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First working sketch of the Firmata protocol as a library. Just the
printVersion and input messages.
This commit is contained in:
Hans-Christoph Steiner
parent
67ce547deb
commit
440033c814
128
targets/libraries/Firmata/Firmata.cpp
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128
targets/libraries/Firmata/Firmata.cpp
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/*
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Firmata.cpp - Firmata library
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Copyright (c) 2007 Free Software Foundation. All right reserved.
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Written by Hans-Christoph Steiner <hans@at.or.at>
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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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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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//******************************************************************************
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//* Includes
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//******************************************************************************
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extern "C" {
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// AVR LibC Includes
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#include <inttypes.h>
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#include <stdlib.h>
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// Wiring Core Includes
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#include "WConstants.h"
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}
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#include "Firmata.h"
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#include "EEPROM.h"
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#include "HardwareSerial.h"
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//******************************************************************************
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//* Definitions
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//******************************************************************************
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//******************************************************************************
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//* Constructors
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//******************************************************************************
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FirmataClass::FirmataClass()
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{
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// TODO: init serial here
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// TODO: printVersion
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}
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//******************************************************************************
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//* Private Methods
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//******************************************************************************
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// resets the system state upon a SYSTEM_RESET message from the host software
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void FirmataClass::systemReset(void)
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{
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// TODO automatically call this in response to SYSTEM_RESET
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// TODO reset EEPROM to 0 here
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}
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//******************************************************************************
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//* Public Methods
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//******************************************************************************
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// output type of message that is next on the queue
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int FirmataClass::available(void)
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{
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// TODO output next available message type, or -1 if nothing
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}
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// output the protocol version message to the serial port
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void FirmataClass::printVersion() {
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Serial.print(REPORT_VERSION, BYTE);
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Serial.print(FIRMATA_MINOR_VERSION, BYTE);
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Serial.print(FIRMATA_MAJOR_VERSION, BYTE);
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}
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// send an analog message
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void FirmataClass::sendAnalog(int pin, int value)
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{
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// pin can only be 0-15, so chop higher bits
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Serial.print(ANALOG_MESSAGE | (pin & 0xF), BYTE);
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Serial.print(value % 128, BYTE);
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Serial.print(value >> 7, BYTE);
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}
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// send a single digital pin in a digital message
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void FirmataClass::sendDigital(int pin, int value)
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{
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// TODO add single pin digital messages to the protocol
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}
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// send 14-bits in a single digital message
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void FirmataClass::sendDigitalPortPair(int port, int value)
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{
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// TODO: the digital message should not be sent on the serial port every
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// time sendDigital() is called. Instead, it should add it to an int
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// which will be sent on a schedule. If a pin changes more than once
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// before the digital message is sent on the serial port, it should send a
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// digital message for each change.
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// TODO: some math needs to happen for pin > 14 since MIDI channels are used
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Serial.print(DIGITAL_MESSAGE | (port & 0xF),BYTE);
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Serial.print(value % 128, BYTE); // Tx pins 0-6
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Serial.print(value >> 7, BYTE); // Tx pins 7-13
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}
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// Internal Actions/////////////////////////////////////////////////////////////
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void FirmataClass::loadState(void)
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{
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// TODO load state from EEPROM
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}
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void FirmataClass::saveState(void)
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{
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// TODO save state to EEPROM
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}
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void FirmataClass::resetState(void)
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{
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// TODO reset state bytes in EEPROM
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}
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// make one instance for the user to use
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FirmataClass Firmata;
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95
targets/libraries/Firmata/Firmata.h
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95
targets/libraries/Firmata/Firmata.h
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@ -0,0 +1,95 @@
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/*
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Firmata.h - Firmata library
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Copyright (c) 2007 Free Software Foundation. All right reserved.
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Written by Hans-Christoph Steiner <hans@at.or.at>
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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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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#ifndef Firmata_h
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#define Firmata_h
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#include <inttypes.h>
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class FirmataClass
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{
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private:
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void systemReset(void);
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public:
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FirmataClass();
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int available(void);
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// serial receive actions
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// send serial messages
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void printVersion(void);
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void sendAnalog(int, int);
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void sendDigital(int, int);
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void sendDigitalPortPair(int, int);
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// internal actions
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void loadState(void);
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void saveState(void);
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void resetState(void);
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};
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extern FirmataClass Firmata;
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/*==============================================================================
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* MACROS
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*============================================================================*/
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/* Version numbers for the protocol. The protocol is still changing, so these
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* version numbers are important. This number can be queried so that host
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* software can test whether it will be compatible with the currently
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* installed firmware. */
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#define FIRMATA_MAJOR_VERSION 1 // for non-compatible changes
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#define FIRMATA_MINOR_VERSION 0 // for backwards compatible changes
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// total number of pins currently supported
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#define TOTAL_ANALOG_PINS 6
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#define TOTAL_DIGITAL_PINS 14
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// for comparing along with INPUT and OUTPUT
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#define PWM 2
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// for selecting digital inputs
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#define PB 2 // digital input, pins 8-13
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#define PC 3 // analog input port
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#define PD 4 // digital input, pins 0-7
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#define MAX_DATA_BYTES 2 // max number of data bytes in non-SysEx messages
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// message command bytes
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#define DIGITAL_MESSAGE 0x90 // send data for a digital pin
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#define ANALOG_MESSAGE 0xE0 // send data for an analog pin (or PWM)
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//#define PULSE_MESSAGE 0xA0 // proposed pulseIn/Out message (SysEx)
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//#define SHIFTOUT_MESSAGE 0xB0 // proposed shiftOut message (SysEx)
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#define REPORT_ANALOG_PIN 0xC0 // enable analog input by pin #
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#define REPORT_DIGITAL_PORTS 0xD0 // enable digital input by port pair
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#define START_SYSEX 0xF0 // start a MIDI SysEx message
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#define SET_DIGITAL_PIN_MODE 0xF4 // set a digital pin to INPUT or OUTPUT
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#define END_SYSEX 0xF7 // end a MIDI SysEx message
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#define REPORT_VERSION 0xF9 // report firmware version
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#define SYSTEM_RESET 0xFF // reset from MIDI
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// these are used for EEPROM reading and writing
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#define ANALOGINPUTSTOREPORT_LOW_BYTE 0x1F0 // analogInputsToReport is an int
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#define ANALOGINPUTSTOREPORT_HIGH_BYTE 0x1F1 // analogInputsToReport is an int
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#define REPORTDIGITALINPUTS_BYTE 0x1F2 //
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#define DIGITALPINSTATUS_LOW_BYTE 0x1F3 // digitalPinStatus is an int
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#define DIGITALPINSTATUS_HIGH_BYTE 0x1F4 // digitalPinStatus is an int
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#define PWMSTATUS_LOW_BYTE 0x1F5 // pwmStatus is an int
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#define PWMSTATUS_HIGH_BYTE 0x1F6 // pwmStatus is an int
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#endif /* Firmata_h */
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18
targets/libraries/Firmata/keywords.txt
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18
targets/libraries/Firmata/keywords.txt
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@ -0,0 +1,18 @@
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#######################################
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# Syntax Coloring Map For Firmata
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#######################################
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#######################################
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# Datatypes (KEYWORD1)
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#######################################
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Firmata KEYWORD1
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#######################################
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# Methods and Functions (KEYWORD2)
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#######################################
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#######################################
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# Constants (LITERAL1)
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#######################################
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