/* Firmata.h - Firmata library v2.5.8 - 2018-04-15 Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved. Copyright (C) 2009-2017 Jeff Hoefs. All rights reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. See file LICENSE.txt for further informations on licensing terms. */ #ifndef Firmata_h #define Firmata_h #include "Boards.h" /* Hardware Abstraction Layer + Wiring/Arduino */ #include "FirmataDefines.h" #include "FirmataMarshaller.h" #include "FirmataParser.h" /* DEPRECATED as of Firmata v2.5.1. As of 2.5.1 there are separate version numbers for * the protocol version and the firmware version. */ #define FIRMATA_MAJOR_VERSION 2 // same as FIRMATA_PROTOCOL_MAJOR_VERSION #define FIRMATA_MINOR_VERSION 5 // same as FIRMATA_PROTOCOL_MINOR_VERSION #define FIRMATA_BUGFIX_VERSION 1 // same as FIRMATA_PROTOCOL_BUGFIX_VERSION // extended command set using sysex (0-127/0x00-0x7F) /* 0x00-0x0F reserved for user-defined commands */ // these are DEPRECATED to make the naming more consistent #define FIRMATA_STRING 0x71 // same as STRING_DATA #define SYSEX_I2C_REQUEST 0x76 // same as I2C_REQUEST #define SYSEX_I2C_REPLY 0x77 // same as I2C_REPLY #define SYSEX_SAMPLING_INTERVAL 0x7A // same as SAMPLING_INTERVAL // pin modes //#define INPUT 0x00 // defined in Arduino.h //#define OUTPUT 0x01 // defined in Arduino.h // DEPRECATED as of Firmata v2.5 #define ANALOG 0x02 // same as PIN_MODE_ANALOG #define PWM 0x03 // same as PIN_MODE_PWM #define SERVO 0x04 // same as PIN_MODE_SERVO #define SHIFT 0x05 // same as PIN_MODE_SHIFT #define I2C 0x06 // same as PIN_MODE_I2C #define ONEWIRE 0x07 // same as PIN_MODE_ONEWIRE #define STEPPER 0x08 // same as PIN_MODE_STEPPER #define ENCODER 0x09 // same as PIN_MODE_ENCODER #define IGNORE 0x7F // same as PIN_MODE_IGNORE namespace firmata { // TODO make it a subclass of a generic Serial/Stream base class class FirmataClass { public: typedef void (*callbackFunction)(uint8_t, int); typedef void (*systemCallbackFunction)(void); typedef void (*stringCallbackFunction)(char *); typedef void (*sysexCallbackFunction)(uint8_t command, uint8_t argc, uint8_t *argv); FirmataClass(); /* Arduino constructors */ void begin(); void begin(long); void begin(Stream &s); /* querying functions */ void printVersion(void); void blinkVersion(void); void printFirmwareVersion(void); //void setFirmwareVersion(byte major, byte minor); // see macro below void setFirmwareNameAndVersion(const char *name, byte major, byte minor); void disableBlinkVersion(); /* serial receive handling */ int available(void); void processInput(void); void parse(unsigned char value); boolean isParsingMessage(void); /* serial send handling */ void sendAnalog(byte pin, int value); void sendDigital(byte pin, int value); // TODO implement this void sendDigitalPort(byte portNumber, int portData); void sendString(const char *string); void sendString(byte command, const char *string); void sendSysex(byte command, byte bytec, byte *bytev); void write(byte c); /* attach & detach callback functions to messages */ void attach(uint8_t command, callbackFunction newFunction); void attach(uint8_t command, systemCallbackFunction newFunction); void attach(uint8_t command, stringCallbackFunction newFunction); void attach(uint8_t command, sysexCallbackFunction newFunction); void detach(uint8_t command); /* access pin state and config */ byte getPinMode(byte pin); void setPinMode(byte pin, byte config); /* access pin state */ int getPinState(byte pin); void setPinState(byte pin, int state); /* utility methods */ void sendValueAsTwo7bitBytes(int value); void startSysex(void); void endSysex(void); private: uint8_t parserBuffer[MAX_DATA_BYTES]; FirmataMarshaller marshaller; FirmataParser parser; Stream *FirmataStream; /* firmware name and version */ byte firmwareVersionCount; byte *firmwareVersionVector; /* pin configuration */ byte pinConfig[TOTAL_PINS]; int pinState[TOTAL_PINS]; boolean blinkVersionDisabled; /* private methods ------------------------------ */ void strobeBlinkPin(byte pin, int count, int onInterval, int offInterval); friend void FirmataMarshaller::encodeByteStream (size_t bytec, uint8_t * bytev, size_t max_bytes) const; /* callback functions */ static callbackFunction currentAnalogCallback; static callbackFunction currentDigitalCallback; static callbackFunction currentPinModeCallback; static callbackFunction currentPinValueCallback; static callbackFunction currentReportAnalogCallback; static callbackFunction currentReportDigitalCallback; static stringCallbackFunction currentStringCallback; static sysexCallbackFunction currentSysexCallback; static systemCallbackFunction currentSystemResetCallback; /* static callbacks */ inline static void staticAnalogCallback (void *, uint8_t command, uint16_t value) { if ( currentAnalogCallback ) { currentAnalogCallback(command,(int)value); } } inline static void staticDigitalCallback (void *, uint8_t command, uint16_t value) { if ( currentDigitalCallback ) { currentDigitalCallback(command, (int)value); } } inline static void staticPinModeCallback (void *, uint8_t command, uint16_t value) { if ( currentPinModeCallback ) { currentPinModeCallback(command, (int)value); } } inline static void staticPinValueCallback (void *, uint8_t command, uint16_t value) { if ( currentPinValueCallback ) { currentPinValueCallback(command, (int)value); } } inline static void staticReportAnalogCallback (void *, uint8_t command, uint16_t value) { if ( currentReportAnalogCallback ) { currentReportAnalogCallback(command, (int)value); } } inline static void staticReportDigitalCallback (void *, uint8_t command, uint16_t value) { if ( currentReportDigitalCallback ) { currentReportDigitalCallback(command, (int)value); } } inline static void staticStringCallback (void *, const char * c_str) { if ( currentStringCallback ) { currentStringCallback((char *)c_str); } } inline static void staticSysexCallback (void *, uint8_t command, size_t argc, uint8_t *argv) { if ( currentSysexCallback ) { currentSysexCallback(command, (uint8_t)argc, argv); } } inline static void staticReportFirmwareCallback (void * context, size_t, size_t, const char *) { if ( context ) { ((FirmataClass *)context)->printFirmwareVersion(); } } inline static void staticReportVersionCallback (void * context) { if ( context ) { ((FirmataClass *)context)->printVersion(); } } inline static void staticSystemResetCallback (void *) { if ( currentSystemResetCallback ) { currentSystemResetCallback(); } } }; } // namespace firmata extern "C" { // callback function types typedef firmata::FirmataClass::callbackFunction callbackFunction; typedef firmata::FirmataClass::systemCallbackFunction systemCallbackFunction; typedef firmata::FirmataClass::stringCallbackFunction stringCallbackFunction; typedef firmata::FirmataClass::sysexCallbackFunction sysexCallbackFunction; } extern firmata::FirmataClass Firmata; /*============================================================================== * MACROS *============================================================================*/ /* shortcut for setFirmwareNameAndVersion() that uses __FILE__ to set the * firmware name. It needs to be a macro so that __FILE__ is included in the * firmware source file rather than the library source file. */ #define setFirmwareVersion(x, y) setFirmwareNameAndVersion(__FILE__, x, y) #endif /* Firmata_h */