Inital commit... halfway through the project

1 files changed, 162 insertions, 0 deletions

diff --git a/libraries/Firmata/Firmata.h b/libraries/Firmata/Firmata.h
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+/*

+  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 <WProgram.h>

+#include <inttypes.h>

+

+

+/* 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   2 // 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 EXTENDED_ANALOG         0x6F // analog write (PWM, Servo, etc) to any pin

+#define PIN_STATE_QUERY         0x6D // ask for a pin's current mode and value

+#define PIN_STATE_RESPONSE      0x6E // reply with pin's current mode and value

+#define CAPABILITY_QUERY        0x6B // ask for supported modes and resolution of all pins

+#define CAPABILITY_RESPONSE     0x6C // reply with supported modes and resolution

+#define ANALOG_MAPPING_QUERY    0x69 // ask for mapping of analog to pin numbers

+#define ANALOG_MAPPING_RESPONSE 0x6A // reply with mapping info

+#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

+#define TOTAL_PIN_MODES         7

+

+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 a generic Serial/Stream base class

+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); // TODO implement this

+	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);

+/* 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);

+

+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)

+

+/* Hardware Abstraction Layer */

+#include "Boards.h"

+

+#endif /* Firmata_h */

+