mirror of
https://github.com/esp8266/Arduino.git
synced 2025-06-19 09:42:11 +03:00
Updating to Firmata-2.1beta1 (rev 23).
This commit is contained in:
David A. Mellis
@ -29,18 +29,18 @@ extern "C" {
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void sendValueAsTwo7bitBytes(int value)
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{
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Serial.print(value & B01111111, BYTE); // LSB
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Serial.print(value >> 7 & B01111111, BYTE); // MSB
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Serial.print(value & B01111111, BYTE); // LSB
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Serial.print(value >> 7 & B01111111, BYTE); // MSB
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}
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void startSysex(void)
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{
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Serial.print(START_SYSEX, BYTE);
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Serial.print(START_SYSEX, BYTE);
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}
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void endSysex(void)
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{
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Serial.print(END_SYSEX, BYTE);
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Serial.print(END_SYSEX, BYTE);
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}
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//******************************************************************************
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@ -49,8 +49,8 @@ void endSysex(void)
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FirmataClass::FirmataClass(void)
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{
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firmwareVersionCount = 0;
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systemReset();
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firmwareVersionCount = 0;
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systemReset();
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}
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//******************************************************************************
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@ -60,83 +60,83 @@ FirmataClass::FirmataClass(void)
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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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Serial.begin(115200);
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blinkVersion();
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delay(300);
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printVersion();
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Serial.begin(57600);
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blinkVersion();
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delay(300);
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printVersion();
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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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blinkVersion();
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blinkVersion();
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#if defined(__AVR_ATmega128__) // Wiring
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Serial.begin((uint32_t)speed);
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Serial.begin((uint32_t)speed);
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#else
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Serial.begin(speed);
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Serial.begin(speed);
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#endif
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delay(300);
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printVersion();
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printFirmwareVersion();
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delay(300);
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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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Serial.print(REPORT_VERSION, BYTE);
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Serial.print(FIRMATA_MAJOR_VERSION, BYTE);
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Serial.print(FIRMATA_MINOR_VERSION, BYTE);
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Serial.print(REPORT_VERSION, BYTE);
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Serial.print(FIRMATA_MAJOR_VERSION, BYTE);
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Serial.print(FIRMATA_MINOR_VERSION, BYTE);
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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, 200, 400);
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delay(300);
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pin13strobe(2,1,4); // separator, a quick burst
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delay(300);
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pin13strobe(FIRMATA_MINOR_VERSION, 200, 400);
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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, 200, 400);
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delay(300);
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pin13strobe(2,1,4); // separator, a quick burst
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delay(300);
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pin13strobe(FIRMATA_MINOR_VERSION, 200, 400);
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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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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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Serial.print(REPORT_FIRMWARE, BYTE);
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Serial.print(firmwareVersionVector[0]); // major version number
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Serial.print(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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if(firmwareVersionCount) { // make sure that the name has been set before reporting
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startSysex();
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Serial.print(REPORT_FIRMWARE, BYTE);
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Serial.print(firmwareVersionVector[0]); // major version number
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Serial.print(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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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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// 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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@ -144,123 +144,123 @@ void FirmataClass::setFirmwareNameAndVersion(const char *name, byte major, byte
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int FirmataClass::available(void)
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{
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return Serial.available();
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return Serial.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 FIRMATA_STRING:
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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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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 = Serial.read(); // this is 'int' to handle -1 when no data
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int command;
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int inputData = Serial.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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// 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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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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// 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; // two data bytes 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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//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) {
|
||||
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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switch (command) {
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case ANALOG_MESSAGE:
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||||
case DIGITAL_MESSAGE:
|
||||
case SET_PIN_MODE:
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||||
waitForData = 2; // two data bytes needed
|
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executeMultiByteCommand = command;
|
||||
break;
|
||||
case REPORT_ANALOG:
|
||||
case REPORT_DIGITAL:
|
||||
waitForData = 1; // two data bytes needed
|
||||
executeMultiByteCommand = command;
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||||
break;
|
||||
case START_SYSEX:
|
||||
parsingSysex = true;
|
||||
sysexBytesRead = 0;
|
||||
break;
|
||||
case SYSTEM_RESET:
|
||||
systemReset();
|
||||
break;
|
||||
case REPORT_VERSION:
|
||||
Firmata.printVersion();
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
@ -269,31 +269,31 @@ void FirmataClass::processInput(void)
|
||||
// send an analog message
|
||||
void FirmataClass::sendAnalog(byte pin, int value)
|
||||
{
|
||||
// pin can only be 0-15, so chop higher bits
|
||||
Serial.print(ANALOG_MESSAGE | (pin & 0xF), BYTE);
|
||||
sendValueAsTwo7bitBytes(value);
|
||||
// pin can only be 0-15, so chop higher bits
|
||||
Serial.print(ANALOG_MESSAGE | (pin & 0xF), BYTE);
|
||||
sendValueAsTwo7bitBytes(value);
|
||||
}
|
||||
|
||||
// send a single digital pin in a digital message
|
||||
void FirmataClass::sendDigital(byte pin, int value)
|
||||
{
|
||||
/* TODO add single pin digital messages to the protocol, this needs to
|
||||
* track the last digital data sent so that it can be sure to change just
|
||||
* one bit in the packet. This is complicated by the fact that the
|
||||
* numbering of the pins will probably differ on Arduino, Wiring, and
|
||||
* other boards. The DIGITAL_MESSAGE sends 14 bits at a time, but it is
|
||||
* probably easier to send 8 bit ports for any board with more than 14
|
||||
* digital pins.
|
||||
*/
|
||||
/* TODO add single pin digital messages to the protocol, this needs to
|
||||
* track the last digital data sent so that it can be sure to change just
|
||||
* one bit in the packet. This is complicated by the fact that the
|
||||
* numbering of the pins will probably differ on Arduino, Wiring, and
|
||||
* other boards. The DIGITAL_MESSAGE sends 14 bits at a time, but it is
|
||||
* probably easier to send 8 bit ports for any board with more than 14
|
||||
* digital pins.
|
||||
*/
|
||||
|
||||
// TODO: the digital message should not be sent on the serial port every
|
||||
// time sendDigital() is called. Instead, it should add it to an int
|
||||
// which will be sent on a schedule. If a pin changes more than once
|
||||
// before the digital message is sent on the serial port, it should send a
|
||||
// digital message for each change.
|
||||
// TODO: the digital message should not be sent on the serial port every
|
||||
// time sendDigital() is called. Instead, it should add it to an int
|
||||
// which will be sent on a schedule. If a pin changes more than once
|
||||
// before the digital message is sent on the serial port, it should send a
|
||||
// digital message for each change.
|
||||
|
||||
// if(value == 0)
|
||||
// sendDigitalPortPair();
|
||||
// if(value == 0)
|
||||
// sendDigitalPortPair();
|
||||
}
|
||||
|
||||
|
||||
@ -301,33 +301,33 @@ void FirmataClass::sendDigital(byte pin, int value)
|
||||
// send an 8-bit port in a single digital message (protocol v2)
|
||||
void FirmataClass::sendDigitalPort(byte portNumber, int portData)
|
||||
{
|
||||
Serial.print(DIGITAL_MESSAGE | (portNumber & 0xF),BYTE);
|
||||
Serial.print(portData % 128, BYTE); // Tx bits 0-6
|
||||
Serial.print(portData >> 7, BYTE); // Tx bits 7-13
|
||||
Serial.print(DIGITAL_MESSAGE | (portNumber & 0xF),BYTE);
|
||||
Serial.print(portData % 128, BYTE); // Tx bits 0-6
|
||||
Serial.print(portData >> 7, BYTE); // Tx bits 7-13
|
||||
}
|
||||
|
||||
|
||||
void FirmataClass::sendSysex(byte command, byte bytec, byte* bytev)
|
||||
{
|
||||
byte i;
|
||||
startSysex();
|
||||
Serial.print(command, BYTE);
|
||||
for(i=0; i<bytec; i++) {
|
||||
sendValueAsTwo7bitBytes(bytev[i]);
|
||||
}
|
||||
endSysex();
|
||||
byte i;
|
||||
startSysex();
|
||||
Serial.print(command, BYTE);
|
||||
for(i=0; i<bytec; i++) {
|
||||
sendValueAsTwo7bitBytes(bytev[i]);
|
||||
}
|
||||
endSysex();
|
||||
}
|
||||
|
||||
void FirmataClass::sendString(byte command, const char* string)
|
||||
{
|
||||
sendSysex(command, strlen(string), (byte *)string);
|
||||
sendSysex(command, strlen(string), (byte *)string);
|
||||
}
|
||||
|
||||
|
||||
// send a string as the protocol string type
|
||||
void FirmataClass::sendString(const char* string)
|
||||
{
|
||||
sendString(FIRMATA_STRING, string);
|
||||
sendString(STRING_DATA, string);
|
||||
}
|
||||
|
||||
|
||||
@ -336,43 +336,43 @@ void FirmataClass::sendString(const char* string)
|
||||
// generic callbacks
|
||||
void FirmataClass::attach(byte command, callbackFunction newFunction)
|
||||
{
|
||||
switch(command) {
|
||||
case ANALOG_MESSAGE: currentAnalogCallback = newFunction; break;
|
||||
case DIGITAL_MESSAGE: currentDigitalCallback = newFunction; break;
|
||||
case REPORT_ANALOG: currentReportAnalogCallback = newFunction; break;
|
||||
case REPORT_DIGITAL: currentReportDigitalCallback = newFunction; break;
|
||||
case SET_PIN_MODE: currentPinModeCallback = newFunction; break;
|
||||
}
|
||||
switch(command) {
|
||||
case ANALOG_MESSAGE: currentAnalogCallback = newFunction; break;
|
||||
case DIGITAL_MESSAGE: currentDigitalCallback = newFunction; break;
|
||||
case REPORT_ANALOG: currentReportAnalogCallback = newFunction; break;
|
||||
case REPORT_DIGITAL: currentReportDigitalCallback = newFunction; break;
|
||||
case SET_PIN_MODE: currentPinModeCallback = newFunction; break;
|
||||
}
|
||||
}
|
||||
|
||||
void FirmataClass::attach(byte command, systemResetCallbackFunction newFunction)
|
||||
{
|
||||
switch(command) {
|
||||
case SYSTEM_RESET: currentSystemResetCallback = newFunction; break;
|
||||
}
|
||||
switch(command) {
|
||||
case SYSTEM_RESET: currentSystemResetCallback = newFunction; break;
|
||||
}
|
||||
}
|
||||
|
||||
void FirmataClass::attach(byte command, stringCallbackFunction newFunction)
|
||||
{
|
||||
switch(command) {
|
||||
case FIRMATA_STRING: currentStringCallback = newFunction; break;
|
||||
}
|
||||
switch(command) {
|
||||
case STRING_DATA: currentStringCallback = newFunction; break;
|
||||
}
|
||||
}
|
||||
|
||||
void FirmataClass::attach(byte command, sysexCallbackFunction newFunction)
|
||||
{
|
||||
currentSysexCallback = newFunction;
|
||||
currentSysexCallback = newFunction;
|
||||
}
|
||||
|
||||
void FirmataClass::detach(byte command)
|
||||
{
|
||||
switch(command) {
|
||||
case SYSTEM_RESET: currentSystemResetCallback = NULL; break;
|
||||
case FIRMATA_STRING: currentStringCallback = NULL; break;
|
||||
case START_SYSEX: currentSysexCallback = NULL; break;
|
||||
default:
|
||||
attach(command, (callbackFunction)NULL);
|
||||
}
|
||||
switch(command) {
|
||||
case SYSTEM_RESET: currentSystemResetCallback = NULL; break;
|
||||
case STRING_DATA: currentStringCallback = NULL; break;
|
||||
case START_SYSEX: currentSysexCallback = NULL; break;
|
||||
default:
|
||||
attach(command, (callbackFunction)NULL);
|
||||
}
|
||||
}
|
||||
|
||||
// sysex callbacks
|
||||
@ -402,24 +402,24 @@ void FirmataClass::detach(byte command)
|
||||
// resets the system state upon a SYSTEM_RESET message from the host software
|
||||
void FirmataClass::systemReset(void)
|
||||
{
|
||||
byte i;
|
||||
byte i;
|
||||
|
||||
waitForData = 0; // this flag says the next serial input will be data
|
||||
executeMultiByteCommand = 0; // execute this after getting multi-byte data
|
||||
multiByteChannel = 0; // channel data for multiByteCommands
|
||||
waitForData = 0; // this flag says the next serial input will be data
|
||||
executeMultiByteCommand = 0; // execute this after getting multi-byte data
|
||||
multiByteChannel = 0; // channel data for multiByteCommands
|
||||
|
||||
|
||||
for(i=0; i<MAX_DATA_BYTES; i++) {
|
||||
storedInputData[i] = 0;
|
||||
}
|
||||
for(i=0; i<MAX_DATA_BYTES; i++) {
|
||||
storedInputData[i] = 0;
|
||||
}
|
||||
|
||||
parsingSysex = false;
|
||||
sysexBytesRead = 0;
|
||||
parsingSysex = false;
|
||||
sysexBytesRead = 0;
|
||||
|
||||
if(currentSystemResetCallback)
|
||||
(*currentSystemResetCallback)();
|
||||
if(currentSystemResetCallback)
|
||||
(*currentSystemResetCallback)();
|
||||
|
||||
//flush(); //TODO uncomment when Firmata is a subclass of HardwareSerial
|
||||
//flush(); //TODO uncomment when Firmata is a subclass of HardwareSerial
|
||||
}
|
||||
|
||||
|
||||
@ -428,14 +428,14 @@ void FirmataClass::systemReset(void)
|
||||
// used for flashing the pin for the version number
|
||||
void FirmataClass::pin13strobe(int count, int onInterval, int offInterval)
|
||||
{
|
||||
byte i;
|
||||
pinMode(VERSION_BLINK_PIN, OUTPUT);
|
||||
for(i=0; i<count; i++) {
|
||||
delay(offInterval);
|
||||
digitalWrite(VERSION_BLINK_PIN, HIGH);
|
||||
delay(onInterval);
|
||||
digitalWrite(VERSION_BLINK_PIN, LOW);
|
||||
}
|
||||
byte i;
|
||||
pinMode(VERSION_BLINK_PIN, OUTPUT);
|
||||
for(i=0; i<count; i++) {
|
||||
delay(offInterval);
|
||||
digitalWrite(VERSION_BLINK_PIN, HIGH);
|
||||
delay(onInterval);
|
||||
digitalWrite(VERSION_BLINK_PIN, LOW);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user