1 files changed, 554 insertions, 0 deletions
diff --git a/OpenModelicaArduino/Firmware/Tiva C/StandardFirmata/Firmata.cpp b/OpenModelicaArduino/Firmware/Tiva C/StandardFirmata/Firmata.cpp
new file mode 100644
index 0000000..8e48bc7
--- /dev/null
+++ b/OpenModelicaArduino/Firmware/Tiva C/StandardFirmata/Firmata.cpp
@@ -0,0 +1,554 @@
+/*
+  Firmata.cpp - 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.
+*/
+
+//******************************************************************************
+//* Includes
+//******************************************************************************
+
+#include "Firmata.h"
+#include "HardwareSerial.h"
+
+#include <string.h>
+#include <stdlib.h>
+
+using namespace firmata;
+
+//******************************************************************************
+//* Static Members
+//******************************************************************************
+// make one instance for the user to use
+FirmataClass Firmata;
+
+/* callback functions */
+callbackFunction FirmataClass::currentAnalogCallback = (callbackFunction)NULL;
+callbackFunction FirmataClass::currentDigitalCallback = (callbackFunction)NULL;
+callbackFunction FirmataClass::currentPinModeCallback = (callbackFunction)NULL;
+callbackFunction FirmataClass::currentPinValueCallback = (callbackFunction)NULL;
+callbackFunction FirmataClass::currentReportAnalogCallback = (callbackFunction)NULL;
+callbackFunction FirmataClass::currentReportDigitalCallback = (callbackFunction)NULL;
+stringCallbackFunction FirmataClass::currentStringCallback = (stringCallbackFunction)NULL;
+sysexCallbackFunction FirmataClass::currentSysexCallback = (sysexCallbackFunction)NULL;
+systemCallbackFunction FirmataClass::currentSystemResetCallback = (systemCallbackFunction)NULL;
+
+//******************************************************************************
+//* Support Functions
+//******************************************************************************
+
+/**
+ * Split a 16-bit byte into two 7-bit values and write each value.
+ * @param value The 16-bit value to be split and written separately.
+ */
+void FirmataClass::sendValueAsTwo7bitBytes(int value)
+{
+  marshaller.encodeByteStream(sizeof(value), reinterpret_cast<uint8_t *>(&value), sizeof(value));
+}
+
+/**
+ * A helper method to write the beginning of a Sysex message transmission.
+ */
+void FirmataClass::startSysex(void)
+{
+  FirmataStream->write(START_SYSEX);
+}
+
+/**
+ * A helper method to write the end of a Sysex message transmission.
+ */
+void FirmataClass::endSysex(void)
+{
+  FirmataStream->write(END_SYSEX);
+}
+
+//******************************************************************************
+//* Constructors
+//******************************************************************************
+
+/**
+ * The Firmata class.
+ * An instance named "Firmata" is created automatically for the user.
+ */
+FirmataClass::FirmataClass()
+:
+  parser(FirmataParser(parserBuffer, MAX_DATA_BYTES))
+{
+  firmwareVersionCount = 0;
+  firmwareVersionVector = 0;
+  blinkVersionDisabled = false;
+
+  // Establish callback translation to parser callbacks
+  parser.attach(ANALOG_MESSAGE, (FirmataParser::callbackFunction)staticAnalogCallback, (void *)NULL);
+  parser.attach(DIGITAL_MESSAGE, (FirmataParser::callbackFunction)staticDigitalCallback, (void *)NULL);
+  parser.attach(REPORT_ANALOG, (FirmataParser::callbackFunction)staticReportAnalogCallback, (void *)NULL);
+  parser.attach(REPORT_DIGITAL, (FirmataParser::callbackFunction)staticReportDigitalCallback, (void *)NULL);
+  parser.attach(SET_PIN_MODE, (FirmataParser::callbackFunction)staticPinModeCallback, (void *)NULL);
+  parser.attach(SET_DIGITAL_PIN_VALUE, (FirmataParser::callbackFunction)staticPinValueCallback, (void *)NULL);
+  parser.attach(STRING_DATA, (FirmataParser::stringCallbackFunction)staticStringCallback, (void *)NULL);
+  parser.attach(START_SYSEX, (FirmataParser::sysexCallbackFunction)staticSysexCallback, (void *)NULL);
+  parser.attach(REPORT_FIRMWARE, (FirmataParser::versionCallbackFunction)staticReportFirmwareCallback, this);
+  parser.attach(REPORT_VERSION, (FirmataParser::systemCallbackFunction)staticReportVersionCallback, this);
+  parser.attach(SYSTEM_RESET, (FirmataParser::systemCallbackFunction)staticSystemResetCallback, (void *)NULL);
+}
+
+//******************************************************************************
+//* Public Methods
+//******************************************************************************
+
+/**
+ * Initialize the default Serial transport at the default baud of 57600.
+ */
+void FirmataClass::begin(void)
+{
+  begin(57600);
+}
+
+/**
+ * Initialize the default Serial transport and override the default baud.
+ * Sends the protocol version to the host application followed by the firmware version and name.
+ * blinkVersion is also called. To skip the call to blinkVersion, call Firmata.disableBlinkVersion()
+ * before calling Firmata.begin(baud).
+ * @param speed The baud to use. 57600 baud is the default value.
+ */
+void FirmataClass::begin(long speed)
+{
+  Serial.begin(speed);
+  blinkVersion();
+  begin(Serial);
+}
+
+/**
+ * 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 FirmataClass::begin(Stream &s)
+{
+  FirmataStream = &s;
+  marshaller.begin(s);
+  // do not call blinkVersion() here because some hardware such as the
+  // Ethernet shield use pin 13
+  printVersion();         // send the protocol version
+  printFirmwareVersion(); // send the firmware name and version
+}
+
+/**
+ * Send the Firmata protocol version to the Firmata host application.
+ */
+void FirmataClass::printVersion(void)
+{
+  marshaller.sendVersion(FIRMATA_PROTOCOL_MAJOR_VERSION, FIRMATA_PROTOCOL_MINOR_VERSION);
+}
+
+/**
+ * Blink the Firmata protocol version to the onboard LEDs (if the board has an onboard LED).
+ * If VERSION_BLINK_PIN is not defined in Boards.h for a particular board, then this method
+ * does nothing.
+ * The first series of flashes indicates the firmware major version (2 flashes = 2).
+ * The second series of flashes indicates the firmware minor version (5 flashes = 5).
+ */
+void FirmataClass::blinkVersion(void)
+{
+#if defined(VERSION_BLINK_PIN)
+  if (blinkVersionDisabled) return;
+  // flash the pin with the protocol version
+  pinMode(VERSION_BLINK_PIN, OUTPUT);
+  strobeBlinkPin(VERSION_BLINK_PIN, FIRMATA_FIRMWARE_MAJOR_VERSION, 40, 210);
+  delay(250);
+  strobeBlinkPin(VERSION_BLINK_PIN, FIRMATA_FIRMWARE_MINOR_VERSION, 40, 210);
+  delay(125);
+#endif
+}
+
+/**
+ * Provides a means to disable the version blink sequence on the onboard LED, trimming startup
+ * time by a couple of seconds.
+ * Call this before Firmata.begin(). It only applies when using the default Serial transport.
+ */
+void FirmataClass::disableBlinkVersion()
+{
+  blinkVersionDisabled = true;
+}
+
+/**
+ * Sends the firmware name and version to the Firmata host application. The major and minor version
+ * numbers are the first 2 bytes in the message. The following bytes are the characters of the
+ * firmware name.
+ */
+void FirmataClass::printFirmwareVersion(void)
+{
+  if (firmwareVersionCount) { // make sure that the name has been set before reporting
+    marshaller.sendFirmwareVersion(static_cast<uint8_t>(firmwareVersionVector[0]), static_cast<uint8_t>(firmwareVersionVector[1]), (firmwareVersionCount - 2), reinterpret_cast<uint8_t *>(&firmwareVersionVector[2]));
+  }
+}
+
+/**
+ * Sets the name and version of the firmware. This is not the same version as the Firmata protocol
+ * (although at times the firmware version and protocol version may be the same number).
+ * @param name A pointer to the name char array
+ * @param major The major version number
+ * @param minor The minor version number
+ */
+void FirmataClass::setFirmwareNameAndVersion(const char *name, byte major, byte minor)
+{
+  const char *firmwareName;
+  const char *extension;
+
+  // parse out ".cpp" and "applet/" that comes from using __FILE__
+  extension = strstr(name, ".cpp");
+  firmwareName = strrchr(name, '/');
+
+  if (!firmwareName) {
+    // windows
+    firmwareName = strrchr(name, '\\');
+  }
+  if (!firmwareName) {
+    // user passed firmware name
+    firmwareName = name;
+  } else {
+    firmwareName ++;
+  }
+
+  if (!extension) {
+    firmwareVersionCount = strlen(firmwareName) + 2;
+  } else {
+    firmwareVersionCount = extension - firmwareName + 2;
+  }
+
+  // in case anyone calls setFirmwareNameAndVersion more than once
+  free(firmwareVersionVector);
+
+  firmwareVersionVector = (byte *) malloc(firmwareVersionCount + 1);
+  firmwareVersionVector[firmwareVersionCount] = 0;
+  firmwareVersionVector[0] = major;
+  firmwareVersionVector[1] = minor;
+  strncpy((char *)firmwareVersionVector + 2, firmwareName, firmwareVersionCount - 2);
+}
+
+//------------------------------------------------------------------------------
+// Serial Receive Handling
+
+/**
+ * A wrapper for Stream::available()
+ * @return The number of bytes remaining in the input stream buffer.
+ */
+int FirmataClass::available(void)
+{
+  return FirmataStream->available();
+}
+
+/**
+ * Read a single int from the input stream. If the value is not = -1, pass it on to parse(byte)
+ */
+void FirmataClass::processInput(void)
+{
+  int inputData = FirmataStream->read(); // this is 'int' to handle -1 when no data
+  if (inputData != -1) {
+    parser.parse(inputData);
+  }
+}
+
+/**
+ * Parse data from the input stream.
+ * @param inputData A single byte to be added to the parser.
+ */
+void FirmataClass::parse(byte inputData)
+{
+    parser.parse(inputData);
+}
+
+/**
+ * @return Returns true if the parser is actively parsing data.
+ */
+boolean FirmataClass::isParsingMessage(void)
+{
+  return parser.isParsingMessage();
+}
+
+//------------------------------------------------------------------------------
+// Output Stream Handling
+
+/**
+ * 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 send the value of (limited to pins 0 - 15).
+ * @param value The value of the analog pin (0 - 1024 for 10-bit analog, 0 - 4096 for 12-bit, etc).
+ * The maximum value is 14-bits (16384).
+ */
+void FirmataClass::sendAnalog(byte pin, int value)
+{
+  marshaller.sendAnalog(pin, value);
+}
+
+/* (intentionally left out asterix here)
+ * STUB - NOT IMPLEMENTED
+ * 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 FirmataClass::sendDigital(byte pin, int value)
+{
+  (void)pin;
+  (void)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.
+   */
+
+  // 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();
+}
+
+
+/**
+ * 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 FirmataClass::sendDigitalPort(byte portNumber, int portData)
+{
+  marshaller.sendDigitalPort(portNumber, portData);
+}
+
+/**
+ * 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 FirmataClass::sendSysex(byte command, byte bytec, byte *bytev)
+{
+  marshaller.sendSysex(command, bytec, bytev);
+}
+
+/**
+ * Send a string to the Firmata host application.
+ * @param command Must be STRING_DATA
+ * @param string A pointer to the char string
+ */
+void FirmataClass::sendString(byte command, const char *string)
+{
+  if (command == STRING_DATA) {
+    marshaller.sendString(string);
+  }
+}
+
+/**
+ * Send a string to the Firmata host application.
+ * @param string A pointer to the char string
+ */
+void FirmataClass::sendString(const char *string)
+{
+  marshaller.sendString(string);
+}
+
+/**
+ * A wrapper for Stream::available().
+ * Write a single byte to the output stream.
+ * @param c The byte to be written.
+ */
+void FirmataClass::write(byte c)
+{
+  FirmataStream->write(c);
+}
+
+/**
+ * Attach a generic sysex callback function to a command (options are: ANALOG_MESSAGE,
+ * DIGITAL_MESSAGE, REPORT_ANALOG, REPORT DIGITAL, SET_PIN_MODE and SET_DIGITAL_PIN_VALUE).
+ * @param command The ID of the command to attach a callback function to.
+ * @param newFunction A reference to the callback function to attach.
+ */
+void FirmataClass::attach(uint8_t 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;
+    case SET_DIGITAL_PIN_VALUE:
+      currentPinValueCallback = newFunction;
+      break;
+  }
+}
+
+/**
+ * Attach a callback function for the SYSTEM_RESET command.
+ * @param command Must be set to SYSTEM_RESET or it will be ignored.
+ * @param newFunction A reference to the system reset callback function to attach.
+ */
+void FirmataClass::attach(uint8_t command, systemCallbackFunction newFunction)
+{
+  switch (command) {
+    case SYSTEM_RESET:
+      currentSystemResetCallback = newFunction;
+      break;
+  }
+}
+
+/**
+ * Attach a callback function for the STRING_DATA command.
+ * @param command Must be set to STRING_DATA or it will be ignored.
+ * @param newFunction A reference to the string callback function to attach.
+ */
+void FirmataClass::attach(uint8_t command, stringCallbackFunction newFunction)
+{
+  switch (command) {
+    case STRING_DATA:
+      currentStringCallback = newFunction;
+      break;
+  }
+}
+
+/**
+ * Attach a generic sysex callback function to sysex command.
+ * @param command The ID of the command to attach a callback function to.
+ * @param newFunction A reference to the sysex callback function to attach.
+ */
+void FirmataClass::attach(uint8_t command, sysexCallbackFunction newFunction)
+{
+  (void)command;
+  currentSysexCallback = newFunction;
+}
+
+/**
+ * Detach a callback function for a specified command (such as SYSTEM_RESET, STRING_DATA,
+ * ANALOG_MESSAGE, DIGITAL_MESSAGE, etc).
+ * @param command The ID of the command to detatch the callback function from.
+ */
+void FirmataClass::detach(uint8_t command)
+{
+  switch (command) {
+    case SYSTEM_RESET:
+      attach(command, (systemCallbackFunction)NULL);
+      break;
+    case STRING_DATA:
+      attach(command, (stringCallbackFunction)NULL);
+      break;
+    case START_SYSEX:
+      attach(command, (sysexCallbackFunction)NULL);
+      break;
+    default:
+      attach(command, (callbackFunction)NULL);
+      break;
+  }
+}
+
+/**
+ * @param pin The pin to get the configuration of.
+ * @return The configuration of the specified pin.
+ */
+byte FirmataClass::getPinMode(byte pin)
+{
+  return pinConfig[pin];
+}
+
+/**
+ * Set 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 FirmataClass::setPinMode(byte pin, byte config)
+{
+  if (pinConfig[pin] == PIN_MODE_IGNORE)
+    return;
+
+  pinConfig[pin] = config;
+}
+
+/**
+ * @param pin The pin to get the state of.
+ * @return The state of the specified pin.
+ */
+int FirmataClass::getPinState(byte pin)
+{
+  return pinState[pin];
+}
+
+/**
+ * Set the pin state. The pin state of an output pin is the pin value. The state of an
+ * input pin is 0, unless the pin has it's internal pull up resistor enabled, then the value is 1.
+ * @param pin The pin to set the state of
+ * @param state Set the state of the specified pin
+ */
+void FirmataClass::setPinState(byte pin, int state)
+{
+  pinState[pin] = state;
+}
+
+// sysex callbacks
+/*
+ * this is too complicated for analogReceive, but maybe for Sysex?
+ void FirmataClass::attachSysex(sysexFunction newFunction)
+ {
+ byte i;
+ byte tmpCount = analogReceiveFunctionCount;
+ analogReceiveFunction* tmpArray = analogReceiveFunctionArray;
+ analogReceiveFunctionCount++;
+ analogReceiveFunctionArray = (analogReceiveFunction*) calloc(analogReceiveFunctionCount, sizeof(analogReceiveFunction));
+ for(i = 0; i < tmpCount; i++) {
+ analogReceiveFunctionArray[i] = tmpArray[i];
+ }
+ analogReceiveFunctionArray[tmpCount] = newFunction;
+ free(tmpArray);
+ }
+*/
+
+//******************************************************************************
+//* Private Methods
+//******************************************************************************
+
+/**
+ * Flashing the pin for the version number
+ * @private
+ * @param pin The pin the LED is attached to.
+ * @param count The number of times to flash the LED.
+ * @param onInterval The number of milliseconds for the LED to be ON during each interval.
+ * @param offInterval The number of milliseconds for the LED to be OFF during each interval.
+ */
+void FirmataClass::strobeBlinkPin(byte pin, int count, int onInterval, int offInterval)
+{
+  byte i;
+  for (i = 0; i < count; i++) {
+    delay(offInterval);
+    digitalWrite(pin, HIGH);
+    delay(onInterval);
+    digitalWrite(pin, LOW);
+  }
+}
+