220 lines
9.0 KiB
C++
220 lines
9.0 KiB
C++
/*
|
|
Firmata.h - Firmata library
|
|
Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved.
|
|
|
|
Modified for Adafruit_BLE_Uart by Limor Fried/Kevin Townsend for
|
|
Adafruit Industries, 2014
|
|
|
|
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 Adafruit_BLE_Firmata_h
|
|
#define Adafruit_BLE_Firmata_h
|
|
|
|
#include <Arduino.h>
|
|
|
|
//#include "Boards.h" /* Hardware Abstraction Layer + Wiring/Arduino */
|
|
|
|
//#define BLE_DEBUG
|
|
|
|
// move the following defines to Firmata.h?
|
|
#define I2C_WRITE B00000000
|
|
#define I2C_READ B00001000
|
|
#define I2C_READ_CONTINUOUSLY B00010000
|
|
#define I2C_STOP_READING B00011000
|
|
#define I2C_READ_WRITE_MODE_MASK B00011000
|
|
#define I2C_10BIT_ADDRESS_MODE_MASK B00100000
|
|
|
|
#define MAX_QUERIES 8
|
|
#define MINIMUM_SAMPLING_INTERVAL 10
|
|
|
|
#define REGISTER_NOT_SPECIFIED -1
|
|
|
|
/* 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 3 // for backwards compatible changes
|
|
#define FIRMATA_BUGFIX_VERSION 1 // for bugfix releases
|
|
|
|
#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 Adafruit_BLE_FirmataClass
|
|
{
|
|
public:
|
|
Adafruit_BLE_FirmataClass(Stream &s);
|
|
|
|
/* Arduino constructors */
|
|
void begin();
|
|
void begin(Stream &s);
|
|
/* 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);
|
|
int 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);
|
|
|
|
|
|
/* board details */
|
|
void setUsablePins(uint8_t *digitaliopins, uint8_t num_digitaliopins,
|
|
uint8_t *analogiopins, uint8_t num_analogiopins,
|
|
uint8_t *pwmpins, uint8_t num_pwmpins,
|
|
uint8_t *servopins, uint8_t num_servopins,
|
|
uint8_t sdapin, uint8_t sclpin);
|
|
|
|
boolean IS_PIN_DIGITAL(uint8_t p) { return contains(_digitaliopins,_num_digitaliopins, p); }
|
|
uint8_t PIN_TO_DIGITAL(uint8_t p) { return p; }
|
|
boolean IS_PIN_ANALOG(uint8_t p) { return contains(_analogiopins, _num_analogiopins, p); }
|
|
uint8_t PIN_TO_ANALOG(uint8_t p);
|
|
boolean IS_PIN_PWM(uint8_t p) { return contains(_pwmpins, _num_pwmpins, p); }
|
|
uint8_t PIN_TO_PWM(uint8_t p) { return p; }
|
|
boolean IS_PIN_SERVO(uint8_t p) { return contains(_servopins, _num_servopins, p); }
|
|
uint8_t PIN_TO_SERVO(uint8_t p) { return p-2;}
|
|
boolean IS_PIN_I2C(uint8_t p) { return (p == _sdapin) || (p == _sclpin); }
|
|
|
|
unsigned char readPort(byte port, byte bitmask);
|
|
unsigned char writePort(byte port, byte value, byte bitmask);
|
|
|
|
|
|
uint8_t _num_analogiopins;
|
|
|
|
private:
|
|
Stream &FirmataSerial;
|
|
|
|
uint8_t *_digitaliopins, _num_digitaliopins;
|
|
uint8_t *_pwmpins, _num_pwmpins;
|
|
uint8_t *_analogiopins;
|
|
uint8_t *_servopins, _num_servopins;
|
|
uint8_t _sdapin, _sclpin;
|
|
|
|
boolean contains(uint8_t *set, uint8_t num, uint8_t test);
|
|
uint8_t location(uint8_t *set, uint8_t num, uint8_t test);
|
|
|
|
/* 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);
|
|
void sendValueAsTwo7bitBytes(int value);
|
|
void startSysex(void);
|
|
void endSysex(void);
|
|
|
|
};
|
|
|
|
extern Adafruit_BLE_FirmataClass BLE_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)
|
|
|
|
#endif /* BLE_Firmata_h */
|
|
|