[136] | 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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