/* Firmata.h - Firmata library Copyright (C) 2006-2008 Hans-Christoph Steiner. 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 #include /* Version numbers for the protocol. The protocol is still changing, so these * version numbers are important. This number can be queried so that host * software can test whether it will be compatible with the currently * installed firmware. */ #define FIRMATA_MAJOR_VERSION 2 // for non-compatible changes #define FIRMATA_MINOR_VERSION 1 // for backwards compatible changes #define MAX_DATA_BYTES 32 // max number of data bytes in non-Sysex messages // message command bytes (128-255/0x80-0xFF) #define DIGITAL_MESSAGE 0x90 // send data for a digital pin #define ANALOG_MESSAGE 0xE0 // send data for an analog pin (or PWM) #define REPORT_ANALOG 0xC0 // enable analog input by pin # #define REPORT_DIGITAL 0xD0 // enable digital input by port pair // #define SET_PIN_MODE 0xF4 // set a pin to INPUT/OUTPUT/PWM/etc // #define REPORT_VERSION 0xF9 // report protocol version #define SYSTEM_RESET 0xFF // reset from MIDI // #define START_SYSEX 0xF0 // start a MIDI Sysex message #define END_SYSEX 0xF7 // end a MIDI Sysex message // extended command set using sysex (0-127/0x00-0x7F) /* 0x00-0x0F reserved for user-defined commands */ #define SERVO_CONFIG 0x70 // set max angle, minPulse, maxPulse, freq #define STRING_DATA 0x71 // a string message with 14-bits per char #define SHIFT_DATA 0x75 // a bitstream to/from a shift register #define I2C_REQUEST 0x76 // send an I2C read/write request #define I2C_REPLY 0x77 // a reply to an I2C read request #define I2C_CONFIG 0x78 // config I2C settings such as delay times and power pins #define REPORT_FIRMWARE 0x79 // report name and version of the firmware #define SAMPLING_INTERVAL 0x7A // set the poll rate of the main loop #define SYSEX_NON_REALTIME 0x7E // MIDI Reserved for non-realtime messages #define SYSEX_REALTIME 0x7F // MIDI Reserved for realtime messages // 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 wiring.h //#define OUTPUT 0x01 // defined in wiring.h #define ANALOG 0x02 // analog pin in analogInput mode #define PWM 0x03 // digital pin in PWM output mode #define SERVO 0x04 // digital pin in Servo output mode #define SHIFT 0x05 // shiftIn/shiftOut mode #define I2C 0x06 // pin included in I2C setup extern "C" { // callback function types typedef void (*callbackFunction)(byte, int); typedef void (*systemResetCallbackFunction)(void); typedef void (*stringCallbackFunction)(char*); typedef void (*sysexCallbackFunction)(byte command, byte argc, byte*argv); } // TODO make it a subclass of HardwareSerial class FirmataClass { public: FirmataClass(); /* Arduino constructors */ void begin(); void begin(long); /* 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); /* serial receive handling */ int available(void); void processInput(void); /* serial send handling */ void sendAnalog(byte pin, int value); void sendDigital(byte pin, int value); 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 print(); // TODO implement so it's compatible to Serial // void println(); // TODO implement so it's compatible to Serial /* attach & detach callback functions to messages */ void attach(byte command, callbackFunction newFunction); void attach(byte command, systemResetCallbackFunction newFunction); void attach(byte command, stringCallbackFunction newFunction); void attach(byte command, sysexCallbackFunction newFunction); void detach(byte command); // void flush(); // TODO implement flush, probably by subclassing private: /* firmware name and version */ byte firmwareVersionCount; byte *firmwareVersionVector; /* input message handling */ byte waitForData; // this flag says the next serial input will be data byte executeMultiByteCommand; // execute this after getting multi-byte data byte multiByteChannel; // channel data for multiByteCommands byte storedInputData[MAX_DATA_BYTES]; // multi-byte data /* sysex */ boolean parsingSysex; int sysexBytesRead; /* callback functions */ callbackFunction currentAnalogCallback; callbackFunction currentDigitalCallback; callbackFunction currentReportAnalogCallback; callbackFunction currentReportDigitalCallback; callbackFunction currentPinModeCallback; systemResetCallbackFunction currentSystemResetCallback; stringCallbackFunction currentStringCallback; sysexCallbackFunction currentSysexCallback; /* private methods ------------------------------ */ void processSysexMessage(void); void systemReset(void); void pin13strobe(int count, int onInterval, int offInterval); }; extern 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) // total number of pins currently supported #if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) // Arduino NG and Diecimila #define TOTAL_ANALOG_PINS 8 #define TOTAL_DIGITAL_PINS 22 // 14 digital + 8 analog #define TOTAL_PORTS 3 // total number of ports for the board #define ANALOG_PORT 2 // port# of analog used as digital #define FIRST_ANALOG_PIN 14 // pin# corresponding to analog 0 #define VERSION_BLINK_PIN 13 // digital pin to blink version on #define FIRST_SERVO_PIN 2 // pin# of the first servo pin #elif defined(__AVR_ATmega8__) // old Arduinos #define TOTAL_ANALOG_PINS 6 #define TOTAL_DIGITAL_PINS 20 // 14 digital + 6 analog #define TOTAL_PORTS 3 // total number of ports for the board #define ANALOG_PORT 2 // port# of analog used as digital #define FIRST_ANALOG_PIN 14 // pin# corresponding to analog 0 #define VERSION_BLINK_PIN 13 // digital pin to blink version on #define FIRST_SERVO_PIN 2 // pin# of the first servo pin #elif defined(__AVR_ATmega1280__)// Arduino Mega #define TOTAL_ANALOG_PINS 16 #define TOTAL_DIGITAL_PINS 70 // 54 digital + 16 analog #define TOTAL_PORTS 9 // total number of ports for the board #define ANALOG_PORT 8 // port# of analog used as digital #define FIRST_ANALOG_PIN 54 // pin# corresponding to analog 0 #define VERSION_BLINK_PIN 13 // digital pin to blink version on #define FIRST_SERVO_PIN 2 // pin# of the first servo pin #elif defined(__AVR_ATmega128__)// Wiring #define TOTAL_ANALOG_PINS 8 #define TOTAL_DIGITAL_PINS 51 #define TOTAL_PORTS 7 // total number of ports for the board #define ANALOG_PORT 5 // port# of analog used as digital #define FIRST_ANALOG_PIN 40 // pin# corresponding to analog 0 #define VERSION_BLINK_PIN 48 // digital pin to blink version on #define FIRST_SERVO_PIN 8 // pin# of the first servo pin #elif defined(__AVR_AT90USB162__) // Teensy #define TOTAL_ANALOG_PINS 0 #define TOTAL_DIGITAL_PINS 21 // 21 digital + no analog #define TOTAL_PORTS 4 // total number of ports for the board #define ANALOG_PORT 3 // port# of analog used as digital #define FIRST_ANALOG_PIN 21 // pin# corresponding to analog 0 #define VERSION_BLINK_PIN 6 // digital pin to blink version on #elif defined(__AVR_ATmega32U4__) // Teensy #define TOTAL_ANALOG_PINS 12 #define TOTAL_DIGITAL_PINS 25 // 11 digital + 12 analog #define TOTAL_PORTS 4 // total number of ports for the board #define ANALOG_PORT 3 // port# of analog used as digital #define FIRST_ANALOG_PIN 11 // pin# corresponding to analog 0 #define VERSION_BLINK_PIN 11 // digital pin to blink version on #elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__) // Teensy++ #define TOTAL_ANALOG_PINS 8 #define TOTAL_DIGITAL_PINS 46 // 38 digital + 8 analog #define TOTAL_PORTS 6 // total number of ports for the board #define ANALOG_PORT 5 // port# of analog used as digital #define FIRST_ANALOG_PIN 38 // pin# corresponding to analog 0 #define VERSION_BLINK_PIN 6 // digital pin to blink version on #elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__) // Sanguino #define TOTAL_ANALOG_PINS 8 #define TOTAL_DIGITAL_PINS 32 // 24 digital + 8 analog #define TOTAL_PORTS 4 // total number of ports for the board #define ANALOG_PORT 3 // port# of analog used as digital #define FIRST_ANALOG_PIN 24 // pin# corresponding to analog 0 #define VERSION_BLINK_PIN 0 // digital pin to blink version on #elif defined(__AVR_ATmega645__) // Illuminato #define TOTAL_ANALOG_PINS 6 #define TOTAL_DIGITAL_PINS 42 // 36 digital + 6 analog #define TOTAL_PORTS 6 // total number of ports for the board #define ANALOG_PORT 4 // port# of analog used as digital #define FIRST_ANALOG_PIN 36 // pin# corresponding to analog 0 #define VERSION_BLINK_PIN 13 // digital pin to blink version on #else // anything else #define TOTAL_ANALOG_PINS 6 #define TOTAL_DIGITAL_PINS 14 #define TOTAL_PORTS 3 // total number of ports for the board #define ANALOG_PORT 2 // port# of analog used as digital #define FIRST_ANALOG_PIN 14 // pin# corresponding to analog 0 #define VERSION_BLINK_PIN 13 // digital pin to blink version on #endif #endif /* Firmata_h */