/* Firmata.h - Firmata library v2.5.3 - 2016-06-18 Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved. Copyright (C) 2009-2015 Jeff Hoefs. 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 "CP_Boards.h" /* Hardware Abstraction Layer + Wiring/Arduino */ /* Version numbers for the protocol. The protocol is still changing, so these * version numbers are important. * Query using the REPORT_VERSION message. */ #define FIRMATA_PROTOCOL_MAJOR_VERSION 2 // for non-compatible changes #define FIRMATA_PROTOCOL_MINOR_VERSION 5 // for backwards compatible changes #define FIRMATA_PROTOCOL_BUGFIX_VERSION 1 // for bugfix releases /* Version numbers for the Firmata library. * The firmware version will not always equal the protocol version going forward. * Query using the REPORT_FIRMWARE message. */ #define FIRMATA_FIRMWARE_MAJOR_VERSION 2 #define FIRMATA_FIRMWARE_MINOR_VERSION 5 #define FIRMATA_FIRMWARE_BUGFIX_VERSION 3 /* DEPRECATED as of Firmata v2.5.1. As of 2.5.1 there are separate version numbers for * the protocol version and the firmware version. */ #define FIRMATA_MAJOR_VERSION 2 // same as FIRMATA_PROTOCOL_MAJOR_VERSION #define FIRMATA_MINOR_VERSION 5 // same as FIRMATA_PROTOCOL_MINOR_VERSION #define FIRMATA_BUGFIX_VERSION 1 // same as FIRMATA_PROTOCOL_BUGFIX_VERSION #define MAX_DATA_BYTES 64 // max number of data bytes in incoming messages // Arduino 101 also defines SET_PIN_MODE as a macro in scss_registers.h #ifdef SET_PIN_MODE #undef SET_PIN_MODE #endif // message command bytes (128-255/0x80-0xFF) #define DIGITAL_MESSAGE 0x90 // send data for a digital port (collection of 8 pins) #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 SET_DIGITAL_PIN_VALUE 0xF5 // set value of an individual digital pin // #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 SERIAL_MESSAGE 0x60 // communicate with serial devices, including other boards #define ENCODER_DATA 0x61 // reply with encoders current positions #define SERVO_CONFIG 0x70 // set max angle, minPulse, maxPulse, freq #define STRING_DATA 0x71 // a string message with 14-bits per char #define STEPPER_DATA 0x72 // control a stepper motor #define ONEWIRE_DATA 0x73 // send an OneWire read/write/reset/select/skip/search request #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 EXTENDED_ANALOG 0x6F // analog write (PWM, Servo, etc) to any pin #define PIN_STATE_QUERY 0x6D // ask for a pin's current mode and value #define PIN_STATE_RESPONSE 0x6E // reply with pin's current mode and value #define CAPABILITY_QUERY 0x6B // ask for supported modes and resolution of all pins #define CAPABILITY_RESPONSE 0x6C // reply with supported modes and resolution #define ANALOG_MAPPING_QUERY 0x69 // ask for mapping of analog to pin numbers #define ANALOG_MAPPING_RESPONSE 0x6A // reply with mapping info #define REPORT_FIRMWARE 0x79 // report name and version of the firmware #define SAMPLING_INTERVAL 0x7A // set the poll rate of the main loop #define SCHEDULER_DATA 0x7B // send a createtask/deletetask/addtotask/schedule/querytasks/querytask request to the scheduler #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 Arduino.h //#define OUTPUT 0x01 // defined in Arduino.h #define PIN_MODE_ANALOG 0x02 // analog pin in analogInput mode #define PIN_MODE_PWM 0x03 // digital pin in PWM output mode #define PIN_MODE_SERVO 0x04 // digital pin in Servo output mode #define PIN_MODE_SHIFT 0x05 // shiftIn/shiftOut mode #define PIN_MODE_I2C 0x06 // pin included in I2C setup #define PIN_MODE_ONEWIRE 0x07 // pin configured for 1-wire #define PIN_MODE_STEPPER 0x08 // pin configured for stepper motor #define PIN_MODE_ENCODER 0x09 // pin configured for rotary encoders #define PIN_MODE_SERIAL 0x0A // pin configured for serial communication #define PIN_MODE_PULLUP 0x0B // enable internal pull-up resistor for pin #define PIN_MODE_IGNORE 0x7F // pin configured to be ignored by digitalWrite and capabilityResponse #define TOTAL_PIN_MODES 13 // DEPRECATED as of Firmata v2.5 #define ANALOG 0x02 // same as PIN_MODE_ANALOG #define PWM 0x03 // same as PIN_MODE_PWM #define SERVO 0x04 // same as PIN_MODE_SERVO #define SHIFT 0x05 // same as PIN_MODE_SHIFT #define I2C 0x06 // same as PIN_MODE_I2C #define ONEWIRE 0x07 // same as PIN_MODE_ONEWIRE #define STEPPER 0x08 // same as PIN_MODE_STEPPER #define ENCODER 0x09 // same as PIN_MODE_ENCODER #define IGNORE 0x7F // same as PIN_MODE_IGNORE 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 a generic Serial/Stream base class class FirmataClass { public: FirmataClass(); /* Arduino constructors */ void begin(); void begin(long); void begin(Stream &s); /* 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); void disableBlinkVersion(); /* serial receive handling */ int available(void); void processInput(void); void parse(unsigned char value); boolean isParsingMessage(void); /* serial send handling */ void sendAnalog(byte pin, int value); void sendDigital(byte pin, int value); // TODO implement this 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 write(byte c); /* 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); /* access pin state and config */ byte getPinMode(byte pin); void setPinMode(byte pin, byte config); /* access pin state */ int getPinState(byte pin); void setPinState(byte pin, int state); /* utility methods */ void sendValueAsTwo7bitBytes(int value); void startSysex(void); void endSysex(void); private: Stream *FirmataStream; /* 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; /* pin configuration */ byte pinConfig[TOTAL_PINS]; int pinState[TOTAL_PINS]; /* callback functions */ callbackFunction currentAnalogCallback; callbackFunction currentDigitalCallback; callbackFunction currentReportAnalogCallback; callbackFunction currentReportDigitalCallback; callbackFunction currentPinModeCallback; callbackFunction currentPinValueCallback; systemResetCallbackFunction currentSystemResetCallback; stringCallbackFunction currentStringCallback; sysexCallbackFunction currentSysexCallback; boolean blinkVersionDisabled; /* private methods ------------------------------ */ void processSysexMessage(void); void systemReset(void); void strobeBlinkPin(byte pin, 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) #endif /* Firmata_h */