1 | /*
|
---|
2 | Firmata.cpp - Firmata library v2.5.2 - 2016-2-15
|
---|
3 | Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved.
|
---|
4 | Copyright (C) 2009-2016 Jeff Hoefs. All rights reserved.
|
---|
5 |
|
---|
6 | This library is free software; you can redistribute it and/or
|
---|
7 | modify it under the terms of the GNU Lesser General Public
|
---|
8 | License as published by the Free Software Foundation; either
|
---|
9 | version 2.1 of the License, or (at your option) any later version.
|
---|
10 |
|
---|
11 | See file LICENSE.txt for further informations on licensing terms.
|
---|
12 | */
|
---|
13 |
|
---|
14 | //******************************************************************************
|
---|
15 | //* Includes
|
---|
16 | //******************************************************************************
|
---|
17 |
|
---|
18 | #include "Firmata.h"
|
---|
19 | #include "HardwareSerial.h"
|
---|
20 |
|
---|
21 | extern "C" {
|
---|
22 | #include <string.h>
|
---|
23 | #include <stdlib.h>
|
---|
24 | }
|
---|
25 |
|
---|
26 | //******************************************************************************
|
---|
27 | //* Support Functions
|
---|
28 | //******************************************************************************
|
---|
29 |
|
---|
30 | /**
|
---|
31 | * Split a 16-bit byte into two 7-bit values and write each value.
|
---|
32 | * @param value The 16-bit value to be split and written separately.
|
---|
33 | */
|
---|
34 | void FirmataClass::sendValueAsTwo7bitBytes(int value)
|
---|
35 | {
|
---|
36 | FirmataStream->write(value & 0x7F); // LSB
|
---|
37 | FirmataStream->write(value >> 7 & 0x7F); // MSB
|
---|
38 | }
|
---|
39 |
|
---|
40 | /**
|
---|
41 | * A helper method to write the beginning of a Sysex message transmission.
|
---|
42 | */
|
---|
43 | void FirmataClass::startSysex(void)
|
---|
44 | {
|
---|
45 | FirmataStream->write(START_SYSEX);
|
---|
46 | }
|
---|
47 |
|
---|
48 | /**
|
---|
49 | * A helper method to write the end of a Sysex message transmission.
|
---|
50 | */
|
---|
51 | void FirmataClass::endSysex(void)
|
---|
52 | {
|
---|
53 | FirmataStream->write(END_SYSEX);
|
---|
54 | }
|
---|
55 |
|
---|
56 | //******************************************************************************
|
---|
57 | //* Constructors
|
---|
58 | //******************************************************************************
|
---|
59 |
|
---|
60 | /**
|
---|
61 | * The Firmata class.
|
---|
62 | * An instance named "Firmata" is created automatically for the user.
|
---|
63 | */
|
---|
64 | FirmataClass::FirmataClass()
|
---|
65 | {
|
---|
66 | firmwareVersionCount = 0;
|
---|
67 | firmwareVersionVector = 0;
|
---|
68 | systemReset();
|
---|
69 | }
|
---|
70 |
|
---|
71 | //******************************************************************************
|
---|
72 | //* Public Methods
|
---|
73 | //******************************************************************************
|
---|
74 |
|
---|
75 | /**
|
---|
76 | * Initialize the default Serial transport at the default baud of 57600.
|
---|
77 | */
|
---|
78 | void FirmataClass::begin(void)
|
---|
79 | {
|
---|
80 | begin(57600);
|
---|
81 | }
|
---|
82 |
|
---|
83 | /**
|
---|
84 | * Initialize the default Serial transport and override the default baud.
|
---|
85 | * Sends the protocol version to the host application followed by the firmware version and name.
|
---|
86 | * blinkVersion is also called. To skip the call to blinkVersion, call Firmata.disableBlinkVersion()
|
---|
87 | * before calling Firmata.begin(baud).
|
---|
88 | * @param speed The baud to use. 57600 baud is the default value.
|
---|
89 | */
|
---|
90 | void FirmataClass::begin(long speed)
|
---|
91 | {
|
---|
92 | Serial.begin(speed);
|
---|
93 | FirmataStream = &Serial;
|
---|
94 | blinkVersion();
|
---|
95 | printVersion(); // send the protocol version
|
---|
96 | printFirmwareVersion(); // send the firmware name and version
|
---|
97 | }
|
---|
98 |
|
---|
99 | /**
|
---|
100 | * Reassign the Firmata stream transport.
|
---|
101 | * @param s A reference to the Stream transport object. This can be any type of
|
---|
102 | * transport that implements the Stream interface. Some examples include Ethernet, WiFi
|
---|
103 | * and other UARTs on the board (Serial1, Serial2, etc).
|
---|
104 | */
|
---|
105 | void FirmataClass::begin(Stream &s)
|
---|
106 | {
|
---|
107 | FirmataStream = &s;
|
---|
108 | // do not call blinkVersion() here because some hardware such as the
|
---|
109 | // Ethernet shield use pin 13
|
---|
110 | printVersion();
|
---|
111 | printFirmwareVersion();
|
---|
112 | }
|
---|
113 |
|
---|
114 | /**
|
---|
115 | * Send the Firmata protocol version to the Firmata host application.
|
---|
116 | */
|
---|
117 | void FirmataClass::printVersion(void)
|
---|
118 | {
|
---|
119 | FirmataStream->write(REPORT_VERSION);
|
---|
120 | FirmataStream->write(FIRMATA_PROTOCOL_MAJOR_VERSION);
|
---|
121 | FirmataStream->write(FIRMATA_PROTOCOL_MINOR_VERSION);
|
---|
122 | }
|
---|
123 |
|
---|
124 | /**
|
---|
125 | * Blink the Firmata protocol version to the onboard LEDs (if the board has an onboard LED).
|
---|
126 | * If VERSION_BLINK_PIN is not defined in Boards.h for a particular board, then this method
|
---|
127 | * does nothing.
|
---|
128 | * The first series of flashes indicates the firmware major version (2 flashes = 2).
|
---|
129 | * The second series of flashes indicates the firmware minor version (5 flashes = 5).
|
---|
130 | */
|
---|
131 | void FirmataClass::blinkVersion(void)
|
---|
132 | {
|
---|
133 | #if defined(VERSION_BLINK_PIN)
|
---|
134 | if (blinkVersionDisabled) return;
|
---|
135 | // flash the pin with the protocol version
|
---|
136 | pinMode(VERSION_BLINK_PIN, OUTPUT);
|
---|
137 | strobeBlinkPin(VERSION_BLINK_PIN, FIRMATA_FIRMWARE_MAJOR_VERSION, 40, 210);
|
---|
138 | delay(250);
|
---|
139 | strobeBlinkPin(VERSION_BLINK_PIN, FIRMATA_FIRMWARE_MINOR_VERSION, 40, 210);
|
---|
140 | delay(125);
|
---|
141 | #endif
|
---|
142 | }
|
---|
143 |
|
---|
144 | /**
|
---|
145 | * Provides a means to disable the version blink sequence on the onboard LED, trimming startup
|
---|
146 | * time by a couple of seconds.
|
---|
147 | * Call this before Firmata.begin(). It only applies when using the default Serial transport.
|
---|
148 | */
|
---|
149 | void FirmataClass::disableBlinkVersion()
|
---|
150 | {
|
---|
151 | blinkVersionDisabled = true;
|
---|
152 | }
|
---|
153 |
|
---|
154 | /**
|
---|
155 | * Sends the firmware name and version to the Firmata host application. The major and minor version
|
---|
156 | * numbers are the first 2 bytes in the message. The following bytes are the characters of the
|
---|
157 | * firmware name.
|
---|
158 | */
|
---|
159 | void FirmataClass::printFirmwareVersion(void)
|
---|
160 | {
|
---|
161 | byte i;
|
---|
162 |
|
---|
163 | if (firmwareVersionCount) { // make sure that the name has been set before reporting
|
---|
164 | startSysex();
|
---|
165 | FirmataStream->write(REPORT_FIRMWARE);
|
---|
166 | FirmataStream->write(firmwareVersionVector[0]); // major version number
|
---|
167 | FirmataStream->write(firmwareVersionVector[1]); // minor version number
|
---|
168 | for (i = 2; i < firmwareVersionCount; ++i) {
|
---|
169 | sendValueAsTwo7bitBytes(firmwareVersionVector[i]);
|
---|
170 | }
|
---|
171 | endSysex();
|
---|
172 | }
|
---|
173 | }
|
---|
174 |
|
---|
175 | /**
|
---|
176 | * Sets the name and version of the firmware. This is not the same version as the Firmata protocol
|
---|
177 | * (although at times the firmware version and protocol version may be the same number).
|
---|
178 | * @param name A pointer to the name char array
|
---|
179 | * @param major The major version number
|
---|
180 | * @param minor The minor version number
|
---|
181 | */
|
---|
182 | void FirmataClass::setFirmwareNameAndVersion(const char *name, byte major, byte minor)
|
---|
183 | {
|
---|
184 | const char *firmwareName;
|
---|
185 | const char *extension;
|
---|
186 |
|
---|
187 | // parse out ".cpp" and "applet/" that comes from using __FILE__
|
---|
188 | extension = strstr(name, ".cpp");
|
---|
189 | firmwareName = strrchr(name, '/');
|
---|
190 |
|
---|
191 | if (!firmwareName) {
|
---|
192 | // windows
|
---|
193 | firmwareName = strrchr(name, '\\');
|
---|
194 | }
|
---|
195 | if (!firmwareName) {
|
---|
196 | // user passed firmware name
|
---|
197 | firmwareName = name;
|
---|
198 | } else {
|
---|
199 | firmwareName ++;
|
---|
200 | }
|
---|
201 |
|
---|
202 | if (!extension) {
|
---|
203 | firmwareVersionCount = strlen(firmwareName) + 2;
|
---|
204 | } else {
|
---|
205 | firmwareVersionCount = extension - firmwareName + 2;
|
---|
206 | }
|
---|
207 |
|
---|
208 | // in case anyone calls setFirmwareNameAndVersion more than once
|
---|
209 | free(firmwareVersionVector);
|
---|
210 |
|
---|
211 | firmwareVersionVector = (byte *) malloc(firmwareVersionCount + 1);
|
---|
212 | firmwareVersionVector[firmwareVersionCount] = 0;
|
---|
213 | firmwareVersionVector[0] = major;
|
---|
214 | firmwareVersionVector[1] = minor;
|
---|
215 | strncpy((char *)firmwareVersionVector + 2, firmwareName, firmwareVersionCount - 2);
|
---|
216 | }
|
---|
217 |
|
---|
218 | //------------------------------------------------------------------------------
|
---|
219 | // Serial Receive Handling
|
---|
220 |
|
---|
221 | /**
|
---|
222 | * A wrapper for Stream::available()
|
---|
223 | * @return The number of bytes remaining in the input stream buffer.
|
---|
224 | */
|
---|
225 | int FirmataClass::available(void)
|
---|
226 | {
|
---|
227 | return FirmataStream->available();
|
---|
228 | }
|
---|
229 |
|
---|
230 | /**
|
---|
231 | * Process incoming sysex messages. Handles REPORT_FIRMWARE and STRING_DATA internally.
|
---|
232 | * Calls callback function for STRING_DATA and all other sysex messages.
|
---|
233 | * @private
|
---|
234 | */
|
---|
235 | void FirmataClass::processSysexMessage(void)
|
---|
236 | {
|
---|
237 | switch (storedInputData[0]) { //first byte in buffer is command
|
---|
238 | case REPORT_FIRMWARE:
|
---|
239 | printFirmwareVersion();
|
---|
240 | break;
|
---|
241 | case STRING_DATA:
|
---|
242 | if (currentStringCallback) {
|
---|
243 | byte bufferLength = (sysexBytesRead - 1) / 2;
|
---|
244 | byte i = 1;
|
---|
245 | byte j = 0;
|
---|
246 | while (j < bufferLength) {
|
---|
247 | // The string length will only be at most half the size of the
|
---|
248 | // stored input buffer so we can decode the string within the buffer.
|
---|
249 | storedInputData[j] = storedInputData[i];
|
---|
250 | i++;
|
---|
251 | storedInputData[j] += (storedInputData[i] << 7);
|
---|
252 | i++;
|
---|
253 | j++;
|
---|
254 | }
|
---|
255 | // Make sure string is null terminated. This may be the case for data
|
---|
256 | // coming from client libraries in languages that don't null terminate
|
---|
257 | // strings.
|
---|
258 | if (storedInputData[j - 1] != '\0') {
|
---|
259 | storedInputData[j] = '\0';
|
---|
260 | }
|
---|
261 | (*currentStringCallback)((char *)&storedInputData[0]);
|
---|
262 | }
|
---|
263 | break;
|
---|
264 | default:
|
---|
265 | if (currentSysexCallback)
|
---|
266 | (*currentSysexCallback)(storedInputData[0], sysexBytesRead - 1, storedInputData + 1);
|
---|
267 | }
|
---|
268 | }
|
---|
269 |
|
---|
270 | /**
|
---|
271 | * Read a single int from the input stream. If the value is not = -1, pass it on to parse(byte)
|
---|
272 | */
|
---|
273 | void FirmataClass::processInput(void)
|
---|
274 | {
|
---|
275 | int inputData = FirmataStream->read(); // this is 'int' to handle -1 when no data
|
---|
276 | if (inputData != -1) {
|
---|
277 | parse(inputData);
|
---|
278 | }
|
---|
279 | }
|
---|
280 |
|
---|
281 | /**
|
---|
282 | * Parse data from the input stream.
|
---|
283 | * @param inputData A single byte to be added to the parser.
|
---|
284 | */
|
---|
285 | void FirmataClass::parse(byte inputData)
|
---|
286 | {
|
---|
287 | int command;
|
---|
288 | if (parsingSysex) {
|
---|
289 | if (inputData == END_SYSEX) {
|
---|
290 | //stop sysex byte
|
---|
291 | parsingSysex = false;
|
---|
292 | //fire off handler function
|
---|
293 | processSysexMessage();
|
---|
294 | } else {
|
---|
295 | //normal data byte - add to buffer
|
---|
296 | storedInputData[sysexBytesRead] = inputData;
|
---|
297 | sysexBytesRead++;
|
---|
298 |
|
---|
299 | }
|
---|
300 | } else if ( (waitForData > 0) && (inputData < 128) ) {
|
---|
301 | waitForData--;
|
---|
302 | storedInputData[waitForData] = inputData;
|
---|
303 | if ( (waitForData == 0) && executeMultiByteCommand ) { // got the whole message
|
---|
304 | switch (executeMultiByteCommand) {
|
---|
305 | case ANALOG_MESSAGE:
|
---|
306 | if (currentAnalogCallback) {
|
---|
307 | (*currentAnalogCallback)(multiByteChannel,
|
---|
308 | (storedInputData[0] << 7)
|
---|
309 | + storedInputData[1]);
|
---|
310 | }
|
---|
311 | break;
|
---|
312 | case DIGITAL_MESSAGE:
|
---|
313 | if (currentDigitalCallback) {
|
---|
314 | (*currentDigitalCallback)(multiByteChannel,
|
---|
315 | (storedInputData[0] << 7)
|
---|
316 | + storedInputData[1]);
|
---|
317 | }
|
---|
318 | break;
|
---|
319 | case SET_PIN_MODE:
|
---|
320 | if (currentPinModeCallback)
|
---|
321 | (*currentPinModeCallback)(storedInputData[1], storedInputData[0]);
|
---|
322 | break;
|
---|
323 | case SET_DIGITAL_PIN_VALUE:
|
---|
324 | if (currentPinValueCallback)
|
---|
325 | (*currentPinValueCallback)(storedInputData[1], storedInputData[0]);
|
---|
326 | break;
|
---|
327 | case REPORT_ANALOG:
|
---|
328 | if (currentReportAnalogCallback)
|
---|
329 | (*currentReportAnalogCallback)(multiByteChannel, storedInputData[0]);
|
---|
330 | break;
|
---|
331 | case REPORT_DIGITAL:
|
---|
332 | if (currentReportDigitalCallback)
|
---|
333 | (*currentReportDigitalCallback)(multiByteChannel, storedInputData[0]);
|
---|
334 | break;
|
---|
335 | }
|
---|
336 | executeMultiByteCommand = 0;
|
---|
337 | }
|
---|
338 | } else {
|
---|
339 | // remove channel info from command byte if less than 0xF0
|
---|
340 | if (inputData < 0xF0) {
|
---|
341 | command = inputData & 0xF0;
|
---|
342 | multiByteChannel = inputData & 0x0F;
|
---|
343 | } else {
|
---|
344 | command = inputData;
|
---|
345 | // commands in the 0xF* range don't use channel data
|
---|
346 | }
|
---|
347 | switch (command) {
|
---|
348 | case ANALOG_MESSAGE:
|
---|
349 | case DIGITAL_MESSAGE:
|
---|
350 | case SET_PIN_MODE:
|
---|
351 | case SET_DIGITAL_PIN_VALUE:
|
---|
352 | waitForData = 2; // two data bytes needed
|
---|
353 | executeMultiByteCommand = command;
|
---|
354 | break;
|
---|
355 | case REPORT_ANALOG:
|
---|
356 | case REPORT_DIGITAL:
|
---|
357 | waitForData = 1; // one data byte needed
|
---|
358 | executeMultiByteCommand = command;
|
---|
359 | break;
|
---|
360 | case START_SYSEX:
|
---|
361 | parsingSysex = true;
|
---|
362 | sysexBytesRead = 0;
|
---|
363 | break;
|
---|
364 | case SYSTEM_RESET:
|
---|
365 | systemReset();
|
---|
366 | break;
|
---|
367 | case REPORT_VERSION:
|
---|
368 | Firmata.printVersion();
|
---|
369 | break;
|
---|
370 | }
|
---|
371 | }
|
---|
372 | }
|
---|
373 |
|
---|
374 | /**
|
---|
375 | * @return Returns true if the parser is actively parsing data.
|
---|
376 | */
|
---|
377 | boolean FirmataClass::isParsingMessage(void)
|
---|
378 | {
|
---|
379 | return (waitForData > 0 || parsingSysex);
|
---|
380 | }
|
---|
381 |
|
---|
382 | //------------------------------------------------------------------------------
|
---|
383 | // Output Stream Handling
|
---|
384 |
|
---|
385 | /**
|
---|
386 | * Send an analog message to the Firmata host application. The range of pins is limited to [0..15]
|
---|
387 | * when using the ANALOG_MESSAGE. The maximum value of the ANALOG_MESSAGE is limited to 14 bits
|
---|
388 | * (16384). To increase the pin range or value, see the documentation for the EXTENDED_ANALOG
|
---|
389 | * message.
|
---|
390 | * @param pin The analog pin to send the value of (limited to pins 0 - 15).
|
---|
391 | * @param value The value of the analog pin (0 - 1024 for 10-bit analog, 0 - 4096 for 12-bit, etc).
|
---|
392 | * The maximum value is 14-bits (16384).
|
---|
393 | */
|
---|
394 | void FirmataClass::sendAnalog(byte pin, int value)
|
---|
395 | {
|
---|
396 | // pin can only be 0-15, so chop higher bits
|
---|
397 | FirmataStream->write(ANALOG_MESSAGE | (pin & 0xF));
|
---|
398 | sendValueAsTwo7bitBytes(value);
|
---|
399 | }
|
---|
400 |
|
---|
401 | /* (intentionally left out asterix here)
|
---|
402 | * STUB - NOT IMPLEMENTED
|
---|
403 | * Send a single digital pin value to the Firmata host application.
|
---|
404 | * @param pin The digital pin to send the value of.
|
---|
405 | * @param value The value of the pin.
|
---|
406 | */
|
---|
407 | void FirmataClass::sendDigital(byte pin, int value)
|
---|
408 | {
|
---|
409 | /* TODO add single pin digital messages to the protocol, this needs to
|
---|
410 | * track the last digital data sent so that it can be sure to change just
|
---|
411 | * one bit in the packet. This is complicated by the fact that the
|
---|
412 | * numbering of the pins will probably differ on Arduino, Wiring, and
|
---|
413 | * other boards.
|
---|
414 | */
|
---|
415 |
|
---|
416 | // TODO: the digital message should not be sent on the serial port every
|
---|
417 | // time sendDigital() is called. Instead, it should add it to an int
|
---|
418 | // which will be sent on a schedule. If a pin changes more than once
|
---|
419 | // before the digital message is sent on the serial port, it should send a
|
---|
420 | // digital message for each change.
|
---|
421 |
|
---|
422 | // if(value == 0)
|
---|
423 | // sendDigitalPortPair();
|
---|
424 | }
|
---|
425 |
|
---|
426 |
|
---|
427 | /**
|
---|
428 | * Send an 8-bit port in a single digital message (protocol v2 and later).
|
---|
429 | * Send 14-bits in a single digital message (protocol v1).
|
---|
430 | * @param portNumber The port number to send. Note that this is not the same as a "port" on the
|
---|
431 | * physical microcontroller. Ports are defined in order per every 8 pins in ascending order
|
---|
432 | * of the Arduino digital pin numbering scheme. Port 0 = pins D0 - D7, port 1 = pins D8 - D15, etc.
|
---|
433 | * @param portData The value of the port. The value of each pin in the port is represented by a bit.
|
---|
434 | */
|
---|
435 | void FirmataClass::sendDigitalPort(byte portNumber, int portData)
|
---|
436 | {
|
---|
437 | FirmataStream->write(DIGITAL_MESSAGE | (portNumber & 0xF));
|
---|
438 | FirmataStream->write((byte)portData % 128); // Tx bits 0-6 (protocol v1 and higher)
|
---|
439 | FirmataStream->write(portData >> 7); // Tx bits 7-13 (bit 7 only for protocol v2 and higher)
|
---|
440 | }
|
---|
441 |
|
---|
442 | /**
|
---|
443 | * Send a sysex message where all values after the command byte are packet as 2 7-bit bytes
|
---|
444 | * (this is not always the case so this function is not always used to send sysex messages).
|
---|
445 | * @param command The sysex command byte.
|
---|
446 | * @param bytec The number of data bytes in the message (excludes start, command and end bytes).
|
---|
447 | * @param bytev A pointer to the array of data bytes to send in the message.
|
---|
448 | */
|
---|
449 | void FirmataClass::sendSysex(byte command, byte bytec, byte *bytev)
|
---|
450 | {
|
---|
451 | byte i;
|
---|
452 | startSysex();
|
---|
453 | FirmataStream->write(command);
|
---|
454 | for (i = 0; i < bytec; i++) {
|
---|
455 | sendValueAsTwo7bitBytes(bytev[i]);
|
---|
456 | }
|
---|
457 | endSysex();
|
---|
458 | }
|
---|
459 |
|
---|
460 | /**
|
---|
461 | * Send a string to the Firmata host application.
|
---|
462 | * @param command Must be STRING_DATA
|
---|
463 | * @param string A pointer to the char string
|
---|
464 | */
|
---|
465 | void FirmataClass::sendString(byte command, const char *string)
|
---|
466 | {
|
---|
467 | if (command == STRING_DATA) {
|
---|
468 | sendSysex(command, strlen(string), (byte *)string);
|
---|
469 | }
|
---|
470 | }
|
---|
471 |
|
---|
472 | /**
|
---|
473 | * Send a string to the Firmata host application.
|
---|
474 | * @param string A pointer to the char string
|
---|
475 | */
|
---|
476 | void FirmataClass::sendString(const char *string)
|
---|
477 | {
|
---|
478 | sendString(STRING_DATA, string);
|
---|
479 | }
|
---|
480 |
|
---|
481 | /**
|
---|
482 | * A wrapper for Stream::available().
|
---|
483 | * Write a single byte to the output stream.
|
---|
484 | * @param c The byte to be written.
|
---|
485 | */
|
---|
486 | void FirmataClass::write(byte c)
|
---|
487 | {
|
---|
488 | FirmataStream->write(c);
|
---|
489 | }
|
---|
490 |
|
---|
491 | /**
|
---|
492 | * Attach a generic sysex callback function to a command (options are: ANALOG_MESSAGE,
|
---|
493 | * DIGITAL_MESSAGE, REPORT_ANALOG, REPORT DIGITAL, SET_PIN_MODE and SET_DIGITAL_PIN_VALUE).
|
---|
494 | * @param command The ID of the command to attach a callback function to.
|
---|
495 | * @param newFunction A reference to the callback function to attach.
|
---|
496 | */
|
---|
497 | void FirmataClass::attach(byte command, callbackFunction newFunction)
|
---|
498 | {
|
---|
499 | switch (command) {
|
---|
500 | case ANALOG_MESSAGE: currentAnalogCallback = newFunction; break;
|
---|
501 | case DIGITAL_MESSAGE: currentDigitalCallback = newFunction; break;
|
---|
502 | case REPORT_ANALOG: currentReportAnalogCallback = newFunction; break;
|
---|
503 | case REPORT_DIGITAL: currentReportDigitalCallback = newFunction; break;
|
---|
504 | case SET_PIN_MODE: currentPinModeCallback = newFunction; break;
|
---|
505 | case SET_DIGITAL_PIN_VALUE: currentPinValueCallback = newFunction; break;
|
---|
506 | }
|
---|
507 | }
|
---|
508 |
|
---|
509 | /**
|
---|
510 | * Attach a callback function for the SYSTEM_RESET command.
|
---|
511 | * @param command Must be set to SYSTEM_RESET or it will be ignored.
|
---|
512 | * @param newFunction A reference to the system reset callback function to attach.
|
---|
513 | */
|
---|
514 | void FirmataClass::attach(byte command, systemResetCallbackFunction newFunction)
|
---|
515 | {
|
---|
516 | switch (command) {
|
---|
517 | case SYSTEM_RESET: currentSystemResetCallback = newFunction; break;
|
---|
518 | }
|
---|
519 | }
|
---|
520 |
|
---|
521 | /**
|
---|
522 | * Attach a callback function for the STRING_DATA command.
|
---|
523 | * @param command Must be set to STRING_DATA or it will be ignored.
|
---|
524 | * @param newFunction A reference to the string callback function to attach.
|
---|
525 | */
|
---|
526 | void FirmataClass::attach(byte command, stringCallbackFunction newFunction)
|
---|
527 | {
|
---|
528 | switch (command) {
|
---|
529 | case STRING_DATA: currentStringCallback = newFunction; break;
|
---|
530 | }
|
---|
531 | }
|
---|
532 |
|
---|
533 | /**
|
---|
534 | * Attach a generic sysex callback function to sysex command.
|
---|
535 | * @param command The ID of the command to attach a callback function to.
|
---|
536 | * @param newFunction A reference to the sysex callback function to attach.
|
---|
537 | */
|
---|
538 | void FirmataClass::attach(byte command, sysexCallbackFunction newFunction)
|
---|
539 | {
|
---|
540 | currentSysexCallback = newFunction;
|
---|
541 | }
|
---|
542 |
|
---|
543 | /**
|
---|
544 | * Detach a callback function for a specified command (such as SYSTEM_RESET, STRING_DATA,
|
---|
545 | * ANALOG_MESSAGE, DIGITAL_MESSAGE, etc).
|
---|
546 | * @param command The ID of the command to detatch the callback function from.
|
---|
547 | */
|
---|
548 | void FirmataClass::detach(byte command)
|
---|
549 | {
|
---|
550 | switch (command) {
|
---|
551 | case SYSTEM_RESET: currentSystemResetCallback = NULL; break;
|
---|
552 | case STRING_DATA: currentStringCallback = NULL; break;
|
---|
553 | case START_SYSEX: currentSysexCallback = NULL; break;
|
---|
554 | default:
|
---|
555 | attach(command, (callbackFunction)NULL);
|
---|
556 | }
|
---|
557 | }
|
---|
558 |
|
---|
559 | /**
|
---|
560 | * @param pin The pin to get the configuration of.
|
---|
561 | * @return The configuration of the specified pin.
|
---|
562 | */
|
---|
563 | byte FirmataClass::getPinMode(byte pin)
|
---|
564 | {
|
---|
565 | return pinConfig[pin];
|
---|
566 | }
|
---|
567 |
|
---|
568 | /**
|
---|
569 | * Set the pin mode/configuration. The pin configuration (or mode) in Firmata represents the
|
---|
570 | * current function of the pin. Examples are digital input or output, analog input, pwm, i2c,
|
---|
571 | * serial (uart), etc.
|
---|
572 | * @param pin The pin to configure.
|
---|
573 | * @param config The configuration value for the specified pin.
|
---|
574 | */
|
---|
575 | void FirmataClass::setPinMode(byte pin, byte config)
|
---|
576 | {
|
---|
577 | if (pinConfig[pin] == PIN_MODE_IGNORE)
|
---|
578 | return;
|
---|
579 |
|
---|
580 | pinConfig[pin] = config;
|
---|
581 | }
|
---|
582 |
|
---|
583 | /**
|
---|
584 | * @param pin The pin to get the state of.
|
---|
585 | * @return The state of the specified pin.
|
---|
586 | */
|
---|
587 | int FirmataClass::getPinState(byte pin)
|
---|
588 | {
|
---|
589 | return pinState[pin];
|
---|
590 | }
|
---|
591 |
|
---|
592 | /**
|
---|
593 | * Set the pin state. The pin state of an output pin is the pin value. The state of an
|
---|
594 | * input pin is 0, unless the pin has it's internal pull up resistor enabled, then the value is 1.
|
---|
595 | * @param pin The pin to set the state of
|
---|
596 | * @param state Set the state of the specified pin
|
---|
597 | */
|
---|
598 | void FirmataClass::setPinState(byte pin, int state)
|
---|
599 | {
|
---|
600 | pinState[pin] = state;
|
---|
601 | }
|
---|
602 |
|
---|
603 | // sysex callbacks
|
---|
604 | /*
|
---|
605 | * this is too complicated for analogReceive, but maybe for Sysex?
|
---|
606 | void FirmataClass::attachSysex(sysexFunction newFunction)
|
---|
607 | {
|
---|
608 | byte i;
|
---|
609 | byte tmpCount = analogReceiveFunctionCount;
|
---|
610 | analogReceiveFunction* tmpArray = analogReceiveFunctionArray;
|
---|
611 | analogReceiveFunctionCount++;
|
---|
612 | analogReceiveFunctionArray = (analogReceiveFunction*) calloc(analogReceiveFunctionCount, sizeof(analogReceiveFunction));
|
---|
613 | for(i = 0; i < tmpCount; i++) {
|
---|
614 | analogReceiveFunctionArray[i] = tmpArray[i];
|
---|
615 | }
|
---|
616 | analogReceiveFunctionArray[tmpCount] = newFunction;
|
---|
617 | free(tmpArray);
|
---|
618 | }
|
---|
619 | */
|
---|
620 |
|
---|
621 | //******************************************************************************
|
---|
622 | //* Private Methods
|
---|
623 | //******************************************************************************
|
---|
624 |
|
---|
625 | /**
|
---|
626 | * Resets the system state upon a SYSTEM_RESET message from the host software.
|
---|
627 | * @private
|
---|
628 | */
|
---|
629 | void FirmataClass::systemReset(void)
|
---|
630 | {
|
---|
631 | byte i;
|
---|
632 |
|
---|
633 | waitForData = 0; // this flag says the next serial input will be data
|
---|
634 | executeMultiByteCommand = 0; // execute this after getting multi-byte data
|
---|
635 | multiByteChannel = 0; // channel data for multiByteCommands
|
---|
636 |
|
---|
637 | for (i = 0; i < MAX_DATA_BYTES; i++) {
|
---|
638 | storedInputData[i] = 0;
|
---|
639 | }
|
---|
640 |
|
---|
641 | parsingSysex = false;
|
---|
642 | sysexBytesRead = 0;
|
---|
643 |
|
---|
644 | if (currentSystemResetCallback)
|
---|
645 | (*currentSystemResetCallback)();
|
---|
646 | }
|
---|
647 |
|
---|
648 | /**
|
---|
649 | * Flashing the pin for the version number
|
---|
650 | * @private
|
---|
651 | * @param pin The pin the LED is attached to.
|
---|
652 | * @param count The number of times to flash the LED.
|
---|
653 | * @param onInterval The number of milliseconds for the LED to be ON during each interval.
|
---|
654 | * @param offInterval The number of milliseconds for the LED to be OFF during each interval.
|
---|
655 | */
|
---|
656 | void FirmataClass::strobeBlinkPin(byte pin, int count, int onInterval, int offInterval)
|
---|
657 | {
|
---|
658 | byte i;
|
---|
659 | for (i = 0; i < count; i++) {
|
---|
660 | delay(offInterval);
|
---|
661 | digitalWrite(pin, HIGH);
|
---|
662 | delay(onInterval);
|
---|
663 | digitalWrite(pin, LOW);
|
---|
664 | }
|
---|
665 | }
|
---|
666 |
|
---|
667 | // make one instance for the user to use
|
---|
668 | FirmataClass Firmata;
|
---|