source: rtos_arduino/trunk/arduino_lib/libraries/Firmata/Firmata.h@ 224

Last change on this file since 224 was 224, checked in by ertl-honda, 8 years ago

1.7.10のファイルに更新
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1/*
2 Firmata.h - Firmata library v2.5.2 - 2016-2-15
3 Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved.
4 Copyright (C) 2009-2015 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#ifndef Firmata_h
15#define Firmata_h
16
17#include "Boards.h" /* Hardware Abstraction Layer + Wiring/Arduino */
18
19/* Version numbers for the protocol. The protocol is still changing, so these
20 * version numbers are important.
21 * Query using the REPORT_VERSION message.
22 */
23#define FIRMATA_PROTOCOL_MAJOR_VERSION 2 // for non-compatible changes
24#define FIRMATA_PROTOCOL_MINOR_VERSION 5 // for backwards compatible changes
25#define FIRMATA_PROTOCOL_BUGFIX_VERSION 1 // for bugfix releases
26
27/* Version numbers for the Firmata library.
28 * The firmware version will not always equal the protocol version going forward.
29 * Query using the REPORT_FIRMWARE message.
30 */
31#define FIRMATA_FIRMWARE_MAJOR_VERSION 2
32#define FIRMATA_FIRMWARE_MINOR_VERSION 5
33#define FIRMATA_FIRMWARE_BUGFIX_VERSION 2
34
35/* DEPRECATED as of Firmata v2.5.1. As of 2.5.1 there are separate version numbers for
36 * the protocol version and the firmware version.
37 */
38#define FIRMATA_MAJOR_VERSION 2 // same as FIRMATA_PROTOCOL_MAJOR_VERSION
39#define FIRMATA_MINOR_VERSION 5 // same as FIRMATA_PROTOCOL_MINOR_VERSION
40#define FIRMATA_BUGFIX_VERSION 1 // same as FIRMATA_PROTOCOL_BUGFIX_VERSION
41
42#define MAX_DATA_BYTES 64 // max number of data bytes in incoming messages
43
44// Arduino 101 also defines SET_PIN_MODE as a macro in scss_registers.h
45#ifdef SET_PIN_MODE
46#undef SET_PIN_MODE
47#endif
48
49// message command bytes (128-255/0x80-0xFF)
50#define DIGITAL_MESSAGE 0x90 // send data for a digital port (collection of 8 pins)
51#define ANALOG_MESSAGE 0xE0 // send data for an analog pin (or PWM)
52#define REPORT_ANALOG 0xC0 // enable analog input by pin #
53#define REPORT_DIGITAL 0xD0 // enable digital input by port pair
54//
55#define SET_PIN_MODE 0xF4 // set a pin to INPUT/OUTPUT/PWM/etc
56#define SET_DIGITAL_PIN_VALUE 0xF5 // set value of an individual digital pin
57//
58#define REPORT_VERSION 0xF9 // report protocol version
59#define SYSTEM_RESET 0xFF // reset from MIDI
60//
61#define START_SYSEX 0xF0 // start a MIDI Sysex message
62#define END_SYSEX 0xF7 // end a MIDI Sysex message
63
64// extended command set using sysex (0-127/0x00-0x7F)
65/* 0x00-0x0F reserved for user-defined commands */
66#define SERIAL_MESSAGE 0x60 // communicate with serial devices, including other boards
67#define ENCODER_DATA 0x61 // reply with encoders current positions
68#define SERVO_CONFIG 0x70 // set max angle, minPulse, maxPulse, freq
69#define STRING_DATA 0x71 // a string message with 14-bits per char
70#define STEPPER_DATA 0x72 // control a stepper motor
71#define ONEWIRE_DATA 0x73 // send an OneWire read/write/reset/select/skip/search request
72#define SHIFT_DATA 0x75 // a bitstream to/from a shift register
73#define I2C_REQUEST 0x76 // send an I2C read/write request
74#define I2C_REPLY 0x77 // a reply to an I2C read request
75#define I2C_CONFIG 0x78 // config I2C settings such as delay times and power pins
76#define EXTENDED_ANALOG 0x6F // analog write (PWM, Servo, etc) to any pin
77#define PIN_STATE_QUERY 0x6D // ask for a pin's current mode and value
78#define PIN_STATE_RESPONSE 0x6E // reply with pin's current mode and value
79#define CAPABILITY_QUERY 0x6B // ask for supported modes and resolution of all pins
80#define CAPABILITY_RESPONSE 0x6C // reply with supported modes and resolution
81#define ANALOG_MAPPING_QUERY 0x69 // ask for mapping of analog to pin numbers
82#define ANALOG_MAPPING_RESPONSE 0x6A // reply with mapping info
83#define REPORT_FIRMWARE 0x79 // report name and version of the firmware
84#define SAMPLING_INTERVAL 0x7A // set the poll rate of the main loop
85#define SCHEDULER_DATA 0x7B // send a createtask/deletetask/addtotask/schedule/querytasks/querytask request to the scheduler
86#define SYSEX_NON_REALTIME 0x7E // MIDI Reserved for non-realtime messages
87#define SYSEX_REALTIME 0x7F // MIDI Reserved for realtime messages
88// these are DEPRECATED to make the naming more consistent
89#define FIRMATA_STRING 0x71 // same as STRING_DATA
90#define SYSEX_I2C_REQUEST 0x76 // same as I2C_REQUEST
91#define SYSEX_I2C_REPLY 0x77 // same as I2C_REPLY
92#define SYSEX_SAMPLING_INTERVAL 0x7A // same as SAMPLING_INTERVAL
93
94// pin modes
95//#define INPUT 0x00 // defined in Arduino.h
96//#define OUTPUT 0x01 // defined in Arduino.h
97#define PIN_MODE_ANALOG 0x02 // analog pin in analogInput mode
98#define PIN_MODE_PWM 0x03 // digital pin in PWM output mode
99#define PIN_MODE_SERVO 0x04 // digital pin in Servo output mode
100#define PIN_MODE_SHIFT 0x05 // shiftIn/shiftOut mode
101#define PIN_MODE_I2C 0x06 // pin included in I2C setup
102#define PIN_MODE_ONEWIRE 0x07 // pin configured for 1-wire
103#define PIN_MODE_STEPPER 0x08 // pin configured for stepper motor
104#define PIN_MODE_ENCODER 0x09 // pin configured for rotary encoders
105#define PIN_MODE_SERIAL 0x0A // pin configured for serial communication
106#define PIN_MODE_PULLUP 0x0B // enable internal pull-up resistor for pin
107#define PIN_MODE_IGNORE 0x7F // pin configured to be ignored by digitalWrite and capabilityResponse
108#define TOTAL_PIN_MODES 13
109// DEPRECATED as of Firmata v2.5
110#define ANALOG 0x02 // same as PIN_MODE_ANALOG
111#define PWM 0x03 // same as PIN_MODE_PWM
112#define SERVO 0x04 // same as PIN_MODE_SERVO
113#define SHIFT 0x05 // same as PIN_MODE_SHIFT
114#define I2C 0x06 // same as PIN_MODE_I2C
115#define ONEWIRE 0x07 // same as PIN_MODE_ONEWIRE
116#define STEPPER 0x08 // same as PIN_MODE_STEPPER
117#define ENCODER 0x09 // same as PIN_MODE_ENCODER
118#define IGNORE 0x7F // same as PIN_MODE_IGNORE
119
120extern "C" {
121 // callback function types
122 typedef void (*callbackFunction)(byte, int);
123 typedef void (*systemResetCallbackFunction)(void);
124 typedef void (*stringCallbackFunction)(char *);
125 typedef void (*sysexCallbackFunction)(byte command, byte argc, byte *argv);
126}
127
128// TODO make it a subclass of a generic Serial/Stream base class
129class FirmataClass
130{
131 public:
132 FirmataClass();
133 /* Arduino constructors */
134 void begin();
135 void begin(long);
136 void begin(Stream &s);
137 /* querying functions */
138 void printVersion(void);
139 void blinkVersion(void);
140 void printFirmwareVersion(void);
141 //void setFirmwareVersion(byte major, byte minor); // see macro below
142 void setFirmwareNameAndVersion(const char *name, byte major, byte minor);
143 void disableBlinkVersion();
144 /* serial receive handling */
145 int available(void);
146 void processInput(void);
147 void parse(unsigned char value);
148 boolean isParsingMessage(void);
149 /* serial send handling */
150 void sendAnalog(byte pin, int value);
151 void sendDigital(byte pin, int value); // TODO implement this
152 void sendDigitalPort(byte portNumber, int portData);
153 void sendString(const char *string);
154 void sendString(byte command, const char *string);
155 void sendSysex(byte command, byte bytec, byte *bytev);
156 void write(byte c);
157 /* attach & detach callback functions to messages */
158 void attach(byte command, callbackFunction newFunction);
159 void attach(byte command, systemResetCallbackFunction newFunction);
160 void attach(byte command, stringCallbackFunction newFunction);
161 void attach(byte command, sysexCallbackFunction newFunction);
162 void detach(byte command);
163
164 /* access pin state and config */
165 byte getPinMode(byte pin);
166 void setPinMode(byte pin, byte config);
167 /* access pin state */
168 int getPinState(byte pin);
169 void setPinState(byte pin, int state);
170
171 /* utility methods */
172 void sendValueAsTwo7bitBytes(int value);
173 void startSysex(void);
174 void endSysex(void);
175
176 private:
177 Stream *FirmataStream;
178 /* firmware name and version */
179 byte firmwareVersionCount;
180 byte *firmwareVersionVector;
181 /* input message handling */
182 byte waitForData; // this flag says the next serial input will be data
183 byte executeMultiByteCommand; // execute this after getting multi-byte data
184 byte multiByteChannel; // channel data for multiByteCommands
185 byte storedInputData[MAX_DATA_BYTES]; // multi-byte data
186 /* sysex */
187 boolean parsingSysex;
188 int sysexBytesRead;
189 /* pin configuration */
190 byte pinConfig[TOTAL_PINS];
191 int pinState[TOTAL_PINS];
192
193 /* callback functions */
194 callbackFunction currentAnalogCallback;
195 callbackFunction currentDigitalCallback;
196 callbackFunction currentReportAnalogCallback;
197 callbackFunction currentReportDigitalCallback;
198 callbackFunction currentPinModeCallback;
199 callbackFunction currentPinValueCallback;
200 systemResetCallbackFunction currentSystemResetCallback;
201 stringCallbackFunction currentStringCallback;
202 sysexCallbackFunction currentSysexCallback;
203
204 boolean blinkVersionDisabled = false;
205
206 /* private methods ------------------------------ */
207 void processSysexMessage(void);
208 void systemReset(void);
209 void strobeBlinkPin(byte pin, int count, int onInterval, int offInterval);
210};
211
212extern FirmataClass Firmata;
213
214/*==============================================================================
215 * MACROS
216 *============================================================================*/
217
218/* shortcut for setFirmwareNameAndVersion() that uses __FILE__ to set the
219 * firmware name. It needs to be a macro so that __FILE__ is included in the
220 * firmware source file rather than the library source file.
221 */
222#define setFirmwareVersion(x, y) setFirmwareNameAndVersion(__FILE__, x, y)
223
224#endif /* Firmata_h */
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