Quadrotor

/*

  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 "Boards.h"  /* Hardware Abstraction Layer + Wiring/Arduino */

/* 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 FirmataClass

{

public:

        FirmataClass(Stream &s);

/* Arduino constructors */

    void begin();

    void begin(long);

    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);

    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:

    Stream &FirmataSerial;

/* 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 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)

#endif /* Firmata_h */