Firmata firmware for Arduino
Firmata is a protocol for communicating with microcontrollers from software on a host computer
Firmata.h
1 /*
2  Firmata.h - Firmata library v2.5.8 - 2018-04-15
3  Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved.
4  Copyright (C) 2009-2017 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 #include "FirmataDefines.h"
19 #include "FirmataMarshaller.h"
20 #include "FirmataParser.h"
21 
22 /* DEPRECATED as of Firmata v2.5.1. As of 2.5.1 there are separate version numbers for
23  * the protocol version and the firmware version.
24  */
25 #define FIRMATA_MAJOR_VERSION 2 // same as FIRMATA_PROTOCOL_MAJOR_VERSION
26 #define FIRMATA_MINOR_VERSION 5 // same as FIRMATA_PROTOCOL_MINOR_VERSION
27 #define FIRMATA_BUGFIX_VERSION 1 // same as FIRMATA_PROTOCOL_BUGFIX_VERSION
28 
29 // extended command set using sysex (0-127/0x00-0x7F)
30 /* 0x00-0x0F reserved for user-defined commands */
31 // these are DEPRECATED to make the naming more consistent
32 #define FIRMATA_STRING 0x71 // same as STRING_DATA
33 #define SYSEX_I2C_REQUEST 0x76 // same as I2C_REQUEST
34 #define SYSEX_I2C_REPLY 0x77 // same as I2C_REPLY
35 #define SYSEX_SAMPLING_INTERVAL 0x7A // same as SAMPLING_INTERVAL
36 
37 // pin modes
38 //#define INPUT 0x00 // defined in Arduino.h
39 //#define OUTPUT 0x01 // defined in Arduino.h
40 // DEPRECATED as of Firmata v2.5
41 #define ANALOG 0x02 // same as PIN_MODE_ANALOG
42 #define PWM 0x03 // same as PIN_MODE_PWM
43 #define SERVO 0x04 // same as PIN_MODE_SERVO
44 #define SHIFT 0x05 // same as PIN_MODE_SHIFT
45 #define I2C 0x06 // same as PIN_MODE_I2C
46 #define ONEWIRE 0x07 // same as PIN_MODE_ONEWIRE
47 #define STEPPER 0x08 // same as PIN_MODE_STEPPER
48 #define ENCODER 0x09 // same as PIN_MODE_ENCODER
49 #define IGNORE 0x7F // same as PIN_MODE_IGNORE
50 
51 namespace firmata {
52 
53 // TODO make it a subclass of a generic Serial/Stream base class
54 class FirmataClass
55 {
56  public:
57  typedef void (*callbackFunction)(uint8_t, int);
58  typedef void (*systemCallbackFunction)(void);
59  typedef void (*stringCallbackFunction)(char *);
60  typedef void (*sysexCallbackFunction)(uint8_t command, uint8_t argc, uint8_t *argv);
61 
62  FirmataClass();
63 
64  /* Arduino constructors */
65  void begin();
66  void begin(long);
67  void begin(Stream &s);
68 
69  /* querying functions */
70  void printVersion(void);
71  void blinkVersion(void);
72  void printFirmwareVersion(void);
73 
74  //void setFirmwareVersion(byte major, byte minor); // see macro below
75  void setFirmwareNameAndVersion(const char *name, byte major, byte minor);
76  void disableBlinkVersion();
77 
78  /* serial receive handling */
79  int available(void);
80  void processInput(void);
81  void parse(unsigned char value);
82  boolean isParsingMessage(void);
83 
84  /* serial send handling */
85  void sendAnalog(byte pin, int value);
86  void sendDigital(byte pin, int value); // TODO implement this
87  void sendDigitalPort(byte portNumber, int portData);
88  void sendString(const char *string);
89  void sendString(byte command, const char *string);
90  void sendSysex(byte command, byte bytec, byte *bytev);
91  void write(byte c);
92 
93  /* attach & detach callback functions to messages */
94  void attach(uint8_t command, callbackFunction newFunction);
95  void attach(uint8_t command, systemCallbackFunction newFunction);
96  void attach(uint8_t command, stringCallbackFunction newFunction);
97  void attach(uint8_t command, sysexCallbackFunction newFunction);
98  void detach(uint8_t command);
99 
100  /* access pin state and config */
101  byte getPinMode(byte pin);
102  void setPinMode(byte pin, byte config);
103 
104  /* access pin state */
105  int getPinState(byte pin);
106  void setPinState(byte pin, int state);
107 
108  /* utility methods */
109  void sendValueAsTwo7bitBytes(int value);
110  void startSysex(void);
111  void endSysex(void);
112 
113  private:
114  uint8_t parserBuffer[MAX_DATA_BYTES];
115  FirmataMarshaller marshaller;
116  FirmataParser parser;
117  Stream *FirmataStream;
118 
119  /* firmware name and version */
120  byte firmwareVersionCount;
121  byte *firmwareVersionVector;
122 
123  /* pin configuration */
124  byte pinConfig[TOTAL_PINS];
125  int pinState[TOTAL_PINS];
126 
127  boolean blinkVersionDisabled;
128 
129  /* private methods ------------------------------ */
130  void strobeBlinkPin(byte pin, int count, int onInterval, int offInterval);
131  friend void FirmataMarshaller::encodeByteStream (size_t bytec, uint8_t * bytev, size_t max_bytes = 0) const;
132 
133  /* callback functions */
134  static callbackFunction currentAnalogCallback;
135  static callbackFunction currentDigitalCallback;
136  static callbackFunction currentPinModeCallback;
137  static callbackFunction currentPinValueCallback;
138  static callbackFunction currentReportAnalogCallback;
139  static callbackFunction currentReportDigitalCallback;
140  static stringCallbackFunction currentStringCallback;
141  static sysexCallbackFunction currentSysexCallback;
142  static systemCallbackFunction currentSystemResetCallback;
143 
144  /* static callbacks */
145  inline static void staticAnalogCallback (void *, uint8_t command, uint16_t value) { if ( currentAnalogCallback ) { currentAnalogCallback(command,(int)value); } }
146  inline static void staticDigitalCallback (void *, uint8_t command, uint16_t value) { if ( currentDigitalCallback ) { currentDigitalCallback(command, (int)value); } }
147  inline static void staticPinModeCallback (void *, uint8_t command, uint16_t value) { if ( currentPinModeCallback ) { currentPinModeCallback(command, (int)value); } }
148  inline static void staticPinValueCallback (void *, uint8_t command, uint16_t value) { if ( currentPinValueCallback ) { currentPinValueCallback(command, (int)value); } }
149  inline static void staticReportAnalogCallback (void *, uint8_t command, uint16_t value) { if ( currentReportAnalogCallback ) { currentReportAnalogCallback(command, (int)value); } }
150  inline static void staticReportDigitalCallback (void *, uint8_t command, uint16_t value) { if ( currentReportDigitalCallback ) { currentReportDigitalCallback(command, (int)value); } }
151  inline static void staticStringCallback (void *, const char * c_str) { if ( currentStringCallback ) { currentStringCallback((char *)c_str); } }
152  inline static void staticSysexCallback (void *, uint8_t command, size_t argc, uint8_t *argv) { if ( currentSysexCallback ) { currentSysexCallback(command, (uint8_t)argc, argv); } }
153  inline static void staticReportFirmwareCallback (void * context, size_t, size_t, const char *) { if ( context ) { ((FirmataClass *)context)->printFirmwareVersion(); } }
154  inline static void staticReportVersionCallback (void * context) { if ( context ) { ((FirmataClass *)context)->printVersion(); } }
155  inline static void staticSystemResetCallback (void *) { if ( currentSystemResetCallback ) { currentSystemResetCallback(); } }
156 };
157 
158 } // namespace firmata
159 
160 extern "C" {
161  // callback function types
162  typedef firmata::FirmataClass::callbackFunction callbackFunction;
163  typedef firmata::FirmataClass::systemCallbackFunction systemCallbackFunction;
164  typedef firmata::FirmataClass::stringCallbackFunction stringCallbackFunction;
165  typedef firmata::FirmataClass::sysexCallbackFunction sysexCallbackFunction;
166 }
167 
168 extern firmata::FirmataClass Firmata;
169 
170 /*==============================================================================
171  * MACROS
172  *============================================================================*/
173 
174 /* shortcut for setFirmwareNameAndVersion() that uses __FILE__ to set the
175  * firmware name. It needs to be a macro so that __FILE__ is included in the
176  * firmware source file rather than the library source file.
177  */
178 #define setFirmwareVersion(x, y) setFirmwareNameAndVersion(__FILE__, x, y)
179 
180 #endif /* Firmata_h */
firmata::FirmataClass::processInput
void processInput(void)
Definition: Firmata.cpp:252
firmata::FirmataClass::setPinMode
void setPinMode(byte pin, byte config)
Definition: Firmata.cpp:486
firmata::FirmataClass::isParsingMessage
boolean isParsingMessage(void)
Definition: Firmata.cpp:272
firmata::FirmataClass::sendString
void sendString(const char *string)
Definition: Firmata.cpp:363
firmata::FirmataClass::write
void write(byte c)
Definition: Firmata.cpp:373
firmata::FirmataClass::printFirmwareVersion
void printFirmwareVersion(void)
Definition: Firmata.cpp:187
firmata::FirmataClass::setPinState
void setPinState(byte pin, int state)
Definition: Firmata.cpp:509
firmata::FirmataClass::getPinState
int getPinState(byte pin)
Definition: Firmata.cpp:498
firmata::FirmataClass::available
int available(void)
Definition: Firmata.cpp:244
firmata::FirmataClass::getPinMode
byte getPinMode(byte pin)
Definition: Firmata.cpp:474
firmata::FirmataClass::printVersion
void printVersion(void)
Definition: Firmata.cpp:147
firmata::FirmataClass::setFirmwareNameAndVersion
void setFirmwareNameAndVersion(const char *name, byte major, byte minor)
Definition: Firmata.cpp:201
firmata::FirmataClass::sendAnalog
void sendAnalog(byte pin, int value)
Definition: Firmata.cpp:289
firmata::FirmataParser
Definition: FirmataParser.h:27
firmata::FirmataClass::endSysex
void endSysex(void)
Definition: Firmata.cpp:67
firmata::FirmataClass::blinkVersion
void blinkVersion(void)
Definition: Firmata.cpp:159
firmata::FirmataClass::sendSysex
void sendSysex(byte command, byte bytec, byte *bytev)
Definition: Firmata.cpp:342
firmata::FirmataClass::detach
void detach(uint8_t command)
Definition: Firmata.cpp:452
firmata::FirmataClass::FirmataClass
FirmataClass()
Definition: Firmata.cpp:80
firmata::FirmataClass::disableBlinkVersion
void disableBlinkVersion()
Definition: Firmata.cpp:177
firmata::FirmataClass::parse
void parse(unsigned char value)
Definition: Firmata.cpp:264
firmata::FirmataClass
Definition: Firmata.h:54
firmata::FirmataClass::sendDigitalPort
void sendDigitalPort(byte portNumber, int portData)
Definition: Firmata.cpp:330
firmata::FirmataClass::startSysex
void startSysex(void)
Definition: Firmata.cpp:59
firmata::FirmataMarshaller
Definition: FirmataMarshaller.h:29
firmata::FirmataClass::sendValueAsTwo7bitBytes
void sendValueAsTwo7bitBytes(int value)
Definition: Firmata.cpp:51
firmata::FirmataClass::begin
void begin()
Definition: Firmata.cpp:109
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