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Merge pull request #319 from zfields/marshal
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Split marshalling behavior into new FirmataMarshaller class
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@soundanalogous
soundanalogous committed Nov 7, 2016
2 parents 4ab1e25 + 5668cfc commit 2c24de7
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Showing 6 changed files with 517 additions and 144 deletions.
34 changes: 11 additions & 23 deletions Firmata.cpp
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Expand Up @@ -47,8 +47,7 @@ void printFirmwareVersion (void) {
*/
void FirmataClass::sendValueAsTwo7bitBytes(int value)
{
FirmataStream->write(value & 0x7F); // LSB
FirmataStream->write(value >> 7 & 0x7F); // MSB
marshaller.sendValueAsTwo7bitBytes(value);
}

/**
Expand Down Expand Up @@ -106,10 +105,8 @@ void FirmataClass::begin(void)
void FirmataClass::begin(long speed)
{
Serial.begin(speed);
FirmataStream = &Serial;
blinkVersion();
printVersion(); // send the protocol version
printFirmwareVersion(); // send the firmware name and version
begin(Serial);
}

/**
Expand All @@ -121,10 +118,11 @@ void FirmataClass::begin(long speed)
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();
printFirmwareVersion();
printVersion(); // send the protocol version
printFirmwareVersion(); // send the firmware name and version
}

/**
Expand Down Expand Up @@ -182,7 +180,7 @@ void FirmataClass::printFirmwareVersion(void)
FirmataStream->write(firmwareVersionVector[0]); // major version number
FirmataStream->write(firmwareVersionVector[1]); // minor version number
for (i = 2; i < firmwareVersionCount; ++i) {
sendValueAsTwo7bitBytes(firmwareVersionVector[i]);
marshaller.sendValueAsTwo7bitBytes(firmwareVersionVector[i]);
}
endSysex();
}
Expand Down Expand Up @@ -285,9 +283,7 @@ boolean FirmataClass::isParsingMessage(void)
*/
void FirmataClass::sendAnalog(byte pin, int value)
{
// pin can only be 0-15, so chop higher bits
FirmataStream->write(ANALOG_MESSAGE | (pin & 0xF));
sendValueAsTwo7bitBytes(value);
marshaller.sendAnalog(pin, value);
}

/* (intentionally left out asterix here)
Expand Down Expand Up @@ -326,9 +322,7 @@ void FirmataClass::sendDigital(byte pin, int value)
*/
void FirmataClass::sendDigitalPort(byte portNumber, int portData)
{
FirmataStream->write(DIGITAL_MESSAGE | (portNumber & 0xF));
FirmataStream->write((byte)portData % 128); // Tx bits 0-6 (protocol v1 and higher)
FirmataStream->write(portData >> 7); // Tx bits 7-13 (bit 7 only for protocol v2 and higher)
marshaller.sendDigitalPort(portNumber, portData);
}

/**
Expand All @@ -340,13 +334,7 @@ void FirmataClass::sendDigitalPort(byte portNumber, int portData)
*/
void FirmataClass::sendSysex(byte command, byte bytec, byte *bytev)
{
byte i;
startSysex();
FirmataStream->write(command);
for (i = 0; i < bytec; i++) {
sendValueAsTwo7bitBytes(bytev[i]);
}
endSysex();
marshaller.sendSysex(command, bytec, bytev);
}

/**
Expand All @@ -357,7 +345,7 @@ void FirmataClass::sendSysex(byte command, byte bytec, byte *bytev)
void FirmataClass::sendString(byte command, const char *string)
{
if (command == STRING_DATA) {
sendSysex(command, strlen(string), (byte *)string);
marshaller.sendString(string);
}
}

Expand All @@ -367,7 +355,7 @@ void FirmataClass::sendString(byte command, const char *string)
*/
void FirmataClass::sendString(const char *string)
{
sendString(STRING_DATA, string);
marshaller.sendString(string);
}

/**
Expand Down
44 changes: 4 additions & 40 deletions Firmata.h
View file
Expand Up @@ -15,16 +15,10 @@
#define Firmata_h

#include "Boards.h" /* Hardware Abstraction Layer + Wiring/Arduino */
#include "FirmataConstants.h"
#include "FirmataMarshaller.h"
#include "FirmataParser.h"

/* Version numbers for the Firmata library.
* The firmware version will not always equal the protocol version going forward.
* Query using the REPORT_FIRMWARE message.
*/
#define FIRMATA_FIRMWARE_MAJOR_VERSION 2
#define FIRMATA_FIRMWARE_MINOR_VERSION 5
#define FIRMATA_FIRMWARE_BUGFIX_VERSION 4

/* 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.
*/
Expand All @@ -34,26 +28,6 @@

// extended command set using sysex (0-127/0x00-0x7F)
/* 0x00-0x0F reserved for user-defined commands */
#define SERIAL_MESSAGE 0x60 // communicate with serial devices, including other boards
#define ENCODER_DATA 0x61 // reply with encoders current positions
#define SERVO_CONFIG 0x70 // set max angle, minPulse, maxPulse, freq
#define STEPPER_DATA 0x72 // control a stepper motor
#define ONEWIRE_DATA 0x73 // send an OneWire read/write/reset/select/skip/search request
#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 SAMPLING_INTERVAL 0x7A // set the poll rate of the main loop
#define SCHEDULER_DATA 0x7B // send a createtask/deletetask/addtotask/schedule/querytasks/querytask request to the scheduler
#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
Expand All @@ -63,18 +37,6 @@
// pin modes
//#define INPUT 0x00 // defined in Arduino.h
//#define OUTPUT 0x01 // defined in Arduino.h
#define PIN_MODE_ANALOG 0x02 // analog pin in analogInput mode
#define PIN_MODE_PWM 0x03 // digital pin in PWM output mode
#define PIN_MODE_SERVO 0x04 // digital pin in Servo output mode
#define PIN_MODE_SHIFT 0x05 // shiftIn/shiftOut mode
#define PIN_MODE_I2C 0x06 // pin included in I2C setup
#define PIN_MODE_ONEWIRE 0x07 // pin configured for 1-wire
#define PIN_MODE_STEPPER 0x08 // pin configured for stepper motor
#define PIN_MODE_ENCODER 0x09 // pin configured for rotary encoders
#define PIN_MODE_SERIAL 0x0A // pin configured for serial communication
#define PIN_MODE_PULLUP 0x0B // enable internal pull-up resistor for pin
#define PIN_MODE_IGNORE 0x7F // pin configured to be ignored by digitalWrite and capabilityResponse
#define TOTAL_PIN_MODES 13
// DEPRECATED as of Firmata v2.5
#define ANALOG 0x02 // same as PIN_MODE_ANALOG
#define PWM 0x03 // same as PIN_MODE_PWM
Expand Down Expand Up @@ -135,6 +97,7 @@ class FirmataClass
void endSysex(void);

private:
FirmataMarshaller marshaller;
FirmataParser parser;
Stream *FirmataStream;
/* firmware name and version */
Expand All @@ -148,6 +111,7 @@ class FirmataClass

/* private methods ------------------------------ */
void strobeBlinkPin(byte pin, int count, int onInterval, int offInterval);
friend void FirmataMarshaller::sendValueAsTwo7bitBytes(uint16_t value);
};

extern FirmataClass Firmata;
Expand Down

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