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230 lines
11 KiB
C++
230 lines
11 KiB
C++
/*
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Firmata.h - Firmata library
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Copyright (C) 2006-2008 Hans-Christoph Steiner. 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 <WProgram.h>
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#include <inttypes.h>
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/* Version numbers for the protocol. The protocol is still changing, so these
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* version numbers are important. This number can be queried so that host
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* software can test whether it will be compatible with the currently
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* installed firmware. */
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#define FIRMATA_MAJOR_VERSION 2 // for non-compatible changes
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#define FIRMATA_MINOR_VERSION 1 // for backwards compatible changes
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#define MAX_DATA_BYTES 32 // max number of data bytes in non-Sysex messages
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// message command bytes (128-255/0x80-0xFF)
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#define DIGITAL_MESSAGE 0x90 // send data for a digital pin
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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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//
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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 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 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 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 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 wiring.h
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//#define OUTPUT 0x01 // defined in wiring.h
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#define ANALOG 0x02 // analog pin in analogInput mode
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#define PWM 0x03 // digital pin in PWM output mode
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#define SERVO 0x04 // digital pin in Servo output mode
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#define SHIFT 0x05 // shiftIn/shiftOut mode
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#define I2C 0x06 // pin included in I2C setup
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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 HardwareSerial
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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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/* 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);
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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 print(); // TODO implement so it's compatible to Serial
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// void println(); // TODO implement so it's compatible to Serial
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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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// void flush(); // TODO implement flush, probably by subclassing
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private:
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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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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 pin13strobe(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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// total number of pins currently supported
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#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) // Arduino NG and Diecimila
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#define TOTAL_ANALOG_PINS 8
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#define TOTAL_DIGITAL_PINS 22 // 14 digital + 8 analog
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#define TOTAL_PORTS 3 // total number of ports for the board
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#define ANALOG_PORT 2 // port# of analog used as digital
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#define FIRST_ANALOG_PIN 14 // pin# corresponding to analog 0
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#define VERSION_BLINK_PIN 13 // digital pin to blink version on
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#elif defined(__AVR_ATmega8__) // old Arduinos
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#define TOTAL_ANALOG_PINS 6
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#define TOTAL_DIGITAL_PINS 20 // 14 digital + 6 analog
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#define TOTAL_PORTS 3 // total number of ports for the board
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#define ANALOG_PORT 2 // port# of analog used as digital
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#define FIRST_ANALOG_PIN 14 // pin# corresponding to analog 0
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#define VERSION_BLINK_PIN 13 // digital pin to blink version on
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#elif defined(__AVR_ATmega1280__)// Arduino Mega
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#define TOTAL_ANALOG_PINS 16
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#define TOTAL_DIGITAL_PINS 70 // 54 digital + 16 analog
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#define TOTAL_PORTS 9 // total number of ports for the board
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#define ANALOG_PORT 8 // port# of analog used as digital
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#define FIRST_ANALOG_PIN 54 // pin# corresponding to analog 0
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#define VERSION_BLINK_PIN 13 // digital pin to blink version on
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#elif defined(__AVR_ATmega128__)// Wiring
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#define TOTAL_ANALOG_PINS 8
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#define TOTAL_DIGITAL_PINS 51
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#define TOTAL_PORTS 7 // total number of ports for the board
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#define ANALOG_PORT 5 // port# of analog used as digital
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#define FIRST_ANALOG_PIN 40 // pin# corresponding to analog 0
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#define VERSION_BLINK_PIN 13 // digital pin to blink version on
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#elif defined(__AVR_AT90USB162__) // Teensy
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#define TOTAL_ANALOG_PINS 0
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#define TOTAL_DIGITAL_PINS 21 // 21 digital + no analog
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#define TOTAL_PORTS 4 // total number of ports for the board
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#define ANALOG_PORT 3 // port# of analog used as digital
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#define FIRST_ANALOG_PIN 21 // pin# corresponding to analog 0
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#define VERSION_BLINK_PIN 6 // digital pin to blink version on
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#elif defined(__AVR_ATmega32U4__) // Teensy
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#define TOTAL_ANALOG_PINS 12
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#define TOTAL_DIGITAL_PINS 25 // 11 digital + 12 analog
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#define TOTAL_PORTS 4 // total number of ports for the board
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#define ANALOG_PORT 3 // port# of analog used as digital
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#define FIRST_ANALOG_PIN 11 // pin# corresponding to analog 0
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#define VERSION_BLINK_PIN 11 // digital pin to blink version on
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#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__) // Teensy++
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#define TOTAL_ANALOG_PINS 8
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#define TOTAL_DIGITAL_PINS 46 // 38 digital + 8 analog
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#define TOTAL_PORTS 6 // total number of ports for the board
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#define ANALOG_PORT 5 // port# of analog used as digital
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#define FIRST_ANALOG_PIN 38 // pin# corresponding to analog 0
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#define VERSION_BLINK_PIN 6 // digital pin to blink version on
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#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__) // Sanguino
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#define TOTAL_ANALOG_PINS 8
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#define TOTAL_DIGITAL_PINS 32 // 24 digital + 8 analog
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#define TOTAL_PORTS 4 // total number of ports for the board
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#define ANALOG_PORT 3 // port# of analog used as digital
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#define FIRST_ANALOG_PIN 24 // pin# corresponding to analog 0
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#define VERSION_BLINK_PIN 0 // digital pin to blink version on
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#elif defined(__AVR_ATmega645__) // Illuminato
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#define TOTAL_ANALOG_PINS 6
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#define TOTAL_DIGITAL_PINS 42 // 36 digital + 6 analog
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#define TOTAL_PORTS 6 // total number of ports for the board
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#define ANALOG_PORT 4 // port# of analog used as digital
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#define FIRST_ANALOG_PIN 36 // pin# corresponding to analog 0
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#define VERSION_BLINK_PIN 13 // digital pin to blink version on
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#else // anything else
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#define TOTAL_ANALOG_PINS 6
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#define TOTAL_DIGITAL_PINS 14
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#define TOTAL_PORTS 3 // total number of ports for the board
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#define ANALOG_PORT 2 // port# of analog used as digital
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#define FIRST_ANALOG_PIN 14 // pin# corresponding to analog 0
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#define VERSION_BLINK_PIN 13 // digital pin to blink version on
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#endif
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#endif /* Firmata_h */
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