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[Firmata-commits] SF.net SVN: firmata:[11] arduino/trunk/Firmata/Firmata.cpp
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From: <eig...@us...> - 2009-06-26 22:12:30
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Revision: 11
http://firmata.svn.sourceforge.net/firmata/?rev=11&view=rev
Author: eighthave
Date: 2009-06-26 22:12:28 +0000 (Fri, 26 Jun 2009)
Log Message:
-----------
switched intenting to GNU style to match the rest of the code and the Arduino standard
Modified Paths:
--------------
arduino/trunk/Firmata/Firmata.cpp
Modified: arduino/trunk/Firmata/Firmata.cpp
===================================================================
--- arduino/trunk/Firmata/Firmata.cpp 2009-06-18 20:10:43 UTC (rev 10)
+++ arduino/trunk/Firmata/Firmata.cpp 2009-06-26 22:12:28 UTC (rev 11)
@@ -29,18 +29,18 @@
void sendValueAsTwo7bitBytes(int value)
{
- Serial.print(value & B01111111, BYTE); // LSB
- Serial.print(value >> 7 & B01111111, BYTE); // MSB
+ Serial.print(value & B01111111, BYTE); // LSB
+ Serial.print(value >> 7 & B01111111, BYTE); // MSB
}
void startSysex(void)
{
- Serial.print(START_SYSEX, BYTE);
+ Serial.print(START_SYSEX, BYTE);
}
void endSysex(void)
{
- Serial.print(END_SYSEX, BYTE);
+ Serial.print(END_SYSEX, BYTE);
}
//******************************************************************************
@@ -49,8 +49,8 @@
FirmataClass::FirmataClass(void)
{
- firmwareVersionCount = 0;
- systemReset();
+ firmwareVersionCount = 0;
+ systemReset();
}
//******************************************************************************
@@ -60,83 +60,83 @@
/* begin method for overriding default serial bitrate */
void FirmataClass::begin(void)
{
- Serial.begin(115200);
- blinkVersion();
- delay(300);
- printVersion();
+ Serial.begin(115200);
+ blinkVersion();
+ delay(300);
+ printVersion();
}
/* begin method for overriding default serial bitrate */
void FirmataClass::begin(long speed)
{
- blinkVersion();
+ blinkVersion();
#if defined(__AVR_ATmega128__) // Wiring
- Serial.begin((uint32_t)speed);
+ Serial.begin((uint32_t)speed);
#else
- Serial.begin(speed);
+ Serial.begin(speed);
#endif
- delay(300);
- printVersion();
- printFirmwareVersion();
+ delay(300);
+ printVersion();
+ printFirmwareVersion();
}
// output the protocol version message to the serial port
void FirmataClass::printVersion(void) {
- Serial.print(REPORT_VERSION, BYTE);
- Serial.print(FIRMATA_MAJOR_VERSION, BYTE);
- Serial.print(FIRMATA_MINOR_VERSION, BYTE);
+ Serial.print(REPORT_VERSION, BYTE);
+ Serial.print(FIRMATA_MAJOR_VERSION, BYTE);
+ Serial.print(FIRMATA_MINOR_VERSION, BYTE);
}
void FirmataClass::blinkVersion(void)
{
- // flash the pin with the protocol version
- pinMode(VERSION_BLINK_PIN,OUTPUT);
- pin13strobe(FIRMATA_MAJOR_VERSION, 200, 400);
- delay(300);
- pin13strobe(2,1,4); // separator, a quick burst
- delay(300);
- pin13strobe(FIRMATA_MINOR_VERSION, 200, 400);
+ // flash the pin with the protocol version
+ pinMode(VERSION_BLINK_PIN,OUTPUT);
+ pin13strobe(FIRMATA_MAJOR_VERSION, 200, 400);
+ delay(300);
+ pin13strobe(2,1,4); // separator, a quick burst
+ delay(300);
+ pin13strobe(FIRMATA_MINOR_VERSION, 200, 400);
}
void FirmataClass::printFirmwareVersion(void)
{
- byte i;
+ byte i;
- if(firmwareVersionCount) { // make sure that the name has been set before reporting
- startSysex();
- Serial.print(REPORT_FIRMWARE, BYTE);
- Serial.print(firmwareVersionVector[0]); // major version number
- Serial.print(firmwareVersionVector[1]); // minor version number
- for(i=2; i<firmwareVersionCount; ++i) {
- sendValueAsTwo7bitBytes(firmwareVersionVector[i]);
- }
- endSysex();
+ if(firmwareVersionCount) { // make sure that the name has been set before reporting
+ startSysex();
+ Serial.print(REPORT_FIRMWARE, BYTE);
+ Serial.print(firmwareVersionVector[0]); // major version number
+ Serial.print(firmwareVersionVector[1]); // minor version number
+ for(i=2; i<firmwareVersionCount; ++i) {
+ sendValueAsTwo7bitBytes(firmwareVersionVector[i]);
}
+ endSysex();
+ }
}
void FirmataClass::setFirmwareNameAndVersion(const char *name, byte major, byte minor)
{
- const char *filename;
- char *extension;
+ const char *filename;
+ char *extension;
-// parse out ".cpp" and "applet/" that comes from using __FILE__
- extension = strstr(name, ".cpp");
- filename = strrchr(name, '/') + 1; //points to slash, +1 gets to start of filename
- // add two bytes for version numbers
- if(extension && filename) {
- firmwareVersionCount = extension - filename + 2;
- } else {
- firmwareVersionCount = strlen(name) + 2;
- filename = name;
- }
- firmwareVersionVector = (byte *) malloc(firmwareVersionCount);
- firmwareVersionVector[firmwareVersionCount] = 0;
- firmwareVersionVector[0] = major;
- firmwareVersionVector[1] = minor;
- strncpy((char*)firmwareVersionVector + 2, filename, firmwareVersionCount - 2);
-// alas, no snprintf on Arduino
-// snprintf(firmwareVersionVector, MAX_DATA_BYTES, "%c%c%s",
-// (char)major, (char)minor, firmwareVersionVector);
+ // parse out ".cpp" and "applet/" that comes from using __FILE__
+ extension = strstr(name, ".cpp");
+ filename = strrchr(name, '/') + 1; //points to slash, +1 gets to start of filename
+ // add two bytes for version numbers
+ if(extension && filename) {
+ firmwareVersionCount = extension - filename + 2;
+ } else {
+ firmwareVersionCount = strlen(name) + 2;
+ filename = name;
+ }
+ firmwareVersionVector = (byte *) malloc(firmwareVersionCount);
+ firmwareVersionVector[firmwareVersionCount] = 0;
+ firmwareVersionVector[0] = major;
+ firmwareVersionVector[1] = minor;
+ strncpy((char*)firmwareVersionVector + 2, filename, firmwareVersionCount - 2);
+ // alas, no snprintf on Arduino
+ // snprintf(firmwareVersionVector, MAX_DATA_BYTES, "%c%c%s",
+ // (char)major, (char)minor, firmwareVersionVector);
}
//------------------------------------------------------------------------------
@@ -144,123 +144,123 @@
int FirmataClass::available(void)
{
- return Serial.available();
+ return Serial.available();
}
void FirmataClass::processSysexMessage(void)
{
- switch(storedInputData[0]) { //first byte in buffer is command
- case REPORT_FIRMWARE:
- printFirmwareVersion();
- break;
- case FIRMATA_STRING:
- if(currentStringCallback) {
- byte bufferLength = (sysexBytesRead - 1) / 2;
- char *buffer = (char*)malloc(bufferLength * sizeof(char));
- byte i = 1;
- byte j = 0;
- while(j < bufferLength) {
- buffer[j] = (char)storedInputData[i];
- i++;
- buffer[j] += (char)(storedInputData[i] << 7);
- i++;
- j++;
- }
- (*currentStringCallback)(buffer);
- }
- break;
- default:
- if(currentSysexCallback)
- (*currentSysexCallback)(storedInputData[0], sysexBytesRead - 1, storedInputData + 1);
+ switch(storedInputData[0]) { //first byte in buffer is command
+ case REPORT_FIRMWARE:
+ printFirmwareVersion();
+ break;
+ case FIRMATA_STRING:
+ if(currentStringCallback) {
+ byte bufferLength = (sysexBytesRead - 1) / 2;
+ char *buffer = (char*)malloc(bufferLength * sizeof(char));
+ byte i = 1;
+ byte j = 0;
+ while(j < bufferLength) {
+ buffer[j] = (char)storedInputData[i];
+ i++;
+ buffer[j] += (char)(storedInputData[i] << 7);
+ i++;
+ j++;
+ }
+ (*currentStringCallback)(buffer);
}
+ break;
+ default:
+ if(currentSysexCallback)
+ (*currentSysexCallback)(storedInputData[0], sysexBytesRead - 1, storedInputData + 1);
+ }
}
void FirmataClass::processInput(void)
{
- int inputData = Serial.read(); // this is 'int' to handle -1 when no data
- int command;
+ int inputData = Serial.read(); // this is 'int' to handle -1 when no data
+ int command;
- // TODO make sure it handles -1 properly
+ // TODO make sure it handles -1 properly
- if (parsingSysex) {
- if(inputData == END_SYSEX) {
- //stop sysex byte
- parsingSysex = false;
- //fire off handler function
- processSysexMessage();
- } else {
- //normal data byte - add to buffer
- storedInputData[sysexBytesRead] = inputData;
- sysexBytesRead++;
- }
- } else if( (waitForData > 0) && (inputData < 128) ) {
- waitForData--;
- storedInputData[waitForData] = inputData;
- if( (waitForData==0) && executeMultiByteCommand ) { // got the whole message
- switch(executeMultiByteCommand) {
- case ANALOG_MESSAGE:
- if(currentAnalogCallback) {
- (*currentAnalogCallback)(multiByteChannel,
- (storedInputData[0] << 7)
- + storedInputData[1]);
- }
- break;
- case DIGITAL_MESSAGE:
- if(currentDigitalCallback) {
- (*currentDigitalCallback)(multiByteChannel,
- (storedInputData[0] << 7)
- + storedInputData[1]);
- }
- break;
- case SET_PIN_MODE:
- if(currentPinModeCallback)
- (*currentPinModeCallback)(storedInputData[1], storedInputData[0]);
- break;
- case REPORT_ANALOG:
- if(currentReportAnalogCallback)
- (*currentReportAnalogCallback)(multiByteChannel,storedInputData[0]);
- break;
- case REPORT_DIGITAL:
- if(currentReportDigitalCallback)
- (*currentReportDigitalCallback)(multiByteChannel,storedInputData[0]);
- break;
- }
- executeMultiByteCommand = 0;
- }
+ if (parsingSysex) {
+ if(inputData == END_SYSEX) {
+ //stop sysex byte
+ parsingSysex = false;
+ //fire off handler function
+ processSysexMessage();
} else {
- // remove channel info from command byte if less than 0xF0
- if(inputData < 0xF0) {
- command = inputData & 0xF0;
- multiByteChannel = inputData & 0x0F;
- } else {
- command = inputData;
- // commands in the 0xF* range don't use channel data
+ //normal data byte - add to buffer
+ storedInputData[sysexBytesRead] = inputData;
+ sysexBytesRead++;
+ }
+ } else if( (waitForData > 0) && (inputData < 128) ) {
+ waitForData--;
+ storedInputData[waitForData] = inputData;
+ if( (waitForData==0) && executeMultiByteCommand ) { // got the whole message
+ switch(executeMultiByteCommand) {
+ case ANALOG_MESSAGE:
+ if(currentAnalogCallback) {
+ (*currentAnalogCallback)(multiByteChannel,
+ (storedInputData[0] << 7)
+ + storedInputData[1]);
}
- switch (command) {
- case ANALOG_MESSAGE:
- case DIGITAL_MESSAGE:
- case SET_PIN_MODE:
- waitForData = 2; // two data bytes needed
- executeMultiByteCommand = command;
- break;
- case REPORT_ANALOG:
- case REPORT_DIGITAL:
- waitForData = 1; // two data bytes needed
- executeMultiByteCommand = command;
- break;
- case START_SYSEX:
- parsingSysex = true;
- sysexBytesRead = 0;
- break;
- case SYSTEM_RESET:
- systemReset();
- break;
- case REPORT_VERSION:
- Firmata.printVersion();
- break;
+ break;
+ case DIGITAL_MESSAGE:
+ if(currentDigitalCallback) {
+ (*currentDigitalCallback)(multiByteChannel,
+ (storedInputData[0] << 7)
+ + storedInputData[1]);
}
+ break;
+ case SET_PIN_MODE:
+ if(currentPinModeCallback)
+ (*currentPinModeCallback)(storedInputData[1], storedInputData[0]);
+ break;
+ case REPORT_ANALOG:
+ if(currentReportAnalogCallback)
+ (*currentReportAnalogCallback)(multiByteChannel,storedInputData[0]);
+ break;
+ case REPORT_DIGITAL:
+ if(currentReportDigitalCallback)
+ (*currentReportDigitalCallback)(multiByteChannel,storedInputData[0]);
+ break;
+ }
+ executeMultiByteCommand = 0;
+ }
+ } else {
+ // remove channel info from command byte if less than 0xF0
+ if(inputData < 0xF0) {
+ command = inputData & 0xF0;
+ multiByteChannel = inputData & 0x0F;
+ } else {
+ command = inputData;
+ // commands in the 0xF* range don't use channel data
}
+ switch (command) {
+ case ANALOG_MESSAGE:
+ case DIGITAL_MESSAGE:
+ case SET_PIN_MODE:
+ waitForData = 2; // two data bytes needed
+ executeMultiByteCommand = command;
+ break;
+ case REPORT_ANALOG:
+ case REPORT_DIGITAL:
+ waitForData = 1; // two data bytes needed
+ executeMultiByteCommand = command;
+ break;
+ case START_SYSEX:
+ parsingSysex = true;
+ sysexBytesRead = 0;
+ break;
+ case SYSTEM_RESET:
+ systemReset();
+ break;
+ case REPORT_VERSION:
+ Firmata.printVersion();
+ break;
+ }
+ }
}
//------------------------------------------------------------------------------
@@ -269,31 +269,31 @@
// 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 @@
// 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(FIRMATA_STRING, string);
}
@@ -336,43 +336,43 @@
// 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 FIRMATA_STRING: 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 FIRMATA_STRING: currentStringCallback = NULL; break;
+ case START_SYSEX: currentSysexCallback = NULL; break;
+ default:
+ attach(command, (callbackFunction)NULL);
+ }
}
// sysex callbacks
@@ -402,24 +402,24 @@
// 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 @@
// 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);
+ }
}
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