[224] | 1 | /*
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| 2 | Firmata.h - Firmata library v2.5.2 - 2016-2-15
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| 3 | Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved.
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| 4 | Copyright (C) 2009-2015 Jeff Hoefs. All rights reserved.
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| 5 |
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| 6 | This library is free software; you can redistribute it and/or
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| 7 | modify it under the terms of the GNU Lesser General Public
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| 8 | License as published by the Free Software Foundation; either
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| 9 | version 2.1 of the License, or (at your option) any later version.
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| 10 |
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| 11 | See file LICENSE.txt for further informations on licensing terms.
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| 12 | */
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| 13 |
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| 14 | #ifndef Firmata_h
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| 15 | #define Firmata_h
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| 16 |
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| 17 | #include "Boards.h" /* Hardware Abstraction Layer + Wiring/Arduino */
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| 18 |
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| 19 | /* Version numbers for the protocol. The protocol is still changing, so these
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| 20 | * version numbers are important.
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| 21 | * Query using the REPORT_VERSION message.
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| 22 | */
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| 23 | #define FIRMATA_PROTOCOL_MAJOR_VERSION 2 // for non-compatible changes
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| 24 | #define FIRMATA_PROTOCOL_MINOR_VERSION 5 // for backwards compatible changes
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| 25 | #define FIRMATA_PROTOCOL_BUGFIX_VERSION 1 // for bugfix releases
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| 26 |
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| 27 | /* Version numbers for the Firmata library.
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| 28 | * The firmware version will not always equal the protocol version going forward.
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| 29 | * Query using the REPORT_FIRMWARE message.
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| 30 | */
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| 31 | #define FIRMATA_FIRMWARE_MAJOR_VERSION 2
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| 32 | #define FIRMATA_FIRMWARE_MINOR_VERSION 5
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| 33 | #define FIRMATA_FIRMWARE_BUGFIX_VERSION 2
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| 34 |
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| 35 | /* DEPRECATED as of Firmata v2.5.1. As of 2.5.1 there are separate version numbers for
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| 36 | * the protocol version and the firmware version.
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| 37 | */
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| 38 | #define FIRMATA_MAJOR_VERSION 2 // same as FIRMATA_PROTOCOL_MAJOR_VERSION
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| 39 | #define FIRMATA_MINOR_VERSION 5 // same as FIRMATA_PROTOCOL_MINOR_VERSION
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| 40 | #define FIRMATA_BUGFIX_VERSION 1 // same as FIRMATA_PROTOCOL_BUGFIX_VERSION
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| 41 |
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| 42 | #define MAX_DATA_BYTES 64 // max number of data bytes in incoming messages
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| 43 |
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| 44 | // Arduino 101 also defines SET_PIN_MODE as a macro in scss_registers.h
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| 45 | #ifdef SET_PIN_MODE
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| 46 | #undef SET_PIN_MODE
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| 47 | #endif
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| 48 |
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| 49 | // message command bytes (128-255/0x80-0xFF)
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| 50 | #define DIGITAL_MESSAGE 0x90 // send data for a digital port (collection of 8 pins)
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| 51 | #define ANALOG_MESSAGE 0xE0 // send data for an analog pin (or PWM)
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| 52 | #define REPORT_ANALOG 0xC0 // enable analog input by pin #
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| 53 | #define REPORT_DIGITAL 0xD0 // enable digital input by port pair
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| 54 | //
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| 55 | #define SET_PIN_MODE 0xF4 // set a pin to INPUT/OUTPUT/PWM/etc
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| 56 | #define SET_DIGITAL_PIN_VALUE 0xF5 // set value of an individual digital pin
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| 57 | //
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| 58 | #define REPORT_VERSION 0xF9 // report protocol version
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| 59 | #define SYSTEM_RESET 0xFF // reset from MIDI
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| 60 | //
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| 61 | #define START_SYSEX 0xF0 // start a MIDI Sysex message
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| 62 | #define END_SYSEX 0xF7 // end a MIDI Sysex message
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| 63 |
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| 64 | // extended command set using sysex (0-127/0x00-0x7F)
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| 65 | /* 0x00-0x0F reserved for user-defined commands */
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| 66 | #define SERIAL_MESSAGE 0x60 // communicate with serial devices, including other boards
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| 67 | #define ENCODER_DATA 0x61 // reply with encoders current positions
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| 68 | #define SERVO_CONFIG 0x70 // set max angle, minPulse, maxPulse, freq
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| 69 | #define STRING_DATA 0x71 // a string message with 14-bits per char
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| 70 | #define STEPPER_DATA 0x72 // control a stepper motor
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| 71 | #define ONEWIRE_DATA 0x73 // send an OneWire read/write/reset/select/skip/search request
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| 72 | #define SHIFT_DATA 0x75 // a bitstream to/from a shift register
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| 73 | #define I2C_REQUEST 0x76 // send an I2C read/write request
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| 74 | #define I2C_REPLY 0x77 // a reply to an I2C read request
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| 75 | #define I2C_CONFIG 0x78 // config I2C settings such as delay times and power pins
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| 76 | #define EXTENDED_ANALOG 0x6F // analog write (PWM, Servo, etc) to any pin
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| 77 | #define PIN_STATE_QUERY 0x6D // ask for a pin's current mode and value
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| 78 | #define PIN_STATE_RESPONSE 0x6E // reply with pin's current mode and value
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| 79 | #define CAPABILITY_QUERY 0x6B // ask for supported modes and resolution of all pins
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| 80 | #define CAPABILITY_RESPONSE 0x6C // reply with supported modes and resolution
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| 81 | #define ANALOG_MAPPING_QUERY 0x69 // ask for mapping of analog to pin numbers
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| 82 | #define ANALOG_MAPPING_RESPONSE 0x6A // reply with mapping info
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| 83 | #define REPORT_FIRMWARE 0x79 // report name and version of the firmware
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| 84 | #define SAMPLING_INTERVAL 0x7A // set the poll rate of the main loop
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| 85 | #define SCHEDULER_DATA 0x7B // send a createtask/deletetask/addtotask/schedule/querytasks/querytask request to the scheduler
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| 86 | #define SYSEX_NON_REALTIME 0x7E // MIDI Reserved for non-realtime messages
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| 87 | #define SYSEX_REALTIME 0x7F // MIDI Reserved for realtime messages
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| 88 | // these are DEPRECATED to make the naming more consistent
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| 89 | #define FIRMATA_STRING 0x71 // same as STRING_DATA
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| 90 | #define SYSEX_I2C_REQUEST 0x76 // same as I2C_REQUEST
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| 91 | #define SYSEX_I2C_REPLY 0x77 // same as I2C_REPLY
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| 92 | #define SYSEX_SAMPLING_INTERVAL 0x7A // same as SAMPLING_INTERVAL
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| 93 |
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| 94 | // pin modes
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| 95 | //#define INPUT 0x00 // defined in Arduino.h
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| 96 | //#define OUTPUT 0x01 // defined in Arduino.h
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| 97 | #define PIN_MODE_ANALOG 0x02 // analog pin in analogInput mode
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| 98 | #define PIN_MODE_PWM 0x03 // digital pin in PWM output mode
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| 99 | #define PIN_MODE_SERVO 0x04 // digital pin in Servo output mode
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| 100 | #define PIN_MODE_SHIFT 0x05 // shiftIn/shiftOut mode
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| 101 | #define PIN_MODE_I2C 0x06 // pin included in I2C setup
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| 102 | #define PIN_MODE_ONEWIRE 0x07 // pin configured for 1-wire
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| 103 | #define PIN_MODE_STEPPER 0x08 // pin configured for stepper motor
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| 104 | #define PIN_MODE_ENCODER 0x09 // pin configured for rotary encoders
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| 105 | #define PIN_MODE_SERIAL 0x0A // pin configured for serial communication
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| 106 | #define PIN_MODE_PULLUP 0x0B // enable internal pull-up resistor for pin
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| 107 | #define PIN_MODE_IGNORE 0x7F // pin configured to be ignored by digitalWrite and capabilityResponse
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| 108 | #define TOTAL_PIN_MODES 13
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| 109 | // DEPRECATED as of Firmata v2.5
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| 110 | #define ANALOG 0x02 // same as PIN_MODE_ANALOG
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| 111 | #define PWM 0x03 // same as PIN_MODE_PWM
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| 112 | #define SERVO 0x04 // same as PIN_MODE_SERVO
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| 113 | #define SHIFT 0x05 // same as PIN_MODE_SHIFT
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| 114 | #define I2C 0x06 // same as PIN_MODE_I2C
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| 115 | #define ONEWIRE 0x07 // same as PIN_MODE_ONEWIRE
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| 116 | #define STEPPER 0x08 // same as PIN_MODE_STEPPER
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| 117 | #define ENCODER 0x09 // same as PIN_MODE_ENCODER
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| 118 | #define IGNORE 0x7F // same as PIN_MODE_IGNORE
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| 119 |
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| 120 | extern "C" {
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| 121 | // callback function types
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| 122 | typedef void (*callbackFunction)(byte, int);
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| 123 | typedef void (*systemResetCallbackFunction)(void);
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| 124 | typedef void (*stringCallbackFunction)(char *);
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| 125 | typedef void (*sysexCallbackFunction)(byte command, byte argc, byte *argv);
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| 126 | }
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| 127 |
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| 128 | // TODO make it a subclass of a generic Serial/Stream base class
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| 129 | class FirmataClass
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| 130 | {
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| 131 | public:
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| 132 | FirmataClass();
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| 133 | /* Arduino constructors */
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| 134 | void begin();
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| 135 | void begin(long);
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| 136 | void begin(Stream &s);
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| 137 | /* querying functions */
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| 138 | void printVersion(void);
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| 139 | void blinkVersion(void);
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| 140 | void printFirmwareVersion(void);
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| 141 | //void setFirmwareVersion(byte major, byte minor); // see macro below
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| 142 | void setFirmwareNameAndVersion(const char *name, byte major, byte minor);
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| 143 | void disableBlinkVersion();
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| 144 | /* serial receive handling */
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| 145 | int available(void);
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| 146 | void processInput(void);
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| 147 | void parse(unsigned char value);
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| 148 | boolean isParsingMessage(void);
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| 149 | /* serial send handling */
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| 150 | void sendAnalog(byte pin, int value);
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| 151 | void sendDigital(byte pin, int value); // TODO implement this
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| 152 | void sendDigitalPort(byte portNumber, int portData);
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| 153 | void sendString(const char *string);
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| 154 | void sendString(byte command, const char *string);
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| 155 | void sendSysex(byte command, byte bytec, byte *bytev);
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| 156 | void write(byte c);
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| 157 | /* attach & detach callback functions to messages */
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| 158 | void attach(byte command, callbackFunction newFunction);
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| 159 | void attach(byte command, systemResetCallbackFunction newFunction);
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| 160 | void attach(byte command, stringCallbackFunction newFunction);
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| 161 | void attach(byte command, sysexCallbackFunction newFunction);
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| 162 | void detach(byte command);
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| 163 |
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| 164 | /* access pin state and config */
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| 165 | byte getPinMode(byte pin);
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| 166 | void setPinMode(byte pin, byte config);
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| 167 | /* access pin state */
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| 168 | int getPinState(byte pin);
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| 169 | void setPinState(byte pin, int state);
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| 170 |
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| 171 | /* utility methods */
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| 172 | void sendValueAsTwo7bitBytes(int value);
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| 173 | void startSysex(void);
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| 174 | void endSysex(void);
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| 175 |
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| 176 | private:
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| 177 | Stream *FirmataStream;
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| 178 | /* firmware name and version */
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| 179 | byte firmwareVersionCount;
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| 180 | byte *firmwareVersionVector;
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| 181 | /* input message handling */
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| 182 | byte waitForData; // this flag says the next serial input will be data
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| 183 | byte executeMultiByteCommand; // execute this after getting multi-byte data
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| 184 | byte multiByteChannel; // channel data for multiByteCommands
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| 185 | byte storedInputData[MAX_DATA_BYTES]; // multi-byte data
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| 186 | /* sysex */
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| 187 | boolean parsingSysex;
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| 188 | int sysexBytesRead;
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| 189 | /* pin configuration */
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| 190 | byte pinConfig[TOTAL_PINS];
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| 191 | int pinState[TOTAL_PINS];
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| 192 |
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| 193 | /* callback functions */
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| 194 | callbackFunction currentAnalogCallback;
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| 195 | callbackFunction currentDigitalCallback;
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| 196 | callbackFunction currentReportAnalogCallback;
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| 197 | callbackFunction currentReportDigitalCallback;
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| 198 | callbackFunction currentPinModeCallback;
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| 199 | callbackFunction currentPinValueCallback;
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| 200 | systemResetCallbackFunction currentSystemResetCallback;
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| 201 | stringCallbackFunction currentStringCallback;
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| 202 | sysexCallbackFunction currentSysexCallback;
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| 203 |
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| 204 | boolean blinkVersionDisabled = false;
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| 205 |
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| 206 | /* private methods ------------------------------ */
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| 207 | void processSysexMessage(void);
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| 208 | void systemReset(void);
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| 209 | void strobeBlinkPin(byte pin, int count, int onInterval, int offInterval);
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| 210 | };
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| 211 |
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| 212 | extern FirmataClass Firmata;
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| 213 |
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| 214 | /*==============================================================================
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| 215 | * MACROS
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| 216 | *============================================================================*/
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| 217 |
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| 218 | /* shortcut for setFirmwareNameAndVersion() that uses __FILE__ to set the
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| 219 | * firmware name. It needs to be a macro so that __FILE__ is included in the
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| 220 | * firmware source file rather than the library source file.
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| 221 | */
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| 222 | #define setFirmwareVersion(x, y) setFirmwareNameAndVersion(__FILE__, x, y)
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| 223 |
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| 224 | #endif /* Firmata_h */
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