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445 lines
13 KiB
C++
445 lines
13 KiB
C++
/*
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Firmata.cpp - Firmata library
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Copyright (C) 2006-2008 Hans-Christoph Steiner. 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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//******************************************************************************
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//* Includes
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//******************************************************************************
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#include "Firmata.h"
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#include "HardwareSerial.h"
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extern "C" {
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#include <string.h>
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#include <stdlib.h>
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}
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//******************************************************************************
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//* Support Functions
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//******************************************************************************
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void FirmataClass::sendValueAsTwo7bitBytes(int value)
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{
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FirmataSerial.write(value & B01111111); // LSB
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FirmataSerial.write(value >> 7 & B01111111); // MSB
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}
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void FirmataClass::startSysex(void)
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{
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FirmataSerial.write(START_SYSEX);
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}
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void FirmataClass::endSysex(void)
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{
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FirmataSerial.write(END_SYSEX);
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}
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//******************************************************************************
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//* Constructors
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//******************************************************************************
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FirmataClass::FirmataClass(Stream &s) : FirmataSerial(s)
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{
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firmwareVersionCount = 0;
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systemReset();
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}
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//******************************************************************************
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//* Public Methods
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//******************************************************************************
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/* begin method for overriding default serial bitrate */
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void FirmataClass::begin(void)
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{
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begin(57600);
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}
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/* begin method for overriding default serial bitrate */
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void FirmataClass::begin(long speed)
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{
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Serial.begin(speed);
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FirmataSerial = Serial;
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blinkVersion();
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printVersion();
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printFirmwareVersion();
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}
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void FirmataClass::begin(Stream &s)
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{
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FirmataSerial = s;
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systemReset();
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printVersion();
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printFirmwareVersion();
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}
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// output the protocol version message to the serial port
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void FirmataClass::printVersion(void) {
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FirmataSerial.write(REPORT_VERSION);
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FirmataSerial.write(FIRMATA_MAJOR_VERSION);
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FirmataSerial.write(FIRMATA_MINOR_VERSION);
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}
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void FirmataClass::blinkVersion(void)
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{
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// flash the pin with the protocol version
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pinMode(VERSION_BLINK_PIN,OUTPUT);
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pin13strobe(FIRMATA_MAJOR_VERSION, 40, 210);
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delay(250);
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pin13strobe(FIRMATA_MINOR_VERSION, 40, 210);
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delay(125);
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}
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void FirmataClass::printFirmwareVersion(void)
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{
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byte i;
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if(firmwareVersionCount) { // make sure that the name has been set before reporting
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startSysex();
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FirmataSerial.write(REPORT_FIRMWARE);
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FirmataSerial.write(firmwareVersionVector[0]); // major version number
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FirmataSerial.write(firmwareVersionVector[1]); // minor version number
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for(i=2; i<firmwareVersionCount; ++i) {
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sendValueAsTwo7bitBytes(firmwareVersionVector[i]);
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}
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endSysex();
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}
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}
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void FirmataClass::setFirmwareNameAndVersion(const char *name, byte major, byte minor)
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{
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const char *filename;
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char *extension;
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// parse out ".cpp" and "applet/" that comes from using __FILE__
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extension = strstr(name, ".cpp");
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filename = strrchr(name, '/') + 1; //points to slash, +1 gets to start of filename
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// add two bytes for version numbers
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if(extension && filename) {
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firmwareVersionCount = extension - filename + 2;
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} else {
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firmwareVersionCount = strlen(name) + 2;
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filename = name;
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}
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firmwareVersionVector = (byte *) malloc(firmwareVersionCount);
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firmwareVersionVector[firmwareVersionCount] = 0;
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firmwareVersionVector[0] = major;
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firmwareVersionVector[1] = minor;
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strncpy((char*)firmwareVersionVector + 2, filename, firmwareVersionCount - 2);
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// alas, no snprintf on Arduino
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// snprintf(firmwareVersionVector, MAX_DATA_BYTES, "%c%c%s",
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// (char)major, (char)minor, firmwareVersionVector);
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}
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//------------------------------------------------------------------------------
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// Serial Receive Handling
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int FirmataClass::available(void)
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{
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return FirmataSerial.available();
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}
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void FirmataClass::processSysexMessage(void)
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{
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switch(storedInputData[0]) { //first byte in buffer is command
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case REPORT_FIRMWARE:
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printFirmwareVersion();
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break;
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case STRING_DATA:
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if(currentStringCallback) {
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byte bufferLength = (sysexBytesRead - 1) / 2;
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char *buffer = (char*)malloc(bufferLength * sizeof(char));
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byte i = 1;
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byte j = 0;
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while(j < bufferLength) {
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buffer[j] = (char)storedInputData[i];
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i++;
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buffer[j] += (char)(storedInputData[i] << 7);
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i++;
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j++;
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}
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(*currentStringCallback)(buffer);
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}
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break;
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default:
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if(currentSysexCallback)
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(*currentSysexCallback)(storedInputData[0], sysexBytesRead - 1, storedInputData + 1);
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}
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}
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void FirmataClass::processInput(void)
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{
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int inputData = FirmataSerial.read(); // this is 'int' to handle -1 when no data
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int command;
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// TODO make sure it handles -1 properly
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if (parsingSysex) {
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if(inputData == END_SYSEX) {
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//stop sysex byte
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parsingSysex = false;
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//fire off handler function
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processSysexMessage();
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} else {
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//normal data byte - add to buffer
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storedInputData[sysexBytesRead] = inputData;
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sysexBytesRead++;
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}
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} else if( (waitForData > 0) && (inputData < 128) ) {
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waitForData--;
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storedInputData[waitForData] = inputData;
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if( (waitForData==0) && executeMultiByteCommand ) { // got the whole message
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switch(executeMultiByteCommand) {
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case ANALOG_MESSAGE:
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if(currentAnalogCallback) {
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(*currentAnalogCallback)(multiByteChannel,
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(storedInputData[0] << 7)
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+ storedInputData[1]);
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}
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break;
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case DIGITAL_MESSAGE:
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if(currentDigitalCallback) {
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(*currentDigitalCallback)(multiByteChannel,
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(storedInputData[0] << 7)
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+ storedInputData[1]);
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}
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break;
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case SET_PIN_MODE:
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if(currentPinModeCallback)
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(*currentPinModeCallback)(storedInputData[1], storedInputData[0]);
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break;
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case REPORT_ANALOG:
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if(currentReportAnalogCallback)
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(*currentReportAnalogCallback)(multiByteChannel,storedInputData[0]);
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break;
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case REPORT_DIGITAL:
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if(currentReportDigitalCallback)
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(*currentReportDigitalCallback)(multiByteChannel,storedInputData[0]);
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break;
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}
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executeMultiByteCommand = 0;
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}
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} else {
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// remove channel info from command byte if less than 0xF0
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if(inputData < 0xF0) {
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command = inputData & 0xF0;
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multiByteChannel = inputData & 0x0F;
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} else {
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command = inputData;
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// commands in the 0xF* range don't use channel data
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}
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switch (command) {
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case ANALOG_MESSAGE:
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case DIGITAL_MESSAGE:
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case SET_PIN_MODE:
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waitForData = 2; // two data bytes needed
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executeMultiByteCommand = command;
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break;
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case REPORT_ANALOG:
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case REPORT_DIGITAL:
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waitForData = 1; // one data byte needed
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executeMultiByteCommand = command;
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break;
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case START_SYSEX:
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parsingSysex = true;
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sysexBytesRead = 0;
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break;
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case SYSTEM_RESET:
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systemReset();
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break;
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case REPORT_VERSION:
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Firmata.printVersion();
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break;
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}
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}
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}
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//------------------------------------------------------------------------------
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// Serial Send Handling
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// send an analog message
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void FirmataClass::sendAnalog(byte 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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FirmataSerial.write(ANALOG_MESSAGE | (pin & 0xF));
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sendValueAsTwo7bitBytes(value);
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}
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// send a single digital pin in a digital message
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void FirmataClass::sendDigital(byte pin, int value)
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{
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/* TODO add single pin digital messages to the protocol, this needs to
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* track the last digital data sent so that it can be sure to change just
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* one bit in the packet. This is complicated by the fact that the
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* numbering of the pins will probably differ on Arduino, Wiring, and
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* other boards. The DIGITAL_MESSAGE sends 14 bits at a time, but it is
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* probably easier to send 8 bit ports for any board with more than 14
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* digital pins.
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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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// if(value == 0)
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// sendDigitalPortPair();
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}
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// send 14-bits in a single digital message (protocol v1)
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// send an 8-bit port in a single digital message (protocol v2)
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void FirmataClass::sendDigitalPort(byte portNumber, int portData)
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{
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FirmataSerial.write(DIGITAL_MESSAGE | (portNumber & 0xF));
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FirmataSerial.write((byte)portData % 128); // Tx bits 0-6
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FirmataSerial.write(portData >> 7); // Tx bits 7-13
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}
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void FirmataClass::sendSysex(byte command, byte bytec, byte* bytev)
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{
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byte i;
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startSysex();
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FirmataSerial.write(command);
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for(i=0; i<bytec; i++) {
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sendValueAsTwo7bitBytes(bytev[i]);
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}
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endSysex();
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}
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void FirmataClass::sendString(byte command, const char* string)
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{
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sendSysex(command, strlen(string), (byte *)string);
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}
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// send a string as the protocol string type
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void FirmataClass::sendString(const char* string)
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{
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sendString(STRING_DATA, string);
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}
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// Internal Actions/////////////////////////////////////////////////////////////
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// generic callbacks
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void FirmataClass::attach(byte command, callbackFunction newFunction)
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{
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switch(command) {
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case ANALOG_MESSAGE: currentAnalogCallback = newFunction; break;
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case DIGITAL_MESSAGE: currentDigitalCallback = newFunction; break;
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case REPORT_ANALOG: currentReportAnalogCallback = newFunction; break;
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case REPORT_DIGITAL: currentReportDigitalCallback = newFunction; break;
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case SET_PIN_MODE: currentPinModeCallback = newFunction; break;
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}
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}
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void FirmataClass::attach(byte command, systemResetCallbackFunction newFunction)
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{
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switch(command) {
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case SYSTEM_RESET: currentSystemResetCallback = newFunction; break;
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}
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}
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void FirmataClass::attach(byte command, stringCallbackFunction newFunction)
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{
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switch(command) {
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case STRING_DATA: currentStringCallback = newFunction; break;
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}
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}
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void FirmataClass::attach(byte command, sysexCallbackFunction newFunction)
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{
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currentSysexCallback = newFunction;
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}
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void FirmataClass::detach(byte command)
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{
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switch(command) {
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case SYSTEM_RESET: currentSystemResetCallback = NULL; break;
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case STRING_DATA: currentStringCallback = NULL; break;
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case START_SYSEX: currentSysexCallback = NULL; break;
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default:
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attach(command, (callbackFunction)NULL);
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}
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}
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// sysex callbacks
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/*
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* this is too complicated for analogReceive, but maybe for Sysex?
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void FirmataClass::attachSysex(sysexFunction newFunction)
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{
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byte i;
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byte tmpCount = analogReceiveFunctionCount;
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analogReceiveFunction* tmpArray = analogReceiveFunctionArray;
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analogReceiveFunctionCount++;
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analogReceiveFunctionArray = (analogReceiveFunction*) calloc(analogReceiveFunctionCount, sizeof(analogReceiveFunction));
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for(i = 0; i < tmpCount; i++) {
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analogReceiveFunctionArray[i] = tmpArray[i];
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}
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analogReceiveFunctionArray[tmpCount] = newFunction;
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free(tmpArray);
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}
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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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byte i;
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waitForData = 0; // this flag says the next serial input will be data
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executeMultiByteCommand = 0; // execute this after getting multi-byte data
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multiByteChannel = 0; // channel data for multiByteCommands
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for(i=0; i<MAX_DATA_BYTES; i++) {
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storedInputData[i] = 0;
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}
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parsingSysex = false;
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sysexBytesRead = 0;
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if(currentSystemResetCallback)
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(*currentSystemResetCallback)();
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//flush(); //TODO uncomment when Firmata is a subclass of HardwareSerial
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}
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// =============================================================================
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// used for flashing the pin for the version number
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void FirmataClass::pin13strobe(int count, int onInterval, int offInterval)
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{
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byte i;
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pinMode(VERSION_BLINK_PIN, OUTPUT);
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for(i=0; i<count; i++) {
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delay(offInterval);
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digitalWrite(VERSION_BLINK_PIN, HIGH);
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delay(onInterval);
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digitalWrite(VERSION_BLINK_PIN, LOW);
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}
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}
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// make one instance for the user to use
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FirmataClass Firmata(Serial);
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