN 40 // pin# corresponding to analog 0
#define VERSION_BLINK_PIN 13 // digital pin to blink version on
#elif defined(__AVR_AT90USB162__) // Teensy
#define TOTAL_ANALOG_PINS 0
#define TOTAL_DIGITAL_PINS 21 // 21 digital + no analog
#define TOTAL_PORTS 4 // total number of ports for the board
#define ANALOG_PORT 3 // port# of analog used as digital
#define FIRST_ANALOG_PIN 21 // pin# corresponding to analog 0
#define VERSION_BLINK_PIN 6 // digital pin to blink version on
#elif defined(__AVR_ATmega32U4__) // Teensy
#define TOTAL_ANALOG_PINS 12
#define TOTAL_DIGITAL_PINS 25 // 11 digital + 12 analog
#define TOTAL_PORTS 4 // total number of ports for the board
#define ANALOG_PORT 3 // port# of analog used as digital
#define FIRST_ANALOG_PIN 11 // pin# corresponding to analog 0
#define VERSION_BLINK_PIN 11 // digital pin to blink version on
#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__) // Teensy++
#define TOTAL_ANALOG_PINS 8
#define TOTAL_DIGITAL_PINS 46 // 38 digital + 8 analog
#define TOTAL_PORTS 6 // total number of ports for the board
#define ANALOG_PORT 5 // port# of analog used as digital
#define FIRST_ANALOG_PIN 38 // pin# corresponding to analog 0
#define VERSION_BLINK_PIN 6 // digital pin to blink version on
#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__) // Sanguino
#define TOTAL_ANALOG_PINS 8
#define TOTAL_DIGITAL_PINS 32 // 24 digital + 8 analog
#define TOTAL_PORTS 4 // total number of ports for the board
#define ANALOG_PORT 3 // port# of analog used as digital
#define FIRST_ANALOG_PIN 24 // pin# corresponding to analog 0
#define VERSION_BLINK_PIN 0 // digital pin to blink version on
#elif defined(__AVR_ATmega645__) // Illuminato
#define TOTAL_ANALOG_PINS 6
#define TOTAL_DIGITAL_PINS 42 // 36 digital + 6 analog
#define TOTAL_PORTS 6 // total number of ports for the board
#define ANALOG_PORT 4 // port# of analog used as digital
#define FIRST_ANALOG_PIN 36 // pin# corresponding to analog 0
#define VERSION_BLINK_PIN 13 // digital pin to blink version on
#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
#define FIRST_ANALOG_PIN 14 // pin# corresponding to analog 0
#define VERSION_BLINK_PIN 13 // digital pin to blink version on
#endif
#endif /* Firmata_h */