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Jérôme Delacotte
2025-03-06 11:15:32 +01:00
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/*
Firmata.cpp - Firmata library v2.5.8 - 2018-04-15
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);
}
}

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/*
Firmata.h - Firmata library v2.5.8 - 2018-04-15
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) 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 */

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/*
FirmataConstants.h
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 FirmataConstants_h
#define FirmataConstants_h
namespace firmata {
/* Version numbers for the Firmata library.
* The firmware version will not always equal the protocol version going forward.
* Query using the REPORT_FIRMWARE message.
*/
static const int FIRMWARE_MAJOR_VERSION = 2;
static const int FIRMWARE_MINOR_VERSION = 5;
static const int FIRMWARE_BUGFIX_VERSION = 7;
/* Version numbers for the protocol. The protocol is still changing, so these
* version numbers are important.
* Query using the REPORT_VERSION message.
*/
static const int PROTOCOL_MAJOR_VERSION = 2; // for non-compatible changes
static const int PROTOCOL_MINOR_VERSION = 5; // for backwards compatible changes
static const int PROTOCOL_BUGFIX_VERSION = 1; // for bugfix releases
static const int MAX_DATA_BYTES = 64; // max number of data bytes in incoming messages
// message command bytes (128-255/0x80-0xFF)
static const int DIGITAL_MESSAGE = 0x90; // send data for a digital port (collection of 8 pins)
static const int ANALOG_MESSAGE = 0xE0; // send data for an analog pin (or PWM)
static const int REPORT_ANALOG = 0xC0; // enable analog input by pin #
static const int REPORT_DIGITAL = 0xD0; // enable digital input by port pair
//
static const int SET_PIN_MODE = 0xF4; // set a pin to INPUT/OUTPUT/PWM/etc
static const int SET_DIGITAL_PIN_VALUE = 0xF5; // set value of an individual digital pin
//
static const int REPORT_VERSION = 0xF9; // report protocol version
static const int SYSTEM_RESET = 0xFF; // reset from MIDI
//
static const int START_SYSEX = 0xF0; // start a MIDI Sysex message
static const int END_SYSEX = 0xF7; // end a MIDI Sysex message
// extended command set using sysex (0-127/0x00-0x7F)
/* 0x00-0x0F reserved for user-defined commands */
static const int SERIAL_DATA = 0x60; // communicate with serial devices, including other boards
static const int ENCODER_DATA = 0x61; // reply with encoders current positions
static const int SERVO_CONFIG = 0x70; // set max angle, minPulse, maxPulse, freq
static const int STRING_DATA = 0x71; // a string message with 14-bits per char
static const int STEPPER_DATA = 0x72; // control a stepper motor
static const int ONEWIRE_DATA = 0x73; // send an OneWire read/write/reset/select/skip/search request
static const int SHIFT_DATA = 0x75; // a bitstream to/from a shift register
static const int I2C_REQUEST = 0x76; // send an I2C read/write request
static const int I2C_REPLY = 0x77; // a reply to an I2C read request
static const int I2C_CONFIG = 0x78; // config I2C settings such as delay times and power pins
static const int REPORT_FIRMWARE = 0x79; // report name and version of the firmware
static const int EXTENDED_ANALOG = 0x6F; // analog write (PWM, Servo, etc) to any pin
static const int PIN_STATE_QUERY = 0x6D; // ask for a pin's current mode and value
static const int PIN_STATE_RESPONSE = 0x6E; // reply with pin's current mode and value
static const int CAPABILITY_QUERY = 0x6B; // ask for supported modes and resolution of all pins
static const int CAPABILITY_RESPONSE = 0x6C; // reply with supported modes and resolution
static const int ANALOG_MAPPING_QUERY = 0x69; // ask for mapping of analog to pin numbers
static const int ANALOG_MAPPING_RESPONSE = 0x6A; // reply with mapping info
static const int SAMPLING_INTERVAL = 0x7A; // set the poll rate of the main loop
static const int SCHEDULER_DATA = 0x7B; // send a createtask/deletetask/addtotask/schedule/querytasks/querytask request to the scheduler
static const int SYSEX_NON_REALTIME = 0x7E; // MIDI Reserved for non-realtime messages
static const int SYSEX_REALTIME = 0x7F; // MIDI Reserved for realtime messages
// pin modes
static const int PIN_MODE_INPUT = 0x00; // same as INPUT defined in Arduino.h
static const int PIN_MODE_OUTPUT = 0x01; // same as OUTPUT defined in Arduino.h
static const int PIN_MODE_ANALOG = 0x02; // analog pin in analogInput mode
static const int PIN_MODE_PWM = 0x03; // digital pin in PWM output mode
static const int PIN_MODE_SERVO = 0x04; // digital pin in Servo output mode
static const int PIN_MODE_SHIFT = 0x05; // shiftIn/shiftOut mode
static const int PIN_MODE_I2C = 0x06; // pin included in I2C setup
static const int PIN_MODE_ONEWIRE = 0x07; // pin configured for 1-wire
static const int PIN_MODE_STEPPER = 0x08; // pin configured for stepper motor
static const int PIN_MODE_ENCODER = 0x09; // pin configured for rotary encoders
static const int PIN_MODE_SERIAL = 0x0A; // pin configured for serial communication
static const int PIN_MODE_PULLUP = 0x0B; // enable internal pull-up resistor for pin
static const int PIN_MODE_IGNORE = 0x7F; // pin configured to be ignored by digitalWrite and capabilityResponse
static const int TOTAL_PIN_MODES = 13;
} // namespace firmata
#endif // FirmataConstants_h

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/*
FirmataDefines.h
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.
*/
#ifndef FirmataDefines_h
#define FirmataDefines_h
#include "FirmataConstants.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 firmata::FIRMWARE_MAJOR_VERSION
#define FIRMATA_FIRMWARE_MINOR_VERSION firmata::FIRMWARE_MINOR_VERSION
#define FIRMATA_FIRMWARE_BUGFIX_VERSION firmata::FIRMWARE_BUGFIX_VERSION
/* Version numbers for the protocol. The protocol is still changing, so these
* version numbers are important.
* Query using the REPORT_VERSION message.
*/
#define FIRMATA_PROTOCOL_MAJOR_VERSION firmata::PROTOCOL_MAJOR_VERSION // for non-compatible changes
#define FIRMATA_PROTOCOL_MINOR_VERSION firmata::PROTOCOL_MINOR_VERSION // for backwards compatible changes
#define FIRMATA_PROTOCOL_BUGFIX_VERSION firmata::PROTOCOL_BUGFIX_VERSION // for bugfix releases
#ifdef MAX_DATA_BYTES
#undef MAX_DATA_BYTES
#endif
#define MAX_DATA_BYTES firmata::MAX_DATA_BYTES // max number of data bytes in incoming messages
// message command bytes (128-255/0x80-0xFF)
#ifdef DIGITAL_MESSAGE
#undef DIGITAL_MESSAGE
#endif
#define DIGITAL_MESSAGE firmata::DIGITAL_MESSAGE // send data for a digital port (collection of 8 pins)
#ifdef ANALOG_MESSAGE
#undef ANALOG_MESSAGE
#endif
#define ANALOG_MESSAGE firmata::ANALOG_MESSAGE // send data for an analog pin (or PWM)
#ifdef REPORT_ANALOG
#undef REPORT_ANALOG
#endif
#define REPORT_ANALOG firmata::REPORT_ANALOG // enable analog input by pin #
#ifdef REPORT_DIGITAL
#undef REPORT_DIGITAL
#endif
#define REPORT_DIGITAL firmata::REPORT_DIGITAL // enable digital input by port pair
//
#ifdef SET_PIN_MODE
#undef SET_PIN_MODE
#endif
#define SET_PIN_MODE firmata::SET_PIN_MODE // set a pin to INPUT/OUTPUT/PWM/etc
#ifdef SET_DIGITAL_PIN_VALUE
#undef SET_DIGITAL_PIN_VALUE
#endif
#define SET_DIGITAL_PIN_VALUE firmata::SET_DIGITAL_PIN_VALUE // set value of an individual digital pin
//
#ifdef REPORT_VERSION
#undef REPORT_VERSION
#endif
#define REPORT_VERSION firmata::REPORT_VERSION // report protocol version
#ifdef SYSTEM_RESET
#undef SYSTEM_RESET
#endif
#define SYSTEM_RESET firmata::SYSTEM_RESET // reset from MIDI
//
#ifdef START_SYSEX
#undef START_SYSEX
#endif
#define START_SYSEX firmata::START_SYSEX // start a MIDI Sysex message
#ifdef END_SYSEX
#undef END_SYSEX
#endif
#define END_SYSEX firmata::END_SYSEX // end a MIDI Sysex message
// extended command set using sysex (0-127/0x00-0x7F)
/* 0x00-0x0F reserved for user-defined commands */
#ifdef SERIAL_MESSAGE
#undef SERIAL_MESSAGE
#endif
#define SERIAL_MESSAGE firmata::SERIAL_DATA // communicate with serial devices, including other boards
#ifdef ENCODER_DATA
#undef ENCODER_DATA
#endif
#define ENCODER_DATA firmata::ENCODER_DATA // reply with encoders current positions
#ifdef SERVO_CONFIG
#undef SERVO_CONFIG
#endif
#define SERVO_CONFIG firmata::SERVO_CONFIG // set max angle, minPulse, maxPulse, freq
#ifdef STRING_DATA
#undef STRING_DATA
#endif
#define STRING_DATA firmata::STRING_DATA // a string message with 14-bits per char
#ifdef STEPPER_DATA
#undef STEPPER_DATA
#endif
#define STEPPER_DATA firmata::STEPPER_DATA // control a stepper motor
#ifdef ONEWIRE_DATA
#undef ONEWIRE_DATA
#endif
#define ONEWIRE_DATA firmata::ONEWIRE_DATA // send an OneWire read/write/reset/select/skip/search request
#ifdef SHIFT_DATA
#undef SHIFT_DATA
#endif
#define SHIFT_DATA firmata::SHIFT_DATA // a bitstream to/from a shift register
#ifdef I2C_REQUEST
#undef I2C_REQUEST
#endif
#define I2C_REQUEST firmata::I2C_REQUEST // send an I2C read/write request
#ifdef I2C_REPLY
#undef I2C_REPLY
#endif
#define I2C_REPLY firmata::I2C_REPLY // a reply to an I2C read request
#ifdef I2C_CONFIG
#undef I2C_CONFIG
#endif
#define I2C_CONFIG firmata::I2C_CONFIG // config I2C settings such as delay times and power pins
#ifdef REPORT_FIRMWARE
#undef REPORT_FIRMWARE
#endif
#define REPORT_FIRMWARE firmata::REPORT_FIRMWARE // report name and version of the firmware
#ifdef EXTENDED_ANALOG
#undef EXTENDED_ANALOG
#endif
#define EXTENDED_ANALOG firmata::EXTENDED_ANALOG // analog write (PWM, Servo, etc) to any pin
#ifdef PIN_STATE_QUERY
#undef PIN_STATE_QUERY
#endif
#define PIN_STATE_QUERY firmata::PIN_STATE_QUERY // ask for a pin's current mode and value
#ifdef PIN_STATE_RESPONSE
#undef PIN_STATE_RESPONSE
#endif
#define PIN_STATE_RESPONSE firmata::PIN_STATE_RESPONSE // reply with pin's current mode and value
#ifdef CAPABILITY_QUERY
#undef CAPABILITY_QUERY
#endif
#define CAPABILITY_QUERY firmata::CAPABILITY_QUERY // ask for supported modes and resolution of all pins
#ifdef CAPABILITY_RESPONSE
#undef CAPABILITY_RESPONSE
#endif
#define CAPABILITY_RESPONSE firmata::CAPABILITY_RESPONSE // reply with supported modes and resolution
#ifdef ANALOG_MAPPING_QUERY
#undef ANALOG_MAPPING_QUERY
#endif
#define ANALOG_MAPPING_QUERY firmata::ANALOG_MAPPING_QUERY // ask for mapping of analog to pin numbers
#ifdef ANALOG_MAPPING_RESPONSE
#undef ANALOG_MAPPING_RESPONSE
#endif
#define ANALOG_MAPPING_RESPONSE firmata::ANALOG_MAPPING_RESPONSE // reply with mapping info
#ifdef SAMPLING_INTERVAL
#undef SAMPLING_INTERVAL
#endif
#define SAMPLING_INTERVAL firmata::SAMPLING_INTERVAL // set the poll rate of the main loop
#ifdef SCHEDULER_DATA
#undef SCHEDULER_DATA
#endif
#define SCHEDULER_DATA firmata::SCHEDULER_DATA // send a createtask/deletetask/addtotask/schedule/querytasks/querytask request to the scheduler
#ifdef SYSEX_NON_REALTIME
#undef SYSEX_NON_REALTIME
#endif
#define SYSEX_NON_REALTIME firmata::SYSEX_NON_REALTIME // MIDI Reserved for non-realtime messages
#ifdef SYSEX_REALTIME
#undef SYSEX_REALTIME
#endif
#define SYSEX_REALTIME firmata::SYSEX_REALTIME // MIDI Reserved for realtime messages
// pin modes
#ifdef PIN_MODE_INPUT
#undef PIN_MODE_INPUT
#endif
#define PIN_MODE_INPUT firmata::PIN_MODE_INPUT // same as INPUT defined in Arduino.h
#ifdef PIN_MODE_OUTPUT
#undef PIN_MODE_OUTPUT
#endif
#define PIN_MODE_OUTPUT firmata::PIN_MODE_OUTPUT // same as OUTPUT defined in Arduino.h
#ifdef PIN_MODE_ANALOG
#undef PIN_MODE_ANALOG
#endif
#define PIN_MODE_ANALOG firmata::PIN_MODE_ANALOG // analog pin in analogInput mode
#ifdef PIN_MODE_PWM
#undef PIN_MODE_PWM
#endif
#define PIN_MODE_PWM firmata::PIN_MODE_PWM // digital pin in PWM output mode
#ifdef PIN_MODE_SERVO
#undef PIN_MODE_SERVO
#endif
#define PIN_MODE_SERVO firmata::PIN_MODE_SERVO // digital pin in Servo output mode
#ifdef PIN_MODE_SHIFT
#undef PIN_MODE_SHIFT
#endif
#define PIN_MODE_SHIFT firmata::PIN_MODE_SHIFT // shiftIn/shiftOut mode
#ifdef PIN_MODE_I2C
#undef PIN_MODE_I2C
#endif
#define PIN_MODE_I2C firmata::PIN_MODE_I2C // pin included in I2C setup
#ifdef PIN_MODE_ONEWIRE
#undef PIN_MODE_ONEWIRE
#endif
#define PIN_MODE_ONEWIRE firmata::PIN_MODE_ONEWIRE // pin configured for 1-wire
#ifdef PIN_MODE_STEPPER
#undef PIN_MODE_STEPPER
#endif
#define PIN_MODE_STEPPER firmata::PIN_MODE_STEPPER // pin configured for stepper motor
#ifdef PIN_MODE_ENCODER
#undef PIN_MODE_ENCODER
#endif
#define PIN_MODE_ENCODER firmata::PIN_MODE_ENCODER // pin configured for rotary encoders
#ifdef PIN_MODE_SERIAL
#undef PIN_MODE_SERIAL
#endif
#define PIN_MODE_SERIAL firmata::PIN_MODE_SERIAL // pin configured for serial communication
#ifdef PIN_MODE_PULLUP
#undef PIN_MODE_PULLUP
#endif
#define PIN_MODE_PULLUP firmata::PIN_MODE_PULLUP // enable internal pull-up resistor for pin
#ifdef PIN_MODE_IGNORE
#undef PIN_MODE_IGNORE
#endif
#define PIN_MODE_IGNORE firmata::PIN_MODE_IGNORE // pin configured to be ignored by digitalWrite and capabilityResponse
#ifdef TOTAL_PIN_MODES
#undef TOTAL_PIN_MODES
#endif
#define TOTAL_PIN_MODES firmata::TOTAL_PIN_MODES
#endif // FirmataConstants_h

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/*
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);
}

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/*
FirmataMarshaller.h
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.
*/
#ifndef FirmataMarshaller_h
#define FirmataMarshaller_h
#if defined(__cplusplus) && !defined(ARDUINO)
#include <cstddef>
#include <cstdint>
#else
#include <stddef.h>
#include <stdint.h>
#endif
#include <Stream.h>
namespace firmata {
class FirmataMarshaller
{
friend class FirmataClass;
public:
/* constructors */
FirmataMarshaller();
/* public methods */
void begin(Stream &s);
void end();
/* serial send handling */
void queryFirmwareVersion(void) const;
void queryVersion(void) const;
void reportAnalogDisable(uint8_t pin) const;
void reportAnalogEnable(uint8_t pin) const;
void reportDigitalPortDisable(uint8_t portNumber) const;
void reportDigitalPortEnable(uint8_t portNumber) const;
void sendAnalog(uint8_t pin, uint16_t value) const;
void sendAnalogMappingQuery(void) const;
void sendCapabilityQuery(void) const;
void sendDigital(uint8_t pin, uint8_t value) const;
void sendDigitalPort(uint8_t portNumber, uint16_t portData) const;
void sendFirmwareVersion(uint8_t major, uint8_t minor, size_t bytec, uint8_t *bytev) const;
void sendVersion(uint8_t major, uint8_t minor) const;
void sendPinMode(uint8_t pin, uint8_t config) const;
void sendPinStateQuery(uint8_t pin) const;
void sendString(const char *string) const;
void sendSysex(uint8_t command, size_t bytec, uint8_t *bytev) const;
void setSamplingInterval(uint16_t interval_ms) const;
void systemReset(void) const;
private:
/* utility methods */
void reportAnalog(uint8_t pin, bool stream_enable) const;
void reportDigitalPort(uint8_t portNumber, bool stream_enable) const;
void sendExtendedAnalog(uint8_t pin, size_t bytec, uint8_t * bytev) const;
void encodeByteStream (size_t bytec, uint8_t * bytev, size_t max_bytes = 0) const;
Stream * FirmataStream;
};
} // namespace firmata
#endif /* FirmataMarshaller_h */

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/*
FirmataParser.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 "FirmataParser.h"
#include "FirmataConstants.h"
using namespace firmata;
//******************************************************************************
//* Constructors
//******************************************************************************
/**
* The FirmataParser class.
* @param dataBuffer A pointer to an external buffer used to store parsed data
* @param dataBufferSize The size of the external buffer
*/
FirmataParser::FirmataParser(uint8_t * const dataBuffer, size_t dataBufferSize)
:
dataBuffer(dataBuffer),
dataBufferSize(dataBufferSize),
executeMultiByteCommand(0),
multiByteChannel(0),
waitForData(0),
parsingSysex(false),
sysexBytesRead(0),
currentAnalogCallbackContext((void *)NULL),
currentDigitalCallbackContext((void *)NULL),
currentReportAnalogCallbackContext((void *)NULL),
currentReportDigitalCallbackContext((void *)NULL),
currentPinModeCallbackContext((void *)NULL),
currentPinValueCallbackContext((void *)NULL),
currentReportFirmwareCallbackContext((void *)NULL),
currentReportVersionCallbackContext((void *)NULL),
currentDataBufferOverflowCallbackContext((void *)NULL),
currentStringCallbackContext((void *)NULL),
currentSysexCallbackContext((void *)NULL),
currentSystemResetCallbackContext((void *)NULL),
currentAnalogCallback((callbackFunction)NULL),
currentDigitalCallback((callbackFunction)NULL),
currentReportAnalogCallback((callbackFunction)NULL),
currentReportDigitalCallback((callbackFunction)NULL),
currentPinModeCallback((callbackFunction)NULL),
currentPinValueCallback((callbackFunction)NULL),
currentDataBufferOverflowCallback((dataBufferOverflowCallbackFunction)NULL),
currentStringCallback((stringCallbackFunction)NULL),
currentSysexCallback((sysexCallbackFunction)NULL),
currentReportFirmwareCallback((versionCallbackFunction)NULL),
currentReportVersionCallback((systemCallbackFunction)NULL),
currentSystemResetCallback((systemCallbackFunction)NULL)
{
allowBufferUpdate = ((uint8_t *)NULL == dataBuffer);
}
//******************************************************************************
//* Public Methods
//******************************************************************************
//------------------------------------------------------------------------------
// Serial Receive Handling
/**
* Parse data from the input stream.
* @param inputData A single byte to be added to the parser.
*/
void FirmataParser::parse(uint8_t inputData)
{
uint8_t command;
if (parsingSysex) {
if (inputData == END_SYSEX) {
//stop sysex byte
parsingSysex = false;
//fire off handler function
processSysexMessage();
} else {
//normal data byte - add to buffer
bufferDataAtPosition(inputData, sysexBytesRead);
++sysexBytesRead;
}
} else if ( (waitForData > 0) && (inputData < 128) ) {
--waitForData;
bufferDataAtPosition(inputData, waitForData);
if ( (waitForData == 0) && executeMultiByteCommand ) { // got the whole message
switch (executeMultiByteCommand) {
case ANALOG_MESSAGE:
if (currentAnalogCallback) {
(*currentAnalogCallback)(currentAnalogCallbackContext,
multiByteChannel,
(dataBuffer[0] << 7)
+ dataBuffer[1]);
}
break;
case DIGITAL_MESSAGE:
if (currentDigitalCallback) {
(*currentDigitalCallback)(currentDigitalCallbackContext,
multiByteChannel,
(dataBuffer[0] << 7)
+ dataBuffer[1]);
}
break;
case SET_PIN_MODE:
if (currentPinModeCallback)
(*currentPinModeCallback)(currentPinModeCallbackContext, dataBuffer[1], dataBuffer[0]);
break;
case SET_DIGITAL_PIN_VALUE:
if (currentPinValueCallback)
(*currentPinValueCallback)(currentPinValueCallbackContext, dataBuffer[1], dataBuffer[0]);
break;
case REPORT_ANALOG:
if (currentReportAnalogCallback)
(*currentReportAnalogCallback)(currentReportAnalogCallbackContext, multiByteChannel, dataBuffer[0]);
break;
case REPORT_DIGITAL:
if (currentReportDigitalCallback)
(*currentReportDigitalCallback)(currentReportDigitalCallbackContext, multiByteChannel, dataBuffer[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:
case SET_DIGITAL_PIN_VALUE:
waitForData = 2; // two data bytes needed
executeMultiByteCommand = command;
break;
case REPORT_ANALOG:
case REPORT_DIGITAL:
waitForData = 1; // one data byte needed
executeMultiByteCommand = command;
break;
case START_SYSEX:
parsingSysex = true;
sysexBytesRead = 0;
break;
case SYSTEM_RESET:
systemReset();
break;
case REPORT_VERSION:
if (currentReportVersionCallback)
(*currentReportVersionCallback)(currentReportVersionCallbackContext);
break;
}
}
}
/**
* @return Returns true if the parser is actively parsing data.
*/
bool FirmataParser::isParsingMessage(void)
const
{
return (waitForData > 0 || parsingSysex);
}
/**
* Provides a mechanism to either set or update the working buffer of the parser.
* The method will be enabled when no buffer has been provided, or an overflow
* condition exists.
* @param dataBuffer A pointer to an external buffer used to store parsed data
* @param dataBufferSize The size of the external buffer
*/
int FirmataParser::setDataBufferOfSize(uint8_t * dataBuffer, size_t dataBufferSize)
{
int result;
if ( !allowBufferUpdate ) {
result = __LINE__;
} else if ((uint8_t *)NULL == dataBuffer) {
result = __LINE__;
} else {
this->dataBuffer = dataBuffer;
this->dataBufferSize = dataBufferSize;
allowBufferUpdate = false;
result = 0;
}
return result;
}
/**
* 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.
* @param context An optional context to be provided to the callback function (NULL by default).
* @note The context parameter is provided so you can pass a parameter, by reference, to
* your callback function.
*/
void FirmataParser::attach(uint8_t command, callbackFunction newFunction, void * context)
{
switch (command) {
case ANALOG_MESSAGE:
currentAnalogCallback = newFunction;
currentAnalogCallbackContext = context;
break;
case DIGITAL_MESSAGE:
currentDigitalCallback = newFunction;
currentDigitalCallbackContext = context;
break;
case REPORT_ANALOG:
currentReportAnalogCallback = newFunction;
currentReportAnalogCallbackContext = context;
break;
case REPORT_DIGITAL:
currentReportDigitalCallback = newFunction;
currentReportDigitalCallbackContext = context;
break;
case SET_PIN_MODE:
currentPinModeCallback = newFunction;
currentPinModeCallbackContext = context;
break;
case SET_DIGITAL_PIN_VALUE:
currentPinValueCallback = newFunction;
currentPinValueCallbackContext = context;
break;
}
}
/**
* Attach a version callback function (supported option: REPORT_FIRMWARE).
* @param command The ID of the command to attach a callback function to.
* @param newFunction A reference to the callback function to attach.
* @param context An optional context to be provided to the callback function (NULL by default).
* @note The context parameter is provided so you can pass a parameter, by reference, to
* your callback function.
*/
void FirmataParser::attach(uint8_t command, versionCallbackFunction newFunction, void * context)
{
switch (command) {
case REPORT_FIRMWARE:
currentReportFirmwareCallback = newFunction;
currentReportFirmwareCallbackContext = context;
break;
}
}
/**
* Attach a system callback function (supported options are: SYSTEM_RESET, REPORT_VERSION).
* @param command The ID of the command to attach a callback function to.
* @param newFunction A reference to the callback function to attach.
* @param context An optional context to be provided to the callback function (NULL by default).
* @note The context parameter is provided so you can pass a parameter, by reference, to
* your callback function.
*/
void FirmataParser::attach(uint8_t command, systemCallbackFunction newFunction, void * context)
{
switch (command) {
case REPORT_VERSION:
currentReportVersionCallback = newFunction;
currentReportVersionCallbackContext = context;
break;
case SYSTEM_RESET:
currentSystemResetCallback = newFunction;
currentSystemResetCallbackContext = context;
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.
* @param context An optional context to be provided to the callback function (NULL by default).
* @note The context parameter is provided so you can pass a parameter, by reference, to
* your callback function.
*/
void FirmataParser::attach(uint8_t command, stringCallbackFunction newFunction, void * context)
{
switch (command) {
case STRING_DATA:
currentStringCallback = newFunction;
currentStringCallbackContext = context;
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.
* @param context An optional context to be provided to the callback function (NULL by default).
* @note The context parameter is provided so you can pass a parameter, by reference, to
* your callback function.
*/
void FirmataParser::attach(uint8_t command, sysexCallbackFunction newFunction, void * context)
{
(void)command;
currentSysexCallback = newFunction;
currentSysexCallbackContext = context;
}
/**
* Attach a buffer overflow callback
* @param newFunction A reference to the buffer overflow callback function to attach.
* @param context An optional context to be provided to the callback function (NULL by default).
* @note The context parameter is provided so you can pass a parameter, by reference, to
* your callback function.
*/
void FirmataParser::attach(dataBufferOverflowCallbackFunction newFunction, void * context)
{
currentDataBufferOverflowCallback = newFunction;
currentDataBufferOverflowCallbackContext = context;
}
/**
* 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 FirmataParser::detach(uint8_t command)
{
switch (command) {
case REPORT_FIRMWARE:
attach(command, (versionCallbackFunction)NULL, NULL);
break;
case REPORT_VERSION:
case SYSTEM_RESET:
attach(command, (systemCallbackFunction)NULL, NULL);
break;
case STRING_DATA:
attach(command, (stringCallbackFunction)NULL, NULL);
break;
case START_SYSEX:
attach(command, (sysexCallbackFunction)NULL, NULL);
break;
default:
attach(command, (callbackFunction)NULL, NULL);
break;
}
}
/**
* Detach the buffer overflow callback
* @param <unused> Any pointer of type dataBufferOverflowCallbackFunction.
*/
void FirmataParser::detach(dataBufferOverflowCallbackFunction)
{
currentDataBufferOverflowCallback = (dataBufferOverflowCallbackFunction)NULL;
currentDataBufferOverflowCallbackContext = (void *)NULL;
}
//******************************************************************************
//* Private Methods
//******************************************************************************
/**
* Buffer abstraction to prevent memory corruption
* @param data The byte to put into the buffer
* @param pos The position to insert the byte into the buffer
* @return writeError A boolean to indicate if an error occured
* @private
*/
bool FirmataParser::bufferDataAtPosition(const uint8_t data, const size_t pos)
{
bool bufferOverflow = (pos >= dataBufferSize);
// Notify of overflow condition
if ( bufferOverflow
&& ((dataBufferOverflowCallbackFunction)NULL != currentDataBufferOverflowCallback) )
{
allowBufferUpdate = true;
currentDataBufferOverflowCallback(currentDataBufferOverflowCallbackContext);
// Check if overflow was resolved during callback
bufferOverflow = (pos >= dataBufferSize);
}
// Write data to buffer if no overflow condition persist
if ( !bufferOverflow )
{
dataBuffer[pos] = data;
}
return bufferOverflow;
}
/**
* Transform 7-bit firmata message into 8-bit stream
* @param bytec The encoded data byte length of the message (max: 16383).
* @param bytev A pointer to the encoded array of data bytes.
* @return The length of the decoded data.
* @note The conversion will be done in place on the provided buffer.
* @private
*/
size_t FirmataParser::decodeByteStream(size_t bytec, uint8_t * bytev) {
size_t decoded_bytes, i;
for ( i = 0, decoded_bytes = 0 ; i < bytec ; ++decoded_bytes, ++i ) {
bytev[decoded_bytes] = bytev[i];
bytev[decoded_bytes] |= (uint8_t)(bytev[++i] << 7);
}
return decoded_bytes;
}
/**
* Process incoming sysex messages. Handles REPORT_FIRMWARE and STRING_DATA internally.
* Calls callback function for STRING_DATA and all other sysex messages.
* @private
*/
void FirmataParser::processSysexMessage(void)
{
switch (dataBuffer[0]) { //first byte in buffer is command
case REPORT_FIRMWARE:
if (currentReportFirmwareCallback) {
const size_t major_version_offset = 1;
const size_t minor_version_offset = 2;
const size_t string_offset = 3;
// Test for malformed REPORT_FIRMWARE message (used to query firmware prior to Firmata v3.0.0)
if ( 3 > sysexBytesRead ) {
(*currentReportFirmwareCallback)(currentReportFirmwareCallbackContext, 0, 0, (const char *)NULL);
} else {
const size_t end_of_string = (string_offset + decodeByteStream((sysexBytesRead - string_offset), &dataBuffer[string_offset]));
bufferDataAtPosition('\0', end_of_string); // NULL terminate the string
(*currentReportFirmwareCallback)(currentReportFirmwareCallbackContext, (size_t)dataBuffer[major_version_offset], (size_t)dataBuffer[minor_version_offset], (const char *)&dataBuffer[string_offset]);
}
}
break;
case STRING_DATA:
if (currentStringCallback) {
const size_t string_offset = 1;
const size_t end_of_string = (string_offset + decodeByteStream((sysexBytesRead - string_offset), &dataBuffer[string_offset]));
bufferDataAtPosition('\0', end_of_string); // NULL terminate the string
(*currentStringCallback)(currentStringCallbackContext, (const char *)&dataBuffer[string_offset]);
}
break;
default:
if (currentSysexCallback)
(*currentSysexCallback)(currentSysexCallbackContext, dataBuffer[0], sysexBytesRead - 1, dataBuffer + 1);
}
}
/**
* Resets the system state upon a SYSTEM_RESET message from the host software.
* @private
*/
void FirmataParser::systemReset(void)
{
size_t 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
for (i = 0; i < dataBufferSize; ++i) {
dataBuffer[i] = 0;
}
parsingSysex = false;
sysexBytesRead = 0;
if (currentSystemResetCallback)
(*currentSystemResetCallback)(currentSystemResetCallbackContext);
}

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/*
FirmataParser.h
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.
*/
#ifndef FirmataParser_h
#define FirmataParser_h
#if defined(__cplusplus) && !defined(ARDUINO)
#include <cstddef>
#include <cstdint>
#else
#include <stddef.h>
#include <stdint.h>
#endif
namespace firmata {
class FirmataParser
{
public:
/* callback function types */
typedef void (*callbackFunction)(void * context, uint8_t command, uint16_t value);
typedef void (*dataBufferOverflowCallbackFunction)(void * context);
typedef void (*stringCallbackFunction)(void * context, const char * c_str);
typedef void (*sysexCallbackFunction)(void * context, uint8_t command, size_t argc, uint8_t * argv);
typedef void (*systemCallbackFunction)(void * context);
typedef void (*versionCallbackFunction)(void * context, size_t sv_major, size_t sv_minor, const char * firmware);
FirmataParser(uint8_t * dataBuffer = (uint8_t *)NULL, size_t dataBufferSize = 0);
/* serial receive handling */
void parse(uint8_t value);
bool isParsingMessage(void) const;
int setDataBufferOfSize(uint8_t * dataBuffer, size_t dataBufferSize);
/* attach & detach callback functions to messages */
void attach(uint8_t command, callbackFunction newFunction, void * context = NULL);
void attach(dataBufferOverflowCallbackFunction newFunction, void * context = NULL);
void attach(uint8_t command, stringCallbackFunction newFunction, void * context = NULL);
void attach(uint8_t command, sysexCallbackFunction newFunction, void * context = NULL);
void attach(uint8_t command, systemCallbackFunction newFunction, void * context = NULL);
void attach(uint8_t command, versionCallbackFunction newFunction, void * context = NULL);
void detach(uint8_t command);
void detach(dataBufferOverflowCallbackFunction);
private:
/* input message handling */
bool allowBufferUpdate;
uint8_t * dataBuffer; // multi-byte data
size_t dataBufferSize;
uint8_t executeMultiByteCommand; // execute this after getting multi-byte data
uint8_t multiByteChannel; // channel data for multiByteCommands
size_t waitForData; // this flag says the next serial input will be data
/* sysex */
bool parsingSysex;
size_t sysexBytesRead;
/* callback context */
void * currentAnalogCallbackContext;
void * currentDigitalCallbackContext;
void * currentReportAnalogCallbackContext;
void * currentReportDigitalCallbackContext;
void * currentPinModeCallbackContext;
void * currentPinValueCallbackContext;
void * currentReportFirmwareCallbackContext;
void * currentReportVersionCallbackContext;
void * currentDataBufferOverflowCallbackContext;
void * currentStringCallbackContext;
void * currentSysexCallbackContext;
void * currentSystemResetCallbackContext;
/* callback functions */
callbackFunction currentAnalogCallback;
callbackFunction currentDigitalCallback;
callbackFunction currentReportAnalogCallback;
callbackFunction currentReportDigitalCallback;
callbackFunction currentPinModeCallback;
callbackFunction currentPinValueCallback;
dataBufferOverflowCallbackFunction currentDataBufferOverflowCallback;
stringCallbackFunction currentStringCallback;
sysexCallbackFunction currentSysexCallback;
versionCallbackFunction currentReportFirmwareCallback;
systemCallbackFunction currentReportVersionCallback;
systemCallbackFunction currentSystemResetCallback;
/* private methods ------------------------------ */
bool bufferDataAtPosition(const uint8_t data, const size_t pos);
size_t decodeByteStream(size_t bytec, uint8_t * bytev);
void processSysexMessage(void);
void systemReset(void);
};
} // firmata
#endif /* FirmataParser_h */

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GNU LESSER GENERAL PUBLIC LICENSE
Version 2.1, February 1999
Copyright (C) 1991, 1999 Free Software Foundation, Inc.
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
[This is the first released version of the Lesser GPL. It also counts
as the successor of the GNU Library Public License, version 2, hence
the version number 2.1.]
Preamble
The licenses for most software are designed to take away your
freedom to share and change it. By contrast, the GNU General Public
Licenses are intended to guarantee your freedom to share and change
free software--to make sure the software is free for all its users.
This license, the Lesser General Public License, applies to some
specially designated software packages--typically libraries--of the
Free Software Foundation and other authors who decide to use it. You
can use it too, but we suggest you first think carefully about whether
this license or the ordinary General Public License is the better
strategy to use in any particular case, based on the explanations below.
When we speak of free software, we are referring to freedom of use,
not price. Our General Public Licenses are designed to make sure that
you have the freedom to distribute copies of free software (and charge
for this service if you wish); that you receive source code or can get
it if you want it; that you can change the software and use pieces of
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<div class="title">Firmata.h</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="comment"> Firmata.h - Firmata library v2.5.8 - 2018-04-15</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="comment"> Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="comment"> Copyright (C) 2009-2017 Jeff Hoefs. All rights reserved.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="comment"> This library is free software; you can redistribute it and/or</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;<span class="comment"> modify it under the terms of the GNU Lesser General Public</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="comment"> License as published by the Free Software Foundation; either</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="comment"> version 2.1 of the License, or (at your option) any later version.</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;<span class="comment"> See file LICENSE.txt for further informations on licensing terms.</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160; </div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="preprocessor">#ifndef Firmata_h</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;<span class="preprocessor">#define Firmata_h</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160; </div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;<span class="preprocessor">#include &quot;Boards.h&quot;</span> <span class="comment">/* Hardware Abstraction Layer + Wiring/Arduino */</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160;<span class="preprocessor">#include &quot;FirmataDefines.h&quot;</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="preprocessor">#include &quot;FirmataMarshaller.h&quot;</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160;<span class="preprocessor">#include &quot;FirmataParser.h&quot;</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160; </div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160;<span class="comment">/* DEPRECATED as of Firmata v2.5.1. As of 2.5.1 there are separate version numbers for</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;<span class="comment"> * the protocol version and the firmware version.</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160;<span class="preprocessor">#define FIRMATA_MAJOR_VERSION 2 // same as FIRMATA_PROTOCOL_MAJOR_VERSION</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160;<span class="preprocessor">#define FIRMATA_MINOR_VERSION 5 // same as FIRMATA_PROTOCOL_MINOR_VERSION</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160;<span class="preprocessor">#define FIRMATA_BUGFIX_VERSION 1 // same as FIRMATA_PROTOCOL_BUGFIX_VERSION</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160; </div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160;<span class="comment">// extended command set using sysex (0-127/0x00-0x7F)</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160;<span class="comment">/* 0x00-0x0F reserved for user-defined commands */</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160;<span class="comment">// these are DEPRECATED to make the naming more consistent</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160;<span class="preprocessor">#define FIRMATA_STRING 0x71 // same as STRING_DATA</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160;<span class="preprocessor">#define SYSEX_I2C_REQUEST 0x76 // same as I2C_REQUEST</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160;<span class="preprocessor">#define SYSEX_I2C_REPLY 0x77 // same as I2C_REPLY</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160;<span class="preprocessor">#define SYSEX_SAMPLING_INTERVAL 0x7A // same as SAMPLING_INTERVAL</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160; </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160;<span class="comment">// pin modes</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>&#160;<span class="comment">//#define INPUT 0x00 // defined in Arduino.h</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160;<span class="comment">//#define OUTPUT 0x01 // defined in Arduino.h</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160;<span class="comment">// DEPRECATED as of Firmata v2.5</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160;<span class="preprocessor">#define ANALOG 0x02 // same as PIN_MODE_ANALOG</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160;<span class="preprocessor">#define PWM 0x03 // same as PIN_MODE_PWM</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>&#160;<span class="preprocessor">#define SERVO 0x04 // same as PIN_MODE_SERVO</span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>&#160;<span class="preprocessor">#define SHIFT 0x05 // same as PIN_MODE_SHIFT</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160;<span class="preprocessor">#define I2C 0x06 // same as PIN_MODE_I2C</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>&#160;<span class="preprocessor">#define ONEWIRE 0x07 // same as PIN_MODE_ONEWIRE</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>&#160;<span class="preprocessor">#define STEPPER 0x08 // same as PIN_MODE_STEPPER</span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>&#160;<span class="preprocessor">#define ENCODER 0x09 // same as PIN_MODE_ENCODER</span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>&#160;<span class="preprocessor">#define IGNORE 0x7F // same as PIN_MODE_IGNORE</span></div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>&#160;<span class="keyword">namespace </span>firmata {</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>&#160;<span class="comment">// TODO make it a subclass of a generic Serial/Stream base class</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classfirmata_1_1_firmata_class.html"> 54</a></span>&#160;<span class="keyword">class </span><a class="code" href="classfirmata_1_1_firmata_class.html">FirmataClass</a></div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>&#160;{</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>&#160; <span class="keyword">public</span>:</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>&#160; <span class="keyword">typedef</span> void (*callbackFunction)(uint8_t, int);</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>&#160; <span class="keyword">typedef</span> void (*systemCallbackFunction)(void);</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160; <span class="keyword">typedef</span> void (*stringCallbackFunction)(<span class="keywordtype">char</span> *);</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160; <span class="keyword">typedef</span> void (*sysexCallbackFunction)(uint8_t command, uint8_t argc, uint8_t *argv);</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>&#160; <a class="code" href="classfirmata_1_1_firmata_class.html#a75b035ab8d96d87d28deeb87badfe11a">FirmataClass</a>();</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>&#160; <span class="comment">/* Arduino constructors */</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a2fddcc643892bec2f4aa7aef6dba70eb">begin</a>();</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a2fddcc643892bec2f4aa7aef6dba70eb">begin</a>(<span class="keywordtype">long</span>);</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a2fddcc643892bec2f4aa7aef6dba70eb">begin</a>(Stream &amp;s);</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>&#160; <span class="comment">/* querying functions */</span></div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#abd8a0370db6d9e923e7e3d5836e78d7a">printVersion</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a9421550f2501fc1df60fd174b154e606">blinkVersion</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#abe49261eab0bd4892a09fa8b8980b11a">printFirmwareVersion</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>&#160; <span class="comment">//void setFirmwareVersion(byte major, byte minor); // see macro below</span></div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#ab7aa66b528027566c15b7d64c8cd0f89">setFirmwareNameAndVersion</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> *name, <span class="keywordtype">byte</span> major, <span class="keywordtype">byte</span> minor);</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a5ddba465c3772f841828ef82c79d4307">disableBlinkVersion</a>();</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>&#160; <span class="comment">/* serial receive handling */</span></div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>&#160; <span class="keywordtype">int</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a119734b867186567c1cd011e52e59d2d">available</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#aa698f5f5a234173d5eebb54831350676">processInput</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#aaeaac8b1f8facf070615b0035120c432">parse</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> value);</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>&#160; <span class="keywordtype">boolean</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a58e9d787957c3085f22d33b59b1f6ea6">isParsingMessage</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>&#160; <span class="comment">/* serial send handling */</span></div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#ae14e1d8d9bd72068f6e8ca07721e8dda">sendAnalog</a>(<span class="keywordtype">byte</span> pin, <span class="keywordtype">int</span> value);</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>&#160; <span class="keywordtype">void</span> sendDigital(<span class="keywordtype">byte</span> pin, <span class="keywordtype">int</span> value); <span class="comment">// TODO implement this</span></div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a799b91e5a888dd21b066a2020d8e2b68">sendDigitalPort</a>(<span class="keywordtype">byte</span> portNumber, <span class="keywordtype">int</span> portData);</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#abe11f621154afd308926129de349fc6e">sendString</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> *<span class="keywordtype">string</span>);</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#abe11f621154afd308926129de349fc6e">sendString</a>(<span class="keywordtype">byte</span> command, <span class="keyword">const</span> <span class="keywordtype">char</span> *<span class="keywordtype">string</span>);</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a81e2de5b37eb2372c8a3d9a43d5eb0cc">sendSysex</a>(<span class="keywordtype">byte</span> command, <span class="keywordtype">byte</span> bytec, <span class="keywordtype">byte</span> *bytev);</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#ae8f29a829e17379602fcb9fd6a497807">write</a>(<span class="keywordtype">byte</span> c);</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>&#160; <span class="comment">/* attach &amp; detach callback functions to messages */</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>&#160; <span class="keywordtype">void</span> attach(uint8_t command, callbackFunction newFunction);</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>&#160; <span class="keywordtype">void</span> attach(uint8_t command, systemCallbackFunction newFunction);</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>&#160; <span class="keywordtype">void</span> attach(uint8_t command, stringCallbackFunction newFunction);</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>&#160; <span class="keywordtype">void</span> attach(uint8_t command, sysexCallbackFunction newFunction);</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a5db0faee74b9291d1b783d2dde0929d1">detach</a>(uint8_t command);</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>&#160; <span class="comment">/* access pin state and config */</span></div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>&#160; <span class="keywordtype">byte</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a0c434227456ce2ba97b3b1142c329f96">getPinMode</a>(<span class="keywordtype">byte</span> pin);</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a32c41dd94c1d23aa0e6d3d1dbe5c0c04">setPinMode</a>(<span class="keywordtype">byte</span> pin, <span class="keywordtype">byte</span> config);</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>&#160; <span class="comment">/* access pin state */</span></div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>&#160; <span class="keywordtype">int</span> <a class="code" href="classfirmata_1_1_firmata_class.html#acf5d4f460b9a2298653d4a71de918dfe">getPinState</a>(<span class="keywordtype">byte</span> pin);</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#aa9f98ba5069823b4c1d08db9f8999ba8">setPinState</a>(<span class="keywordtype">byte</span> pin, <span class="keywordtype">int</span> state);</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>&#160; <span class="comment">/* utility methods */</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a770e43f26f18204e43acebf9202a6d39">sendValueAsTwo7bitBytes</a>(<span class="keywordtype">int</span> value);</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a3cc7ea1af348bca3ea0bd570314cada3">startSysex</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a9bb68afbb1d37a7990f59a1d419e64c9">endSysex</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>&#160; <span class="keyword">private</span>:</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>&#160; uint8_t parserBuffer[MAX_DATA_BYTES];</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>&#160; <a class="code" href="classfirmata_1_1_firmata_marshaller.html">FirmataMarshaller</a> marshaller;</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>&#160; <a class="code" href="classfirmata_1_1_firmata_parser.html">FirmataParser</a> parser;</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>&#160; Stream *FirmataStream;</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>&#160; <span class="comment">/* firmware name and version */</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>&#160; <span class="keywordtype">byte</span> firmwareVersionCount;</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>&#160; <span class="keywordtype">byte</span> *firmwareVersionVector;</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>&#160; <span class="comment">/* pin configuration */</span></div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>&#160; <span class="keywordtype">byte</span> pinConfig[TOTAL_PINS];</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>&#160; <span class="keywordtype">int</span> pinState[TOTAL_PINS];</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>&#160; <span class="keywordtype">boolean</span> blinkVersionDisabled;</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>&#160; <span class="comment">/* private methods ------------------------------ */</span></div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>&#160; <span class="keywordtype">void</span> strobeBlinkPin(<span class="keywordtype">byte</span> pin, <span class="keywordtype">int</span> count, <span class="keywordtype">int</span> onInterval, <span class="keywordtype">int</span> offInterval);</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>&#160; <span class="keyword">friend</span> <span class="keywordtype">void</span> FirmataMarshaller::encodeByteStream (<span class="keywordtype">size_t</span> bytec, uint8_t * bytev, <span class="keywordtype">size_t</span> max_bytes = 0) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>&#160; <span class="comment">/* callback functions */</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>&#160; <span class="keyword">static</span> callbackFunction currentAnalogCallback;</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>&#160; <span class="keyword">static</span> callbackFunction currentDigitalCallback;</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>&#160; <span class="keyword">static</span> callbackFunction currentPinModeCallback;</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>&#160; <span class="keyword">static</span> callbackFunction currentPinValueCallback;</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>&#160; <span class="keyword">static</span> callbackFunction currentReportAnalogCallback;</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>&#160; <span class="keyword">static</span> callbackFunction currentReportDigitalCallback;</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>&#160; <span class="keyword">static</span> stringCallbackFunction currentStringCallback;</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>&#160; <span class="keyword">static</span> sysexCallbackFunction currentSysexCallback;</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>&#160; <span class="keyword">static</span> systemCallbackFunction currentSystemResetCallback;</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>&#160; <span class="comment">/* static callbacks */</span></div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>&#160; <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">void</span> staticAnalogCallback (<span class="keywordtype">void</span> *, uint8_t command, uint16_t value) { <span class="keywordflow">if</span> ( currentAnalogCallback ) { currentAnalogCallback(command,(<span class="keywordtype">int</span>)value); } }</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>&#160; <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">void</span> staticDigitalCallback (<span class="keywordtype">void</span> *, uint8_t command, uint16_t value) { <span class="keywordflow">if</span> ( currentDigitalCallback ) { currentDigitalCallback(command, (<span class="keywordtype">int</span>)value); } }</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>&#160; <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">void</span> staticPinModeCallback (<span class="keywordtype">void</span> *, uint8_t command, uint16_t value) { <span class="keywordflow">if</span> ( currentPinModeCallback ) { currentPinModeCallback(command, (<span class="keywordtype">int</span>)value); } }</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>&#160; <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">void</span> staticPinValueCallback (<span class="keywordtype">void</span> *, uint8_t command, uint16_t value) { <span class="keywordflow">if</span> ( currentPinValueCallback ) { currentPinValueCallback(command, (<span class="keywordtype">int</span>)value); } }</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>&#160; <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">void</span> staticReportAnalogCallback (<span class="keywordtype">void</span> *, uint8_t command, uint16_t value) { <span class="keywordflow">if</span> ( currentReportAnalogCallback ) { currentReportAnalogCallback(command, (<span class="keywordtype">int</span>)value); } }</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>&#160; <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">void</span> staticReportDigitalCallback (<span class="keywordtype">void</span> *, uint8_t command, uint16_t value) { <span class="keywordflow">if</span> ( currentReportDigitalCallback ) { currentReportDigitalCallback(command, (<span class="keywordtype">int</span>)value); } }</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>&#160; <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">void</span> staticStringCallback (<span class="keywordtype">void</span> *, <span class="keyword">const</span> <span class="keywordtype">char</span> * c_str) { <span class="keywordflow">if</span> ( currentStringCallback ) { currentStringCallback((<span class="keywordtype">char</span> *)c_str); } }</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>&#160; <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">void</span> staticSysexCallback (<span class="keywordtype">void</span> *, uint8_t command, <span class="keywordtype">size_t</span> argc, uint8_t *argv) { <span class="keywordflow">if</span> ( currentSysexCallback ) { currentSysexCallback(command, (uint8_t)argc, argv); } }</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>&#160; <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">void</span> staticReportFirmwareCallback (<span class="keywordtype">void</span> * context, <span class="keywordtype">size_t</span>, <span class="keywordtype">size_t</span>, <span class="keyword">const</span> <span class="keywordtype">char</span> *) { <span class="keywordflow">if</span> ( context ) { ((<a class="code" href="classfirmata_1_1_firmata_class.html">FirmataClass</a> *)context)-&gt;printFirmwareVersion(); } }</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>&#160; <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">void</span> staticReportVersionCallback (<span class="keywordtype">void</span> * context) { <span class="keywordflow">if</span> ( context ) { ((<a class="code" href="classfirmata_1_1_firmata_class.html">FirmataClass</a> *)context)-&gt;printVersion(); } }</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>&#160; <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">void</span> staticSystemResetCallback (<span class="keywordtype">void</span> *) { <span class="keywordflow">if</span> ( currentSystemResetCallback ) { currentSystemResetCallback(); } }</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>&#160;};</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>&#160;} <span class="comment">// namespace firmata</span></div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>&#160;<span class="keyword">extern</span> <span class="stringliteral">&quot;C&quot;</span> {</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>&#160; <span class="comment">// callback function types</span></div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>&#160; <span class="keyword">typedef</span> firmata::FirmataClass::callbackFunction callbackFunction;</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>&#160; <span class="keyword">typedef</span> firmata::FirmataClass::systemCallbackFunction systemCallbackFunction;</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>&#160; <span class="keyword">typedef</span> firmata::FirmataClass::stringCallbackFunction stringCallbackFunction;</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>&#160; <span class="keyword">typedef</span> firmata::FirmataClass::sysexCallbackFunction sysexCallbackFunction;</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>&#160;}</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>&#160;<span class="keyword">extern</span> <a class="code" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a> Firmata;</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>&#160;<span class="comment">/*==============================================================================</span></div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>&#160;<span class="comment"> * MACROS</span></div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>&#160;<span class="comment"> *============================================================================*/</span></div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>&#160;<span class="comment">/* shortcut for setFirmwareNameAndVersion() that uses __FILE__ to set the</span></div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>&#160;<span class="comment"> * firmware name. It needs to be a macro so that __FILE__ is included in the</span></div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>&#160;<span class="comment"> * firmware source file rather than the library source file.</span></div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>&#160;<span class="preprocessor">#define setFirmwareVersion(x, y) setFirmwareNameAndVersion(__FILE__, x, y)</span></div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* Firmata_h */</span><span class="preprocessor"></span></div>
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<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_aa698f5f5a234173d5eebb54831350676"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#aa698f5f5a234173d5eebb54831350676">firmata::FirmataClass::processInput</a></div><div class="ttdeci">void processInput(void)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:252</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_a32c41dd94c1d23aa0e6d3d1dbe5c0c04"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#a32c41dd94c1d23aa0e6d3d1dbe5c0c04">firmata::FirmataClass::setPinMode</a></div><div class="ttdeci">void setPinMode(byte pin, byte config)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:486</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_a58e9d787957c3085f22d33b59b1f6ea6"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#a58e9d787957c3085f22d33b59b1f6ea6">firmata::FirmataClass::isParsingMessage</a></div><div class="ttdeci">boolean isParsingMessage(void)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:272</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_abe11f621154afd308926129de349fc6e"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#abe11f621154afd308926129de349fc6e">firmata::FirmataClass::sendString</a></div><div class="ttdeci">void sendString(const char *string)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:363</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_ae8f29a829e17379602fcb9fd6a497807"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#ae8f29a829e17379602fcb9fd6a497807">firmata::FirmataClass::write</a></div><div class="ttdeci">void write(byte c)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:373</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_abe49261eab0bd4892a09fa8b8980b11a"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#abe49261eab0bd4892a09fa8b8980b11a">firmata::FirmataClass::printFirmwareVersion</a></div><div class="ttdeci">void printFirmwareVersion(void)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:187</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_aa9f98ba5069823b4c1d08db9f8999ba8"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#aa9f98ba5069823b4c1d08db9f8999ba8">firmata::FirmataClass::setPinState</a></div><div class="ttdeci">void setPinState(byte pin, int state)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:509</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_acf5d4f460b9a2298653d4a71de918dfe"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#acf5d4f460b9a2298653d4a71de918dfe">firmata::FirmataClass::getPinState</a></div><div class="ttdeci">int getPinState(byte pin)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:498</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_a119734b867186567c1cd011e52e59d2d"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#a119734b867186567c1cd011e52e59d2d">firmata::FirmataClass::available</a></div><div class="ttdeci">int available(void)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:244</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_a0c434227456ce2ba97b3b1142c329f96"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#a0c434227456ce2ba97b3b1142c329f96">firmata::FirmataClass::getPinMode</a></div><div class="ttdeci">byte getPinMode(byte pin)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:474</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_abd8a0370db6d9e923e7e3d5836e78d7a"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#abd8a0370db6d9e923e7e3d5836e78d7a">firmata::FirmataClass::printVersion</a></div><div class="ttdeci">void printVersion(void)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:147</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_ab7aa66b528027566c15b7d64c8cd0f89"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#ab7aa66b528027566c15b7d64c8cd0f89">firmata::FirmataClass::setFirmwareNameAndVersion</a></div><div class="ttdeci">void setFirmwareNameAndVersion(const char *name, byte major, byte minor)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:201</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_ae14e1d8d9bd72068f6e8ca07721e8dda"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#ae14e1d8d9bd72068f6e8ca07721e8dda">firmata::FirmataClass::sendAnalog</a></div><div class="ttdeci">void sendAnalog(byte pin, int value)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:289</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_parser_html"><div class="ttname"><a href="classfirmata_1_1_firmata_parser.html">firmata::FirmataParser</a></div><div class="ttdef"><b>Definition:</b> FirmataParser.h:27</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_a9bb68afbb1d37a7990f59a1d419e64c9"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#a9bb68afbb1d37a7990f59a1d419e64c9">firmata::FirmataClass::endSysex</a></div><div class="ttdeci">void endSysex(void)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:67</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_a9421550f2501fc1df60fd174b154e606"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#a9421550f2501fc1df60fd174b154e606">firmata::FirmataClass::blinkVersion</a></div><div class="ttdeci">void blinkVersion(void)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:159</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_a81e2de5b37eb2372c8a3d9a43d5eb0cc"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#a81e2de5b37eb2372c8a3d9a43d5eb0cc">firmata::FirmataClass::sendSysex</a></div><div class="ttdeci">void sendSysex(byte command, byte bytec, byte *bytev)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:342</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_a5db0faee74b9291d1b783d2dde0929d1"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#a5db0faee74b9291d1b783d2dde0929d1">firmata::FirmataClass::detach</a></div><div class="ttdeci">void detach(uint8_t command)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:452</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_a75b035ab8d96d87d28deeb87badfe11a"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#a75b035ab8d96d87d28deeb87badfe11a">firmata::FirmataClass::FirmataClass</a></div><div class="ttdeci">FirmataClass()</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:80</div></div>
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<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_aaeaac8b1f8facf070615b0035120c432"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#aaeaac8b1f8facf070615b0035120c432">firmata::FirmataClass::parse</a></div><div class="ttdeci">void parse(unsigned char value)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:264</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></div><div class="ttdef"><b>Definition:</b> Firmata.h:54</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_a799b91e5a888dd21b066a2020d8e2b68"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#a799b91e5a888dd21b066a2020d8e2b68">firmata::FirmataClass::sendDigitalPort</a></div><div class="ttdeci">void sendDigitalPort(byte portNumber, int portData)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:330</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_a3cc7ea1af348bca3ea0bd570314cada3"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#a3cc7ea1af348bca3ea0bd570314cada3">firmata::FirmataClass::startSysex</a></div><div class="ttdeci">void startSysex(void)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:59</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_marshaller_html"><div class="ttname"><a href="classfirmata_1_1_firmata_marshaller.html">firmata::FirmataMarshaller</a></div><div class="ttdef"><b>Definition:</b> FirmataMarshaller.h:29</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_a770e43f26f18204e43acebf9202a6d39"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#a770e43f26f18204e43acebf9202a6d39">firmata::FirmataClass::sendValueAsTwo7bitBytes</a></div><div class="ttdeci">void sendValueAsTwo7bitBytes(int value)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:51</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_a2fddcc643892bec2f4aa7aef6dba70eb"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#a2fddcc643892bec2f4aa7aef6dba70eb">firmata::FirmataClass::begin</a></div><div class="ttdeci">void begin()</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:109</div></div>
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<div class="title">FirmataConstants.h</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="comment"> FirmataConstants.h</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="comment"> Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="comment"> Copyright (C) 2009-2017 Jeff Hoefs. All rights reserved.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="comment"> This library is free software; you can redistribute it and/or</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;<span class="comment"> modify it under the terms of the GNU Lesser General Public</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="comment"> License as published by the Free Software Foundation; either</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="comment"> version 2.1 of the License, or (at your option) any later version.</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;<span class="comment"> See file LICENSE.txt for further informations on licensing terms.</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160; </div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="preprocessor">#ifndef FirmataConstants_h</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;<span class="preprocessor">#define FirmataConstants_h</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160; </div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;<span class="keyword">namespace </span>firmata {</div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160;<span class="comment">/* Version numbers for the Firmata library.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="comment"> * The firmware version will not always equal the protocol version going forward.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160;<span class="comment"> * Query using the REPORT_FIRMWARE message.</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> FIRMWARE_MAJOR_VERSION = 2;</div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> FIRMWARE_MINOR_VERSION = 5;</div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> FIRMWARE_BUGFIX_VERSION = 7;</div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160; </div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160;<span class="comment">/* Version numbers for the protocol. The protocol is still changing, so these</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160;<span class="comment"> * version numbers are important.</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160;<span class="comment"> * Query using the REPORT_VERSION message.</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PROTOCOL_MAJOR_VERSION = 2; <span class="comment">// for non-compatible changes</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PROTOCOL_MINOR_VERSION = 5; <span class="comment">// for backwards compatible changes</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PROTOCOL_BUGFIX_VERSION = 1; <span class="comment">// for bugfix releases</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160; </div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> MAX_DATA_BYTES = 64; <span class="comment">// max number of data bytes in incoming messages</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160; </div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160;<span class="comment">// message command bytes (128-255/0x80-0xFF)</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> DIGITAL_MESSAGE = 0x90; <span class="comment">// send data for a digital port (collection of 8 pins)</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> ANALOG_MESSAGE = 0xE0; <span class="comment">// send data for an analog pin (or PWM)</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> REPORT_ANALOG = 0xC0; <span class="comment">// enable analog input by pin #</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> REPORT_DIGITAL = 0xD0; <span class="comment">// enable digital input by port pair</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> SET_PIN_MODE = 0xF4; <span class="comment">// set a pin to INPUT/OUTPUT/PWM/etc</span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> SET_DIGITAL_PIN_VALUE = 0xF5; <span class="comment">// set value of an individual digital pin</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> REPORT_VERSION = 0xF9; <span class="comment">// report protocol version</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> SYSTEM_RESET = 0xFF; <span class="comment">// reset from MIDI</span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> START_SYSEX = 0xF0; <span class="comment">// start a MIDI Sysex message</span></div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> END_SYSEX = 0xF7; <span class="comment">// end a MIDI Sysex message</span></div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160;<span class="comment">// extended command set using sysex (0-127/0x00-0x7F)</span></div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>&#160;<span class="comment">/* 0x00-0x0F reserved for user-defined commands */</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> SERIAL_DATA = 0x60; <span class="comment">// communicate with serial devices, including other boards</span></div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> ENCODER_DATA = 0x61; <span class="comment">// reply with encoders current positions</span></div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> SERVO_CONFIG = 0x70; <span class="comment">// set max angle, minPulse, maxPulse, freq</span></div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> STRING_DATA = 0x71; <span class="comment">// a string message with 14-bits per char</span></div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> STEPPER_DATA = 0x72; <span class="comment">// control a stepper motor</span></div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> ONEWIRE_DATA = 0x73; <span class="comment">// send an OneWire read/write/reset/select/skip/search request</span></div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> SHIFT_DATA = 0x75; <span class="comment">// a bitstream to/from a shift register</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> I2C_REQUEST = 0x76; <span class="comment">// send an I2C read/write request</span></div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> I2C_REPLY = 0x77; <span class="comment">// a reply to an I2C read request</span></div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> I2C_CONFIG = 0x78; <span class="comment">// config I2C settings such as delay times and power pins</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> REPORT_FIRMWARE = 0x79; <span class="comment">// report name and version of the firmware</span></div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> EXTENDED_ANALOG = 0x6F; <span class="comment">// analog write (PWM, Servo, etc) to any pin</span></div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_STATE_QUERY = 0x6D; <span class="comment">// ask for a pin&#39;s current mode and value</span></div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_STATE_RESPONSE = 0x6E; <span class="comment">// reply with pin&#39;s current mode and value</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> CAPABILITY_QUERY = 0x6B; <span class="comment">// ask for supported modes and resolution of all pins</span></div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> CAPABILITY_RESPONSE = 0x6C; <span class="comment">// reply with supported modes and resolution</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> ANALOG_MAPPING_QUERY = 0x69; <span class="comment">// ask for mapping of analog to pin numbers</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> ANALOG_MAPPING_RESPONSE = 0x6A; <span class="comment">// reply with mapping info</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> SAMPLING_INTERVAL = 0x7A; <span class="comment">// set the poll rate of the main loop</span></div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> SCHEDULER_DATA = 0x7B; <span class="comment">// send a createtask/deletetask/addtotask/schedule/querytasks/querytask request to the scheduler</span></div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> SYSEX_NON_REALTIME = 0x7E; <span class="comment">// MIDI Reserved for non-realtime messages</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> SYSEX_REALTIME = 0x7F; <span class="comment">// MIDI Reserved for realtime messages</span></div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>&#160;<span class="comment">// pin modes</span></div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_MODE_INPUT = 0x00; <span class="comment">// same as INPUT defined in Arduino.h</span></div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_MODE_OUTPUT = 0x01; <span class="comment">// same as OUTPUT defined in Arduino.h</span></div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_MODE_ANALOG = 0x02; <span class="comment">// analog pin in analogInput mode</span></div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_MODE_PWM = 0x03; <span class="comment">// digital pin in PWM output mode</span></div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_MODE_SERVO = 0x04; <span class="comment">// digital pin in Servo output mode</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_MODE_SHIFT = 0x05; <span class="comment">// shiftIn/shiftOut mode</span></div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_MODE_I2C = 0x06; <span class="comment">// pin included in I2C setup</span></div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_MODE_ONEWIRE = 0x07; <span class="comment">// pin configured for 1-wire</span></div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_MODE_STEPPER = 0x08; <span class="comment">// pin configured for stepper motor</span></div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_MODE_ENCODER = 0x09; <span class="comment">// pin configured for rotary encoders</span></div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_MODE_SERIAL = 0x0A; <span class="comment">// pin configured for serial communication</span></div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_MODE_PULLUP = 0x0B; <span class="comment">// enable internal pull-up resistor for pin</span></div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_MODE_IGNORE = 0x7F; <span class="comment">// pin configured to be ignored by digitalWrite and capabilityResponse</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> TOTAL_PIN_MODES = 13;</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>&#160;} <span class="comment">// namespace firmata</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>&#160;<span class="preprocessor">#endif // FirmataConstants_h</span></div>
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<div class="title">FirmataDefines.h</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="comment"> FirmataDefines.h</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="comment"> Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="comment"> Copyright (C) 2009-2016 Jeff Hoefs. All rights reserved.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="comment"> This library is free software; you can redistribute it and/or</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;<span class="comment"> modify it under the terms of the GNU Lesser General Public</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="comment"> License as published by the Free Software Foundation; either</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="comment"> version 2.1 of the License, or (at your option) any later version.</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;<span class="comment"> See file LICENSE.txt for further informations on licensing terms.</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160; </div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="preprocessor">#ifndef FirmataDefines_h</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;<span class="preprocessor">#define FirmataDefines_h</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160; </div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;<span class="preprocessor">#include &quot;FirmataConstants.h&quot;</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160; </div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="comment">/* Version numbers for the Firmata library.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160;<span class="comment"> * The firmware version will not always equal the protocol version going forward.</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160;<span class="comment"> * Query using the REPORT_FIRMWARE message.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;<span class="preprocessor">#define FIRMATA_FIRMWARE_MAJOR_VERSION firmata::FIRMWARE_MAJOR_VERSION</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160;<span class="preprocessor">#define FIRMATA_FIRMWARE_MINOR_VERSION firmata::FIRMWARE_MINOR_VERSION</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160;<span class="preprocessor">#define FIRMATA_FIRMWARE_BUGFIX_VERSION firmata::FIRMWARE_BUGFIX_VERSION</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160; </div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160;<span class="comment">/* Version numbers for the protocol. The protocol is still changing, so these</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160;<span class="comment"> * version numbers are important.</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160;<span class="comment"> * Query using the REPORT_VERSION message.</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160;<span class="preprocessor">#define FIRMATA_PROTOCOL_MAJOR_VERSION firmata::PROTOCOL_MAJOR_VERSION // for non-compatible changes</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160;<span class="preprocessor">#define FIRMATA_PROTOCOL_MINOR_VERSION firmata::PROTOCOL_MINOR_VERSION // for backwards compatible changes</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160;<span class="preprocessor">#define FIRMATA_PROTOCOL_BUGFIX_VERSION firmata::PROTOCOL_BUGFIX_VERSION // for bugfix releases</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160; </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160;<span class="preprocessor">#ifdef MAX_DATA_BYTES</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160;<span class="preprocessor">#undef MAX_DATA_BYTES</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>&#160;<span class="preprocessor">#define MAX_DATA_BYTES firmata::MAX_DATA_BYTES // max number of data bytes in incoming messages</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160;<span class="comment">// message command bytes (128-255/0x80-0xFF)</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160;<span class="preprocessor">#ifdef DIGITAL_MESSAGE</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>&#160;<span class="preprocessor">#undef DIGITAL_MESSAGE</span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160;<span class="preprocessor">#define DIGITAL_MESSAGE firmata::DIGITAL_MESSAGE // send data for a digital port (collection of 8 pins)</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>&#160;<span class="preprocessor">#ifdef ANALOG_MESSAGE</span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>&#160;<span class="preprocessor">#undef ANALOG_MESSAGE</span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>&#160;<span class="preprocessor">#define ANALOG_MESSAGE firmata::ANALOG_MESSAGE // send data for an analog pin (or PWM)</span></div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160;<span class="preprocessor">#ifdef REPORT_ANALOG</span></div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>&#160;<span class="preprocessor">#undef REPORT_ANALOG</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>&#160;<span class="preprocessor">#define REPORT_ANALOG firmata::REPORT_ANALOG // enable analog input by pin #</span></div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>&#160;<span class="preprocessor">#ifdef REPORT_DIGITAL</span></div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>&#160;<span class="preprocessor">#undef REPORT_DIGITAL</span></div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160;<span class="preprocessor">#define REPORT_DIGITAL firmata::REPORT_DIGITAL // enable digital input by port pair</span></div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>&#160;<span class="preprocessor">#ifdef SET_PIN_MODE</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>&#160;<span class="preprocessor">#undef SET_PIN_MODE</span></div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>&#160;<span class="preprocessor">#define SET_PIN_MODE firmata::SET_PIN_MODE // set a pin to INPUT/OUTPUT/PWM/etc</span></div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>&#160;<span class="preprocessor">#ifdef SET_DIGITAL_PIN_VALUE</span></div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>&#160;<span class="preprocessor">#undef SET_DIGITAL_PIN_VALUE</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>&#160;<span class="preprocessor">#define SET_DIGITAL_PIN_VALUE firmata::SET_DIGITAL_PIN_VALUE // set value of an individual digital pin</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>&#160;<span class="preprocessor">#ifdef REPORT_VERSION</span></div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>&#160;<span class="preprocessor">#undef REPORT_VERSION</span></div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>&#160;<span class="preprocessor">#define REPORT_VERSION firmata::REPORT_VERSION // report protocol version</span></div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>&#160;<span class="preprocessor">#ifdef SYSTEM_RESET</span></div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>&#160;<span class="preprocessor">#undef SYSTEM_RESET</span></div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>&#160;<span class="preprocessor">#define SYSTEM_RESET firmata::SYSTEM_RESET // reset from MIDI</span></div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>&#160;<span class="preprocessor">#ifdef START_SYSEX</span></div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>&#160;<span class="preprocessor">#undef START_SYSEX</span></div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>&#160;<span class="preprocessor">#define START_SYSEX firmata::START_SYSEX // start a MIDI Sysex message</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>&#160;<span class="preprocessor">#ifdef END_SYSEX</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>&#160;<span class="preprocessor">#undef END_SYSEX</span></div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>&#160;<span class="preprocessor">#define END_SYSEX firmata::END_SYSEX // end a MIDI Sysex message</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>&#160;<span class="comment">// extended command set using sysex (0-127/0x00-0x7F)</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>&#160;<span class="comment">/* 0x00-0x0F reserved for user-defined commands */</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>&#160;<span class="preprocessor">#ifdef SERIAL_MESSAGE</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>&#160;<span class="preprocessor">#undef SERIAL_MESSAGE</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>&#160;<span class="preprocessor">#define SERIAL_MESSAGE firmata::SERIAL_DATA // communicate with serial devices, including other boards</span></div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>&#160;<span class="preprocessor">#ifdef ENCODER_DATA</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>&#160;<span class="preprocessor">#undef ENCODER_DATA</span></div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>&#160;<span class="preprocessor">#define ENCODER_DATA firmata::ENCODER_DATA // reply with encoders current positions</span></div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>&#160;<span class="preprocessor">#ifdef SERVO_CONFIG</span></div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>&#160;<span class="preprocessor">#undef SERVO_CONFIG</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>&#160;<span class="preprocessor">#define SERVO_CONFIG firmata::SERVO_CONFIG // set max angle, minPulse, maxPulse, freq</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>&#160;<span class="preprocessor">#ifdef STRING_DATA</span></div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>&#160;<span class="preprocessor">#undef STRING_DATA</span></div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>&#160;<span class="preprocessor">#define STRING_DATA firmata::STRING_DATA // a string message with 14-bits per char</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>&#160;<span class="preprocessor">#ifdef STEPPER_DATA</span></div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>&#160;<span class="preprocessor">#undef STEPPER_DATA</span></div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>&#160;<span class="preprocessor">#define STEPPER_DATA firmata::STEPPER_DATA // control a stepper motor</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>&#160;<span class="preprocessor">#ifdef ONEWIRE_DATA</span></div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>&#160;<span class="preprocessor">#undef ONEWIRE_DATA</span></div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>&#160;<span class="preprocessor">#define ONEWIRE_DATA firmata::ONEWIRE_DATA // send an OneWire read/write/reset/select/skip/search request</span></div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>&#160;<span class="preprocessor">#ifdef SHIFT_DATA</span></div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>&#160;<span class="preprocessor">#undef SHIFT_DATA</span></div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>&#160;<span class="preprocessor">#define SHIFT_DATA firmata::SHIFT_DATA // a bitstream to/from a shift register</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>&#160;<span class="preprocessor">#ifdef I2C_REQUEST</span></div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>&#160;<span class="preprocessor">#undef I2C_REQUEST</span></div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>&#160;<span class="preprocessor">#define I2C_REQUEST firmata::I2C_REQUEST // send an I2C read/write request</span></div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>&#160;<span class="preprocessor">#ifdef I2C_REPLY</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>&#160;<span class="preprocessor">#undef I2C_REPLY</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>&#160;<span class="preprocessor">#define I2C_REPLY firmata::I2C_REPLY // a reply to an I2C read request</span></div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>&#160;<span class="preprocessor">#ifdef I2C_CONFIG</span></div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>&#160;<span class="preprocessor">#undef I2C_CONFIG</span></div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>&#160;<span class="preprocessor">#define I2C_CONFIG firmata::I2C_CONFIG // config I2C settings such as delay times and power pins</span></div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>&#160;<span class="preprocessor">#ifdef REPORT_FIRMWARE</span></div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>&#160;<span class="preprocessor">#undef REPORT_FIRMWARE</span></div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>&#160;<span class="preprocessor">#define REPORT_FIRMWARE firmata::REPORT_FIRMWARE // report name and version of the firmware</span></div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>&#160;<span class="preprocessor">#ifdef EXTENDED_ANALOG</span></div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>&#160;<span class="preprocessor">#undef EXTENDED_ANALOG</span></div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>&#160;<span class="preprocessor">#define EXTENDED_ANALOG firmata::EXTENDED_ANALOG // analog write (PWM, Servo, etc) to any pin</span></div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>&#160;<span class="preprocessor">#ifdef PIN_STATE_QUERY</span></div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>&#160;<span class="preprocessor">#undef PIN_STATE_QUERY</span></div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>&#160;<span class="preprocessor">#define PIN_STATE_QUERY firmata::PIN_STATE_QUERY // ask for a pin&#39;s current mode and value</span></div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>&#160;<span class="preprocessor">#ifdef PIN_STATE_RESPONSE</span></div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>&#160;<span class="preprocessor">#undef PIN_STATE_RESPONSE</span></div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>&#160;<span class="preprocessor">#define PIN_STATE_RESPONSE firmata::PIN_STATE_RESPONSE // reply with pin&#39;s current mode and value</span></div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>&#160;<span class="preprocessor">#ifdef CAPABILITY_QUERY</span></div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>&#160;<span class="preprocessor">#undef CAPABILITY_QUERY</span></div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>&#160;<span class="preprocessor">#define CAPABILITY_QUERY firmata::CAPABILITY_QUERY // ask for supported modes and resolution of all pins</span></div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>&#160;<span class="preprocessor">#ifdef CAPABILITY_RESPONSE</span></div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>&#160;<span class="preprocessor">#undef CAPABILITY_RESPONSE</span></div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>&#160;<span class="preprocessor">#define CAPABILITY_RESPONSE firmata::CAPABILITY_RESPONSE // reply with supported modes and resolution</span></div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>&#160;<span class="preprocessor">#ifdef ANALOG_MAPPING_QUERY</span></div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>&#160;<span class="preprocessor">#undef ANALOG_MAPPING_QUERY</span></div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>&#160;<span class="preprocessor">#define ANALOG_MAPPING_QUERY firmata::ANALOG_MAPPING_QUERY // ask for mapping of analog to pin numbers</span></div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>&#160;<span class="preprocessor">#ifdef ANALOG_MAPPING_RESPONSE</span></div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>&#160;<span class="preprocessor">#undef ANALOG_MAPPING_RESPONSE</span></div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>&#160;<span class="preprocessor">#define ANALOG_MAPPING_RESPONSE firmata::ANALOG_MAPPING_RESPONSE // reply with mapping info</span></div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>&#160;<span class="preprocessor">#ifdef SAMPLING_INTERVAL</span></div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>&#160;<span class="preprocessor">#undef SAMPLING_INTERVAL</span></div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>&#160;<span class="preprocessor">#define SAMPLING_INTERVAL firmata::SAMPLING_INTERVAL // set the poll rate of the main loop</span></div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>&#160;<span class="preprocessor">#ifdef SCHEDULER_DATA</span></div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>&#160;<span class="preprocessor">#undef SCHEDULER_DATA</span></div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>&#160;<span class="preprocessor">#define SCHEDULER_DATA firmata::SCHEDULER_DATA // send a createtask/deletetask/addtotask/schedule/querytasks/querytask request to the scheduler</span></div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>&#160;<span class="preprocessor">#ifdef SYSEX_NON_REALTIME</span></div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>&#160;<span class="preprocessor">#undef SYSEX_NON_REALTIME</span></div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>&#160;<span class="preprocessor">#define SYSEX_NON_REALTIME firmata::SYSEX_NON_REALTIME // MIDI Reserved for non-realtime messages</span></div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>&#160;<span class="preprocessor">#ifdef SYSEX_REALTIME</span></div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>&#160;<span class="preprocessor">#undef SYSEX_REALTIME</span></div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>&#160;<span class="preprocessor">#define SYSEX_REALTIME firmata::SYSEX_REALTIME // MIDI Reserved for realtime messages</span></div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>&#160;<span class="comment">// pin modes</span></div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>&#160;<span class="preprocessor">#ifdef PIN_MODE_INPUT</span></div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>&#160;<span class="preprocessor">#undef PIN_MODE_INPUT</span></div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>&#160;<span class="preprocessor">#define PIN_MODE_INPUT firmata::PIN_MODE_INPUT // same as INPUT defined in Arduino.h</span></div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>&#160;<span class="preprocessor">#ifdef PIN_MODE_OUTPUT</span></div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>&#160;<span class="preprocessor">#undef PIN_MODE_OUTPUT</span></div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>&#160;<span class="preprocessor">#define PIN_MODE_OUTPUT firmata::PIN_MODE_OUTPUT // same as OUTPUT defined in Arduino.h</span></div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>&#160;<span class="preprocessor">#ifdef PIN_MODE_ANALOG</span></div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>&#160;<span class="preprocessor">#undef PIN_MODE_ANALOG</span></div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>&#160;<span class="preprocessor">#define PIN_MODE_ANALOG firmata::PIN_MODE_ANALOG // analog pin in analogInput mode</span></div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>&#160;<span class="preprocessor">#ifdef PIN_MODE_PWM</span></div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>&#160;<span class="preprocessor">#undef PIN_MODE_PWM</span></div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>&#160;<span class="preprocessor">#define PIN_MODE_PWM firmata::PIN_MODE_PWM // digital pin in PWM output mode</span></div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>&#160;<span class="preprocessor">#ifdef PIN_MODE_SERVO</span></div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>&#160;<span class="preprocessor">#undef PIN_MODE_SERVO</span></div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>&#160;<span class="preprocessor">#define PIN_MODE_SERVO firmata::PIN_MODE_SERVO // digital pin in Servo output mode</span></div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>&#160;<span class="preprocessor">#ifdef PIN_MODE_SHIFT</span></div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>&#160;<span class="preprocessor">#undef PIN_MODE_SHIFT</span></div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>&#160;<span class="preprocessor">#define PIN_MODE_SHIFT firmata::PIN_MODE_SHIFT // shiftIn/shiftOut mode</span></div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>&#160;<span class="preprocessor">#ifdef PIN_MODE_I2C</span></div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>&#160;<span class="preprocessor">#undef PIN_MODE_I2C</span></div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>&#160;<span class="preprocessor">#define PIN_MODE_I2C firmata::PIN_MODE_I2C // pin included in I2C setup</span></div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>&#160;<span class="preprocessor">#ifdef PIN_MODE_ONEWIRE</span></div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>&#160;<span class="preprocessor">#undef PIN_MODE_ONEWIRE</span></div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>&#160;<span class="preprocessor">#define PIN_MODE_ONEWIRE firmata::PIN_MODE_ONEWIRE // pin configured for 1-wire</span></div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>&#160;<span class="preprocessor">#ifdef PIN_MODE_STEPPER</span></div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>&#160;<span class="preprocessor">#undef PIN_MODE_STEPPER</span></div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>&#160;<span class="preprocessor">#define PIN_MODE_STEPPER firmata::PIN_MODE_STEPPER // pin configured for stepper motor</span></div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>&#160;<span class="preprocessor">#ifdef PIN_MODE_ENCODER</span></div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>&#160;<span class="preprocessor">#undef PIN_MODE_ENCODER</span></div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>&#160;<span class="preprocessor">#define PIN_MODE_ENCODER firmata::PIN_MODE_ENCODER // pin configured for rotary encoders</span></div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>&#160; </div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>&#160;<span class="preprocessor">#ifdef PIN_MODE_SERIAL</span></div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>&#160;<span class="preprocessor">#undef PIN_MODE_SERIAL</span></div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>&#160;<span class="preprocessor">#define PIN_MODE_SERIAL firmata::PIN_MODE_SERIAL // pin configured for serial communication</span></div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>&#160;<span class="preprocessor">#ifdef PIN_MODE_PULLUP</span></div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>&#160;<span class="preprocessor">#undef PIN_MODE_PULLUP</span></div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>&#160;<span class="preprocessor">#define PIN_MODE_PULLUP firmata::PIN_MODE_PULLUP // enable internal pull-up resistor for pin</span></div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>&#160;<span class="preprocessor">#ifdef PIN_MODE_IGNORE</span></div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>&#160;<span class="preprocessor">#undef PIN_MODE_IGNORE</span></div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>&#160;<span class="preprocessor">#define PIN_MODE_IGNORE firmata::PIN_MODE_IGNORE // pin configured to be ignored by digitalWrite and capabilityResponse</span></div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>&#160;<span class="preprocessor">#ifdef TOTAL_PIN_MODES</span></div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>&#160;<span class="preprocessor">#undef TOTAL_PIN_MODES</span></div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>&#160;<span class="preprocessor">#define TOTAL_PIN_MODES firmata::TOTAL_PIN_MODES</span></div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>&#160;<span class="preprocessor">#endif // FirmataConstants_h</span></div>
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<div id="projectname">Firmata firmware for Arduino
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<div id="projectbrief">Firmata is a protocol for communicating with microcontrollers from software on a host computer</div>
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<div class="title">FirmataMarshaller.h</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="comment"> FirmataMarshaller.h</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="comment"> Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="comment"> Copyright (C) 2009-2016 Jeff Hoefs. All rights reserved.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="comment"> This library is free software; you can redistribute it and/or</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;<span class="comment"> modify it under the terms of the GNU Lesser General Public</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="comment"> License as published by the Free Software Foundation; either</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="comment"> version 2.1 of the License, or (at your option) any later version.</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;<span class="comment"> See file LICENSE.txt for further informations on licensing terms.</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160; </div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="preprocessor">#ifndef FirmataMarshaller_h</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;<span class="preprocessor">#define FirmataMarshaller_h</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160; </div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;<span class="preprocessor">#if defined(__cplusplus) &amp;&amp; !defined(ARDUINO)</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160;<span class="preprocessor"> #include &lt;cstddef&gt;</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="preprocessor"> #include &lt;cstdint&gt;</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160;<span class="preprocessor"> #include &lt;stddef.h&gt;</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160;<span class="preprocessor"> #include &lt;stdint.h&gt;</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160; </div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160;<span class="preprocessor">#include &lt;Stream.h&gt;</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160; </div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160;<span class="keyword">namespace </span>firmata {</div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160; </div>
<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classfirmata_1_1_firmata_marshaller.html"> 29</a></span>&#160;<span class="keyword">class </span><a class="code" href="classfirmata_1_1_firmata_marshaller.html">FirmataMarshaller</a></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160;{</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160; <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classfirmata_1_1_firmata_class.html">FirmataClass</a>;</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160; </div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160; <span class="keyword">public</span>:</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160; <span class="comment">/* constructors */</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160; <a class="code" href="classfirmata_1_1_firmata_marshaller.html#ad1a42532bdf77088c47c1a62f5a03829">FirmataMarshaller</a>();</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160; </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160; <span class="comment">/* public methods */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_marshaller.html#a5be18ca3658875dbe5580c2254071c76">begin</a>(Stream &amp;s);</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_marshaller.html#ab856434fc577b1e069cba51c39daf1de">end</a>();</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160; <span class="comment">/* serial send handling */</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_marshaller.html#af954bcf09b77458b3c4f032897d14697">queryFirmwareVersion</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_marshaller.html#a488fbbd372c894ec78ebb99e0faf5167">queryVersion</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_marshaller.html#a2668d1332704bbf9938f386e247a8f30">reportAnalogDisable</a>(uint8_t pin) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_marshaller.html#a67b3db7232143acf63bd48b765fcc4db">reportAnalogEnable</a>(uint8_t pin) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_marshaller.html#aa00582e6e014605a65a8953f8275a5ad">reportDigitalPortDisable</a>(uint8_t portNumber) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_marshaller.html#a608c28cdc966c33d0cc2239d9465ef7c">reportDigitalPortEnable</a>(uint8_t portNumber) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_marshaller.html#a4d9f2d3bb058237404dfe433cfe7571a">sendAnalog</a>(uint8_t pin, uint16_t value) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_marshaller.html#a1c987a534cc8dd197eb2f2a728bdacb3">sendAnalogMappingQuery</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_marshaller.html#a1f1c5ce29ba4488306c9a1e3f158b781">sendCapabilityQuery</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_marshaller.html#a2d90627f0543b6298be71f7d903399b3">sendDigital</a>(uint8_t pin, uint8_t value) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_marshaller.html#a346dcb4487a51efaa95de42d292ad951">sendDigitalPort</a>(uint8_t portNumber, uint16_t portData) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_marshaller.html#aed71d62cc41f2e0bf3f161894b91be7c">sendFirmwareVersion</a>(uint8_t major, uint8_t minor, <span class="keywordtype">size_t</span> bytec, uint8_t *bytev) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_marshaller.html#a95d58949e32ad285088705dbe5680b29">sendVersion</a>(uint8_t major, uint8_t minor) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_marshaller.html#a36b6cc103609d900cce36149a239f221">sendPinMode</a>(uint8_t pin, uint8_t config) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_marshaller.html#afc378ab4a39c843d4419acdee944972b">sendPinStateQuery</a>(uint8_t pin) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_marshaller.html#a483ac2dea885ab3472dc38b99bfdec2f">sendString</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> *<span class="keywordtype">string</span>) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_marshaller.html#ade4f4592877ec0b9f8d6c74e909bad8e">sendSysex</a>(uint8_t command, <span class="keywordtype">size_t</span> bytec, uint8_t *bytev) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_marshaller.html#abb8f4c79dd8a0dbee3f5e04c587ae20c">setSamplingInterval</a>(uint16_t interval_ms) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_marshaller.html#a3a585937f94b1f9e51797e5950a33206">systemReset</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>&#160; <span class="keyword">private</span>:</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>&#160; <span class="comment">/* utility methods */</span></div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>&#160; <span class="keywordtype">void</span> reportAnalog(uint8_t pin, <span class="keywordtype">bool</span> stream_enable) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>&#160; <span class="keywordtype">void</span> reportDigitalPort(uint8_t portNumber, <span class="keywordtype">bool</span> stream_enable) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>&#160; <span class="keywordtype">void</span> sendExtendedAnalog(uint8_t pin, <span class="keywordtype">size_t</span> bytec, uint8_t * bytev) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>&#160; <span class="keywordtype">void</span> encodeByteStream (<span class="keywordtype">size_t</span> bytec, uint8_t * bytev, <span class="keywordtype">size_t</span> max_bytes = 0) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>&#160; Stream * FirmataStream;</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>&#160;};</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>&#160;} <span class="comment">// namespace firmata</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* FirmataMarshaller_h */</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>&#160; </div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassfirmata_1_1_firmata_marshaller_html_a608c28cdc966c33d0cc2239d9465ef7c"><div class="ttname"><a href="classfirmata_1_1_firmata_marshaller.html#a608c28cdc966c33d0cc2239d9465ef7c">firmata::FirmataMarshaller::reportDigitalPortEnable</a></div><div class="ttdeci">void reportDigitalPortEnable(uint8_t portNumber) const</div><div class="ttdef"><b>Definition:</b> FirmataMarshaller.cpp:230</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_marshaller_html_af954bcf09b77458b3c4f032897d14697"><div class="ttname"><a href="classfirmata_1_1_firmata_marshaller.html#af954bcf09b77458b3c4f032897d14697">firmata::FirmataMarshaller::queryFirmwareVersion</a></div><div class="ttdeci">void queryFirmwareVersion(void) const</div><div class="ttdef"><b>Definition:</b> FirmataMarshaller.cpp:165</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_marshaller_html_aa00582e6e014605a65a8953f8275a5ad"><div class="ttname"><a href="classfirmata_1_1_firmata_marshaller.html#aa00582e6e014605a65a8953f8275a5ad">firmata::FirmataMarshaller::reportDigitalPortDisable</a></div><div class="ttdeci">void reportDigitalPortDisable(uint8_t portNumber) const</div><div class="ttdef"><b>Definition:</b> FirmataMarshaller.cpp:217</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_marshaller_html_ad1a42532bdf77088c47c1a62f5a03829"><div class="ttname"><a href="classfirmata_1_1_firmata_marshaller.html#ad1a42532bdf77088c47c1a62f5a03829">firmata::FirmataMarshaller::FirmataMarshaller</a></div><div class="ttdeci">FirmataMarshaller()</div><div class="ttdef"><b>Definition:</b> FirmataMarshaller.cpp:129</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_marshaller_html_a1c987a534cc8dd197eb2f2a728bdacb3"><div class="ttname"><a href="classfirmata_1_1_firmata_marshaller.html#a1c987a534cc8dd197eb2f2a728bdacb3">firmata::FirmataMarshaller::sendAnalogMappingQuery</a></div><div class="ttdeci">void sendAnalogMappingQuery(void) const</div><div class="ttdef"><b>Definition:</b> FirmataMarshaller.cpp:262</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_marshaller_html_a483ac2dea885ab3472dc38b99bfdec2f"><div class="ttname"><a href="classfirmata_1_1_firmata_marshaller.html#a483ac2dea885ab3472dc38b99bfdec2f">firmata::FirmataMarshaller::sendString</a></div><div class="ttdeci">void sendString(const char *string) const</div><div class="ttdef"><b>Definition:</b> FirmataMarshaller.cpp:405</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_marshaller_html_a2668d1332704bbf9938f386e247a8f30"><div class="ttname"><a href="classfirmata_1_1_firmata_marshaller.html#a2668d1332704bbf9938f386e247a8f30">firmata::FirmataMarshaller::reportAnalogDisable</a></div><div class="ttdeci">void reportAnalogDisable(uint8_t pin) const</div><div class="ttdef"><b>Definition:</b> FirmataMarshaller.cpp:191</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_marshaller_html_a5be18ca3658875dbe5580c2254071c76"><div class="ttname"><a href="classfirmata_1_1_firmata_marshaller.html#a5be18ca3658875dbe5580c2254071c76">firmata::FirmataMarshaller::begin</a></div><div class="ttdeci">void begin(Stream &amp;s)</div><div class="ttdef"><b>Definition:</b> FirmataMarshaller.cpp:145</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_marshaller_html_a1f1c5ce29ba4488306c9a1e3f158b781"><div class="ttname"><a href="classfirmata_1_1_firmata_marshaller.html#a1f1c5ce29ba4488306c9a1e3f158b781">firmata::FirmataMarshaller::sendCapabilityQuery</a></div><div class="ttdeci">void sendCapabilityQuery(void) const</div><div class="ttdef"><b>Definition:</b> FirmataMarshaller.cpp:273</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_marshaller_html_a3a585937f94b1f9e51797e5950a33206"><div class="ttname"><a href="classfirmata_1_1_firmata_marshaller.html#a3a585937f94b1f9e51797e5950a33206">firmata::FirmataMarshaller::systemReset</a></div><div class="ttdeci">void systemReset(void) const</div><div class="ttdef"><b>Definition:</b> FirmataMarshaller.cpp:426</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_marshaller_html_a67b3db7232143acf63bd48b765fcc4db"><div class="ttname"><a href="classfirmata_1_1_firmata_marshaller.html#a67b3db7232143acf63bd48b765fcc4db">firmata::FirmataMarshaller::reportAnalogEnable</a></div><div class="ttdeci">void reportAnalogEnable(uint8_t pin) const</div><div class="ttdef"><b>Definition:</b> FirmataMarshaller.cpp:204</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_marshaller_html_afc378ab4a39c843d4419acdee944972b"><div class="ttname"><a href="classfirmata_1_1_firmata_marshaller.html#afc378ab4a39c843d4419acdee944972b">firmata::FirmataMarshaller::sendPinStateQuery</a></div><div class="ttdeci">void sendPinStateQuery(uint8_t pin) const</div><div class="ttdef"><b>Definition:</b> FirmataMarshaller.cpp:371</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_marshaller_html_ab856434fc577b1e069cba51c39daf1de"><div class="ttname"><a href="classfirmata_1_1_firmata_marshaller.html#ab856434fc577b1e069cba51c39daf1de">firmata::FirmataMarshaller::end</a></div><div class="ttdeci">void end()</div><div class="ttdef"><b>Definition:</b> FirmataMarshaller.cpp:153</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_marshaller_html_ade4f4592877ec0b9f8d6c74e909bad8e"><div class="ttname"><a href="classfirmata_1_1_firmata_marshaller.html#ade4f4592877ec0b9f8d6c74e909bad8e">firmata::FirmataMarshaller::sendSysex</a></div><div class="ttdeci">void sendSysex(uint8_t command, size_t bytec, uint8_t *bytev) const</div><div class="ttdef"><b>Definition:</b> FirmataMarshaller.cpp:388</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_marshaller_html_aed71d62cc41f2e0bf3f161894b91be7c"><div class="ttname"><a href="classfirmata_1_1_firmata_marshaller.html#aed71d62cc41f2e0bf3f161894b91be7c">firmata::FirmataMarshaller::sendFirmwareVersion</a></div><div class="ttdeci">void sendFirmwareVersion(uint8_t major, uint8_t minor, size_t bytec, uint8_t *bytev) const</div><div class="ttdef"><b>Definition:</b> FirmataMarshaller.cpp:319</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_marshaller_html_a2d90627f0543b6298be71f7d903399b3"><div class="ttname"><a href="classfirmata_1_1_firmata_marshaller.html#a2d90627f0543b6298be71f7d903399b3">firmata::FirmataMarshaller::sendDigital</a></div><div class="ttdeci">void sendDigital(uint8_t pin, uint8_t value) const</div><div class="ttdef"><b>Definition:</b> FirmataMarshaller.cpp:284</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_marshaller_html_a488fbbd372c894ec78ebb99e0faf5167"><div class="ttname"><a href="classfirmata_1_1_firmata_marshaller.html#a488fbbd372c894ec78ebb99e0faf5167">firmata::FirmataMarshaller::queryVersion</a></div><div class="ttdeci">void queryVersion(void) const</div><div class="ttdef"><b>Definition:</b> FirmataMarshaller.cpp:177</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_marshaller_html_a346dcb4487a51efaa95de42d292ad951"><div class="ttname"><a href="classfirmata_1_1_firmata_marshaller.html#a346dcb4487a51efaa95de42d292ad951">firmata::FirmataMarshaller::sendDigitalPort</a></div><div class="ttdeci">void sendDigitalPort(uint8_t portNumber, uint16_t portData) const</div><div class="ttdef"><b>Definition:</b> FirmataMarshaller.cpp:302</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></div><div class="ttdef"><b>Definition:</b> Firmata.h:54</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_marshaller_html_a95d58949e32ad285088705dbe5680b29"><div class="ttname"><a href="classfirmata_1_1_firmata_marshaller.html#a95d58949e32ad285088705dbe5680b29">firmata::FirmataMarshaller::sendVersion</a></div><div class="ttdeci">void sendVersion(uint8_t major, uint8_t minor) const</div><div class="ttdef"><b>Definition:</b> FirmataMarshaller.cpp:339</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_marshaller_html"><div class="ttname"><a href="classfirmata_1_1_firmata_marshaller.html">firmata::FirmataMarshaller</a></div><div class="ttdef"><b>Definition:</b> FirmataMarshaller.h:29</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_marshaller_html_a4d9f2d3bb058237404dfe433cfe7571a"><div class="ttname"><a href="classfirmata_1_1_firmata_marshaller.html#a4d9f2d3bb058237404dfe433cfe7571a">firmata::FirmataMarshaller::sendAnalog</a></div><div class="ttdeci">void sendAnalog(uint8_t pin, uint16_t value) const</div><div class="ttdef"><b>Definition:</b> FirmataMarshaller.cpp:245</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_marshaller_html_abb8f4c79dd8a0dbee3f5e04c587ae20c"><div class="ttname"><a href="classfirmata_1_1_firmata_marshaller.html#abb8f4c79dd8a0dbee3f5e04c587ae20c">firmata::FirmataMarshaller::setSamplingInterval</a></div><div class="ttdeci">void setSamplingInterval(uint16_t interval_ms) const</div><div class="ttdef"><b>Definition:</b> FirmataMarshaller.cpp:416</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_marshaller_html_a36b6cc103609d900cce36149a239f221"><div class="ttname"><a href="classfirmata_1_1_firmata_marshaller.html#a36b6cc103609d900cce36149a239f221">firmata::FirmataMarshaller::sendPinMode</a></div><div class="ttdeci">void sendPinMode(uint8_t pin, uint8_t config) const</div><div class="ttdef"><b>Definition:</b> FirmataMarshaller.cpp:355</div></div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="comment"> FirmataParser.h</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="comment"> Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="comment"> Copyright (C) 2009-2016 Jeff Hoefs. All rights reserved.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="comment"> This library is free software; you can redistribute it and/or</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;<span class="comment"> modify it under the terms of the GNU Lesser General Public</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="comment"> License as published by the Free Software Foundation; either</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="comment"> version 2.1 of the License, or (at your option) any later version.</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;<span class="comment"> See file LICENSE.txt for further informations on licensing terms.</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160; </div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="preprocessor">#ifndef FirmataParser_h</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;<span class="preprocessor">#define FirmataParser_h</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160; </div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;<span class="preprocessor">#if defined(__cplusplus) &amp;&amp; !defined(ARDUINO)</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160;<span class="preprocessor"> #include &lt;cstddef&gt;</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="preprocessor"> #include &lt;cstdint&gt;</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160;<span class="preprocessor"> #include &lt;stddef.h&gt;</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160;<span class="preprocessor"> #include &lt;stdint.h&gt;</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160; </div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160;<span class="keyword">namespace </span>firmata {</div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160; </div>
<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="classfirmata_1_1_firmata_parser.html"> 27</a></span>&#160;<span class="keyword">class </span><a class="code" href="classfirmata_1_1_firmata_parser.html">FirmataParser</a></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160;{</div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160; <span class="keyword">public</span>:</div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160; <span class="comment">/* callback function types */</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160; <span class="keyword">typedef</span> void (*callbackFunction)(<span class="keywordtype">void</span> * context, uint8_t command, uint16_t value);</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160; <span class="keyword">typedef</span> void (*dataBufferOverflowCallbackFunction)(<span class="keywordtype">void</span> * context);</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160; <span class="keyword">typedef</span> void (*stringCallbackFunction)(<span class="keywordtype">void</span> * context, <span class="keyword">const</span> <span class="keywordtype">char</span> * c_str);</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160; <span class="keyword">typedef</span> void (*sysexCallbackFunction)(<span class="keywordtype">void</span> * context, uint8_t command, <span class="keywordtype">size_t</span> argc, uint8_t * argv);</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160; <span class="keyword">typedef</span> void (*systemCallbackFunction)(<span class="keywordtype">void</span> * context);</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160; <span class="keyword">typedef</span> void (*versionCallbackFunction)(<span class="keywordtype">void</span> * context, <span class="keywordtype">size_t</span> sv_major, <span class="keywordtype">size_t</span> sv_minor, <span class="keyword">const</span> <span class="keywordtype">char</span> * firmware);</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>&#160; <a class="code" href="classfirmata_1_1_firmata_parser.html#ac8c388b593a00e88856646712beae68b">FirmataParser</a>(uint8_t * dataBuffer = (uint8_t *)NULL, <span class="keywordtype">size_t</span> dataBufferSize = 0);</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160; <span class="comment">/* serial receive handling */</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_parser.html#a754c97b890b7fd66c8d953a3e615acbf">parse</a>(uint8_t value);</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classfirmata_1_1_firmata_parser.html#a67902b70695eaf0cf8f7b06175ca3902">isParsingMessage</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>&#160; <span class="keywordtype">int</span> <a class="code" href="classfirmata_1_1_firmata_parser.html#a8fbe143ddb428a97c00a15993c31a516">setDataBufferOfSize</a>(uint8_t * dataBuffer, <span class="keywordtype">size_t</span> dataBufferSize);</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160; <span class="comment">/* attach &amp; detach callback functions to messages */</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_parser.html#a2a472a925ed7e626ed36dee94ceae45e">attach</a>(uint8_t command, callbackFunction newFunction, <span class="keywordtype">void</span> * context = NULL);</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_parser.html#a2a472a925ed7e626ed36dee94ceae45e">attach</a>(dataBufferOverflowCallbackFunction newFunction, <span class="keywordtype">void</span> * context = NULL);</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_parser.html#a2a472a925ed7e626ed36dee94ceae45e">attach</a>(uint8_t command, stringCallbackFunction newFunction, <span class="keywordtype">void</span> * context = NULL);</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_parser.html#a2a472a925ed7e626ed36dee94ceae45e">attach</a>(uint8_t command, sysexCallbackFunction newFunction, <span class="keywordtype">void</span> * context = NULL);</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_parser.html#a2a472a925ed7e626ed36dee94ceae45e">attach</a>(uint8_t command, systemCallbackFunction newFunction, <span class="keywordtype">void</span> * context = NULL);</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_parser.html#a2a472a925ed7e626ed36dee94ceae45e">attach</a>(uint8_t command, versionCallbackFunction newFunction, <span class="keywordtype">void</span> * context = NULL);</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_parser.html#a7cd707386c0807bee733a3e27d161c7d">detach</a>(uint8_t command);</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_parser.html#a7cd707386c0807bee733a3e27d161c7d">detach</a>(dataBufferOverflowCallbackFunction);</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>&#160; <span class="keyword">private</span>:</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>&#160; <span class="comment">/* input message handling */</span></div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>&#160; <span class="keywordtype">bool</span> allowBufferUpdate;</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>&#160; uint8_t * dataBuffer; <span class="comment">// multi-byte data</span></div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160; <span class="keywordtype">size_t</span> dataBufferSize;</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160; uint8_t executeMultiByteCommand; <span class="comment">// execute this after getting multi-byte data</span></div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>&#160; uint8_t multiByteChannel; <span class="comment">// channel data for multiByteCommands</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>&#160; <span class="keywordtype">size_t</span> waitForData; <span class="comment">// this flag says the next serial input will be data</span></div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>&#160; <span class="comment">/* sysex */</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>&#160; <span class="keywordtype">bool</span> parsingSysex;</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>&#160; <span class="keywordtype">size_t</span> sysexBytesRead;</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>&#160; <span class="comment">/* callback context */</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>&#160; <span class="keywordtype">void</span> * currentAnalogCallbackContext;</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>&#160; <span class="keywordtype">void</span> * currentDigitalCallbackContext;</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>&#160; <span class="keywordtype">void</span> * currentReportAnalogCallbackContext;</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>&#160; <span class="keywordtype">void</span> * currentReportDigitalCallbackContext;</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>&#160; <span class="keywordtype">void</span> * currentPinModeCallbackContext;</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>&#160; <span class="keywordtype">void</span> * currentPinValueCallbackContext;</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>&#160; <span class="keywordtype">void</span> * currentReportFirmwareCallbackContext;</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>&#160; <span class="keywordtype">void</span> * currentReportVersionCallbackContext;</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>&#160; <span class="keywordtype">void</span> * currentDataBufferOverflowCallbackContext;</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>&#160; <span class="keywordtype">void</span> * currentStringCallbackContext;</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>&#160; <span class="keywordtype">void</span> * currentSysexCallbackContext;</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>&#160; <span class="keywordtype">void</span> * currentSystemResetCallbackContext;</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>&#160; <span class="comment">/* callback functions */</span></div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>&#160; callbackFunction currentAnalogCallback;</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>&#160; callbackFunction currentDigitalCallback;</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>&#160; callbackFunction currentReportAnalogCallback;</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>&#160; callbackFunction currentReportDigitalCallback;</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>&#160; callbackFunction currentPinModeCallback;</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>&#160; callbackFunction currentPinValueCallback;</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>&#160; dataBufferOverflowCallbackFunction currentDataBufferOverflowCallback;</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>&#160; stringCallbackFunction currentStringCallback;</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>&#160; sysexCallbackFunction currentSysexCallback;</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>&#160; versionCallbackFunction currentReportFirmwareCallback;</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>&#160; systemCallbackFunction currentReportVersionCallback;</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>&#160; systemCallbackFunction currentSystemResetCallback;</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>&#160; <span class="comment">/* private methods ------------------------------ */</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>&#160; <span class="keywordtype">bool</span> bufferDataAtPosition(<span class="keyword">const</span> uint8_t data, <span class="keyword">const</span> <span class="keywordtype">size_t</span> pos);</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>&#160; <span class="keywordtype">size_t</span> decodeByteStream(<span class="keywordtype">size_t</span> bytec, uint8_t * bytev);</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>&#160; <span class="keywordtype">void</span> processSysexMessage(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>&#160; <span class="keywordtype">void</span> systemReset(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>&#160;};</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>&#160;} <span class="comment">// firmata</span></div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* FirmataParser_h */</span><span class="preprocessor"></span></div>
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<div class="ttc" id="aclassfirmata_1_1_firmata_parser_html_a67902b70695eaf0cf8f7b06175ca3902"><div class="ttname"><a href="classfirmata_1_1_firmata_parser.html#a67902b70695eaf0cf8f7b06175ca3902">firmata::FirmataParser::isParsingMessage</a></div><div class="ttdeci">bool isParsingMessage(void) const</div><div class="ttdef"><b>Definition:</b> FirmataParser.cpp:176</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_parser_html_ac8c388b593a00e88856646712beae68b"><div class="ttname"><a href="classfirmata_1_1_firmata_parser.html#ac8c388b593a00e88856646712beae68b">firmata::FirmataParser::FirmataParser</a></div><div class="ttdeci">FirmataParser(uint8_t *dataBuffer=(uint8_t *) NULL, size_t dataBufferSize=0)</div><div class="ttdef"><b>Definition:</b> FirmataParser.cpp:33</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_parser_html"><div class="ttname"><a href="classfirmata_1_1_firmata_parser.html">firmata::FirmataParser</a></div><div class="ttdef"><b>Definition:</b> FirmataParser.h:27</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_parser_html_a2a472a925ed7e626ed36dee94ceae45e"><div class="ttname"><a href="classfirmata_1_1_firmata_parser.html#a2a472a925ed7e626ed36dee94ceae45e">firmata::FirmataParser::attach</a></div><div class="ttdeci">void attach(uint8_t command, callbackFunction newFunction, void *context=NULL)</div><div class="ttdef"><b>Definition:</b> FirmataParser.cpp:216</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_parser_html_a7cd707386c0807bee733a3e27d161c7d"><div class="ttname"><a href="classfirmata_1_1_firmata_parser.html#a7cd707386c0807bee733a3e27d161c7d">firmata::FirmataParser::detach</a></div><div class="ttdeci">void detach(uint8_t command)</div><div class="ttdef"><b>Definition:</b> FirmataParser.cpp:337</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_parser_html_a8fbe143ddb428a97c00a15993c31a516"><div class="ttname"><a href="classfirmata_1_1_firmata_parser.html#a8fbe143ddb428a97c00a15993c31a516">firmata::FirmataParser::setDataBufferOfSize</a></div><div class="ttdeci">int setDataBufferOfSize(uint8_t *dataBuffer, size_t dataBufferSize)</div><div class="ttdef"><b>Definition:</b> FirmataParser.cpp:189</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_parser_html_a754c97b890b7fd66c8d953a3e615acbf"><div class="ttname"><a href="classfirmata_1_1_firmata_parser.html#a754c97b890b7fd66c8d953a3e615acbf">firmata::FirmataParser::parse</a></div><div class="ttdeci">void parse(uint8_t value)</div><div class="ttdef"><b>Definition:</b> FirmataParser.cpp:81</div></div>
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<div id="projectbrief">Firmata is a protocol for communicating with microcontrollers from software on a host computer</div>
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<td valign="top"><a class="el" href="classfirmata_1_1_firmata_marshaller.html">FirmataMarshaller</a> (firmata)&#160;&#160;&#160;</td>
<td valign="top"><a class="el" href="classfirmata_1_1_firmata_parser.html">FirmataParser</a> (firmata)&#160;&#160;&#160;</td>
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<tr><td></td><td></td><td></td></tr>
<tr><td valign="top"><a class="el" href="classfirmata_1_1_firmata_class.html">FirmataClass</a> (firmata)&#160;&#160;&#160;</td>
<td></td><td></td><td></td></tr>
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<li class="navelem"><b>firmata</b></li><li class="navelem"><a class="el" href="classfirmata_1_1_firmata_class.html">FirmataClass</a></li> </ul>
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<table class="directory">
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>attach</b>(uint8_t command, callbackFunction newFunction) (defined in <a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a>)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#adc3db897058f33e902097ce89bb01bb3">attach</a>(uint8_t command, systemCallbackFunction newFunction)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#a074887a70f9aca0c0aae7e9bdc103f77">attach</a>(uint8_t command, stringCallbackFunction newFunction)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#a78e360c0c8d70cffeb9c935fdec23f77">attach</a>(uint8_t command, sysexCallbackFunction newFunction)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#a119734b867186567c1cd011e52e59d2d">available</a>(void)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#a2fddcc643892bec2f4aa7aef6dba70eb">begin</a>()</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#ab0b7b837d2c32b4ce79e62895ced2731">begin</a>(long)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#a0c7b0e10168e3c5dc6442d77c65a156e">begin</a>(Stream &amp;s)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#a9421550f2501fc1df60fd174b154e606">blinkVersion</a>(void)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>callbackFunction</b> typedef (defined in <a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a>)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#a5db0faee74b9291d1b783d2dde0929d1">detach</a>(uint8_t command)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#a5ddba465c3772f841828ef82c79d4307">disableBlinkVersion</a>()</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#a9bb68afbb1d37a7990f59a1d419e64c9">endSysex</a>(void)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#a75b035ab8d96d87d28deeb87badfe11a">FirmataClass</a>()</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>FirmataMarshaller::encodeByteStream</b> (defined in <a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a>)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"><span class="mlabel">friend</span></td></tr>
<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#a0c434227456ce2ba97b3b1142c329f96">getPinMode</a>(byte pin)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#acf5d4f460b9a2298653d4a71de918dfe">getPinState</a>(byte pin)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#a58e9d787957c3085f22d33b59b1f6ea6">isParsingMessage</a>(void)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#aaeaac8b1f8facf070615b0035120c432">parse</a>(unsigned char value)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#abe49261eab0bd4892a09fa8b8980b11a">printFirmwareVersion</a>(void)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#abd8a0370db6d9e923e7e3d5836e78d7a">printVersion</a>(void)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#aa698f5f5a234173d5eebb54831350676">processInput</a>(void)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#ae14e1d8d9bd72068f6e8ca07721e8dda">sendAnalog</a>(byte pin, int value)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>sendDigital</b>(byte pin, int value) (defined in <a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a>)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#a799b91e5a888dd21b066a2020d8e2b68">sendDigitalPort</a>(byte portNumber, int portData)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#abe11f621154afd308926129de349fc6e">sendString</a>(const char *string)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#ab139c0d784e69003c88eb5be8807dcdf">sendString</a>(byte command, const char *string)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#a81e2de5b37eb2372c8a3d9a43d5eb0cc">sendSysex</a>(byte command, byte bytec, byte *bytev)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#a770e43f26f18204e43acebf9202a6d39">sendValueAsTwo7bitBytes</a>(int value)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#ab7aa66b528027566c15b7d64c8cd0f89">setFirmwareNameAndVersion</a>(const char *name, byte major, byte minor)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#a32c41dd94c1d23aa0e6d3d1dbe5c0c04">setPinMode</a>(byte pin, byte config)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#aa9f98ba5069823b4c1d08db9f8999ba8">setPinState</a>(byte pin, int state)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#a3cc7ea1af348bca3ea0bd570314cada3">startSysex</a>(void)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>stringCallbackFunction</b> typedef (defined in <a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a>)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>sysexCallbackFunction</b> typedef (defined in <a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a>)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>systemCallbackFunction</b> typedef (defined in <a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a>)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html#ae8f29a829e17379602fcb9fd6a497807">write</a>(byte c)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></td><td class="entry"></td></tr>
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<li class="navelem"><b>firmata</b></li><li class="navelem"><a class="el" href="classfirmata_1_1_firmata_class.html">FirmataClass</a></li> </ul>
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<a href="#pub-types">Public Types</a> &#124;
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<div class="title">firmata::FirmataClass Class Reference</div> </div>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
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typedef void(*&#160;</td><td class="memItemRight" valign="bottom"><b>callbackFunction</b>) (uint8_t, int)</td></tr>
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typedef void(*&#160;</td><td class="memItemRight" valign="bottom"><b>systemCallbackFunction</b>) (void)</td></tr>
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typedef void(*&#160;</td><td class="memItemRight" valign="bottom"><b>stringCallbackFunction</b>) (char *)</td></tr>
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typedef void(*&#160;</td><td class="memItemRight" valign="bottom"><b>sysexCallbackFunction</b>) (uint8_t command, uint8_t argc, uint8_t *argv)</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a75b035ab8d96d87d28deeb87badfe11a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#a75b035ab8d96d87d28deeb87badfe11a">FirmataClass</a> ()</td></tr>
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<tr class="memitem:a2fddcc643892bec2f4aa7aef6dba70eb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#a2fddcc643892bec2f4aa7aef6dba70eb">begin</a> ()</td></tr>
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<tr class="memitem:ab0b7b837d2c32b4ce79e62895ced2731"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#ab0b7b837d2c32b4ce79e62895ced2731">begin</a> (long)</td></tr>
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<tr class="memitem:a0c7b0e10168e3c5dc6442d77c65a156e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#a0c7b0e10168e3c5dc6442d77c65a156e">begin</a> (Stream &amp;s)</td></tr>
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<tr class="memitem:abd8a0370db6d9e923e7e3d5836e78d7a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#abd8a0370db6d9e923e7e3d5836e78d7a">printVersion</a> (void)</td></tr>
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<tr class="memitem:a9421550f2501fc1df60fd174b154e606"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#a9421550f2501fc1df60fd174b154e606">blinkVersion</a> (void)</td></tr>
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<tr class="memitem:abe49261eab0bd4892a09fa8b8980b11a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#abe49261eab0bd4892a09fa8b8980b11a">printFirmwareVersion</a> (void)</td></tr>
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<tr class="memitem:ab7aa66b528027566c15b7d64c8cd0f89"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#ab7aa66b528027566c15b7d64c8cd0f89">setFirmwareNameAndVersion</a> (const char *name, byte major, byte minor)</td></tr>
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<tr class="memitem:a5ddba465c3772f841828ef82c79d4307"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#a5ddba465c3772f841828ef82c79d4307">disableBlinkVersion</a> ()</td></tr>
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<tr class="memitem:a119734b867186567c1cd011e52e59d2d"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#a119734b867186567c1cd011e52e59d2d">available</a> (void)</td></tr>
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<tr class="memitem:aa698f5f5a234173d5eebb54831350676"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#aa698f5f5a234173d5eebb54831350676">processInput</a> (void)</td></tr>
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<tr class="memitem:aaeaac8b1f8facf070615b0035120c432"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#aaeaac8b1f8facf070615b0035120c432">parse</a> (unsigned char value)</td></tr>
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<tr class="memitem:a58e9d787957c3085f22d33b59b1f6ea6"><td class="memItemLeft" align="right" valign="top">boolean&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#a58e9d787957c3085f22d33b59b1f6ea6">isParsingMessage</a> (void)</td></tr>
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<tr class="memitem:ae14e1d8d9bd72068f6e8ca07721e8dda"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#ae14e1d8d9bd72068f6e8ca07721e8dda">sendAnalog</a> (byte pin, int value)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>sendDigital</b> (byte pin, int value)</td></tr>
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<tr class="memitem:a799b91e5a888dd21b066a2020d8e2b68"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#a799b91e5a888dd21b066a2020d8e2b68">sendDigitalPort</a> (byte portNumber, int portData)</td></tr>
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<tr class="memitem:abe11f621154afd308926129de349fc6e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#abe11f621154afd308926129de349fc6e">sendString</a> (const char *string)</td></tr>
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<tr class="memitem:ab139c0d784e69003c88eb5be8807dcdf"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#ab139c0d784e69003c88eb5be8807dcdf">sendString</a> (byte command, const char *string)</td></tr>
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<tr class="memitem:a81e2de5b37eb2372c8a3d9a43d5eb0cc"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#a81e2de5b37eb2372c8a3d9a43d5eb0cc">sendSysex</a> (byte command, byte bytec, byte *bytev)</td></tr>
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<tr class="memitem:ae8f29a829e17379602fcb9fd6a497807"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#ae8f29a829e17379602fcb9fd6a497807">write</a> (byte c)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>attach</b> (uint8_t command, callbackFunction newFunction)</td></tr>
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<tr class="memitem:adc3db897058f33e902097ce89bb01bb3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#adc3db897058f33e902097ce89bb01bb3">attach</a> (uint8_t command, systemCallbackFunction newFunction)</td></tr>
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<tr class="memitem:a074887a70f9aca0c0aae7e9bdc103f77"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#a074887a70f9aca0c0aae7e9bdc103f77">attach</a> (uint8_t command, stringCallbackFunction newFunction)</td></tr>
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<tr class="memitem:a78e360c0c8d70cffeb9c935fdec23f77"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#a78e360c0c8d70cffeb9c935fdec23f77">attach</a> (uint8_t command, sysexCallbackFunction newFunction)</td></tr>
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<tr class="memitem:a5db0faee74b9291d1b783d2dde0929d1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#a5db0faee74b9291d1b783d2dde0929d1">detach</a> (uint8_t command)</td></tr>
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<tr class="memitem:a0c434227456ce2ba97b3b1142c329f96"><td class="memItemLeft" align="right" valign="top">byte&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#a0c434227456ce2ba97b3b1142c329f96">getPinMode</a> (byte pin)</td></tr>
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<tr class="memitem:a32c41dd94c1d23aa0e6d3d1dbe5c0c04"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#a32c41dd94c1d23aa0e6d3d1dbe5c0c04">setPinMode</a> (byte pin, byte config)</td></tr>
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<tr class="memitem:acf5d4f460b9a2298653d4a71de918dfe"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#acf5d4f460b9a2298653d4a71de918dfe">getPinState</a> (byte pin)</td></tr>
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<tr class="memitem:aa9f98ba5069823b4c1d08db9f8999ba8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#aa9f98ba5069823b4c1d08db9f8999ba8">setPinState</a> (byte pin, int state)</td></tr>
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<tr class="memitem:a770e43f26f18204e43acebf9202a6d39"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#a770e43f26f18204e43acebf9202a6d39">sendValueAsTwo7bitBytes</a> (int value)</td></tr>
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<tr class="memitem:a3cc7ea1af348bca3ea0bd570314cada3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#a3cc7ea1af348bca3ea0bd570314cada3">startSysex</a> (void)</td></tr>
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<tr class="memitem:a9bb68afbb1d37a7990f59a1d419e64c9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_class.html#a9bb68afbb1d37a7990f59a1d419e64c9">endSysex</a> (void)</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="friends"></a>
Friends</h2></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>FirmataMarshaller::encodeByteStream</b> (size_t bytec, uint8_t *bytev, size_t max_bytes=0) const</td></tr>
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<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a75b035ab8d96d87d28deeb87badfe11a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a75b035ab8d96d87d28deeb87badfe11a">&#9670;&nbsp;</a></span>FirmataClass()</h2>
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<td class="memname">FirmataClass::FirmataClass </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
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<p>The Firmata class. An instance named "Firmata" is created automatically for the user. </p>
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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a074887a70f9aca0c0aae7e9bdc103f77">&#9670;&nbsp;</a></span>attach() <span class="overload">[1/3]</span></h2>
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<td class="memname">void FirmataClass::attach </td>
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<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>command</em>, </td>
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<tr>
<td class="paramkey"></td>
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<td class="paramtype">stringCallbackFunction&#160;</td>
<td class="paramname"><em>newFunction</em>&#160;</td>
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<p>Attach a callback function for the STRING_DATA command. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">command</td><td>Must be set to STRING_DATA or it will be ignored. </td></tr>
<tr><td class="paramname">newFunction</td><td>A reference to the string callback function to attach. </td></tr>
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</dd>
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<h2 class="memtitle"><span class="permalink"><a href="#a78e360c0c8d70cffeb9c935fdec23f77">&#9670;&nbsp;</a></span>attach() <span class="overload">[2/3]</span></h2>
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<td class="memname">void FirmataClass::attach </td>
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<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>command</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">sysexCallbackFunction&#160;</td>
<td class="paramname"><em>newFunction</em>&#160;</td>
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<p>Attach a generic sysex callback function to sysex command. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">command</td><td>The ID of the command to attach a callback function to. </td></tr>
<tr><td class="paramname">newFunction</td><td>A reference to the sysex callback function to attach. </td></tr>
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</dd>
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<a id="adc3db897058f33e902097ce89bb01bb3"></a>
<h2 class="memtitle"><span class="permalink"><a href="#adc3db897058f33e902097ce89bb01bb3">&#9670;&nbsp;</a></span>attach() <span class="overload">[3/3]</span></h2>
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<td class="memname">void FirmataClass::attach </td>
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<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>command</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">systemCallbackFunction&#160;</td>
<td class="paramname"><em>newFunction</em>&#160;</td>
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<p>Attach a callback function for the SYSTEM_RESET command. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">command</td><td>Must be set to SYSTEM_RESET or it will be ignored. </td></tr>
<tr><td class="paramname">newFunction</td><td>A reference to the system reset callback function to attach. </td></tr>
</table>
</dd>
</dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a119734b867186567c1cd011e52e59d2d">&#9670;&nbsp;</a></span>available()</h2>
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<td class="memname">int FirmataClass::available </td>
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<td class="paramtype">void&#160;</td>
<td class="paramname"></td><td>)</td>
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<p>A wrapper for Stream::available() </p><dl class="section return"><dt>Returns</dt><dd>The number of bytes remaining in the input stream buffer. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a2fddcc643892bec2f4aa7aef6dba70eb">&#9670;&nbsp;</a></span>begin() <span class="overload">[1/3]</span></h2>
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<td class="memname">void FirmataClass::begin </td>
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<td class="paramtype">void&#160;</td>
<td class="paramname"></td><td>)</td>
<td></td>
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<p>Initialize the default Serial transport at the default baud of 57600. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#ab0b7b837d2c32b4ce79e62895ced2731">&#9670;&nbsp;</a></span>begin() <span class="overload">[2/3]</span></h2>
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<td class="memname">void FirmataClass::begin </td>
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<td class="paramtype">long&#160;</td>
<td class="paramname"><em>speed</em></td><td>)</td>
<td></td>
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<p>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). </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">speed</td><td>The baud to use. 57600 baud is the default value. </td></tr>
</table>
</dd>
</dl>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a0c7b0e10168e3c5dc6442d77c65a156e">&#9670;&nbsp;</a></span>begin() <span class="overload">[3/3]</span></h2>
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<td class="memname">void FirmataClass::begin </td>
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<td class="paramtype">Stream &amp;&#160;</td>
<td class="paramname"><em>s</em></td><td>)</td>
<td></td>
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<p>Reassign the Firmata stream transport. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">s</td><td>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). </td></tr>
</table>
</dd>
</dl>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a9421550f2501fc1df60fd174b154e606">&#9670;&nbsp;</a></span>blinkVersion()</h2>
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<td class="memname">void FirmataClass::blinkVersion </td>
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<td class="paramtype">void&#160;</td>
<td class="paramname"></td><td>)</td>
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<p>Blink the Firmata protocol version to the onboard LEDs (if the board has an onboard LED). If VERSION_BLINK_PIN is not defined in <a class="el" href="_boards_8h_source.html">Boards.h</a> 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). </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a5db0faee74b9291d1b783d2dde0929d1">&#9670;&nbsp;</a></span>detach()</h2>
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<td class="memname">void FirmataClass::detach </td>
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<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>command</em></td><td>)</td>
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<p>Detach a callback function for a specified command (such as SYSTEM_RESET, STRING_DATA, ANALOG_MESSAGE, DIGITAL_MESSAGE, etc). </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">command</td><td>The ID of the command to detatch the callback function from. </td></tr>
</table>
</dd>
</dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a5ddba465c3772f841828ef82c79d4307">&#9670;&nbsp;</a></span>disableBlinkVersion()</h2>
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<td class="memname">void FirmataClass::disableBlinkVersion </td>
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<td class="paramname"></td><td>)</td>
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<p>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. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a9bb68afbb1d37a7990f59a1d419e64c9">&#9670;&nbsp;</a></span>endSysex()</h2>
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<td class="memname">void FirmataClass::endSysex </td>
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<td class="paramtype">void&#160;</td>
<td class="paramname"></td><td>)</td>
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<p>A helper method to write the end of a Sysex message transmission. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a0c434227456ce2ba97b3b1142c329f96">&#9670;&nbsp;</a></span>getPinMode()</h2>
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<td class="memname">byte FirmataClass::getPinMode </td>
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<td class="paramtype">byte&#160;</td>
<td class="paramname"><em>pin</em></td><td>)</td>
<td></td>
</tr>
</table>
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<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">pin</td><td>The pin to get the configuration of. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>The configuration of the specified pin. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#acf5d4f460b9a2298653d4a71de918dfe">&#9670;&nbsp;</a></span>getPinState()</h2>
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<td class="memname">int FirmataClass::getPinState </td>
<td>(</td>
<td class="paramtype">byte&#160;</td>
<td class="paramname"><em>pin</em></td><td>)</td>
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<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">pin</td><td>The pin to get the state of. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>The state of the specified pin. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a58e9d787957c3085f22d33b59b1f6ea6">&#9670;&nbsp;</a></span>isParsingMessage()</h2>
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<td class="memname">boolean FirmataClass::isParsingMessage </td>
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<td class="paramtype">void&#160;</td>
<td class="paramname"></td><td>)</td>
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<dl class="section return"><dt>Returns</dt><dd>Returns true if the parser is actively parsing data. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#aaeaac8b1f8facf070615b0035120c432">&#9670;&nbsp;</a></span>parse()</h2>
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<td class="memname">void FirmataClass::parse </td>
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<td class="paramtype">unsigned char&#160;</td>
<td class="paramname"><em>value</em></td><td>)</td>
<td></td>
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<p>Parse data from the input stream. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">inputData</td><td>A single byte to be added to the parser. </td></tr>
</table>
</dd>
</dl>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#abe49261eab0bd4892a09fa8b8980b11a">&#9670;&nbsp;</a></span>printFirmwareVersion()</h2>
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<td class="memname">void FirmataClass::printFirmwareVersion </td>
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<td class="paramtype">void&#160;</td>
<td class="paramname"></td><td>)</td>
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<p>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. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#abd8a0370db6d9e923e7e3d5836e78d7a">&#9670;&nbsp;</a></span>printVersion()</h2>
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<td class="memname">void FirmataClass::printVersion </td>
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<td class="paramtype">void&#160;</td>
<td class="paramname"></td><td>)</td>
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<p>Send the Firmata protocol version to the Firmata host application. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#aa698f5f5a234173d5eebb54831350676">&#9670;&nbsp;</a></span>processInput()</h2>
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<td class="memname">void FirmataClass::processInput </td>
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<td class="paramtype">void&#160;</td>
<td class="paramname"></td><td>)</td>
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<p>Read a single int from the input stream. If the value is not = -1, pass it on to parse(byte) </p>
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<h2 class="memtitle"><span class="permalink"><a href="#ae14e1d8d9bd72068f6e8ca07721e8dda">&#9670;&nbsp;</a></span>sendAnalog()</h2>
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<td class="memname">void FirmataClass::sendAnalog </td>
<td>(</td>
<td class="paramtype">byte&#160;</td>
<td class="paramname"><em>pin</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">int&#160;</td>
<td class="paramname"><em>value</em>&#160;</td>
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<td></td>
<td>)</td>
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<p>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. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">pin</td><td>The analog pin to send the value of (limited to pins 0 - 15). </td></tr>
<tr><td class="paramname">value</td><td>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). </td></tr>
</table>
</dd>
</dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a799b91e5a888dd21b066a2020d8e2b68">&#9670;&nbsp;</a></span>sendDigitalPort()</h2>
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<td class="memname">void FirmataClass::sendDigitalPort </td>
<td>(</td>
<td class="paramtype">byte&#160;</td>
<td class="paramname"><em>portNumber</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">int&#160;</td>
<td class="paramname"><em>portData</em>&#160;</td>
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<td></td>
<td>)</td>
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<p>Send an 8-bit port in a single digital message (protocol v2 and later). Send 14-bits in a single digital message (protocol v1). </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">portNumber</td><td>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. </td></tr>
<tr><td class="paramname">portData</td><td>The value of the port. The value of each pin in the port is represented by a bit. </td></tr>
</table>
</dd>
</dl>
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<h2 class="memtitle"><span class="permalink"><a href="#ab139c0d784e69003c88eb5be8807dcdf">&#9670;&nbsp;</a></span>sendString() <span class="overload">[1/2]</span></h2>
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<td class="memname">void FirmataClass::sendString </td>
<td>(</td>
<td class="paramtype">byte&#160;</td>
<td class="paramname"><em>command</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const char *&#160;</td>
<td class="paramname"><em>string</em>&#160;</td>
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<td></td>
<td>)</td>
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<p>Send a string to the Firmata host application. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">command</td><td>Must be STRING_DATA </td></tr>
<tr><td class="paramname">string</td><td>A pointer to the char string </td></tr>
</table>
</dd>
</dl>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#abe11f621154afd308926129de349fc6e">&#9670;&nbsp;</a></span>sendString() <span class="overload">[2/2]</span></h2>
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<td class="memname">void FirmataClass::sendString </td>
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<td class="paramtype">const char *&#160;</td>
<td class="paramname"><em>string</em></td><td>)</td>
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<p>Send a string to the Firmata host application. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">string</td><td>A pointer to the char string </td></tr>
</table>
</dd>
</dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a81e2de5b37eb2372c8a3d9a43d5eb0cc">&#9670;&nbsp;</a></span>sendSysex()</h2>
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<td class="memname">void FirmataClass::sendSysex </td>
<td>(</td>
<td class="paramtype">byte&#160;</td>
<td class="paramname"><em>command</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">byte&#160;</td>
<td class="paramname"><em>bytec</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">byte *&#160;</td>
<td class="paramname"><em>bytev</em>&#160;</td>
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<p>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). </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">command</td><td>The sysex command byte. </td></tr>
<tr><td class="paramname">bytec</td><td>The number of data bytes in the message (excludes start, command and end bytes). </td></tr>
<tr><td class="paramname">bytev</td><td>A pointer to the array of data bytes to send in the message. </td></tr>
</table>
</dd>
</dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a770e43f26f18204e43acebf9202a6d39">&#9670;&nbsp;</a></span>sendValueAsTwo7bitBytes()</h2>
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<td class="memname">void FirmataClass::sendValueAsTwo7bitBytes </td>
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<td class="paramname"><em>value</em></td><td>)</td>
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<p>Split a 16-bit byte into two 7-bit values and write each value. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">value</td><td>The 16-bit value to be split and written separately. </td></tr>
</table>
</dd>
</dl>
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<h2 class="memtitle"><span class="permalink"><a href="#ab7aa66b528027566c15b7d64c8cd0f89">&#9670;&nbsp;</a></span>setFirmwareNameAndVersion()</h2>
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<td class="memname">void FirmataClass::setFirmwareNameAndVersion </td>
<td>(</td>
<td class="paramtype">const char *&#160;</td>
<td class="paramname"><em>name</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">byte&#160;</td>
<td class="paramname"><em>major</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">byte&#160;</td>
<td class="paramname"><em>minor</em>&#160;</td>
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<td></td>
<td>)</td>
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<p>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). </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">name</td><td>A pointer to the name char array </td></tr>
<tr><td class="paramname">major</td><td>The major version number </td></tr>
<tr><td class="paramname">minor</td><td>The minor version number </td></tr>
</table>
</dd>
</dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a32c41dd94c1d23aa0e6d3d1dbe5c0c04">&#9670;&nbsp;</a></span>setPinMode()</h2>
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<td class="memname">void FirmataClass::setPinMode </td>
<td>(</td>
<td class="paramtype">byte&#160;</td>
<td class="paramname"><em>pin</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">byte&#160;</td>
<td class="paramname"><em>config</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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<p>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. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">pin</td><td>The pin to configure. </td></tr>
<tr><td class="paramname">config</td><td>The configuration value for the specified pin. </td></tr>
</table>
</dd>
</dl>
</div>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#aa9f98ba5069823b4c1d08db9f8999ba8">&#9670;&nbsp;</a></span>setPinState()</h2>
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<td class="memname">void FirmataClass::setPinState </td>
<td>(</td>
<td class="paramtype">byte&#160;</td>
<td class="paramname"><em>pin</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int&#160;</td>
<td class="paramname"><em>state</em>&#160;</td>
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<tr>
<td></td>
<td>)</td>
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<p>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. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">pin</td><td>The pin to set the state of </td></tr>
<tr><td class="paramname">state</td><td>Set the state of the specified pin </td></tr>
</table>
</dd>
</dl>
</div>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a3cc7ea1af348bca3ea0bd570314cada3">&#9670;&nbsp;</a></span>startSysex()</h2>
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<td class="memname">void FirmataClass::startSysex </td>
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<p>A helper method to write the beginning of a Sysex message transmission. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#ae8f29a829e17379602fcb9fd6a497807">&#9670;&nbsp;</a></span>write()</h2>
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<td class="memname">void FirmataClass::write </td>
<td>(</td>
<td class="paramtype">byte&#160;</td>
<td class="paramname"><em>c</em></td><td>)</td>
<td></td>
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<p>A wrapper for Stream::available(). Write a single byte to the output stream. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">c</td><td>The byte to be written. </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="_firmata_8h_source.html">Firmata.h</a></li>
<li>Firmata.cpp</li>
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<tr class="even"><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#a5be18ca3658875dbe5580c2254071c76">begin</a>(Stream &amp;s)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html">firmata::FirmataMarshaller</a></td><td class="entry"></td></tr>
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<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>FirmataClass</b> (defined in <a class="el" href="classfirmata_1_1_firmata_marshaller.html">firmata::FirmataMarshaller</a>)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html">firmata::FirmataMarshaller</a></td><td class="entry"><span class="mlabel">friend</span></td></tr>
<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#ad1a42532bdf77088c47c1a62f5a03829">FirmataMarshaller</a>()</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html">firmata::FirmataMarshaller</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#af954bcf09b77458b3c4f032897d14697">queryFirmwareVersion</a>(void) const</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html">firmata::FirmataMarshaller</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#a488fbbd372c894ec78ebb99e0faf5167">queryVersion</a>(void) const</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html">firmata::FirmataMarshaller</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#a2668d1332704bbf9938f386e247a8f30">reportAnalogDisable</a>(uint8_t pin) const</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html">firmata::FirmataMarshaller</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#a67b3db7232143acf63bd48b765fcc4db">reportAnalogEnable</a>(uint8_t pin) const</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html">firmata::FirmataMarshaller</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#aa00582e6e014605a65a8953f8275a5ad">reportDigitalPortDisable</a>(uint8_t portNumber) const</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html">firmata::FirmataMarshaller</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#a608c28cdc966c33d0cc2239d9465ef7c">reportDigitalPortEnable</a>(uint8_t portNumber) const</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html">firmata::FirmataMarshaller</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#a4d9f2d3bb058237404dfe433cfe7571a">sendAnalog</a>(uint8_t pin, uint16_t value) const</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html">firmata::FirmataMarshaller</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#a1c987a534cc8dd197eb2f2a728bdacb3">sendAnalogMappingQuery</a>(void) const</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html">firmata::FirmataMarshaller</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#a1f1c5ce29ba4488306c9a1e3f158b781">sendCapabilityQuery</a>(void) const</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html">firmata::FirmataMarshaller</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#a2d90627f0543b6298be71f7d903399b3">sendDigital</a>(uint8_t pin, uint8_t value) const</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html">firmata::FirmataMarshaller</a></td><td class="entry"></td></tr>
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<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#aed71d62cc41f2e0bf3f161894b91be7c">sendFirmwareVersion</a>(uint8_t major, uint8_t minor, size_t bytec, uint8_t *bytev) const</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html">firmata::FirmataMarshaller</a></td><td class="entry"></td></tr>
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<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#afc378ab4a39c843d4419acdee944972b">sendPinStateQuery</a>(uint8_t pin) const</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html">firmata::FirmataMarshaller</a></td><td class="entry"></td></tr>
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<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#ade4f4592877ec0b9f8d6c74e909bad8e">sendSysex</a>(uint8_t command, size_t bytec, uint8_t *bytev) const</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_marshaller.html">firmata::FirmataMarshaller</a></td><td class="entry"></td></tr>
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<tr class="memitem:ad1a42532bdf77088c47c1a62f5a03829"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#ad1a42532bdf77088c47c1a62f5a03829">FirmataMarshaller</a> ()</td></tr>
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<tr class="memitem:a5be18ca3658875dbe5580c2254071c76"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#a5be18ca3658875dbe5580c2254071c76">begin</a> (Stream &amp;s)</td></tr>
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<tr class="memitem:af954bcf09b77458b3c4f032897d14697"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#af954bcf09b77458b3c4f032897d14697">queryFirmwareVersion</a> (void) const</td></tr>
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<tr class="memitem:a488fbbd372c894ec78ebb99e0faf5167"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#a488fbbd372c894ec78ebb99e0faf5167">queryVersion</a> (void) const</td></tr>
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<tr class="memitem:a2668d1332704bbf9938f386e247a8f30"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#a2668d1332704bbf9938f386e247a8f30">reportAnalogDisable</a> (uint8_t pin) const</td></tr>
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<tr class="memitem:a67b3db7232143acf63bd48b765fcc4db"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#a67b3db7232143acf63bd48b765fcc4db">reportAnalogEnable</a> (uint8_t pin) const</td></tr>
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<tr class="memitem:aa00582e6e014605a65a8953f8275a5ad"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#aa00582e6e014605a65a8953f8275a5ad">reportDigitalPortDisable</a> (uint8_t portNumber) const</td></tr>
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<tr class="memitem:a608c28cdc966c33d0cc2239d9465ef7c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#a608c28cdc966c33d0cc2239d9465ef7c">reportDigitalPortEnable</a> (uint8_t portNumber) const</td></tr>
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<tr class="memitem:a4d9f2d3bb058237404dfe433cfe7571a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#a4d9f2d3bb058237404dfe433cfe7571a">sendAnalog</a> (uint8_t pin, uint16_t value) const</td></tr>
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<tr class="memitem:a1c987a534cc8dd197eb2f2a728bdacb3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#a1c987a534cc8dd197eb2f2a728bdacb3">sendAnalogMappingQuery</a> (void) const</td></tr>
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<tr class="memitem:a1f1c5ce29ba4488306c9a1e3f158b781"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#a1f1c5ce29ba4488306c9a1e3f158b781">sendCapabilityQuery</a> (void) const</td></tr>
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<tr class="memitem:a2d90627f0543b6298be71f7d903399b3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#a2d90627f0543b6298be71f7d903399b3">sendDigital</a> (uint8_t pin, uint8_t value) const</td></tr>
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<tr class="memitem:a346dcb4487a51efaa95de42d292ad951"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#a346dcb4487a51efaa95de42d292ad951">sendDigitalPort</a> (uint8_t portNumber, uint16_t portData) const</td></tr>
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<tr class="memitem:aed71d62cc41f2e0bf3f161894b91be7c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#aed71d62cc41f2e0bf3f161894b91be7c">sendFirmwareVersion</a> (uint8_t major, uint8_t minor, size_t bytec, uint8_t *bytev) const</td></tr>
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<tr class="memitem:a95d58949e32ad285088705dbe5680b29"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#a95d58949e32ad285088705dbe5680b29">sendVersion</a> (uint8_t major, uint8_t minor) const</td></tr>
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<tr class="memitem:a36b6cc103609d900cce36149a239f221"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#a36b6cc103609d900cce36149a239f221">sendPinMode</a> (uint8_t pin, uint8_t config) const</td></tr>
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<tr class="memitem:afc378ab4a39c843d4419acdee944972b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#afc378ab4a39c843d4419acdee944972b">sendPinStateQuery</a> (uint8_t pin) const</td></tr>
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<tr class="memitem:a483ac2dea885ab3472dc38b99bfdec2f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#a483ac2dea885ab3472dc38b99bfdec2f">sendString</a> (const char *string) const</td></tr>
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<tr class="memitem:ade4f4592877ec0b9f8d6c74e909bad8e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#ade4f4592877ec0b9f8d6c74e909bad8e">sendSysex</a> (uint8_t command, size_t bytec, uint8_t *bytev) const</td></tr>
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<tr class="memitem:abb8f4c79dd8a0dbee3f5e04c587ae20c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#abb8f4c79dd8a0dbee3f5e04c587ae20c">setSamplingInterval</a> (uint16_t interval_ms) const</td></tr>
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<tr class="memitem:a3a585937f94b1f9e51797e5950a33206"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_marshaller.html#a3a585937f94b1f9e51797e5950a33206">systemReset</a> (void) const</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="friends"></a>
Friends</h2></td></tr>
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class&#160;</td><td class="memItemRight" valign="bottom"><b>FirmataClass</b></td></tr>
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<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#ad1a42532bdf77088c47c1a62f5a03829">&#9670;&nbsp;</a></span>FirmataMarshaller()</h2>
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<td class="memname">FirmataMarshaller::FirmataMarshaller </td>
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<td class="paramname"></td><td>)</td>
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<p>The <a class="el" href="classfirmata_1_1_firmata_marshaller.html">FirmataMarshaller</a> class. </p>
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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a5be18ca3658875dbe5580c2254071c76">&#9670;&nbsp;</a></span>begin()</h2>
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<td class="memname">void FirmataMarshaller::begin </td>
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<td class="paramtype">Stream &amp;&#160;</td>
<td class="paramname"><em>s</em></td><td>)</td>
<td></td>
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<p>Reassign the Firmata stream transport. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">s</td><td>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). </td></tr>
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</dd>
</dl>
</div>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ab856434fc577b1e069cba51c39daf1de">&#9670;&nbsp;</a></span>end()</h2>
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<td class="memname">void FirmataMarshaller::end </td>
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<td class="paramtype">void&#160;</td>
<td class="paramname"></td><td>)</td>
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<p>Closes the <a class="el" href="classfirmata_1_1_firmata_marshaller.html">FirmataMarshaller</a> stream by setting its stream reference to <code>(Stream *)NULL</code> </p>
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<h2 class="memtitle"><span class="permalink"><a href="#af954bcf09b77458b3c4f032897d14697">&#9670;&nbsp;</a></span>queryFirmwareVersion()</h2>
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<td class="memname">void FirmataMarshaller::queryFirmwareVersion </td>
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<td class="paramtype">void&#160;</td>
<td class="paramname"></td><td>)</td>
<td> const</td>
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<p>Query the target's firmware name and version </p>
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</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a488fbbd372c894ec78ebb99e0faf5167">&#9670;&nbsp;</a></span>queryVersion()</h2>
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<td class="memname">void FirmataMarshaller::queryVersion </td>
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<td class="paramtype">void&#160;</td>
<td class="paramname"></td><td>)</td>
<td> const</td>
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<p>Query the target's Firmata protocol version </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a2668d1332704bbf9938f386e247a8f30">&#9670;&nbsp;</a></span>reportAnalogDisable()</h2>
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<td class="memname">void FirmataMarshaller::reportAnalogDisable </td>
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<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>pin</em></td><td>)</td>
<td> const</td>
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<p>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. </p><dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">pin</td><td>The analog pin for which to request the value (limited to pins 0 - 15). </td></tr>
</table>
</dd>
</dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a67b3db7232143acf63bd48b765fcc4db">&#9670;&nbsp;</a></span>reportAnalogEnable()</h2>
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<td class="memname">void FirmataMarshaller::reportAnalogEnable </td>
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<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>pin</em></td><td>)</td>
<td> const</td>
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<p>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. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">pin</td><td>The analog pin for which to request the value (limited to pins 0 - 15). </td></tr>
</table>
</dd>
</dl>
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<h2 class="memtitle"><span class="permalink"><a href="#aa00582e6e014605a65a8953f8275a5ad">&#9670;&nbsp;</a></span>reportDigitalPortDisable()</h2>
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<td class="memname">void FirmataMarshaller::reportDigitalPortDisable </td>
<td>(</td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>portNumber</em></td><td>)</td>
<td> const</td>
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<p>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). </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">portNumber</td><td>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. </td></tr>
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</dd>
</dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a608c28cdc966c33d0cc2239d9465ef7c">&#9670;&nbsp;</a></span>reportDigitalPortEnable()</h2>
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<td class="memname">void FirmataMarshaller::reportDigitalPortEnable </td>
<td>(</td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>portNumber</em></td><td>)</td>
<td> const</td>
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<p>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). </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">portNumber</td><td>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. </td></tr>
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</dd>
</dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a4d9f2d3bb058237404dfe433cfe7571a">&#9670;&nbsp;</a></span>sendAnalog()</h2>
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<td class="memname">void FirmataMarshaller::sendAnalog </td>
<td>(</td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>pin</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">uint16_t&#160;</td>
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<p>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. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">pin</td><td>The analog pin to which the value is sent. </td></tr>
<tr><td class="paramname">value</td><td>The value of the analog pin (0 - 1024 for 10-bit analog, 0 - 4096 for 12-bit, etc). </td></tr>
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</dd>
</dl>
<dl class="section note"><dt>Note</dt><dd>The maximum value is 14-bits (16384). </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a1c987a534cc8dd197eb2f2a728bdacb3">&#9670;&nbsp;</a></span>sendAnalogMappingQuery()</h2>
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<td class="memname">void FirmataMarshaller::sendAnalogMappingQuery </td>
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<td class="paramtype">void&#160;</td>
<td class="paramname"></td><td>)</td>
<td> const</td>
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<p>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. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a1f1c5ce29ba4488306c9a1e3f158b781">&#9670;&nbsp;</a></span>sendCapabilityQuery()</h2>
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<td class="memname">void FirmataMarshaller::sendCapabilityQuery </td>
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<p>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). </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a2d90627f0543b6298be71f7d903399b3">&#9670;&nbsp;</a></span>sendDigital()</h2>
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<td class="memname">void FirmataMarshaller::sendDigital </td>
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<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>pin</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>value</em>&#160;</td>
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<td>)</td>
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<p>Send a single digital pin value to the Firmata host application. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">pin</td><td>The digital pin to send the value of. </td></tr>
<tr><td class="paramname">value</td><td>The value of the pin. </td></tr>
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</dd>
</dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a346dcb4487a51efaa95de42d292ad951">&#9670;&nbsp;</a></span>sendDigitalPort()</h2>
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<td class="memname">void FirmataMarshaller::sendDigitalPort </td>
<td>(</td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>portNumber</em>, </td>
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<td class="paramkey"></td>
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<td class="paramname"><em>portData</em>&#160;</td>
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<td></td>
<td>)</td>
<td></td><td> const</td>
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<p>Send an 8-bit port in a single digital message (protocol v2 and later). Send 14-bits in a single digital message (protocol v1). </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">portNumber</td><td>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. </td></tr>
<tr><td class="paramname">portData</td><td>The value of the port. The value of each pin in the port is represented by a bit. </td></tr>
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</dd>
</dl>
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<h2 class="memtitle"><span class="permalink"><a href="#aed71d62cc41f2e0bf3f161894b91be7c">&#9670;&nbsp;</a></span>sendFirmwareVersion()</h2>
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<td class="memname">void FirmataMarshaller::sendFirmwareVersion </td>
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<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>major</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>minor</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t&#160;</td>
<td class="paramname"><em>bytec</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint8_t *&#160;</td>
<td class="paramname"><em>bytev</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const</td>
</tr>
</table>
</div><div class="memdoc">
<p>Sends the firmware name and version to the Firmata host application. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">major</td><td>The major verison number </td></tr>
<tr><td class="paramname">minor</td><td>The minor version number </td></tr>
<tr><td class="paramname">bytec</td><td>The length of the firmware name </td></tr>
<tr><td class="paramname">bytev</td><td>The firmware name array </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a id="a36b6cc103609d900cce36149a239f221"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a36b6cc103609d900cce36149a239f221">&#9670;&nbsp;</a></span>sendPinMode()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void FirmataMarshaller::sendPinMode </td>
<td>(</td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>pin</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>config</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const</td>
</tr>
</table>
</div><div class="memdoc">
<p>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. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">pin</td><td>The pin to configure. </td></tr>
<tr><td class="paramname">config</td><td>The configuration value for the specified pin. </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a id="afc378ab4a39c843d4419acdee944972b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afc378ab4a39c843d4419acdee944972b">&#9670;&nbsp;</a></span>sendPinStateQuery()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void FirmataMarshaller::sendPinStateQuery </td>
<td>(</td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>pin</em></td><td>)</td>
<td> const</td>
</tr>
</table>
</div><div class="memdoc">
<p>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 <em>data</em> written to the pin (pin state). </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">pin</td><td>The pin to query </td></tr>
</table>
</dd>
</dl>
<dl class="section note"><dt>Note</dt><dd>The pin state is any data written to the pin (i.e. pin state != pin value) </dd></dl>
</div>
</div>
<a id="a483ac2dea885ab3472dc38b99bfdec2f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a483ac2dea885ab3472dc38b99bfdec2f">&#9670;&nbsp;</a></span>sendString()</h2>
<div class="memitem">
<div class="memproto">
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<tr>
<td class="memname">void FirmataMarshaller::sendString </td>
<td>(</td>
<td class="paramtype">const char *&#160;</td>
<td class="paramname"><em>string</em></td><td>)</td>
<td> const</td>
</tr>
</table>
</div><div class="memdoc">
<p>Send a string to the Firmata host application. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">string</td><td>A pointer to the char string </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a id="ade4f4592877ec0b9f8d6c74e909bad8e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ade4f4592877ec0b9f8d6c74e909bad8e">&#9670;&nbsp;</a></span>sendSysex()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void FirmataMarshaller::sendSysex </td>
<td>(</td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>command</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t&#160;</td>
<td class="paramname"><em>bytec</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint8_t *&#160;</td>
<td class="paramname"><em>bytev</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const</td>
</tr>
</table>
</div><div class="memdoc">
<p>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). </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">command</td><td>The sysex command byte. </td></tr>
<tr><td class="paramname">bytec</td><td>The number of data bytes in the message (excludes start, command and end bytes). </td></tr>
<tr><td class="paramname">bytev</td><td>A pointer to the array of data bytes to send in the message. </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a id="a95d58949e32ad285088705dbe5680b29"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a95d58949e32ad285088705dbe5680b29">&#9670;&nbsp;</a></span>sendVersion()</h2>
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<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void FirmataMarshaller::sendVersion </td>
<td>(</td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>major</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>minor</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const</td>
</tr>
</table>
</div><div class="memdoc">
<p>Send the Firmata protocol version to the Firmata host application. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">major</td><td>The major verison number </td></tr>
<tr><td class="paramname">minor</td><td>The minor version number </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a id="abb8f4c79dd8a0dbee3f5e04c587ae20c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#abb8f4c79dd8a0dbee3f5e04c587ae20c">&#9670;&nbsp;</a></span>setSamplingInterval()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void FirmataMarshaller::setSamplingInterval </td>
<td>(</td>
<td class="paramtype">uint16_t&#160;</td>
<td class="paramname"><em>interval_ms</em></td><td>)</td>
<td> const</td>
</tr>
</table>
</div><div class="memdoc">
<p>The sampling interval sets how often analog data and i2c data is reported to the client. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">interval_ms</td><td>The interval (in milliseconds) at which to sample </td></tr>
</table>
</dd>
</dl>
<dl class="section note"><dt>Note</dt><dd>The default sampling interval is 19ms </dd></dl>
</div>
</div>
<a id="a3a585937f94b1f9e51797e5950a33206"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3a585937f94b1f9e51797e5950a33206">&#9670;&nbsp;</a></span>systemReset()</h2>
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<td class="memname">void FirmataMarshaller::systemReset </td>
<td>(</td>
<td class="paramtype">void&#160;</td>
<td class="paramname"></td><td>)</td>
<td> const</td>
</tr>
</table>
</div><div class="memdoc">
<p>Perform a software reset on the target. For example, StandardFirmata.ino will initialize everything to a known state and reset the parsing buffer. </p>
</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="_firmata_marshaller_8h_source.html">FirmataMarshaller.h</a></li>
<li>FirmataMarshaller.cpp</li>
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<li class="navelem"><b>firmata</b></li><li class="navelem"><a class="el" href="classfirmata_1_1_firmata_parser.html">FirmataParser</a></li> </ul>
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<p>This is the complete list of members for <a class="el" href="classfirmata_1_1_firmata_parser.html">firmata::FirmataParser</a>, including all inherited members.</p>
<table class="directory">
<tr class="even"><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html#a2a472a925ed7e626ed36dee94ceae45e">attach</a>(uint8_t command, callbackFunction newFunction, void *context=NULL)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html">firmata::FirmataParser</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html#ae176414892a2d240b921c2b8037a8ade">attach</a>(dataBufferOverflowCallbackFunction newFunction, void *context=NULL)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html">firmata::FirmataParser</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html#a239b37e09dea042d229fc2171d3a1979">attach</a>(uint8_t command, stringCallbackFunction newFunction, void *context=NULL)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html">firmata::FirmataParser</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html#aaa1d755b20b21e528bfa62d6a7c2dc0f">attach</a>(uint8_t command, sysexCallbackFunction newFunction, void *context=NULL)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html">firmata::FirmataParser</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html#affc821e7742d889965e61b248c204842">attach</a>(uint8_t command, systemCallbackFunction newFunction, void *context=NULL)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html">firmata::FirmataParser</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html#a876105f2203f5e8f1fb06c8236a96933">attach</a>(uint8_t command, versionCallbackFunction newFunction, void *context=NULL)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html">firmata::FirmataParser</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>callbackFunction</b> typedef (defined in <a class="el" href="classfirmata_1_1_firmata_parser.html">firmata::FirmataParser</a>)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html">firmata::FirmataParser</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>dataBufferOverflowCallbackFunction</b> typedef (defined in <a class="el" href="classfirmata_1_1_firmata_parser.html">firmata::FirmataParser</a>)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html">firmata::FirmataParser</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html#a7cd707386c0807bee733a3e27d161c7d">detach</a>(uint8_t command)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html">firmata::FirmataParser</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html#a280ac17e428f8374afd30bce75e9a861">detach</a>(dataBufferOverflowCallbackFunction)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html">firmata::FirmataParser</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html#ac8c388b593a00e88856646712beae68b">FirmataParser</a>(uint8_t *dataBuffer=(uint8_t *) NULL, size_t dataBufferSize=0)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html">firmata::FirmataParser</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html#a67902b70695eaf0cf8f7b06175ca3902">isParsingMessage</a>(void) const</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html">firmata::FirmataParser</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html#a754c97b890b7fd66c8d953a3e615acbf">parse</a>(uint8_t value)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html">firmata::FirmataParser</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html#a8fbe143ddb428a97c00a15993c31a516">setDataBufferOfSize</a>(uint8_t *dataBuffer, size_t dataBufferSize)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html">firmata::FirmataParser</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>stringCallbackFunction</b> typedef (defined in <a class="el" href="classfirmata_1_1_firmata_parser.html">firmata::FirmataParser</a>)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html">firmata::FirmataParser</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>sysexCallbackFunction</b> typedef (defined in <a class="el" href="classfirmata_1_1_firmata_parser.html">firmata::FirmataParser</a>)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html">firmata::FirmataParser</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>systemCallbackFunction</b> typedef (defined in <a class="el" href="classfirmata_1_1_firmata_parser.html">firmata::FirmataParser</a>)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html">firmata::FirmataParser</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0"><td class="entry"><b>versionCallbackFunction</b> typedef (defined in <a class="el" href="classfirmata_1_1_firmata_parser.html">firmata::FirmataParser</a>)</td><td class="entry"><a class="el" href="classfirmata_1_1_firmata_parser.html">firmata::FirmataParser</a></td><td class="entry"></td></tr>
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typedef void(*&#160;</td><td class="memItemRight" valign="bottom"><b>callbackFunction</b>) (void *context, uint8_t command, uint16_t value)</td></tr>
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typedef void(*&#160;</td><td class="memItemRight" valign="bottom"><b>dataBufferOverflowCallbackFunction</b>) (void *context)</td></tr>
<tr class="separator:a7ba04f2773f1052fc014c93d309fe069"><td class="memSeparator" colspan="2">&#160;</td></tr>
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typedef void(*&#160;</td><td class="memItemRight" valign="bottom"><b>stringCallbackFunction</b>) (void *context, const char *c_str)</td></tr>
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typedef void(*&#160;</td><td class="memItemRight" valign="bottom"><b>sysexCallbackFunction</b>) (void *context, uint8_t command, size_t argc, uint8_t *argv)</td></tr>
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typedef void(*&#160;</td><td class="memItemRight" valign="bottom"><b>systemCallbackFunction</b>) (void *context)</td></tr>
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typedef void(*&#160;</td><td class="memItemRight" valign="bottom"><b>versionCallbackFunction</b>) (void *context, size_t sv_major, size_t sv_minor, const char *firmware)</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:ac8c388b593a00e88856646712beae68b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_parser.html#ac8c388b593a00e88856646712beae68b">FirmataParser</a> (uint8_t *dataBuffer=(uint8_t *) NULL, size_t dataBufferSize=0)</td></tr>
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<tr class="memitem:a754c97b890b7fd66c8d953a3e615acbf"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_parser.html#a754c97b890b7fd66c8d953a3e615acbf">parse</a> (uint8_t value)</td></tr>
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<tr class="memitem:a67902b70695eaf0cf8f7b06175ca3902"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_parser.html#a67902b70695eaf0cf8f7b06175ca3902">isParsingMessage</a> (void) const</td></tr>
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<tr class="memitem:a8fbe143ddb428a97c00a15993c31a516"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_parser.html#a8fbe143ddb428a97c00a15993c31a516">setDataBufferOfSize</a> (uint8_t *dataBuffer, size_t dataBufferSize)</td></tr>
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<tr class="memitem:a2a472a925ed7e626ed36dee94ceae45e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_parser.html#a2a472a925ed7e626ed36dee94ceae45e">attach</a> (uint8_t command, callbackFunction newFunction, void *context=NULL)</td></tr>
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<tr class="memitem:ae176414892a2d240b921c2b8037a8ade"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_parser.html#ae176414892a2d240b921c2b8037a8ade">attach</a> (dataBufferOverflowCallbackFunction newFunction, void *context=NULL)</td></tr>
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<tr class="memitem:a239b37e09dea042d229fc2171d3a1979"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_parser.html#a239b37e09dea042d229fc2171d3a1979">attach</a> (uint8_t command, stringCallbackFunction newFunction, void *context=NULL)</td></tr>
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<tr class="memitem:aaa1d755b20b21e528bfa62d6a7c2dc0f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_parser.html#aaa1d755b20b21e528bfa62d6a7c2dc0f">attach</a> (uint8_t command, sysexCallbackFunction newFunction, void *context=NULL)</td></tr>
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<tr class="memitem:affc821e7742d889965e61b248c204842"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_parser.html#affc821e7742d889965e61b248c204842">attach</a> (uint8_t command, systemCallbackFunction newFunction, void *context=NULL)</td></tr>
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<tr class="memitem:a876105f2203f5e8f1fb06c8236a96933"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_parser.html#a876105f2203f5e8f1fb06c8236a96933">attach</a> (uint8_t command, versionCallbackFunction newFunction, void *context=NULL)</td></tr>
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<tr class="memitem:a7cd707386c0807bee733a3e27d161c7d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_parser.html#a7cd707386c0807bee733a3e27d161c7d">detach</a> (uint8_t command)</td></tr>
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<tr class="memitem:a280ac17e428f8374afd30bce75e9a861"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfirmata_1_1_firmata_parser.html#a280ac17e428f8374afd30bce75e9a861">detach</a> (dataBufferOverflowCallbackFunction)</td></tr>
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<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="ac8c388b593a00e88856646712beae68b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac8c388b593a00e88856646712beae68b">&#9670;&nbsp;</a></span>FirmataParser()</h2>
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<td class="memname">FirmataParser::FirmataParser </td>
<td>(</td>
<td class="paramtype">uint8_t *&#160;</td>
<td class="paramname"><em>dataBuffer</em> = <code>(uint8_t&#160;*)NULL</code>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t&#160;</td>
<td class="paramname"><em>dataBufferSize</em> = <code>0</code>&#160;</td>
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<tr>
<td></td>
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<p>The <a class="el" href="classfirmata_1_1_firmata_parser.html">FirmataParser</a> class. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">dataBuffer</td><td>A pointer to an external buffer used to store parsed data </td></tr>
<tr><td class="paramname">dataBufferSize</td><td>The size of the external buffer </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="ae176414892a2d240b921c2b8037a8ade"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae176414892a2d240b921c2b8037a8ade">&#9670;&nbsp;</a></span>attach() <span class="overload">[1/6]</span></h2>
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<td class="memname">void FirmataParser::attach </td>
<td>(</td>
<td class="paramtype">dataBufferOverflowCallbackFunction&#160;</td>
<td class="paramname"><em>newFunction</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">void *&#160;</td>
<td class="paramname"><em>context</em> = <code>NULL</code>&#160;</td>
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<td></td>
<td>)</td>
<td></td><td></td>
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<p>Attach a buffer overflow callback </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">newFunction</td><td>A reference to the buffer overflow callback function to attach. </td></tr>
<tr><td class="paramname">context</td><td>An optional context to be provided to the callback function (NULL by default). </td></tr>
</table>
</dd>
</dl>
<dl class="section note"><dt>Note</dt><dd>The context parameter is provided so you can pass a parameter, by reference, to your callback function. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a2a472a925ed7e626ed36dee94ceae45e">&#9670;&nbsp;</a></span>attach() <span class="overload">[2/6]</span></h2>
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<td class="memname">void FirmataParser::attach </td>
<td>(</td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>command</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">callbackFunction&#160;</td>
<td class="paramname"><em>newFunction</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">void *&#160;</td>
<td class="paramname"><em>context</em> = <code>NULL</code>&#160;</td>
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<td></td>
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<p>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). </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">command</td><td>The ID of the command to attach a callback function to. </td></tr>
<tr><td class="paramname">newFunction</td><td>A reference to the callback function to attach. </td></tr>
<tr><td class="paramname">context</td><td>An optional context to be provided to the callback function (NULL by default). </td></tr>
</table>
</dd>
</dl>
<dl class="section note"><dt>Note</dt><dd>The context parameter is provided so you can pass a parameter, by reference, to your callback function. </dd></dl>
</div>
</div>
<a id="a239b37e09dea042d229fc2171d3a1979"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a239b37e09dea042d229fc2171d3a1979">&#9670;&nbsp;</a></span>attach() <span class="overload">[3/6]</span></h2>
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<td class="memname">void FirmataParser::attach </td>
<td>(</td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>command</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">stringCallbackFunction&#160;</td>
<td class="paramname"><em>newFunction</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">void *&#160;</td>
<td class="paramname"><em>context</em> = <code>NULL</code>&#160;</td>
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<td></td>
<td>)</td>
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<p>Attach a callback function for the STRING_DATA command. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">command</td><td>Must be set to STRING_DATA or it will be ignored. </td></tr>
<tr><td class="paramname">newFunction</td><td>A reference to the string callback function to attach. </td></tr>
<tr><td class="paramname">context</td><td>An optional context to be provided to the callback function (NULL by default). </td></tr>
</table>
</dd>
</dl>
<dl class="section note"><dt>Note</dt><dd>The context parameter is provided so you can pass a parameter, by reference, to your callback function. </dd></dl>
</div>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#aaa1d755b20b21e528bfa62d6a7c2dc0f">&#9670;&nbsp;</a></span>attach() <span class="overload">[4/6]</span></h2>
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<td class="memname">void FirmataParser::attach </td>
<td>(</td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>command</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">sysexCallbackFunction&#160;</td>
<td class="paramname"><em>newFunction</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">void *&#160;</td>
<td class="paramname"><em>context</em> = <code>NULL</code>&#160;</td>
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<p>Attach a generic sysex callback function to sysex command. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">command</td><td>The ID of the command to attach a callback function to. </td></tr>
<tr><td class="paramname">newFunction</td><td>A reference to the sysex callback function to attach. </td></tr>
<tr><td class="paramname">context</td><td>An optional context to be provided to the callback function (NULL by default). </td></tr>
</table>
</dd>
</dl>
<dl class="section note"><dt>Note</dt><dd>The context parameter is provided so you can pass a parameter, by reference, to your callback function. </dd></dl>
</div>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#affc821e7742d889965e61b248c204842">&#9670;&nbsp;</a></span>attach() <span class="overload">[5/6]</span></h2>
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<td class="memname">void FirmataParser::attach </td>
<td>(</td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>command</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">systemCallbackFunction&#160;</td>
<td class="paramname"><em>newFunction</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">void *&#160;</td>
<td class="paramname"><em>context</em> = <code>NULL</code>&#160;</td>
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<td>)</td>
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<p>Attach a system callback function (supported options are: SYSTEM_RESET, REPORT_VERSION). </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">command</td><td>The ID of the command to attach a callback function to. </td></tr>
<tr><td class="paramname">newFunction</td><td>A reference to the callback function to attach. </td></tr>
<tr><td class="paramname">context</td><td>An optional context to be provided to the callback function (NULL by default). </td></tr>
</table>
</dd>
</dl>
<dl class="section note"><dt>Note</dt><dd>The context parameter is provided so you can pass a parameter, by reference, to your callback function. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a876105f2203f5e8f1fb06c8236a96933">&#9670;&nbsp;</a></span>attach() <span class="overload">[6/6]</span></h2>
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<td class="memname">void FirmataParser::attach </td>
<td>(</td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>command</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">versionCallbackFunction&#160;</td>
<td class="paramname"><em>newFunction</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">void *&#160;</td>
<td class="paramname"><em>context</em> = <code>NULL</code>&#160;</td>
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<td></td>
<td>)</td>
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<p>Attach a version callback function (supported option: REPORT_FIRMWARE). </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">command</td><td>The ID of the command to attach a callback function to. </td></tr>
<tr><td class="paramname">newFunction</td><td>A reference to the callback function to attach. </td></tr>
<tr><td class="paramname">context</td><td>An optional context to be provided to the callback function (NULL by default). </td></tr>
</table>
</dd>
</dl>
<dl class="section note"><dt>Note</dt><dd>The context parameter is provided so you can pass a parameter, by reference, to your callback function. </dd></dl>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a280ac17e428f8374afd30bce75e9a861">&#9670;&nbsp;</a></span>detach() <span class="overload">[1/2]</span></h2>
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<td class="memname">void FirmataParser::detach </td>
<td>(</td>
<td class="paramtype">dataBufferOverflowCallbackFunction&#160;</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
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<p>Detach the buffer overflow callback </p><dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">&lt;unused&gt;</td><td>Any pointer of type dataBufferOverflowCallbackFunction. </td></tr>
</table>
</dd>
</dl>
</div>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a7cd707386c0807bee733a3e27d161c7d">&#9670;&nbsp;</a></span>detach() <span class="overload">[2/2]</span></h2>
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<td class="memname">void FirmataParser::detach </td>
<td>(</td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>command</em></td><td>)</td>
<td></td>
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</table>
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<p>Detach a callback function for a specified command (such as SYSTEM_RESET, STRING_DATA, ANALOG_MESSAGE, DIGITAL_MESSAGE, etc). </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">command</td><td>The ID of the command to detatch the callback function from. </td></tr>
</table>
</dd>
</dl>
</div>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a67902b70695eaf0cf8f7b06175ca3902">&#9670;&nbsp;</a></span>isParsingMessage()</h2>
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<td class="memname">bool FirmataParser::isParsingMessage </td>
<td>(</td>
<td class="paramtype">void&#160;</td>
<td class="paramname"></td><td>)</td>
<td> const</td>
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<dl class="section return"><dt>Returns</dt><dd>Returns true if the parser is actively parsing data. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a754c97b890b7fd66c8d953a3e615acbf">&#9670;&nbsp;</a></span>parse()</h2>
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<td class="memname">void FirmataParser::parse </td>
<td>(</td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>inputData</em></td><td>)</td>
<td></td>
</tr>
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<p>Parse data from the input stream. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">inputData</td><td>A single byte to be added to the parser. </td></tr>
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<a id="a8fbe143ddb428a97c00a15993c31a516"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8fbe143ddb428a97c00a15993c31a516">&#9670;&nbsp;</a></span>setDataBufferOfSize()</h2>
<div class="memitem">
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<td class="memname">int FirmataParser::setDataBufferOfSize </td>
<td>(</td>
<td class="paramtype">uint8_t *&#160;</td>
<td class="paramname"><em>dataBuffer</em>, </td>
</tr>
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<td class="paramkey"></td>
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<td class="paramtype">size_t&#160;</td>
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<p>Provides a mechanism to either set or update the working buffer of the parser. The method will be enabled when no buffer has been provided, or an overflow condition exists. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">dataBuffer</td><td>A pointer to an external buffer used to store parsed data </td></tr>
<tr><td class="paramname">dataBufferSize</td><td>The size of the external buffer </td></tr>
</table>
</dd>
</dl>
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<hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="_firmata_parser_8h_source.html">FirmataParser.h</a></li>
<li>FirmataParser.cpp</li>
</ul>
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Generated by &#160;<a href="http://www.doxygen.org/index.html">
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<div id="projectname">Firmata firmware for Arduino
</div>
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</div>
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</td>
</tr>
</tbody>
</table>
</div>
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<div class="contents">
<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
<h3><a id="index_a"></a>- a -</h3><ul>
<li>attach()
: <a class="el" href="classfirmata_1_1_firmata_class.html#adc3db897058f33e902097ce89bb01bb3">firmata::FirmataClass</a>
, <a class="el" href="classfirmata_1_1_firmata_parser.html#a2a472a925ed7e626ed36dee94ceae45e">firmata::FirmataParser</a>
</li>
<li>available()
: <a class="el" href="classfirmata_1_1_firmata_class.html#a119734b867186567c1cd011e52e59d2d">firmata::FirmataClass</a>
</li>
</ul>
<h3><a id="index_b"></a>- b -</h3><ul>
<li>begin()
: <a class="el" href="classfirmata_1_1_firmata_class.html#a2fddcc643892bec2f4aa7aef6dba70eb">firmata::FirmataClass</a>
, <a class="el" href="classfirmata_1_1_firmata_marshaller.html#a5be18ca3658875dbe5580c2254071c76">firmata::FirmataMarshaller</a>
</li>
<li>blinkVersion()
: <a class="el" href="classfirmata_1_1_firmata_class.html#a9421550f2501fc1df60fd174b154e606">firmata::FirmataClass</a>
</li>
</ul>
<h3><a id="index_d"></a>- d -</h3><ul>
<li>detach()
: <a class="el" href="classfirmata_1_1_firmata_class.html#a5db0faee74b9291d1b783d2dde0929d1">firmata::FirmataClass</a>
, <a class="el" href="classfirmata_1_1_firmata_parser.html#a7cd707386c0807bee733a3e27d161c7d">firmata::FirmataParser</a>
</li>
<li>disableBlinkVersion()
: <a class="el" href="classfirmata_1_1_firmata_class.html#a5ddba465c3772f841828ef82c79d4307">firmata::FirmataClass</a>
</li>
</ul>
<h3><a id="index_e"></a>- e -</h3><ul>
<li>end()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#ab856434fc577b1e069cba51c39daf1de">firmata::FirmataMarshaller</a>
</li>
<li>endSysex()
: <a class="el" href="classfirmata_1_1_firmata_class.html#a9bb68afbb1d37a7990f59a1d419e64c9">firmata::FirmataClass</a>
</li>
</ul>
<h3><a id="index_f"></a>- f -</h3><ul>
<li>FirmataClass()
: <a class="el" href="classfirmata_1_1_firmata_class.html#a75b035ab8d96d87d28deeb87badfe11a">firmata::FirmataClass</a>
</li>
<li>FirmataMarshaller()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#ad1a42532bdf77088c47c1a62f5a03829">firmata::FirmataMarshaller</a>
</li>
<li>FirmataParser()
: <a class="el" href="classfirmata_1_1_firmata_parser.html#ac8c388b593a00e88856646712beae68b">firmata::FirmataParser</a>
</li>
</ul>
<h3><a id="index_g"></a>- g -</h3><ul>
<li>getPinMode()
: <a class="el" href="classfirmata_1_1_firmata_class.html#a0c434227456ce2ba97b3b1142c329f96">firmata::FirmataClass</a>
</li>
<li>getPinState()
: <a class="el" href="classfirmata_1_1_firmata_class.html#acf5d4f460b9a2298653d4a71de918dfe">firmata::FirmataClass</a>
</li>
</ul>
<h3><a id="index_i"></a>- i -</h3><ul>
<li>isParsingMessage()
: <a class="el" href="classfirmata_1_1_firmata_class.html#a58e9d787957c3085f22d33b59b1f6ea6">firmata::FirmataClass</a>
, <a class="el" href="classfirmata_1_1_firmata_parser.html#a67902b70695eaf0cf8f7b06175ca3902">firmata::FirmataParser</a>
</li>
</ul>
<h3><a id="index_p"></a>- p -</h3><ul>
<li>parse()
: <a class="el" href="classfirmata_1_1_firmata_class.html#aaeaac8b1f8facf070615b0035120c432">firmata::FirmataClass</a>
, <a class="el" href="classfirmata_1_1_firmata_parser.html#a754c97b890b7fd66c8d953a3e615acbf">firmata::FirmataParser</a>
</li>
<li>printFirmwareVersion()
: <a class="el" href="classfirmata_1_1_firmata_class.html#abe49261eab0bd4892a09fa8b8980b11a">firmata::FirmataClass</a>
</li>
<li>printVersion()
: <a class="el" href="classfirmata_1_1_firmata_class.html#abd8a0370db6d9e923e7e3d5836e78d7a">firmata::FirmataClass</a>
</li>
<li>processInput()
: <a class="el" href="classfirmata_1_1_firmata_class.html#aa698f5f5a234173d5eebb54831350676">firmata::FirmataClass</a>
</li>
</ul>
<h3><a id="index_q"></a>- q -</h3><ul>
<li>queryFirmwareVersion()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#af954bcf09b77458b3c4f032897d14697">firmata::FirmataMarshaller</a>
</li>
<li>queryVersion()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#a488fbbd372c894ec78ebb99e0faf5167">firmata::FirmataMarshaller</a>
</li>
</ul>
<h3><a id="index_r"></a>- r -</h3><ul>
<li>reportAnalogDisable()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#a2668d1332704bbf9938f386e247a8f30">firmata::FirmataMarshaller</a>
</li>
<li>reportAnalogEnable()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#a67b3db7232143acf63bd48b765fcc4db">firmata::FirmataMarshaller</a>
</li>
<li>reportDigitalPortDisable()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#aa00582e6e014605a65a8953f8275a5ad">firmata::FirmataMarshaller</a>
</li>
<li>reportDigitalPortEnable()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#a608c28cdc966c33d0cc2239d9465ef7c">firmata::FirmataMarshaller</a>
</li>
</ul>
<h3><a id="index_s"></a>- s -</h3><ul>
<li>sendAnalog()
: <a class="el" href="classfirmata_1_1_firmata_class.html#ae14e1d8d9bd72068f6e8ca07721e8dda">firmata::FirmataClass</a>
, <a class="el" href="classfirmata_1_1_firmata_marshaller.html#a4d9f2d3bb058237404dfe433cfe7571a">firmata::FirmataMarshaller</a>
</li>
<li>sendAnalogMappingQuery()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#a1c987a534cc8dd197eb2f2a728bdacb3">firmata::FirmataMarshaller</a>
</li>
<li>sendCapabilityQuery()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#a1f1c5ce29ba4488306c9a1e3f158b781">firmata::FirmataMarshaller</a>
</li>
<li>sendDigital()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#a2d90627f0543b6298be71f7d903399b3">firmata::FirmataMarshaller</a>
</li>
<li>sendDigitalPort()
: <a class="el" href="classfirmata_1_1_firmata_class.html#a799b91e5a888dd21b066a2020d8e2b68">firmata::FirmataClass</a>
, <a class="el" href="classfirmata_1_1_firmata_marshaller.html#a346dcb4487a51efaa95de42d292ad951">firmata::FirmataMarshaller</a>
</li>
<li>sendFirmwareVersion()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#aed71d62cc41f2e0bf3f161894b91be7c">firmata::FirmataMarshaller</a>
</li>
<li>sendPinMode()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#a36b6cc103609d900cce36149a239f221">firmata::FirmataMarshaller</a>
</li>
<li>sendPinStateQuery()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#afc378ab4a39c843d4419acdee944972b">firmata::FirmataMarshaller</a>
</li>
<li>sendString()
: <a class="el" href="classfirmata_1_1_firmata_class.html#abe11f621154afd308926129de349fc6e">firmata::FirmataClass</a>
, <a class="el" href="classfirmata_1_1_firmata_marshaller.html#a483ac2dea885ab3472dc38b99bfdec2f">firmata::FirmataMarshaller</a>
</li>
<li>sendSysex()
: <a class="el" href="classfirmata_1_1_firmata_class.html#a81e2de5b37eb2372c8a3d9a43d5eb0cc">firmata::FirmataClass</a>
, <a class="el" href="classfirmata_1_1_firmata_marshaller.html#ade4f4592877ec0b9f8d6c74e909bad8e">firmata::FirmataMarshaller</a>
</li>
<li>sendValueAsTwo7bitBytes()
: <a class="el" href="classfirmata_1_1_firmata_class.html#a770e43f26f18204e43acebf9202a6d39">firmata::FirmataClass</a>
</li>
<li>sendVersion()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#a95d58949e32ad285088705dbe5680b29">firmata::FirmataMarshaller</a>
</li>
<li>setDataBufferOfSize()
: <a class="el" href="classfirmata_1_1_firmata_parser.html#a8fbe143ddb428a97c00a15993c31a516">firmata::FirmataParser</a>
</li>
<li>setFirmwareNameAndVersion()
: <a class="el" href="classfirmata_1_1_firmata_class.html#ab7aa66b528027566c15b7d64c8cd0f89">firmata::FirmataClass</a>
</li>
<li>setPinMode()
: <a class="el" href="classfirmata_1_1_firmata_class.html#a32c41dd94c1d23aa0e6d3d1dbe5c0c04">firmata::FirmataClass</a>
</li>
<li>setPinState()
: <a class="el" href="classfirmata_1_1_firmata_class.html#aa9f98ba5069823b4c1d08db9f8999ba8">firmata::FirmataClass</a>
</li>
<li>setSamplingInterval()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#abb8f4c79dd8a0dbee3f5e04c587ae20c">firmata::FirmataMarshaller</a>
</li>
<li>startSysex()
: <a class="el" href="classfirmata_1_1_firmata_class.html#a3cc7ea1af348bca3ea0bd570314cada3">firmata::FirmataClass</a>
</li>
<li>systemReset()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#a3a585937f94b1f9e51797e5950a33206">firmata::FirmataMarshaller</a>
</li>
</ul>
<h3><a id="index_w"></a>- w -</h3><ul>
<li>write()
: <a class="el" href="classfirmata_1_1_firmata_class.html#ae8f29a829e17379602fcb9fd6a497807">firmata::FirmataClass</a>
</li>
</ul>
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<div id="projectname">Firmata firmware for Arduino
</div>
<div id="projectbrief">Firmata is a protocol for communicating with microcontrollers from software on a host computer</div>
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&#160;
<h3><a id="index_a"></a>- a -</h3><ul>
<li>attach()
: <a class="el" href="classfirmata_1_1_firmata_class.html#adc3db897058f33e902097ce89bb01bb3">firmata::FirmataClass</a>
, <a class="el" href="classfirmata_1_1_firmata_parser.html#a2a472a925ed7e626ed36dee94ceae45e">firmata::FirmataParser</a>
</li>
<li>available()
: <a class="el" href="classfirmata_1_1_firmata_class.html#a119734b867186567c1cd011e52e59d2d">firmata::FirmataClass</a>
</li>
</ul>
<h3><a id="index_b"></a>- b -</h3><ul>
<li>begin()
: <a class="el" href="classfirmata_1_1_firmata_class.html#a2fddcc643892bec2f4aa7aef6dba70eb">firmata::FirmataClass</a>
, <a class="el" href="classfirmata_1_1_firmata_marshaller.html#a5be18ca3658875dbe5580c2254071c76">firmata::FirmataMarshaller</a>
</li>
<li>blinkVersion()
: <a class="el" href="classfirmata_1_1_firmata_class.html#a9421550f2501fc1df60fd174b154e606">firmata::FirmataClass</a>
</li>
</ul>
<h3><a id="index_d"></a>- d -</h3><ul>
<li>detach()
: <a class="el" href="classfirmata_1_1_firmata_class.html#a5db0faee74b9291d1b783d2dde0929d1">firmata::FirmataClass</a>
, <a class="el" href="classfirmata_1_1_firmata_parser.html#a7cd707386c0807bee733a3e27d161c7d">firmata::FirmataParser</a>
</li>
<li>disableBlinkVersion()
: <a class="el" href="classfirmata_1_1_firmata_class.html#a5ddba465c3772f841828ef82c79d4307">firmata::FirmataClass</a>
</li>
</ul>
<h3><a id="index_e"></a>- e -</h3><ul>
<li>end()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#ab856434fc577b1e069cba51c39daf1de">firmata::FirmataMarshaller</a>
</li>
<li>endSysex()
: <a class="el" href="classfirmata_1_1_firmata_class.html#a9bb68afbb1d37a7990f59a1d419e64c9">firmata::FirmataClass</a>
</li>
</ul>
<h3><a id="index_f"></a>- f -</h3><ul>
<li>FirmataClass()
: <a class="el" href="classfirmata_1_1_firmata_class.html#a75b035ab8d96d87d28deeb87badfe11a">firmata::FirmataClass</a>
</li>
<li>FirmataMarshaller()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#ad1a42532bdf77088c47c1a62f5a03829">firmata::FirmataMarshaller</a>
</li>
<li>FirmataParser()
: <a class="el" href="classfirmata_1_1_firmata_parser.html#ac8c388b593a00e88856646712beae68b">firmata::FirmataParser</a>
</li>
</ul>
<h3><a id="index_g"></a>- g -</h3><ul>
<li>getPinMode()
: <a class="el" href="classfirmata_1_1_firmata_class.html#a0c434227456ce2ba97b3b1142c329f96">firmata::FirmataClass</a>
</li>
<li>getPinState()
: <a class="el" href="classfirmata_1_1_firmata_class.html#acf5d4f460b9a2298653d4a71de918dfe">firmata::FirmataClass</a>
</li>
</ul>
<h3><a id="index_i"></a>- i -</h3><ul>
<li>isParsingMessage()
: <a class="el" href="classfirmata_1_1_firmata_class.html#a58e9d787957c3085f22d33b59b1f6ea6">firmata::FirmataClass</a>
, <a class="el" href="classfirmata_1_1_firmata_parser.html#a67902b70695eaf0cf8f7b06175ca3902">firmata::FirmataParser</a>
</li>
</ul>
<h3><a id="index_p"></a>- p -</h3><ul>
<li>parse()
: <a class="el" href="classfirmata_1_1_firmata_class.html#aaeaac8b1f8facf070615b0035120c432">firmata::FirmataClass</a>
, <a class="el" href="classfirmata_1_1_firmata_parser.html#a754c97b890b7fd66c8d953a3e615acbf">firmata::FirmataParser</a>
</li>
<li>printFirmwareVersion()
: <a class="el" href="classfirmata_1_1_firmata_class.html#abe49261eab0bd4892a09fa8b8980b11a">firmata::FirmataClass</a>
</li>
<li>printVersion()
: <a class="el" href="classfirmata_1_1_firmata_class.html#abd8a0370db6d9e923e7e3d5836e78d7a">firmata::FirmataClass</a>
</li>
<li>processInput()
: <a class="el" href="classfirmata_1_1_firmata_class.html#aa698f5f5a234173d5eebb54831350676">firmata::FirmataClass</a>
</li>
</ul>
<h3><a id="index_q"></a>- q -</h3><ul>
<li>queryFirmwareVersion()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#af954bcf09b77458b3c4f032897d14697">firmata::FirmataMarshaller</a>
</li>
<li>queryVersion()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#a488fbbd372c894ec78ebb99e0faf5167">firmata::FirmataMarshaller</a>
</li>
</ul>
<h3><a id="index_r"></a>- r -</h3><ul>
<li>reportAnalogDisable()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#a2668d1332704bbf9938f386e247a8f30">firmata::FirmataMarshaller</a>
</li>
<li>reportAnalogEnable()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#a67b3db7232143acf63bd48b765fcc4db">firmata::FirmataMarshaller</a>
</li>
<li>reportDigitalPortDisable()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#aa00582e6e014605a65a8953f8275a5ad">firmata::FirmataMarshaller</a>
</li>
<li>reportDigitalPortEnable()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#a608c28cdc966c33d0cc2239d9465ef7c">firmata::FirmataMarshaller</a>
</li>
</ul>
<h3><a id="index_s"></a>- s -</h3><ul>
<li>sendAnalog()
: <a class="el" href="classfirmata_1_1_firmata_class.html#ae14e1d8d9bd72068f6e8ca07721e8dda">firmata::FirmataClass</a>
, <a class="el" href="classfirmata_1_1_firmata_marshaller.html#a4d9f2d3bb058237404dfe433cfe7571a">firmata::FirmataMarshaller</a>
</li>
<li>sendAnalogMappingQuery()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#a1c987a534cc8dd197eb2f2a728bdacb3">firmata::FirmataMarshaller</a>
</li>
<li>sendCapabilityQuery()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#a1f1c5ce29ba4488306c9a1e3f158b781">firmata::FirmataMarshaller</a>
</li>
<li>sendDigital()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#a2d90627f0543b6298be71f7d903399b3">firmata::FirmataMarshaller</a>
</li>
<li>sendDigitalPort()
: <a class="el" href="classfirmata_1_1_firmata_class.html#a799b91e5a888dd21b066a2020d8e2b68">firmata::FirmataClass</a>
, <a class="el" href="classfirmata_1_1_firmata_marshaller.html#a346dcb4487a51efaa95de42d292ad951">firmata::FirmataMarshaller</a>
</li>
<li>sendFirmwareVersion()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#aed71d62cc41f2e0bf3f161894b91be7c">firmata::FirmataMarshaller</a>
</li>
<li>sendPinMode()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#a36b6cc103609d900cce36149a239f221">firmata::FirmataMarshaller</a>
</li>
<li>sendPinStateQuery()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#afc378ab4a39c843d4419acdee944972b">firmata::FirmataMarshaller</a>
</li>
<li>sendString()
: <a class="el" href="classfirmata_1_1_firmata_class.html#abe11f621154afd308926129de349fc6e">firmata::FirmataClass</a>
, <a class="el" href="classfirmata_1_1_firmata_marshaller.html#a483ac2dea885ab3472dc38b99bfdec2f">firmata::FirmataMarshaller</a>
</li>
<li>sendSysex()
: <a class="el" href="classfirmata_1_1_firmata_class.html#a81e2de5b37eb2372c8a3d9a43d5eb0cc">firmata::FirmataClass</a>
, <a class="el" href="classfirmata_1_1_firmata_marshaller.html#ade4f4592877ec0b9f8d6c74e909bad8e">firmata::FirmataMarshaller</a>
</li>
<li>sendValueAsTwo7bitBytes()
: <a class="el" href="classfirmata_1_1_firmata_class.html#a770e43f26f18204e43acebf9202a6d39">firmata::FirmataClass</a>
</li>
<li>sendVersion()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#a95d58949e32ad285088705dbe5680b29">firmata::FirmataMarshaller</a>
</li>
<li>setDataBufferOfSize()
: <a class="el" href="classfirmata_1_1_firmata_parser.html#a8fbe143ddb428a97c00a15993c31a516">firmata::FirmataParser</a>
</li>
<li>setFirmwareNameAndVersion()
: <a class="el" href="classfirmata_1_1_firmata_class.html#ab7aa66b528027566c15b7d64c8cd0f89">firmata::FirmataClass</a>
</li>
<li>setPinMode()
: <a class="el" href="classfirmata_1_1_firmata_class.html#a32c41dd94c1d23aa0e6d3d1dbe5c0c04">firmata::FirmataClass</a>
</li>
<li>setPinState()
: <a class="el" href="classfirmata_1_1_firmata_class.html#aa9f98ba5069823b4c1d08db9f8999ba8">firmata::FirmataClass</a>
</li>
<li>setSamplingInterval()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#abb8f4c79dd8a0dbee3f5e04c587ae20c">firmata::FirmataMarshaller</a>
</li>
<li>startSysex()
: <a class="el" href="classfirmata_1_1_firmata_class.html#a3cc7ea1af348bca3ea0bd570314cada3">firmata::FirmataClass</a>
</li>
<li>systemReset()
: <a class="el" href="classfirmata_1_1_firmata_marshaller.html#a3a585937f94b1f9e51797e5950a33206">firmata::FirmataMarshaller</a>
</li>
</ul>
<h3><a id="index_w"></a>- w -</h3><ul>
<li>write()
: <a class="el" href="classfirmata_1_1_firmata_class.html#ae8f29a829e17379602fcb9fd6a497807">firmata::FirmataClass</a>
</li>
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<div id="projectname">Firmata firmware for Arduino
</div>
<div id="projectbrief">Firmata is a protocol for communicating with microcontrollers from software on a host computer</div>
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<div class="title">Firmata </div> </div>
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<div class="contents">
<div class="textblock"><p><a href="https://gitter.im/firmata/arduino?utm_source=badge&amp;utm_medium=badge&amp;utm_campaign=pr-badge&amp;utm_content=badge"><img src="https://badges.gitter.im/Join%20Chat.svg" alt="Gitter" class="inline"/></a></p>
<p>Firmata is a protocol for communicating with microcontrollers from software on a host computer. The <a href="https://github.com/firmata/protocol">protocol</a> can be implemented in firmware on any microcontroller architecture as well as software on any host computer software package. The Arduino repository described here is a Firmata library for Arduino and Arduino-compatible devices. If you would like to contribute to Firmata, please see the <a href="#contributing">Contributing</a> section below.</p>
<h1><a class="anchor" id="autotoc_md1"></a>
Contents</h1>
<ul>
<li><a href="#usage">Usage</a></li>
<li><a href="#firmata-client-libraries">Firmata Client Libraries</a></li>
<li><a href="#updating-firmata-in-the-arduino-ide---arduino-164-and-higher">Updating Firmata in the Arduino IDE - Arduino 1.6.4 and higher</a></li>
<li><a href="#cloning-firmata">Cloning Firmata</a></li>
<li><a href="#updating-firmata-in-the-arduino-ide---older-versions--163-or-10x">Updating Firmata in the Arduino IDE - older versions (&lt;= 1.6.3 or 1.0.x)</a><ul>
<li><a href="#mac-osx">Mac OSX:</a></li>
<li><a href="#windows">Windows</a></li>
<li><a href="#linux">Linux</a></li>
</ul>
</li>
<li><a href="#using-the-source-code-rather-than-release-archive-only-for-versions-older-than-arduino-163">Using the Source code rather than release archive (only for versions older than Arduino 1.6.3)</a></li>
<li><a href="#contributing">Contributing</a></li>
</ul>
<h2><a class="anchor" id="autotoc_md2"></a>
Usage</h2>
<p>There are two main models of usage of Firmata. In one model, the author of the Arduino sketch uses the various methods provided by the Firmata library to selectively send and receive data between the Arduino device and the software running on the host computer. For example, a user can send analog data to the host using <code>Firmata.sendAnalog(analogPin, analogRead(analogPin))</code> or send data packed in a string using <code>Firmata.sendString(stringToSend)</code>. See File -&gt; Examples -&gt; Firmata -&gt; AnalogFirmata &amp; EchoString respectively for examples.</p>
<p>The second and more common model is to load a general purpose sketch called StandardFirmata (or one of the variants such as StandardFirmataPlus or StandardFirmataEthernet depending on your needs) on the Arduino board and then use the host computer exclusively to interact with the Arduino board. StandardFirmata is located in the Arduino IDE in File -&gt; Examples -&gt; Firmata.</p>
<h2><a class="anchor" id="autotoc_md3"></a>
Firmata Client Libraries</h2>
<p>Most of the time you will be interacting with Arduino with a client library on the host computers. Several Firmata client libraries have been implemented in a variety of popular programming languages:</p>
<ul>
<li>processing<ul>
<li><a href="https://github.com/firmata/processing">https://github.com/firmata/processing</a></li>
<li><a href="http://funnel.cc">http://funnel.cc</a></li>
</ul>
</li>
<li>python<ul>
<li><a href="https://github.com/MrYsLab/pymata-aio">https://github.com/MrYsLab/pymata-aio</a></li>
<li><a href="[https://github.com/MrYsLab/PyMata">https://github.com/MrYsLab/PyMata</a></li>
<li><a href="https://github.com/tino/pyFirmata">https://github.com/tino/pyFirmata</a></li>
<li><a href="https://github.com/lupeke/python-firmata">https://github.com/lupeke/python-firmata</a></li>
<li><a href="https://github.com/firmata/pyduino">https://github.com/firmata/pyduino</a></li>
</ul>
</li>
<li>perl<ul>
<li><a href="https://github.com/ntruchsess/perl-firmata">https://github.com/ntruchsess/perl-firmata</a></li>
<li><a href="https://github.com/rcaputo/rx-firmata">https://github.com/rcaputo/rx-firmata</a></li>
</ul>
</li>
<li>ruby<ul>
<li><a href="https://github.com/hardbap/firmata">https://github.com/hardbap/firmata</a></li>
<li><a href="https://github.com/PlasticLizard/rufinol">https://github.com/PlasticLizard/rufinol</a></li>
<li><a href="http://funnel.cc">http://funnel.cc</a></li>
</ul>
</li>
<li>clojure<ul>
<li><a href="https://github.com/nakkaya/clodiuno">https://github.com/nakkaya/clodiuno</a></li>
<li><a href="https://github.com/peterschwarz/clj-firmata">https://github.com/peterschwarz/clj-firmata</a></li>
</ul>
</li>
<li>javascript<ul>
<li><a href="https://github.com/firmata/firmata.js">https://github.com/firmata/firmata.js</a></li>
<li><a href="https://github.com/rwldrn/johnny-five">https://github.com/rwldrn/johnny-five</a></li>
<li><a href="http://breakoutjs.com">http://breakoutjs.com</a></li>
</ul>
</li>
<li>java<ul>
<li><a href="https://github.com/kurbatov/firmata4j">https://github.com/kurbatov/firmata4j</a></li>
<li><a href="https://github.com/4ntoine/Firmata">https://github.com/4ntoine/Firmata</a></li>
<li><a href="https://github.com/reapzor/FiloFirmata">https://github.com/reapzor/FiloFirmata</a></li>
</ul>
</li>
<li>.NET<ul>
<li><a href="https://github.com/SolidSoils/Arduino">https://github.com/SolidSoils/Arduino</a></li>
<li><a href="http://www.acraigie.com/programming/firmatavb/default.html">http://www.acraigie.com/programming/firmatavb/default.html</a></li>
</ul>
</li>
<li>Flash/AS3<ul>
<li><a href="http://funnel.cc">http://funnel.cc</a></li>
<li><a href="http://code.google.com/p/as3glue/">http://code.google.com/p/as3glue/</a></li>
</ul>
</li>
<li>Pharo<ul>
<li><a href="https://github.com/pharo-iot/Firmata">https://github.com/pharo-iot/Firmata</a></li>
</ul>
</li>
<li>PHP<ul>
<li>[<a href="https://github.com/ThomasWeinert/carica-firmata">https://github.com/ThomasWeinert/carica-firmata</a>]()</li>
<li><a href="https://github.com/oasynnoum/phpmake_firmata">https://github.com/oasynnoum/phpmake_firmata</a></li>
</ul>
</li>
<li>Haskell<ul>
<li><a href="http://hackage.haskell.org/package/hArduino">http://hackage.haskell.org/package/hArduino</a></li>
</ul>
</li>
<li>iOS<ul>
<li><a href="https://github.com/jacobrosenthal/iosfirmata">https://github.com/jacobrosenthal/iosfirmata</a></li>
</ul>
</li>
<li>Dart<ul>
<li><a href="https://github.com/nfrancois/firmata">https://github.com/nfrancois/firmata</a></li>
</ul>
</li>
<li>Max/MSP<ul>
<li><a href="http://www.maxuino.org/">http://www.maxuino.org/</a></li>
</ul>
</li>
<li>Elixir<ul>
<li><a href="https://github.com/kfatehi/firmata">https://github.com/kfatehi/firmata</a></li>
</ul>
</li>
<li>Modelica<ul>
<li><a href="https://www.wolfram.com/system-modeler/libraries/model-plug/">https://www.wolfram.com/system-modeler/libraries/model-plug/</a></li>
</ul>
</li>
<li>Go<ul>
<li><a href="https://github.com/kraman/go-firmata">https://github.com/kraman/go-firmata</a></li>
</ul>
</li>
<li>vvvv<ul>
<li><a href="https://vvvv.org/blog/arduino-second-service">https://vvvv.org/blog/arduino-second-service</a></li>
</ul>
</li>
<li>openFrameworks<ul>
<li><a href="http://openframeworks.cc/documentation/communication/ofArduino/">http://openframeworks.cc/documentation/communication/ofArduino/</a></li>
</ul>
</li>
<li>Rust<ul>
<li><a href="https://github.com/zankich/rust-firmata">https://github.com/zankich/rust-firmata</a></li>
</ul>
</li>
</ul>
<p>Note: The above libraries may support various versions of the Firmata protocol and therefore may not support all features of the latest Firmata spec nor all Arduino and Arduino-compatible boards. Refer to the respective projects for details.</p>
<h2><a class="anchor" id="autotoc_md4"></a>
Updating Firmata in the Arduino IDE - Arduino 1.6.4 and higher</h2>
<p>If you want to update to the latest stable version:</p>
<ol type="1">
<li>Open the Arduino IDE and navigate to: <code>Sketch &gt; Include Library &gt; Manage Libraries</code></li>
<li>Filter by "Firmata" and click on the "Firmata by Firmata Developers" item in the list of results.</li>
<li>Click the <code>Select version</code> dropdown and select the most recent version (note you can also install previous versions)</li>
<li>Click <code>Install</code>.</li>
</ol>
<h3><a class="anchor" id="autotoc_md5"></a>
Cloning Firmata</h3>
<p>If you are contributing to Firmata or otherwise need a version newer than the latest tagged release, you can clone Firmata directly to your Arduino/libraries/ directory (where 3rd party libraries are installed). This only works for Arduino 1.6.4 and higher, for older versions you need to clone into the Arduino application directory (see section below titled "Using the Source code rather than release archive"). Be sure to change the name to Firmata as follows:</p>
<div class="fragment"><div class="line">$ git clone git@github.com:firmata/arduino.git ~/Documents/Arduino/libraries/Firmata</div>
</div><!-- fragment --><p><em>Update path above if you're using Windows or Linux or changed the default Arduino directory on OS X</em></p>
<h2><a class="anchor" id="autotoc_md6"></a>
Updating Firmata in the Arduino IDE - older versions (&lt;= 1.6.3 or 1.0.x)</h2>
<p>Download the latest <a href="https://github.com/firmata/arduino/releases/tag/2.5.8">release</a> (for Arduino 1.0.x or Arduino 1.5.6 or higher) and replace the existing Firmata folder in your Arduino application. See the instructions below for your platform.</p>
<p><em>Note that Arduino 1.5.0 - 1.5.5 are not supported. Please use Arduino 1.5.6 or higher (or Arduino 1.0.5 or 1.0.6).</em></p>
<h3><a class="anchor" id="autotoc_md7"></a>
Mac OSX:</h3>
<p>The Firmata library is contained within the Arduino package.</p>
<ol type="1">
<li>Navigate to the Arduino application</li>
<li>Right click on the application icon and select <code>Show Package Contents</code></li>
<li>Navigate to: <code>/Contents/Resources/Java/libraries/</code> and replace the existing <code>Firmata</code> folder with latest <a href="https://github.com/firmata/arduino/releases/tag/2.5.8">Firmata release</a> (note there is a different download for Arduino 1.0.x vs 1.6.x)</li>
<li>Restart the Arduino application and the latest version of Firmata will be available.</li>
</ol>
<p><em>If you are using the Java 7 version of Arduino 1.5.7 or higher, the file path will differ slightly: <code>Contents/Java/libraries/Firmata</code> (no Resources directory).</em></p>
<h3><a class="anchor" id="autotoc_md8"></a>
Windows:</h3>
<ol type="1">
<li>Navigate to <code>c:/Program\ Files/arduino-1.x/libraries/</code> and replace the existing <code>Firmata</code> folder with the latest <a href="https://github.com/firmata/arduino/releases/tag/2.5.8">Firmata release</a> (note there is a different download for Arduino 1.0.x vs 1.6.x).</li>
<li>Restart the Arduino application and the latest version of Firmata will be available.</li>
</ol>
<p><em>Update the path and Arduino version as necessary</em></p>
<h3><a class="anchor" id="autotoc_md9"></a>
Linux:</h3>
<ol type="1">
<li>Navigate to <code>~/arduino-1.x/libraries/</code> and replace the existing <code>Firmata</code> folder with the latest <a href="https://github.com/firmata/arduino/releases/tag/2.5.8">Firmata release</a> (note there is a different download for Arduino 1.0.x vs 1.6.x).</li>
<li>Restart the Arduino application and the latest version of Firmata will be available.</li>
</ol>
<p><em>Update the path and Arduino version as necessary</em></p>
<h3><a class="anchor" id="autotoc_md10"></a>
Using the Source code rather than release archive (only for versions older than Arduino 1.6.3)</h3>
<p><em>It is recommended you update to Arduino 1.6.4 or higher if possible, that way you can clone directly into the external Arduino/libraries/ directory which persists between Arduino application updates. Otherwise you will need to move your clone each time you update to a newer version of the Arduino IDE.</em></p>
<p>If you're stuck with an older version of the IDE, then follow these keep reading otherwise jump up to the "Cloning Firmata section above".</p>
<p>Clone this repo directly into the core Arduino application libraries directory. If you are using Arduino 1.5.x or &lt;= 1.6.3, the repo directory structure will not match the Arduino library format, however it should still compile as long as you are using Arduino 1.5.7 or higher.</p>
<p>You will first need to remove the existing Firmata library, then clone firmata/arduino into an empty Firmata directory:</p>
<div class="fragment"><div class="line">$ rm -r /Applications/Arduino.app/Contents/Resources/Java/libraries/Firmata</div>
<div class="line">$ git clone git@github.com:firmata/arduino.git /Applications/Arduino.app/Contents/Resources/Java/libraries/Firmata</div>
</div><!-- fragment --><p><em>Update paths if you're using Windows or Linux</em></p>
<p>To generate properly formatted versions of Firmata (for Arduino 1.0.x and Arduino 1.6.x), run the <code>release.sh</code> script.</p>
<h2><a class="anchor" id="autotoc_md11"></a>
Contributing</h2>
<p>If you discover a bug or would like to propose a new feature, please open a new <a href="https://github.com/firmata/arduino/issues?sort=created&amp;state=open">issue</a>. Due to the limited memory of standard Arduino boards we cannot add every requested feature to StandardFirmata. Requests to add new features to StandardFirmata will be evaluated by the Firmata developers. However it is still possible to add new features to other Firmata implementations (Firmata is a protocol whereas StandardFirmata is just one of many possible implementations).</p>
<p>To contribute, fork this repository and create a new topic branch for the bug, feature or other existing issue you are addressing. Submit the pull request against the <em>master</em> branch.</p>
<p>If you would like to contribute but don't have a specific bugfix or new feature to contribute, you can take on an existing issue, see issues labeled "pull-request-encouraged". Add a comment to the issue to express your intent to begin work and/or to get any additional information about the issue.</p>
<p>You must thoroughly test your contributed code. In your pull request, describe tests performed to ensure that no existing code is broken and that any changes maintain backwards compatibility with the existing api. Test on multiple Arduino board variants if possible. We hope to enable some form of automated (or at least semi-automated) testing in the future, but for now any tests will need to be executed manually by the contributor and reviewers.</p>
<p>Use <a href="http://astyle.sourceforge.net/">Artistic Style</a> (astyle) to format your code. Set the following rules for the astyle formatter:</p>
<div class="fragment"><div class="line">style = &quot;&quot;</div>
<div class="line">indent-spaces = 2</div>
<div class="line">indent-classes = true</div>
<div class="line">indent-switches = true</div>
<div class="line">indent-cases = true</div>
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<div class="line">pad-oper = true</div>
<div class="line">pad-header = true</div>
<div class="line">keep-one-line-statements = true</div>
</div><!-- fragment --><p>If you happen to use Sublime Text, <a href="https://github.com/timonwong/SublimeAStyleFormatter">this astyle plugin</a> is helpful. Set the above rules in the user settings file. </p>
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<div class="title">Firmata </div> </div>
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<div class="textblock"><p><a href="https://gitter.im/firmata/arduino?utm_source=badge&amp;utm_medium=badge&amp;utm_campaign=pr-badge&amp;utm_content=badge"><img src="https://badges.gitter.im/Join%20Chat.svg" alt="Gitter" class="inline"/></a></p>
<p>Firmata is a protocol for communicating with microcontrollers from software on a host computer. The <a href="https://github.com/firmata/protocol">protocol</a> can be implemented in firmware on any microcontroller architecture as well as software on any host computer software package. The Arduino repository described here is a Firmata library for Arduino and Arduino-compatible devices. If you would like to contribute to Firmata, please see the <a href="#contributing">Contributing</a> section below.</p>
<h1><a class="anchor" id="autotoc_md1"></a>
Contents</h1>
<ul>
<li><a href="#usage">Usage</a></li>
<li><a href="#firmata-client-libraries">Firmata Client Libraries</a></li>
<li><a href="#updating-firmata-in-the-arduino-ide---arduino-164-and-higher">Updating Firmata in the Arduino IDE - Arduino 1.6.4 and higher</a></li>
<li><a href="#cloning-firmata">Cloning Firmata</a></li>
<li><a href="#updating-firmata-in-the-arduino-ide---older-versions--163-or-10x">Updating Firmata in the Arduino IDE - older versions (&lt;= 1.6.3 or 1.0.x)</a><ul>
<li><a href="#mac-osx">Mac OSX:</a></li>
<li><a href="#windows">Windows</a></li>
<li><a href="#linux">Linux</a></li>
</ul>
</li>
<li><a href="#using-the-source-code-rather-than-release-archive-only-for-versions-older-than-arduino-163">Using the Source code rather than release archive (only for versions older than Arduino 1.6.3)</a></li>
<li><a href="#contributing">Contributing</a></li>
</ul>
<h2><a class="anchor" id="autotoc_md2"></a>
Usage</h2>
<p>There are two main models of usage of Firmata. In one model, the author of the Arduino sketch uses the various methods provided by the Firmata library to selectively send and receive data between the Arduino device and the software running on the host computer. For example, a user can send analog data to the host using <code>Firmata.sendAnalog(analogPin, analogRead(analogPin))</code> or send data packed in a string using <code>Firmata.sendString(stringToSend)</code>. See File -&gt; Examples -&gt; Firmata -&gt; AnalogFirmata &amp; EchoString respectively for examples.</p>
<p>The second and more common model is to load a general purpose sketch called StandardFirmata (or one of the variants such as StandardFirmataPlus or StandardFirmataEthernet depending on your needs) on the Arduino board and then use the host computer exclusively to interact with the Arduino board. StandardFirmata is located in the Arduino IDE in File -&gt; Examples -&gt; Firmata.</p>
<h2><a class="anchor" id="autotoc_md3"></a>
Firmata Client Libraries</h2>
<p>Most of the time you will be interacting with Arduino with a client library on the host computers. Several Firmata client libraries have been implemented in a variety of popular programming languages:</p>
<ul>
<li>processing<ul>
<li><a href="https://github.com/firmata/processing">https://github.com/firmata/processing</a></li>
<li><a href="http://funnel.cc">http://funnel.cc</a></li>
</ul>
</li>
<li>python<ul>
<li><a href="https://github.com/MrYsLab/pymata-aio">https://github.com/MrYsLab/pymata-aio</a></li>
<li><a href="[https://github.com/MrYsLab/PyMata">https://github.com/MrYsLab/PyMata</a></li>
<li><a href="https://github.com/tino/pyFirmata">https://github.com/tino/pyFirmata</a></li>
<li><a href="https://github.com/lupeke/python-firmata">https://github.com/lupeke/python-firmata</a></li>
<li><a href="https://github.com/firmata/pyduino">https://github.com/firmata/pyduino</a></li>
</ul>
</li>
<li>perl<ul>
<li><a href="https://github.com/ntruchsess/perl-firmata">https://github.com/ntruchsess/perl-firmata</a></li>
<li><a href="https://github.com/rcaputo/rx-firmata">https://github.com/rcaputo/rx-firmata</a></li>
</ul>
</li>
<li>ruby<ul>
<li><a href="https://github.com/hardbap/firmata">https://github.com/hardbap/firmata</a></li>
<li><a href="https://github.com/PlasticLizard/rufinol">https://github.com/PlasticLizard/rufinol</a></li>
<li><a href="http://funnel.cc">http://funnel.cc</a></li>
</ul>
</li>
<li>clojure<ul>
<li><a href="https://github.com/nakkaya/clodiuno">https://github.com/nakkaya/clodiuno</a></li>
<li><a href="https://github.com/peterschwarz/clj-firmata">https://github.com/peterschwarz/clj-firmata</a></li>
</ul>
</li>
<li>javascript<ul>
<li><a href="https://github.com/firmata/firmata.js">https://github.com/firmata/firmata.js</a></li>
<li><a href="https://github.com/rwldrn/johnny-five">https://github.com/rwldrn/johnny-five</a></li>
<li><a href="http://breakoutjs.com">http://breakoutjs.com</a></li>
</ul>
</li>
<li>java<ul>
<li><a href="https://github.com/kurbatov/firmata4j">https://github.com/kurbatov/firmata4j</a></li>
<li><a href="https://github.com/4ntoine/Firmata">https://github.com/4ntoine/Firmata</a></li>
<li><a href="https://github.com/reapzor/FiloFirmata">https://github.com/reapzor/FiloFirmata</a></li>
</ul>
</li>
<li>.NET<ul>
<li><a href="https://github.com/SolidSoils/Arduino">https://github.com/SolidSoils/Arduino</a></li>
<li><a href="http://www.acraigie.com/programming/firmatavb/default.html">http://www.acraigie.com/programming/firmatavb/default.html</a></li>
</ul>
</li>
<li>Flash/AS3<ul>
<li><a href="http://funnel.cc">http://funnel.cc</a></li>
<li><a href="http://code.google.com/p/as3glue/">http://code.google.com/p/as3glue/</a></li>
</ul>
</li>
<li>Pharo<ul>
<li><a href="https://github.com/pharo-iot/Firmata">https://github.com/pharo-iot/Firmata</a></li>
</ul>
</li>
<li>PHP<ul>
<li>[<a href="https://github.com/ThomasWeinert/carica-firmata">https://github.com/ThomasWeinert/carica-firmata</a>]()</li>
<li><a href="https://github.com/oasynnoum/phpmake_firmata">https://github.com/oasynnoum/phpmake_firmata</a></li>
</ul>
</li>
<li>Haskell<ul>
<li><a href="http://hackage.haskell.org/package/hArduino">http://hackage.haskell.org/package/hArduino</a></li>
</ul>
</li>
<li>iOS<ul>
<li><a href="https://github.com/jacobrosenthal/iosfirmata">https://github.com/jacobrosenthal/iosfirmata</a></li>
</ul>
</li>
<li>Dart<ul>
<li><a href="https://github.com/nfrancois/firmata">https://github.com/nfrancois/firmata</a></li>
</ul>
</li>
<li>Max/MSP<ul>
<li><a href="http://www.maxuino.org/">http://www.maxuino.org/</a></li>
</ul>
</li>
<li>Elixir<ul>
<li><a href="https://github.com/kfatehi/firmata">https://github.com/kfatehi/firmata</a></li>
</ul>
</li>
<li>Modelica<ul>
<li><a href="https://www.wolfram.com/system-modeler/libraries/model-plug/">https://www.wolfram.com/system-modeler/libraries/model-plug/</a></li>
</ul>
</li>
<li>Go<ul>
<li><a href="https://github.com/kraman/go-firmata">https://github.com/kraman/go-firmata</a></li>
</ul>
</li>
<li>vvvv<ul>
<li><a href="https://vvvv.org/blog/arduino-second-service">https://vvvv.org/blog/arduino-second-service</a></li>
</ul>
</li>
<li>openFrameworks<ul>
<li><a href="http://openframeworks.cc/documentation/communication/ofArduino/">http://openframeworks.cc/documentation/communication/ofArduino/</a></li>
</ul>
</li>
<li>Rust<ul>
<li><a href="https://github.com/zankich/rust-firmata">https://github.com/zankich/rust-firmata</a></li>
</ul>
</li>
</ul>
<p>Note: The above libraries may support various versions of the Firmata protocol and therefore may not support all features of the latest Firmata spec nor all Arduino and Arduino-compatible boards. Refer to the respective projects for details.</p>
<h2><a class="anchor" id="autotoc_md4"></a>
Updating Firmata in the Arduino IDE - Arduino 1.6.4 and higher</h2>
<p>If you want to update to the latest stable version:</p>
<ol type="1">
<li>Open the Arduino IDE and navigate to: <code>Sketch &gt; Include Library &gt; Manage Libraries</code></li>
<li>Filter by "Firmata" and click on the "Firmata by Firmata Developers" item in the list of results.</li>
<li>Click the <code>Select version</code> dropdown and select the most recent version (note you can also install previous versions)</li>
<li>Click <code>Install</code>.</li>
</ol>
<h3><a class="anchor" id="autotoc_md5"></a>
Cloning Firmata</h3>
<p>If you are contributing to Firmata or otherwise need a version newer than the latest tagged release, you can clone Firmata directly to your Arduino/libraries/ directory (where 3rd party libraries are installed). This only works for Arduino 1.6.4 and higher, for older versions you need to clone into the Arduino application directory (see section below titled "Using the Source code rather than release archive"). Be sure to change the name to Firmata as follows:</p>
<div class="fragment"><div class="line">$ git clone git@github.com:firmata/arduino.git ~/Documents/Arduino/libraries/Firmata</div>
</div><!-- fragment --><p><em>Update path above if you're using Windows or Linux or changed the default Arduino directory on OS X</em></p>
<h2><a class="anchor" id="autotoc_md6"></a>
Updating Firmata in the Arduino IDE - older versions (&lt;= 1.6.3 or 1.0.x)</h2>
<p>Download the latest <a href="https://github.com/firmata/arduino/releases/tag/2.5.8">release</a> (for Arduino 1.0.x or Arduino 1.5.6 or higher) and replace the existing Firmata folder in your Arduino application. See the instructions below for your platform.</p>
<p><em>Note that Arduino 1.5.0 - 1.5.5 are not supported. Please use Arduino 1.5.6 or higher (or Arduino 1.0.5 or 1.0.6).</em></p>
<h3><a class="anchor" id="autotoc_md7"></a>
Mac OSX:</h3>
<p>The Firmata library is contained within the Arduino package.</p>
<ol type="1">
<li>Navigate to the Arduino application</li>
<li>Right click on the application icon and select <code>Show Package Contents</code></li>
<li>Navigate to: <code>/Contents/Resources/Java/libraries/</code> and replace the existing <code>Firmata</code> folder with latest <a href="https://github.com/firmata/arduino/releases/tag/2.5.8">Firmata release</a> (note there is a different download for Arduino 1.0.x vs 1.6.x)</li>
<li>Restart the Arduino application and the latest version of Firmata will be available.</li>
</ol>
<p><em>If you are using the Java 7 version of Arduino 1.5.7 or higher, the file path will differ slightly: <code>Contents/Java/libraries/Firmata</code> (no Resources directory).</em></p>
<h3><a class="anchor" id="autotoc_md8"></a>
Windows:</h3>
<ol type="1">
<li>Navigate to <code>c:/Program\ Files/arduino-1.x/libraries/</code> and replace the existing <code>Firmata</code> folder with the latest <a href="https://github.com/firmata/arduino/releases/tag/2.5.8">Firmata release</a> (note there is a different download for Arduino 1.0.x vs 1.6.x).</li>
<li>Restart the Arduino application and the latest version of Firmata will be available.</li>
</ol>
<p><em>Update the path and Arduino version as necessary</em></p>
<h3><a class="anchor" id="autotoc_md9"></a>
Linux:</h3>
<ol type="1">
<li>Navigate to <code>~/arduino-1.x/libraries/</code> and replace the existing <code>Firmata</code> folder with the latest <a href="https://github.com/firmata/arduino/releases/tag/2.5.8">Firmata release</a> (note there is a different download for Arduino 1.0.x vs 1.6.x).</li>
<li>Restart the Arduino application and the latest version of Firmata will be available.</li>
</ol>
<p><em>Update the path and Arduino version as necessary</em></p>
<h3><a class="anchor" id="autotoc_md10"></a>
Using the Source code rather than release archive (only for versions older than Arduino 1.6.3)</h3>
<p><em>It is recommended you update to Arduino 1.6.4 or higher if possible, that way you can clone directly into the external Arduino/libraries/ directory which persists between Arduino application updates. Otherwise you will need to move your clone each time you update to a newer version of the Arduino IDE.</em></p>
<p>If you're stuck with an older version of the IDE, then follow these keep reading otherwise jump up to the "Cloning Firmata section above".</p>
<p>Clone this repo directly into the core Arduino application libraries directory. If you are using Arduino 1.5.x or &lt;= 1.6.3, the repo directory structure will not match the Arduino library format, however it should still compile as long as you are using Arduino 1.5.7 or higher.</p>
<p>You will first need to remove the existing Firmata library, then clone firmata/arduino into an empty Firmata directory:</p>
<div class="fragment"><div class="line">$ rm -r /Applications/Arduino.app/Contents/Resources/Java/libraries/Firmata</div>
<div class="line">$ git clone git@github.com:firmata/arduino.git /Applications/Arduino.app/Contents/Resources/Java/libraries/Firmata</div>
</div><!-- fragment --><p><em>Update paths if you're using Windows or Linux</em></p>
<p>To generate properly formatted versions of Firmata (for Arduino 1.0.x and Arduino 1.6.x), run the <code>release.sh</code> script.</p>
<h2><a class="anchor" id="autotoc_md11"></a>
Contributing</h2>
<p>If you discover a bug or would like to propose a new feature, please open a new <a href="https://github.com/firmata/arduino/issues?sort=created&amp;state=open">issue</a>. Due to the limited memory of standard Arduino boards we cannot add every requested feature to StandardFirmata. Requests to add new features to StandardFirmata will be evaluated by the Firmata developers. However it is still possible to add new features to other Firmata implementations (Firmata is a protocol whereas StandardFirmata is just one of many possible implementations).</p>
<p>To contribute, fork this repository and create a new topic branch for the bug, feature or other existing issue you are addressing. Submit the pull request against the <em>master</em> branch.</p>
<p>If you would like to contribute but don't have a specific bugfix or new feature to contribute, you can take on an existing issue, see issues labeled "pull-request-encouraged". Add a comment to the issue to express your intent to begin work and/or to get any additional information about the issue.</p>
<p>You must thoroughly test your contributed code. In your pull request, describe tests performed to ensure that no existing code is broken and that any changes maintain backwards compatibility with the existing api. Test on multiple Arduino board variants if possible. We hope to enable some form of automated (or at least semi-automated) testing in the future, but for now any tests will need to be executed manually by the contributor and reviewers.</p>
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