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00013 #ifndef Firmata_h
00014 #define Firmata_h
00015
00016 #include <WProgram.h>
00017 #include <inttypes.h>
00018
00019
00020
00021
00022
00023
00024 #define FIRMATA_MAJOR_VERSION 2 // for non-compatible changes
00025 #define FIRMATA_MINOR_VERSION 2 // for backwards compatible changes
00026
00027 #define MAX_DATA_BYTES 32 // max number of data bytes in non-Sysex messages
00028
00029
00030 #define DIGITAL_MESSAGE 0x90 // send data for a digital pin
00031 #define ANALOG_MESSAGE 0xE0 // send data for an analog pin (or PWM)
00032 #define REPORT_ANALOG 0xC0 // enable analog input by pin #
00033 #define REPORT_DIGITAL 0xD0 // enable digital input by port pair
00034
00035 #define SET_PIN_MODE 0xF4 // set a pin to INPUT/OUTPUT/PWM/etc
00036
00037 #define REPORT_VERSION 0xF9 // report protocol version
00038 #define SYSTEM_RESET 0xFF // reset from MIDI
00039
00040 #define START_SYSEX 0xF0 // start a MIDI Sysex message
00041 #define END_SYSEX 0xF7 // end a MIDI Sysex message
00042
00043
00044
00045 #define SERVO_CONFIG 0x70 // set max angle, minPulse, maxPulse, freq
00046 #define STRING_DATA 0x71 // a string message with 14-bits per char
00047 #define SHIFT_DATA 0x75 // a bitstream to/from a shift register
00048 #define I2C_REQUEST 0x76 // send an I2C read/write request
00049 #define I2C_REPLY 0x77 // a reply to an I2C read request
00050 #define I2C_CONFIG 0x78 // config I2C settings such as delay times and power pins
00051 #define EXTENDED_ANALOG 0x6F // analog write (PWM, Servo, etc) to any pin
00052 #define PIN_STATE_QUERY 0x6D // ask for a pin's current mode and value
00053 #define PIN_STATE_RESPONSE 0x6E // reply with pin's current mode and value
00054 #define CAPABILITY_QUERY 0x6B // ask for supported modes and resolution of all pins
00055 #define CAPABILITY_RESPONSE 0x6C // reply with supported modes and resolution
00056 #define ANALOG_MAPPING_QUERY 0x69 // ask for mapping of analog to pin numbers
00057 #define ANALOG_MAPPING_RESPONSE 0x6A // reply with mapping info
00058 #define REPORT_FIRMWARE 0x79 // report name and version of the firmware
00059 #define SAMPLING_INTERVAL 0x7A // set the poll rate of the main loop
00060 #define SYSEX_NON_REALTIME 0x7E // MIDI Reserved for non-realtime messages
00061 #define SYSEX_REALTIME 0x7F // MIDI Reserved for realtime messages
00062
00063 #define FIRMATA_STRING 0x71 // same as STRING_DATA
00064 #define SYSEX_I2C_REQUEST 0x76 // same as I2C_REQUEST
00065 #define SYSEX_I2C_REPLY 0x77 // same as I2C_REPLY
00066 #define SYSEX_SAMPLING_INTERVAL 0x7A // same as SAMPLING_INTERVAL
00067
00068
00069
00070
00071 #define ANALOG 0x02 // analog pin in analogInput mode
00072 #define PWM 0x03 // digital pin in PWM output mode
00073 #define SERVO 0x04 // digital pin in Servo output mode
00074 #define SHIFT 0x05 // shiftIn/shiftOut mode
00075 #define I2C 0x06 // pin included in I2C setup
00076 #define TOTAL_PIN_MODES 7
00077
00078 extern "C" {
00079
00080 typedef void (*callbackFunction)(byte, int);
00081 typedef void (*systemResetCallbackFunction)(void);
00082 typedef void (*stringCallbackFunction)(char*);
00083 typedef void (*sysexCallbackFunction)(byte command, byte argc, byte*argv);
00084 }
00085
00086
00087
00088 class FirmataClass
00089 {
00090 public:
00091 FirmataClass();
00092
00093 void begin();
00094 void begin(long);
00095
00096 void printVersion(void);
00097 void blinkVersion(void);
00098 void printFirmwareVersion(void);
00099
00100 void setFirmwareNameAndVersion(const char *name, byte major, byte minor);
00101
00102 int available(void);
00103 void processInput(void);
00104
00105 void sendAnalog(byte pin, int value);
00106 void sendDigital(byte pin, int value);
00107 void sendDigitalPort(byte portNumber, int portData);
00108 void sendString(const char* string);
00109 void sendString(byte command, const char* string);
00110 void sendSysex(byte command, byte bytec, byte* bytev);
00111
00112 void attach(byte command, callbackFunction newFunction);
00113 void attach(byte command, systemResetCallbackFunction newFunction);
00114 void attach(byte command, stringCallbackFunction newFunction);
00115 void attach(byte command, sysexCallbackFunction newFunction);
00116 void detach(byte command);
00117
00118 private:
00119
00120 byte firmwareVersionCount;
00121 byte *firmwareVersionVector;
00122
00123 byte waitForData;
00124 byte executeMultiByteCommand;
00125 byte multiByteChannel;
00126 byte storedInputData[MAX_DATA_BYTES];
00127
00128 boolean parsingSysex;
00129 int sysexBytesRead;
00130
00131 callbackFunction currentAnalogCallback;
00132 callbackFunction currentDigitalCallback;
00133 callbackFunction currentReportAnalogCallback;
00134 callbackFunction currentReportDigitalCallback;
00135 callbackFunction currentPinModeCallback;
00136 systemResetCallbackFunction currentSystemResetCallback;
00137 stringCallbackFunction currentStringCallback;
00138 sysexCallbackFunction currentSysexCallback;
00139
00140
00141 void processSysexMessage(void);
00142 void systemReset(void);
00143 void pin13strobe(int count, int onInterval, int offInterval);
00144 };
00145
00146 extern FirmataClass Firmata;
00147
00148
00149
00150
00151
00152
00153
00154
00155
00156 #define setFirmwareVersion(x, y) setFirmwareNameAndVersion(__FILE__, x, y)
00157
00158
00159 #include "Boards.h"
00160
00161 #endif
00162