1 | /*
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2 | Firmata.cpp - Firmata library
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3 | Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved.
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4 |
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5 | This library is free software; you can redistribute it and/or
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6 | modify it under the terms of the GNU Lesser General Public
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7 | License as published by the Free Software Foundation; either
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8 | version 2.1 of the License, or (at your option) any later version.
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9 |
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10 | See file LICENSE.txt for further informations on licensing terms.
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11 | */
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12 |
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13 | //******************************************************************************
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14 | //* Includes
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15 | //******************************************************************************
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16 |
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17 | #include "Firmata.h"
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18 | #include "HardwareSerial.h"
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19 |
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20 | extern "C" {
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21 | #include <string.h>
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22 | #include <stdlib.h>
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23 | }
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24 |
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25 | //******************************************************************************
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26 | //* Support Functions
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27 | //******************************************************************************
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28 |
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29 | void FirmataClass::sendValueAsTwo7bitBytes(int value)
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30 | {
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31 | FirmataSerial->write(value & B01111111); // LSB
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32 | FirmataSerial->write(value >> 7 & B01111111); // MSB
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33 | }
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34 |
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35 | void FirmataClass::startSysex(void)
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36 | {
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37 | FirmataSerial->write(START_SYSEX);
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38 | }
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39 |
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40 | void FirmataClass::endSysex(void)
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41 | {
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42 | FirmataSerial->write(END_SYSEX);
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43 | }
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44 |
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45 | //******************************************************************************
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46 | //* Constructors
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47 | //******************************************************************************
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48 |
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49 | FirmataClass::FirmataClass()
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50 | {
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51 | firmwareVersionCount = 0;
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52 | firmwareVersionVector = 0;
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53 | systemReset();
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54 | }
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55 |
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56 | //******************************************************************************
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57 | //* Public Methods
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58 | //******************************************************************************
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59 |
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60 | /* begin method with default serial bitrate */
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61 | void FirmataClass::begin(void)
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62 | {
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63 | begin(57600);
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64 | }
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65 |
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66 | /* begin method for overriding default serial bitrate */
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67 | void FirmataClass::begin(long speed)
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68 | {
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69 | Serial.begin(speed);
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70 | FirmataSerial = &Serial;
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71 | blinkVersion();
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72 | printVersion();
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73 | printFirmwareVersion();
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74 | }
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75 |
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76 | /* begin method for overriding default stream */
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77 | void FirmataClass::begin(Stream &s)
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78 | {
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79 | FirmataSerial = &s;
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80 | // do not call blinkVersion() here because some hardware such as the
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81 | // Ethernet shield use pin 13
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82 | printVersion();
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83 | printFirmwareVersion();
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84 | }
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85 |
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86 | // output the protocol version message to the serial port
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87 | void FirmataClass::printVersion(void) {
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88 | FirmataSerial->write(REPORT_VERSION);
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89 | FirmataSerial->write(FIRMATA_MAJOR_VERSION);
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90 | FirmataSerial->write(FIRMATA_MINOR_VERSION);
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91 | }
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92 |
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93 | void FirmataClass::blinkVersion(void)
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94 | {
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95 | // flash the pin with the protocol version
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96 | pinMode(VERSION_BLINK_PIN,OUTPUT);
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97 | strobeBlinkPin(FIRMATA_MAJOR_VERSION, 40, 210);
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98 | delay(250);
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99 | strobeBlinkPin(FIRMATA_MINOR_VERSION, 40, 210);
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100 | delay(125);
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101 | }
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102 |
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103 | void FirmataClass::printFirmwareVersion(void)
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104 | {
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105 | byte i;
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106 |
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107 | if(firmwareVersionCount) { // make sure that the name has been set before reporting
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108 | startSysex();
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109 | FirmataSerial->write(REPORT_FIRMWARE);
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110 | FirmataSerial->write(firmwareVersionVector[0]); // major version number
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111 | FirmataSerial->write(firmwareVersionVector[1]); // minor version number
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112 | for(i=2; i<firmwareVersionCount; ++i) {
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113 | sendValueAsTwo7bitBytes(firmwareVersionVector[i]);
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114 | }
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115 | endSysex();
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116 | }
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117 | }
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118 |
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119 | void FirmataClass::setFirmwareNameAndVersion(const char *name, byte major, byte minor)
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120 | {
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121 | const char *filename;
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122 | char *extension;
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123 |
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124 | // parse out ".cpp" and "applet/" that comes from using __FILE__
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125 | extension = strstr(name, ".cpp");
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126 | filename = strrchr(name, '/') + 1; //points to slash, +1 gets to start of filename
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127 | // add two bytes for version numbers
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128 | if(extension && filename) {
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129 | firmwareVersionCount = extension - filename + 2;
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130 | } else {
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131 | firmwareVersionCount = strlen(name) + 2;
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132 | filename = name;
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133 | }
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134 |
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135 | free(firmwareVersionVector);
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136 |
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137 | firmwareVersionVector = (byte *) malloc(firmwareVersionCount);
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138 | firmwareVersionVector[firmwareVersionCount] = 0;
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139 | firmwareVersionVector[0] = major;
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140 | firmwareVersionVector[1] = minor;
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141 | strncpy((char*)firmwareVersionVector + 2, filename, firmwareVersionCount - 2);
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142 | // alas, no snprintf on Arduino
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143 | // snprintf(firmwareVersionVector, MAX_DATA_BYTES, "%c%c%s",
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144 | // (char)major, (char)minor, firmwareVersionVector);
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145 | }
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146 |
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147 | // this method is only used for unit testing
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148 | // void FirmataClass::unsetFirmwareVersion()
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149 | // {
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150 | // firmwareVersionCount = 0;
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151 | // free(firmwareVersionVector);
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152 | // firmwareVersionVector = 0;
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153 | // }
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154 |
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155 | //------------------------------------------------------------------------------
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156 | // Serial Receive Handling
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157 |
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158 | int FirmataClass::available(void)
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159 | {
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160 | return FirmataSerial->available();
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161 | }
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162 |
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163 |
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164 | void FirmataClass::processSysexMessage(void)
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165 | {
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166 | switch(storedInputData[0]) { //first byte in buffer is command
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167 | case REPORT_FIRMWARE:
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168 | printFirmwareVersion();
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169 | break;
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170 | case STRING_DATA:
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171 | if(currentStringCallback) {
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172 | byte bufferLength = (sysexBytesRead - 1) / 2;
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173 | char *buffer = (char*)malloc(bufferLength * sizeof(char));
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174 | byte i = 1;
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175 | byte j = 0;
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176 | while(j < bufferLength) {
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177 | buffer[j] = (char)storedInputData[i];
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178 | i++;
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179 | buffer[j] += (char)(storedInputData[i] << 7);
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180 | i++;
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181 | j++;
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182 | }
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183 | (*currentStringCallback)(buffer);
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184 | }
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185 | break;
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186 | default:
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187 | if(currentSysexCallback)
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188 | (*currentSysexCallback)(storedInputData[0], sysexBytesRead - 1, storedInputData + 1);
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189 | }
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190 | }
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191 |
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192 | void FirmataClass::processInput(void)
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193 | {
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194 | int inputData = FirmataSerial->read(); // this is 'int' to handle -1 when no data
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195 | int command;
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196 |
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197 | // TODO make sure it handles -1 properly
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198 |
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199 | if (parsingSysex) {
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200 | if(inputData == END_SYSEX) {
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201 | //stop sysex byte
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202 | parsingSysex = false;
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203 | //fire off handler function
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204 | processSysexMessage();
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205 | } else {
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206 | //normal data byte - add to buffer
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207 | storedInputData[sysexBytesRead] = inputData;
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208 | sysexBytesRead++;
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209 | }
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210 | } else if( (waitForData > 0) && (inputData < 128) ) {
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211 | waitForData--;
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212 | storedInputData[waitForData] = inputData;
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213 | if( (waitForData==0) && executeMultiByteCommand ) { // got the whole message
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214 | switch(executeMultiByteCommand) {
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215 | case ANALOG_MESSAGE:
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216 | if(currentAnalogCallback) {
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217 | (*currentAnalogCallback)(multiByteChannel,
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218 | (storedInputData[0] << 7)
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219 | + storedInputData[1]);
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220 | }
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221 | break;
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222 | case DIGITAL_MESSAGE:
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223 | if(currentDigitalCallback) {
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224 | (*currentDigitalCallback)(multiByteChannel,
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225 | (storedInputData[0] << 7)
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226 | + storedInputData[1]);
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227 | }
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228 | break;
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229 | case SET_PIN_MODE:
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230 | if(currentPinModeCallback)
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231 | (*currentPinModeCallback)(storedInputData[1], storedInputData[0]);
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232 | break;
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233 | case REPORT_ANALOG:
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234 | if(currentReportAnalogCallback)
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235 | (*currentReportAnalogCallback)(multiByteChannel,storedInputData[0]);
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236 | break;
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237 | case REPORT_DIGITAL:
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238 | if(currentReportDigitalCallback)
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239 | (*currentReportDigitalCallback)(multiByteChannel,storedInputData[0]);
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240 | break;
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241 | }
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242 | executeMultiByteCommand = 0;
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243 | }
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244 | } else {
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245 | // remove channel info from command byte if less than 0xF0
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246 | if(inputData < 0xF0) {
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247 | command = inputData & 0xF0;
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248 | multiByteChannel = inputData & 0x0F;
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249 | } else {
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250 | command = inputData;
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251 | // commands in the 0xF* range don't use channel data
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252 | }
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253 | switch (command) {
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254 | case ANALOG_MESSAGE:
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255 | case DIGITAL_MESSAGE:
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256 | case SET_PIN_MODE:
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257 | waitForData = 2; // two data bytes needed
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258 | executeMultiByteCommand = command;
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259 | break;
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260 | case REPORT_ANALOG:
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261 | case REPORT_DIGITAL:
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262 | waitForData = 1; // two data bytes needed
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263 | executeMultiByteCommand = command;
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264 | break;
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265 | case START_SYSEX:
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266 | parsingSysex = true;
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267 | sysexBytesRead = 0;
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268 | break;
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269 | case SYSTEM_RESET:
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270 | systemReset();
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271 | break;
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272 | case REPORT_VERSION:
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273 | Firmata.printVersion();
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274 | break;
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275 | }
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276 | }
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277 | }
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278 |
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279 | //------------------------------------------------------------------------------
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280 | // Serial Send Handling
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281 |
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282 | // send an analog message
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283 | void FirmataClass::sendAnalog(byte pin, int value)
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284 | {
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285 | // pin can only be 0-15, so chop higher bits
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286 | FirmataSerial->write(ANALOG_MESSAGE | (pin & 0xF));
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287 | sendValueAsTwo7bitBytes(value);
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288 | }
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289 |
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290 | // send a single digital pin in a digital message
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291 | void FirmataClass::sendDigital(byte pin, int value)
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292 | {
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293 | /* TODO add single pin digital messages to the protocol, this needs to
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294 | * track the last digital data sent so that it can be sure to change just
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295 | * one bit in the packet. This is complicated by the fact that the
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296 | * numbering of the pins will probably differ on Arduino, Wiring, and
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297 | * other boards. The DIGITAL_MESSAGE sends 14 bits at a time, but it is
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298 | * probably easier to send 8 bit ports for any board with more than 14
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299 | * digital pins.
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300 | */
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301 |
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302 | // TODO: the digital message should not be sent on the serial port every
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303 | // time sendDigital() is called. Instead, it should add it to an int
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304 | // which will be sent on a schedule. If a pin changes more than once
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305 | // before the digital message is sent on the serial port, it should send a
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306 | // digital message for each change.
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307 |
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308 | // if(value == 0)
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309 | // sendDigitalPortPair();
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310 | }
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311 |
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312 |
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313 | // send 14-bits in a single digital message (protocol v1)
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314 | // send an 8-bit port in a single digital message (protocol v2)
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315 | void FirmataClass::sendDigitalPort(byte portNumber, int portData)
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316 | {
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317 | FirmataSerial->write(DIGITAL_MESSAGE | (portNumber & 0xF));
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318 | FirmataSerial->write((byte)portData % 128); // Tx bits 0-6
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319 | FirmataSerial->write(portData >> 7); // Tx bits 7-13
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320 | }
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321 |
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322 |
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323 | void FirmataClass::sendSysex(byte command, byte bytec, byte* bytev)
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324 | {
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325 | byte i;
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326 | startSysex();
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327 | FirmataSerial->write(command);
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328 | for(i=0; i<bytec; i++) {
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329 | sendValueAsTwo7bitBytes(bytev[i]);
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330 | }
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331 | endSysex();
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332 | }
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333 |
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334 | void FirmataClass::sendString(byte command, const char* string)
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335 | {
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336 | sendSysex(command, strlen(string), (byte *)string);
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337 | }
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338 |
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339 |
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340 | // send a string as the protocol string type
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341 | void FirmataClass::sendString(const char* string)
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342 | {
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343 | sendString(STRING_DATA, string);
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344 | }
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345 |
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346 | // expose the write method
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347 | void FirmataClass::write(byte c)
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348 | {
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349 | FirmataSerial->write(c);
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350 | }
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351 |
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352 |
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353 | // Internal Actions/////////////////////////////////////////////////////////////
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354 |
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355 | // generic callbacks
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356 | void FirmataClass::attach(byte command, callbackFunction newFunction)
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357 | {
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358 | switch(command) {
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359 | case ANALOG_MESSAGE: currentAnalogCallback = newFunction; break;
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360 | case DIGITAL_MESSAGE: currentDigitalCallback = newFunction; break;
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361 | case REPORT_ANALOG: currentReportAnalogCallback = newFunction; break;
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362 | case REPORT_DIGITAL: currentReportDigitalCallback = newFunction; break;
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363 | case SET_PIN_MODE: currentPinModeCallback = newFunction; break;
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364 | }
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365 | }
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366 |
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367 | void FirmataClass::attach(byte command, systemResetCallbackFunction newFunction)
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368 | {
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369 | switch(command) {
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370 | case SYSTEM_RESET: currentSystemResetCallback = newFunction; break;
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371 | }
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372 | }
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373 |
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374 | void FirmataClass::attach(byte command, stringCallbackFunction newFunction)
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375 | {
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376 | switch(command) {
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377 | case STRING_DATA: currentStringCallback = newFunction; break;
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378 | }
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379 | }
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380 |
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381 | void FirmataClass::attach(byte command, sysexCallbackFunction newFunction)
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382 | {
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383 | currentSysexCallback = newFunction;
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384 | }
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385 |
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386 | void FirmataClass::detach(byte command)
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387 | {
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388 | switch(command) {
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389 | case SYSTEM_RESET: currentSystemResetCallback = NULL; break;
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390 | case STRING_DATA: currentStringCallback = NULL; break;
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391 | case START_SYSEX: currentSysexCallback = NULL; break;
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392 | default:
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393 | attach(command, (callbackFunction)NULL);
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394 | }
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395 | }
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396 |
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397 | // sysex callbacks
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398 | /*
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399 | * this is too complicated for analogReceive, but maybe for Sysex?
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400 | void FirmataClass::attachSysex(sysexFunction newFunction)
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401 | {
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402 | byte i;
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403 | byte tmpCount = analogReceiveFunctionCount;
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404 | analogReceiveFunction* tmpArray = analogReceiveFunctionArray;
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405 | analogReceiveFunctionCount++;
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406 | analogReceiveFunctionArray = (analogReceiveFunction*) calloc(analogReceiveFunctionCount, sizeof(analogReceiveFunction));
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407 | for(i = 0; i < tmpCount; i++) {
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408 | analogReceiveFunctionArray[i] = tmpArray[i];
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409 | }
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410 | analogReceiveFunctionArray[tmpCount] = newFunction;
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411 | free(tmpArray);
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412 | }
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413 | */
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414 |
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415 | //******************************************************************************
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416 | //* Private Methods
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417 | //******************************************************************************
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418 |
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419 |
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420 |
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421 | // resets the system state upon a SYSTEM_RESET message from the host software
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422 | void FirmataClass::systemReset(void)
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423 | {
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424 | byte i;
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425 |
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426 | waitForData = 0; // this flag says the next serial input will be data
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427 | executeMultiByteCommand = 0; // execute this after getting multi-byte data
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428 | multiByteChannel = 0; // channel data for multiByteCommands
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429 |
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430 | for(i=0; i<MAX_DATA_BYTES; i++) {
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431 | storedInputData[i] = 0;
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432 | }
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433 |
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434 | parsingSysex = false;
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435 | sysexBytesRead = 0;
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436 |
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437 | if(currentSystemResetCallback)
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438 | (*currentSystemResetCallback)();
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439 |
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440 | //flush(); //TODO uncomment when Firmata is a subclass of HardwareSerial
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441 | }
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442 |
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443 |
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444 |
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445 | // =============================================================================
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446 | // used for flashing the pin for the version number
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447 | void FirmataClass::strobeBlinkPin(int count, int onInterval, int offInterval)
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448 | {
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449 | byte i;
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450 | pinMode(VERSION_BLINK_PIN, OUTPUT);
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451 | for(i=0; i<count; i++) {
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452 | delay(offInterval);
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453 | digitalWrite(VERSION_BLINK_PIN, HIGH);
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454 | delay(onInterval);
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455 | digitalWrite(VERSION_BLINK_PIN, LOW);
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456 | }
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457 | }
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458 |
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459 |
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460 | // make one instance for the user to use
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461 | FirmataClass Firmata;
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462 |
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463 |
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