Servo min-max pulse issue resolved

1 files changed, 180 insertions, 0 deletions

diff --git a/OpenModelicaArduino/Firmware/Tiva C/StandardFirmata/Firmata.h b/OpenModelicaArduino/Firmware/Tiva C/StandardFirmata/Firmata.h
new file mode 100644
index 0000000..ec95165
--- /dev/null
+++ b/OpenModelicaArduino/Firmware/Tiva C/StandardFirmata/Firmata.h
@@ -0,0 +1,180 @@
+/*
+  Firmata.h - Firmata library v2.5.6 - 2017-03-18
+  Copyright (c) 2006-2008 Hans-Christoph Steiner.  All rights reserved.
+  Copyright (C) 2009-2017 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.
+*/
+
+#ifndef Firmata_h
+#define Firmata_h
+
+#include "Boards.h"  /* Hardware Abstraction Layer + Wiring/Arduino */
+#include "FirmataDefines.h"
+#include "FirmataMarshaller.h"
+#include "FirmataParser.h"
+
+/* DEPRECATED as of Firmata v2.5.1. As of 2.5.1 there are separate version numbers for
+ * the protocol version and the firmware version.
+ */
+#define FIRMATA_MAJOR_VERSION           2 // same as FIRMATA_PROTOCOL_MAJOR_VERSION
+#define FIRMATA_MINOR_VERSION           5 // same as FIRMATA_PROTOCOL_MINOR_VERSION
+#define FIRMATA_BUGFIX_VERSION          1 // same as FIRMATA_PROTOCOL_BUGFIX_VERSION
+
+// extended command set using sysex (0-127/0x00-0x7F)
+/* 0x00-0x0F reserved for user-defined commands */
+// 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 Arduino.h
+//#define OUTPUT                0x01 // defined in Arduino.h
+// DEPRECATED as of Firmata v2.5
+#define ANALOG                  0x02 // same as PIN_MODE_ANALOG
+#define PWM                     0x03 // same as PIN_MODE_PWM
+#define SERVO                   0x04 // same as PIN_MODE_SERVO
+#define SHIFT                   0x05 // same as PIN_MODE_SHIFT
+#define I2C                     0x06 // same as PIN_MODE_I2C
+#define ONEWIRE                 0x07 // same as PIN_MODE_ONEWIRE
+#define STEPPER                 0x08 // same as PIN_MODE_STEPPER
+#define ENCODER                 0x09 // same as PIN_MODE_ENCODER
+#define IGNORE                  0x7F // same as PIN_MODE_IGNORE
+
+namespace firmata {
+
+// TODO make it a subclass of a generic Serial/Stream base class
+class FirmataClass
+{
+  public:
+    typedef void (*callbackFunction)(uint8_t, int);
+    typedef void (*systemCallbackFunction)(void);
+    typedef void (*stringCallbackFunction)(char *);
+    typedef void (*sysexCallbackFunction)(uint8_t command, uint8_t argc, uint8_t *argv);
+
+    FirmataClass();
+
+    /* 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);
+    void disableBlinkVersion();
+
+    /* serial receive handling */
+    int available(void);
+    void processInput(void);
+    void parse(unsigned char value);
+    boolean isParsingMessage(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);
+    void write(byte c);
+
+    /* attach & detach callback functions to messages */
+    void attach(uint8_t command, callbackFunction newFunction);
+    void attach(uint8_t command, systemCallbackFunction newFunction);
+    void attach(uint8_t command, stringCallbackFunction newFunction);
+    void attach(uint8_t command, sysexCallbackFunction newFunction);
+    void detach(uint8_t command);
+
+    /* access pin state and config */
+    byte getPinMode(byte pin);
+    void setPinMode(byte pin, byte config);
+
+    /* access pin state */
+    int getPinState(byte pin);
+    void setPinState(byte pin, int state);
+
+    /* utility methods */
+    void sendValueAsTwo7bitBytes(int value);
+    void startSysex(void);
+    void endSysex(void);
+
+  private:
+    uint8_t parserBuffer[MAX_DATA_BYTES];
+    FirmataMarshaller marshaller;
+    FirmataParser parser;
+    Stream *FirmataStream;
+
+    /* firmware name and version */
+    byte firmwareVersionCount;
+    byte *firmwareVersionVector;
+
+    /* pin configuration */
+    byte pinConfig[TOTAL_PINS];
+    int pinState[TOTAL_PINS];
+
+    boolean blinkVersionDisabled;
+
+    /* private methods ------------------------------ */
+    void strobeBlinkPin(byte pin, int count, int onInterval, int offInterval);
+    friend void FirmataMarshaller::encodeByteStream (size_t bytec, uint8_t * bytev, size_t max_bytes = 0) const;
+
+    /* callback functions */
+    static callbackFunction currentAnalogCallback;
+    static callbackFunction currentDigitalCallback;
+    static callbackFunction currentPinModeCallback;
+    static callbackFunction currentPinValueCallback;
+    static callbackFunction currentReportAnalogCallback;
+    static callbackFunction currentReportDigitalCallback;
+    static stringCallbackFunction currentStringCallback;
+    static sysexCallbackFunction currentSysexCallback;
+    static systemCallbackFunction currentSystemResetCallback;
+
+    /* static callbacks */
+    inline static void staticAnalogCallback (void *, uint8_t command, uint16_t value) { if ( currentAnalogCallback ) { currentAnalogCallback(command,(int)value); } }
+    inline static void staticDigitalCallback (void *, uint8_t command, uint16_t value) { if ( currentDigitalCallback ) { currentDigitalCallback(command, (int)value); } }
+    inline static void staticPinModeCallback (void *, uint8_t command, uint16_t value) { if ( currentPinModeCallback ) { currentPinModeCallback(command, (int)value); } }
+    inline static void staticPinValueCallback (void *, uint8_t command, uint16_t value) { if ( currentPinValueCallback ) { currentPinValueCallback(command, (int)value); } }
+    inline static void staticReportAnalogCallback (void *, uint8_t command, uint16_t value) { if ( currentReportAnalogCallback ) { currentReportAnalogCallback(command, (int)value); } }
+    inline static void staticReportDigitalCallback (void *, uint8_t command, uint16_t value) { if ( currentReportDigitalCallback ) { currentReportDigitalCallback(command, (int)value); } }
+    inline static void staticStringCallback (void *, const char * c_str) { if ( currentStringCallback ) { currentStringCallback((char *)c_str); } }
+    inline static void staticSysexCallback (void *, uint8_t command, size_t argc, uint8_t *argv) { if ( currentSysexCallback ) { currentSysexCallback(command, (uint8_t)argc, argv); } }
+    inline static void staticReportFirmwareCallback (void * context, size_t, size_t, const char *) { if ( context ) { ((FirmataClass *)context)->printFirmwareVersion(); } }
+    inline static void staticReportVersionCallback (void * context) { if ( context ) { ((FirmataClass *)context)->printVersion(); } }
+    inline static void staticSystemResetCallback (void *) { if ( currentSystemResetCallback ) { currentSystemResetCallback(); } }
+};
+
+} // namespace firmata
+
+extern "C" {
+  // callback function types
+  typedef firmata::FirmataClass::callbackFunction callbackFunction;
+  typedef firmata::FirmataClass::systemCallbackFunction systemCallbackFunction;
+  typedef firmata::FirmataClass::stringCallbackFunction stringCallbackFunction;
+  typedef firmata::FirmataClass::sysexCallbackFunction sysexCallbackFunction;
+}
+
+extern firmata::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 */