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