projects/geeknamensschilder_c/hardware/libraries/Firmata/Firmata.h

   1 /*
   2   Firmata.h - Firmata library
   3   Copyright (C) 2006-2008 Hans-Christoph Steiner.  All rights reserved.
   4
   5   This library is free software; you can redistribute it and/or
   6   modify it under the terms of the GNU Lesser General Public
   7   License as published by the Free Software Foundation; either
   8   version 2.1 of the License, or (at your option) any later version.
   9
  10   See file LICENSE.txt for further informations on licensing terms.
  11 */
  12
  13 #ifndef Firmata_h
  14 #define Firmata_h
  15
  16 #include <WProgram.h>
  17 #include <inttypes.h>
  18
  19
  20 /* Version numbers for the protocol.  The protocol is still changing, so these
  21  * version numbers are important.  This number can be queried so that host
  22  * software can test whether it will be compatible with the currently
  23  * installed firmware. */
  24 #define FIRMATA_MAJOR_VERSION   2 // for non-compatible changes
  25 #define FIRMATA_MINOR_VERSION   1 // for backwards compatible changes
  26
  27 #define MAX_DATA_BYTES 32 // max number of data bytes in non-Sysex messages
  28
  29 // message command bytes (128-255/0x80-0xFF)
  30 #define DIGITAL_MESSAGE         0x90 // send data for a digital pin
  31 #define ANALOG_MESSAGE          0xE0 // send data for an analog pin (or PWM)
  32 #define REPORT_ANALOG           0xC0 // enable analog input by pin #
  33 #define REPORT_DIGITAL          0xD0 // enable digital input by port pair
  34 //
  35 #define SET_PIN_MODE            0xF4 // set a pin to INPUT/OUTPUT/PWM/etc
  36 //
  37 #define REPORT_VERSION          0xF9 // report protocol version
  38 #define SYSTEM_RESET            0xFF // reset from MIDI
  39 //
  40 #define START_SYSEX             0xF0 // start a MIDI Sysex message
  41 #define END_SYSEX               0xF7 // end a MIDI Sysex message
  42
  43 // extended command set using sysex (0-127/0x00-0x7F)
  44 /* 0x00-0x0F reserved for user-defined commands */
  45 #define SERVO_CONFIG            0x70 // set max angle, minPulse, maxPulse, freq
  46 #define STRING_DATA             0x71 // a string message with 14-bits per char
  47 #define SHIFT_DATA              0x75 // a bitstream to/from a shift register
  48 #define I2C_REQUEST             0x76 // send an I2C read/write request
  49 #define I2C_REPLY               0x77 // a reply to an I2C read request
  50 #define I2C_CONFIG                              0x78 // config I2C settings such as delay times and power pins
  51 #define REPORT_FIRMWARE         0x79 // report name and version of the firmware
  52 #define SAMPLING_INTERVAL       0x7A // set the poll rate of the main loop
  53 #define SYSEX_NON_REALTIME      0x7E // MIDI Reserved for non-realtime messages
  54 #define SYSEX_REALTIME          0x7F // MIDI Reserved for realtime messages
  55 // these are DEPRECATED to make the naming more consistent
  56 #define FIRMATA_STRING          0x71 // same as STRING_DATA
  57 #define SYSEX_I2C_REQUEST       0x76 // same as I2C_REQUEST
  58 #define SYSEX_I2C_REPLY         0x77 // same as I2C_REPLY
  59 #define SYSEX_SAMPLING_INTERVAL 0x7A // same as SAMPLING_INTERVAL
  60
  61 // pin modes
  62 //#define INPUT                 0x00 // defined in wiring.h
  63 //#define OUTPUT                0x01 // defined in wiring.h
  64 #define ANALOG                  0x02 // analog pin in analogInput mode
  65 #define PWM                     0x03 // digital pin in PWM output mode
  66 #define SERVO                   0x04 // digital pin in Servo output mode
  67 #define SHIFT                   0x05 // shiftIn/shiftOut mode
  68 #define I2C                     0x06 // pin included in I2C setup
  69
  70 extern "C" {
  71 // callback function types
  72     typedef void (*callbackFunction)(byte, int);
  73     typedef void (*systemResetCallbackFunction)(void);
  74     typedef void (*stringCallbackFunction)(char*);
  75     typedef void (*sysexCallbackFunction)(byte command, byte argc, byte*argv);
  76 }
  77
  78
  79 // TODO make it a subclass of HardwareSerial
  80 class FirmataClass
  81 {
  82 public:
  83         FirmataClass();
  84 /* Arduino constructors */
  85     void begin();
  86     void begin(long);
  87 /* querying functions */
  88         void printVersion(void);
  89     void blinkVersion(void);
  90     void printFirmwareVersion(void);
  91 //  void setFirmwareVersion(byte major, byte minor);  // see macro below
  92     void setFirmwareNameAndVersion(const char *name, byte major, byte minor);
  93 /* serial receive handling */
  94     int available(void);
  95     void processInput(void);
  96 /* serial send handling */
  97         void sendAnalog(byte pin, int value);
  98         void sendDigital(byte pin, int value);
  99         void sendDigitalPort(byte portNumber, int portData);
 100     void sendString(const char* string);
 101     void sendString(byte command, const char* string);
 102         void sendSysex(byte command, byte bytec, byte* bytev);
 103 //    void print();  // TODO implement so it's compatible to Serial
 104 //    void println();  // TODO implement so it's compatible to Serial
 105 /* attach & detach callback functions to messages */
 106     void attach(byte command, callbackFunction newFunction);
 107     void attach(byte command, systemResetCallbackFunction newFunction);
 108     void attach(byte command, stringCallbackFunction newFunction);
 109     void attach(byte command, sysexCallbackFunction newFunction);
 110     void detach(byte command);
 111 // void flush();  // TODO implement flush, probably by subclassing
 112
 113 private:
 114 /* firmware name and version */
 115     byte firmwareVersionCount;
 116     byte *firmwareVersionVector;
 117 /* input message handling */
 118     byte waitForData; // this flag says the next serial input will be data
 119     byte executeMultiByteCommand; // execute this after getting multi-byte data
 120     byte multiByteChannel; // channel data for multiByteCommands
 121     byte storedInputData[MAX_DATA_BYTES]; // multi-byte data
 122 /* sysex */
 123     boolean parsingSysex;
 124     int sysexBytesRead;
 125 /* callback functions */
 126     callbackFunction currentAnalogCallback;
 127     callbackFunction currentDigitalCallback;
 128     callbackFunction currentReportAnalogCallback;
 129     callbackFunction currentReportDigitalCallback;
 130     callbackFunction currentPinModeCallback;
 131     systemResetCallbackFunction currentSystemResetCallback;
 132     stringCallbackFunction currentStringCallback;
 133     sysexCallbackFunction currentSysexCallback;
 134
 135 /* private methods ------------------------------ */
 136     void processSysexMessage(void);
 137         void systemReset(void);
 138     void pin13strobe(int count, int onInterval, int offInterval);
 139 };
 140
 141 extern FirmataClass Firmata;
 142
 143 /*==============================================================================
 144  * MACROS
 145  *============================================================================*/
 146
 147 /* shortcut for setFirmwareNameAndVersion() that uses __FILE__ to set the
 148  * firmware name.  It needs to be a macro so that __FILE__ is included in the
 149  * firmware source file rather than the library source file.
 150  */
 151 #define setFirmwareVersion(x, y)   setFirmwareNameAndVersion(__FILE__, x, y)
 152
 153 // total number of pins currently supported
 154 #if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) // Arduino NG and Diecimila
 155 #define TOTAL_ANALOG_PINS       8
 156 #define TOTAL_DIGITAL_PINS      22 // 14 digital + 8 analog
 157 #define TOTAL_PORTS             3 // total number of ports for the board
 158 #define ANALOG_PORT             2 // port# of analog used as digital
 159 #define FIRST_ANALOG_PIN        14 // pin# corresponding to analog 0
 160 #define VERSION_BLINK_PIN       13 // digital pin to blink version on
 161 #elif defined(__AVR_ATmega8__)  // old Arduinos
 162 #define TOTAL_ANALOG_PINS       6
 163 #define TOTAL_DIGITAL_PINS      20 // 14 digital + 6 analog
 164 #define TOTAL_PORTS             3  // total number of ports for the board
 165 #define ANALOG_PORT             2  // port# of analog used as digital
 166 #define FIRST_ANALOG_PIN        14 // pin# corresponding to analog 0
 167 #define VERSION_BLINK_PIN       13 // digital pin to blink version on
 168 #elif defined(__AVR_ATmega1280__)// Arduino Mega
 169 #define TOTAL_ANALOG_PINS       16
 170 #define TOTAL_DIGITAL_PINS      70 // 54 digital + 16 analog
 171 #define TOTAL_PORTS             9 // total number of ports for the board
 172 #define ANALOG_PORT             8 // port# of analog used as digital
 173 #define FIRST_ANALOG_PIN        54 // pin# corresponding to analog 0
 174 #define VERSION_BLINK_PIN       13 // digital pin to blink version on
 175 #elif defined(__AVR_ATmega128__)// Wiring
 176 #define TOTAL_ANALOG_PINS       8
 177 #define TOTAL_DIGITAL_PINS      51
 178 #define TOTAL_PORTS             7 // total number of ports for the board
 179 #define ANALOG_PORT             5 // port# of analog used as digital
 180 #define FIRST_ANALOG_PIN        40 // pin# corresponding to analog 0
 181 #define VERSION_BLINK_PIN       13 // digital pin to blink version on
 182 #elif defined(__AVR_AT90USB162__) // Teensy
 183 #define TOTAL_ANALOG_PINS       0
 184 #define TOTAL_DIGITAL_PINS      21 // 21 digital + no analog
 185 #define TOTAL_PORTS             4 // total number of ports for the board
 186 #define ANALOG_PORT             3 // port# of analog used as digital
 187 #define FIRST_ANALOG_PIN        21 // pin# corresponding to analog 0
 188 #define VERSION_BLINK_PIN       6 // digital pin to blink version on
 189 #elif defined(__AVR_ATmega32U4__) // Teensy
 190 #define TOTAL_ANALOG_PINS       12
 191 #define TOTAL_DIGITAL_PINS      25 // 11 digital + 12 analog
 192 #define TOTAL_PORTS             4 // total number of ports for the board
 193 #define ANALOG_PORT             3 // port# of analog used as digital
 194 #define FIRST_ANALOG_PIN        11 // pin# corresponding to analog 0
 195 #define VERSION_BLINK_PIN       11 // digital pin to blink version on
 196 #elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__) // Teensy++
 197 #define TOTAL_ANALOG_PINS       8
 198 #define TOTAL_DIGITAL_PINS      46 // 38 digital + 8 analog
 199 #define TOTAL_PORTS             6 // total number of ports for the board
 200 #define ANALOG_PORT             5 // port# of analog used as digital
 201 #define FIRST_ANALOG_PIN        38 // pin# corresponding to analog 0
 202 #define VERSION_BLINK_PIN       6 // digital pin to blink version on
 203 #elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__)  // Sanguino
 204 #define TOTAL_ANALOG_PINS       8
 205 #define TOTAL_DIGITAL_PINS      32 // 24 digital + 8 analog
 206 #define TOTAL_PORTS             4 // total number of ports for the board
 207 #define ANALOG_PORT             3 // port# of analog used as digital
 208 #define FIRST_ANALOG_PIN        24 // pin# corresponding to analog 0
 209 #define VERSION_BLINK_PIN       0 // digital pin to blink version on
 210 #elif defined(__AVR_ATmega645__)  // Illuminato
 211 #define TOTAL_ANALOG_PINS       6
 212 #define TOTAL_DIGITAL_PINS      42 // 36 digital + 6 analog
 213 #define TOTAL_PORTS             6 // total number of ports for the board
 214 #define ANALOG_PORT             4 // port# of analog used as digital
 215 #define FIRST_ANALOG_PIN        36 // pin# corresponding to analog 0
 216 #define VERSION_BLINK_PIN       13 // digital pin to blink version on
 217 #else // anything else
 218 #define TOTAL_ANALOG_PINS       6
 219 #define TOTAL_DIGITAL_PINS      14
 220 #define TOTAL_PORTS             3 // total number of ports for the board
 221 #define ANALOG_PORT             2 // port# of analog used as digital
 222 #define FIRST_ANALOG_PIN        14 // pin# corresponding to analog 0
 223 #define VERSION_BLINK_PIN       13 // digital pin to blink version on
 224 #endif
 225
 226
 227
 228 #endif /* Firmata_h */
 229