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Diffstat (limited to 'OpenModelicaArduino/Firmware/Tiva C/StandardFirmata/FirmataMarshaller.cpp')
| -rw-r--r-- | OpenModelicaArduino/Firmware/Tiva C/StandardFirmata/FirmataMarshaller.cpp | 431 |
1 files changed, 0 insertions, 431 deletions
diff --git a/OpenModelicaArduino/Firmware/Tiva C/StandardFirmata/FirmataMarshaller.cpp b/OpenModelicaArduino/Firmware/Tiva C/StandardFirmata/FirmataMarshaller.cpp deleted file mode 100644 index 6cb5200..0000000 --- a/OpenModelicaArduino/Firmware/Tiva C/StandardFirmata/FirmataMarshaller.cpp +++ /dev/null @@ -1,431 +0,0 @@ -/* - FirmataMarshaller.cpp - Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved. - Copyright (C) 2009-2016 Jeff Hoefs. 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. -*/ - -//****************************************************************************** -//* Includes -//****************************************************************************** - -#include "FirmataMarshaller.h" - -#if defined(__cplusplus) && !defined(ARDUINO) - #include <cstring> -#else - #include <string.h> -#endif - -#include "FirmataConstants.h" - -using namespace firmata; - -//****************************************************************************** -//* Support Functions -//****************************************************************************** - -/** - * Request or halt a stream of analog readings from the Firmata host application. The range of pins is - * limited to [0..15] when using the REPORT_ANALOG. The maximum result of the REPORT_ANALOG is limited to 14 bits - * (16384). To increase the pin range or value, see the documentation for the EXTENDED_ANALOG - * message. - * @param pin The analog pin for which to request the value (limited to pins 0 - 15). - * @param stream_enable A zero value will disable the stream, a non-zero will enable the stream - * @note The maximum resulting value is 14-bits (16384). - */ -void FirmataMarshaller::reportAnalog(uint8_t pin, bool stream_enable) -const -{ - if ( (Stream *)NULL == FirmataStream ) { return; } - // pin can only be 0-15, so chop higher bits - FirmataStream->write(REPORT_ANALOG | (pin & 0xF)); - FirmataStream->write(stream_enable); -} - -/** - * Request or halt an 8-bit port stream from the Firmata host application (protocol v2 and later). - * Send 14-bits in a single digital message (protocol v1). - * @param portNumber The port number for which to request the value. Note that this is not the same as a "port" on the - * physical microcontroller. Ports are defined in order per every 8 pins in ascending order - * of the Arduino digital pin numbering scheme. Port 0 = pins D0 - D7, port 1 = pins D8 - D15, etc. - * @param stream_enable A zero value will disable the stream, a non-zero will enable the stream - */ -void FirmataMarshaller::reportDigitalPort(uint8_t portNumber, bool stream_enable) -const -{ - if ( (Stream *)NULL == FirmataStream ) { return; } - FirmataStream->write(REPORT_DIGITAL | (portNumber & 0xF)); - FirmataStream->write(stream_enable); -} - -/** - * An alternative to the normal analog message, this extended version allows addressing beyond - * pin 15 and supports sending analog values with any number of bits. - * @param pin The analog pin to which the value is sent. - * @param bytec The size of the storage for the analog value - * @param bytev The pointer to the location of the analog value - */ -void FirmataMarshaller::sendExtendedAnalog(uint8_t pin, size_t bytec, uint8_t * bytev) -const -{ - if ( (Stream *)NULL == FirmataStream ) { return; } - FirmataStream->write(START_SYSEX); - FirmataStream->write(EXTENDED_ANALOG); - FirmataStream->write(pin); - encodeByteStream(bytec, bytev, bytec); - FirmataStream->write(END_SYSEX); -} - -/** - * Transform 8-bit stream into 7-bit message - * @param bytec The number of data bytes in the message. - * @param bytev A pointer to the array of data bytes to send in the message. - * @param max_bytes Force message to be n bytes, regardless of data bits. - */ -void FirmataMarshaller::encodeByteStream (size_t bytec, uint8_t * bytev, size_t max_bytes) -const -{ - static const size_t transmit_bits = 7; - static const uint8_t transmit_mask = ((1 << transmit_bits) - 1); - - size_t bytes_sent = 0; - size_t outstanding_bits = 0; - uint8_t outstanding_bit_cache = *bytev; - - if ( !max_bytes ) { max_bytes = static_cast<size_t>(-1); } - for (size_t i = 0 ; (i < bytec) && (bytes_sent < max_bytes) ; ++i) { - uint8_t transmit_byte = (outstanding_bit_cache|(bytev[i] << outstanding_bits)); - FirmataStream->write(transmit_mask & transmit_byte); - ++bytes_sent; - outstanding_bit_cache = (bytev[i] >> (transmit_bits - outstanding_bits)); - outstanding_bits = (outstanding_bits + (8 - transmit_bits)); - for ( ; (outstanding_bits >= transmit_bits) && (bytes_sent < max_bytes) ; ) { - transmit_byte = outstanding_bit_cache; - FirmataStream->write(transmit_mask & transmit_byte); - ++bytes_sent; - outstanding_bit_cache >>= transmit_bits; - outstanding_bits -= transmit_bits; - } - } - if ( outstanding_bits && (bytes_sent < max_bytes) ) { - FirmataStream->write(static_cast<uint8_t>((1 << outstanding_bits) - 1) & outstanding_bit_cache); - } -} - -//****************************************************************************** -//* Constructors -//****************************************************************************** - -/** - * The FirmataMarshaller class. - */ -FirmataMarshaller::FirmataMarshaller() -: - FirmataStream((Stream *)NULL) -{ -} - -//****************************************************************************** -//* Public Methods -//****************************************************************************** - -/** - * Reassign the Firmata stream transport. - * @param s A reference to the Stream transport object. This can be any type of - * transport that implements the Stream interface. Some examples include Ethernet, WiFi - * and other UARTs on the board (Serial1, Serial2, etc). - */ -void FirmataMarshaller::begin(Stream &s) -{ - FirmataStream = &s; -} - -/** - * Closes the FirmataMarshaller stream by setting its stream reference to `(Stream *)NULL` - */ -void FirmataMarshaller::end(void) -{ - FirmataStream = (Stream *)NULL; -} - -//****************************************************************************** -//* Output Stream Handling -//****************************************************************************** - -/** - * Query the target's firmware name and version - */ -void FirmataMarshaller::queryFirmwareVersion(void) -const -{ - if ( (Stream *)NULL == FirmataStream ) { return; } - FirmataStream->write(START_SYSEX); - FirmataStream->write(REPORT_FIRMWARE); - FirmataStream->write(END_SYSEX); -} - -/** - * Query the target's Firmata protocol version - */ -void FirmataMarshaller::queryVersion(void) -const -{ - if ( (Stream *)NULL == FirmataStream ) { return; } - FirmataStream->write(REPORT_VERSION); -} - -/** - * Halt the stream of analog readings from the Firmata host application. The range of pins is - * limited to [0..15] when using the REPORT_ANALOG. The maximum result of the REPORT_ANALOG is limited to 14 bits - * (16384). To increase the pin range or value, see the documentation for the EXTENDED_ANALOG - * message. - * @param pin The analog pin for which to request the value (limited to pins 0 - 15). - */ -void FirmataMarshaller::reportAnalogDisable(uint8_t pin) -const -{ - reportAnalog(pin, false); -} - -/** - * Request a stream of analog readings from the Firmata host application. The range of pins is - * limited to [0..15] when using the REPORT_ANALOG. The maximum result of the REPORT_ANALOG is limited to 14 bits - * (16384). To increase the pin range or value, see the documentation for the EXTENDED_ANALOG - * message. - * @param pin The analog pin for which to request the value (limited to pins 0 - 15). - */ -void FirmataMarshaller::reportAnalogEnable(uint8_t pin) -const -{ - reportAnalog(pin, true); -} - -/** - * Halt an 8-bit port stream from the Firmata host application (protocol v2 and later). - * Send 14-bits in a single digital message (protocol v1). - * @param portNumber The port number for which to request the value. Note that this is not the same as a "port" on the - * physical microcontroller. Ports are defined in order per every 8 pins in ascending order - * of the Arduino digital pin numbering scheme. Port 0 = pins D0 - D7, port 1 = pins D8 - D15, etc. - */ -void FirmataMarshaller::reportDigitalPortDisable(uint8_t portNumber) -const -{ - reportDigitalPort(portNumber, false); -} - -/** - * Request an 8-bit port stream from the Firmata host application (protocol v2 and later). - * Send 14-bits in a single digital message (protocol v1). - * @param portNumber The port number for which to request the value. Note that this is not the same as a "port" on the - * physical microcontroller. Ports are defined in order per every 8 pins in ascending order - * of the Arduino digital pin numbering scheme. Port 0 = pins D0 - D7, port 1 = pins D8 - D15, etc. - */ -void FirmataMarshaller::reportDigitalPortEnable(uint8_t portNumber) -const -{ - reportDigitalPort(portNumber, true); -} - -/** - * Send an analog message to the Firmata host application. The range of pins is limited to [0..15] - * when using the ANALOG_MESSAGE. The maximum value of the ANALOG_MESSAGE is limited to 14 bits - * (16384). To increase the pin range or value, see the documentation for the EXTENDED_ANALOG - * message. - * @param pin The analog pin to which the value is sent. - * @param value The value of the analog pin (0 - 1024 for 10-bit analog, 0 - 4096 for 12-bit, etc). - * @note The maximum value is 14-bits (16384). - */ -void FirmataMarshaller::sendAnalog(uint8_t pin, uint16_t value) -const -{ - if ( (Stream *)NULL == FirmataStream ) { return; } - if ( (0xF >= pin) && (0x3FFF >= value) ) { - FirmataStream->write(ANALOG_MESSAGE|pin); - encodeByteStream(sizeof(value), reinterpret_cast<uint8_t *>(&value), sizeof(value)); - } else { - sendExtendedAnalog(pin, sizeof(value), reinterpret_cast<uint8_t *>(&value)); - } -} - -/** - * Send an analog mapping query to the Firmata host application. The resulting sysex message will - * have an ANALOG_MAPPING_RESPONSE command byte, followed by a list of pins [0-n]; where each - * pin will specify its corresponding analog pin number or 0x7F (127) if not applicable. - */ -void FirmataMarshaller::sendAnalogMappingQuery(void) -const -{ - sendSysex(ANALOG_MAPPING_QUERY, 0, NULL); -} - -/** - * Send a capability query to the Firmata host application. The resulting sysex message will have - * a CAPABILITY_RESPONSE command byte, followed by a list of byte tuples (mode and mode resolution) - * for each pin; where each pin list is terminated by 0x7F (127). - */ -void FirmataMarshaller::sendCapabilityQuery(void) -const -{ - sendSysex(CAPABILITY_QUERY, 0, NULL); -} - -/** - * Send a single digital pin value to the Firmata host application. - * @param pin The digital pin to send the value of. - * @param value The value of the pin. - */ -void FirmataMarshaller::sendDigital(uint8_t pin, uint8_t value) -const -{ - if ( (Stream *)NULL == FirmataStream ) { return; } - FirmataStream->write(SET_DIGITAL_PIN_VALUE); - FirmataStream->write(pin & 0x7F); - FirmataStream->write(value != 0); -} - - -/** - * Send an 8-bit port in a single digital message (protocol v2 and later). - * Send 14-bits in a single digital message (protocol v1). - * @param portNumber The port number to send. Note that this is not the same as a "port" on the - * physical microcontroller. Ports are defined in order per every 8 pins in ascending order - * of the Arduino digital pin numbering scheme. Port 0 = pins D0 - D7, port 1 = pins D8 - D15, etc. - * @param portData The value of the port. The value of each pin in the port is represented by a bit. - */ -void FirmataMarshaller::sendDigitalPort(uint8_t portNumber, uint16_t portData) -const -{ - if ( (Stream *)NULL == FirmataStream ) { return; } - FirmataStream->write(DIGITAL_MESSAGE | (portNumber & 0xF)); - // Tx bits 0-6 (protocol v1 and higher) - // Tx bits 7-13 (bit 7 only for protocol v2 and higher) - encodeByteStream(sizeof(portData), reinterpret_cast<uint8_t *>(&portData), sizeof(portData)); -} - -/** - * Sends the firmware name and version to the Firmata host application. - * @param major The major verison number - * @param minor The minor version number - * @param bytec The length of the firmware name - * @param bytev The firmware name array - */ -void FirmataMarshaller::sendFirmwareVersion(uint8_t major, uint8_t minor, size_t bytec, uint8_t *bytev) -const -{ - if ( (Stream *)NULL == FirmataStream ) { return; } - size_t i; - FirmataStream->write(START_SYSEX); - FirmataStream->write(REPORT_FIRMWARE); - FirmataStream->write(major); - FirmataStream->write(minor); - for (i = 0; i < bytec; ++i) { - encodeByteStream(sizeof(bytev[i]), reinterpret_cast<uint8_t *>(&bytev[i])); - } - FirmataStream->write(END_SYSEX); -} - -/** - * Send the Firmata protocol version to the Firmata host application. - * @param major The major verison number - * @param minor The minor version number - */ -void FirmataMarshaller::sendVersion(uint8_t major, uint8_t minor) -const -{ - if ( (Stream *)NULL == FirmataStream ) { return; } - FirmataStream->write(REPORT_VERSION); - FirmataStream->write(major); - FirmataStream->write(minor); -} - -/** - * Send the pin mode/configuration. The pin configuration (or mode) in Firmata represents the - * current function of the pin. Examples are digital input or output, analog input, pwm, i2c, - * serial (uart), etc. - * @param pin The pin to configure. - * @param config The configuration value for the specified pin. - */ -void FirmataMarshaller::sendPinMode(uint8_t pin, uint8_t config) -const -{ - if ( (Stream *)NULL == FirmataStream ) { return; } - FirmataStream->write(SET_PIN_MODE); - FirmataStream->write(pin); - FirmataStream->write(config); -} - -/** - * Send a pin state query to the Firmata host application. The resulting sysex message will have - * a PIN_STATE_RESPONSE command byte, followed by the pin number, the pin mode and a stream of - * bits to indicate any *data* written to the pin (pin state). - * @param pin The pin to query - * @note The pin state is any data written to the pin (i.e. pin state != pin value) - */ -void FirmataMarshaller::sendPinStateQuery(uint8_t pin) -const -{ - if ( (Stream *)NULL == FirmataStream ) { return; } - FirmataStream->write(START_SYSEX); - FirmataStream->write(PIN_STATE_QUERY); - FirmataStream->write(pin); - FirmataStream->write(END_SYSEX); -} - -/** - * Send a sysex message where all values after the command byte are packet as 2 7-bit bytes - * (this is not always the case so this function is not always used to send sysex messages). - * @param command The sysex command byte. - * @param bytec The number of data bytes in the message (excludes start, command and end bytes). - * @param bytev A pointer to the array of data bytes to send in the message. - */ -void FirmataMarshaller::sendSysex(uint8_t command, size_t bytec, uint8_t *bytev) -const -{ - if ( (Stream *)NULL == FirmataStream ) { return; } - size_t i; - FirmataStream->write(START_SYSEX); - FirmataStream->write(command); - for (i = 0; i < bytec; ++i) { - encodeByteStream(sizeof(bytev[i]), reinterpret_cast<uint8_t *>(&bytev[i])); - } - FirmataStream->write(END_SYSEX); -} - -/** - * Send a string to the Firmata host application. - * @param string A pointer to the char string - */ -void FirmataMarshaller::sendString(const char *string) -const -{ - sendSysex(STRING_DATA, strlen(string), reinterpret_cast<uint8_t *>(const_cast<char *>(string))); -} - -/** - * The sampling interval sets how often analog data and i2c data is reported to the client. - * @param interval_ms The interval (in milliseconds) at which to sample - * @note The default sampling interval is 19ms - */ -void FirmataMarshaller::setSamplingInterval(uint16_t interval_ms) -const -{ - sendSysex(SAMPLING_INTERVAL, sizeof(interval_ms), reinterpret_cast<uint8_t *>(&interval_ms)); -} - -/** - * Perform a software reset on the target. For example, StandardFirmata.ino will initialize - * everything to a known state and reset the parsing buffer. - */ -void FirmataMarshaller::systemReset(void) -const -{ - if ( (Stream *)NULL == FirmataStream ) { return; } - FirmataStream->write(SYSTEM_RESET); -} |