[]
readme
course(s)
preface
I
1
2
II
3
4
III
5
6
7
IV
8
9
10
V
11
12
afterthought(s)
appendix
reference(s)
example(s)
resource(s)
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lib-of-vs-libs-openFrameworks-communication-ofStandardFirmata.h / h
Notes:Communication problems could be caused by high baud rates, if you are using ofStandardFirmata then try to turn down the baud rate to 57600. I.e. Change Firmata.begin() in setup() in ofStandardFirmata on the Arduino to Firmata.begin(57600) and connect using baud=57600; ofStandardFirmata on the Arduino will get caught in a while loop if data is sent to it continuosly at high speeds (for example on each update at 100FPS) As a consequence data will not be sent from the Arduino to the computer. This is why most of the sender functions only transmit data if it has been changed. This behavior can be overriden by setting force=true in the senders. This version of the Arduino class is intended to be used with the Firmata v2 protocol and the ofStandardFirmata firmware, see http://www.arduino.cc/playground/Interfacing/Firmata. It currently supports the Arduino NG and Diecimila boards and other ATmega168 based Arduino compatible boards. The class can be extended to accomodate modified versions of ofStandardFirmata. **/ class ofStandardFirmata{ public: ofStandardFirmata(); virtual ~ofStandardFirmata(); // --- setup functions int connect(string device, int baud = 115200); // opens a serial port connection to the arduino void disconnect(); // closes the serial port connection void update(); // polls data from the serial port, this has to be called periodically bool isInitialized(); // returns true if a succesfull connection has been established and the Arduino has reported a firmware void setDigitalHistoryLength(int length); void setAnalogHistoryLength(int length); void setStringHistoryLength(int length); void setSysExHistoryLength(int nSysEx); // --- senders void sendDigitalPinMode(int pin, int mode); // pin: 2-13 // mode: ARD_INPUT, ARD_OUTPUT, ARD_PWM // setting a pins mode to ARD_INPUT turns on reporting for the port the pin is on // Note: analog pins 0-5 can be used as digitial pins 16-21 but if the mode of _one_ of these pins is set to ARD_INPUT then _all_ analog pin reporting will be turned off void sendAnalogPinReporting(int pin, int mode); // pin: 0-5 // mode: ARD_ON or ARD_OFF // Note: analog pins 0-5 can be used as digitial pins 16-21 but if reporting for _one_ analog pin is enabled then reporting for _all_ of digital pin 16-21 will be turned off void sendDigital(int pin, int value, bool force = false); // pin: 2-13 // value: ARD_LOW or ARD_HIGH // the pins mode has to be set to ARD_OUTPUT or ARD_INPUT (in the latter mode pull-up resistors are enabled/disabled) // Note: pin 16-21 can also be used if analog inputs 0-5 are used as digital pins void sendPwm(int pin, int value, bool force = false); // pin: 3, 5, 6, 9, 10 and 11 // value: 0 (always off) to 255 (always on). // the pins mode has to be set to ARD_PWM // TODO check if the PWM bug still is there causing frequent digital port reporting... void sendSysEx(int command, vector<unsigned char> data); void sendString(string str); // firmata can not handle strings longer than 12 characters. void sendProtocolVersionRequest(); void sendFirmwareVersionRequest(); void sendReset(); // --- senders for SysEx communication void sendSysExBegin(); // sends the FIRMATA_START_SYSEX command void sendSysExEnd(); // sends the FIRMATA_END_SYSEX command void sendByte(unsigned char byte); // sends a byte without wrapping it in a firmata message, data has to be in the 0-127 range, // values > 127 will be interpreted as commands. void sendValueAsTwo7bitBytes(int value); // sends a value as two 7-bit bytes without wrapping it in a firmata message // values in the range 0 - 16384 will be sent as two bytes within the 0-127 data range. // --- getters int getPwm(int pin); // pin: 3, 5, 6, 9, 10 and 11 // returns the last set PWM value (0-255) for the given pin // the pins mode has to be ARD_PWM // Note: pin 16-21 can also be used if analog inputs 0-5 are used as digital pins int getDigital(int pin); // pin: 2-13 // returns the last received value (if the pin mode is ARD_INPUT) or the last set value (if the pin mode is ARD_OUTPUT) for the given pin // Note: pin 16-21 can also be used if analog inputs 0-5 are used as digital pins int getAnalog(int pin); // pin: 0-5 // returns the last received analog value (0-1023) for the given pin vector<unsigned char> getSysEx(); // returns the last received SysEx message string getString(); // returns the last received string int getMajorProtocolVersion(); // returns the major firmware version int getMinorProtocolVersion(); // returns the minor firmware version int getMajorFirmwareVersion(); // returns the major firmware version int getMinorFirmwareVersion(); // returns the minor firmware version string getFirmwareName(); // returns the name of the firmware list<int>* getDigitalHistory(int pin); // pin: 2-13 // returns a pointer to the digital data history list for the given pin // Note: pin 16-21 can also be used if analog inputs 0-5 are used as digital pins list<int>* getAnalogHistory(int pin); // pin: 0-5 // returns a pointer to the analog data history list for the given pin list<vector<unsigned char> >* getSysExHistory(); // returns a pointer to the SysEx history list<string>* getStringHistory(); // returns a pointer to the string history int getDigitalPinMode(int pin); // returns ARD_INPUT, ARD_OUTPUT, ARD_PWM, ARD_SERVO, ARD_ANALOG int getAnalogPinReporting(int pin); // returns ARD_ON, ARD_OFF int getValueFromTwo7bitBytes(unsigned char lsb, unsigned char msb); // useful for parsing SysEx messages // --- events ofEvent<const int> EDigitalPinChanged; // triggered when a digital pin changes value, the pin that changed is passed as an argument ofEvent<const int> EAnalogPinChanged; // triggered when an analog pin changes value, the pin that changed is passed as an argument ofEvent<const vector<unsigned char> > ESysExReceived; // triggered when a SysEx message that isn't in the extended command set is received, the SysEx message is passed as an argument ofEvent<const int> EProtocolVersionReceived; // triggered when a protocol version is received, the major version is passed as an argument ofEvent<const int> EFirmwareVersionReceived; // triggered when a firmware version is received, the major version is passed as an argument ofEvent<const int> EInitialized; // triggered when the firmware version is received upon connect, the major firmware version is passed as an argument // from this point it's safe to send to the Arduino. ofEvent<const string> EStringReceived; // triggered when a string is received, the string is passed as an argument protected: bool _initialized; void sendDigitalPinReporting(int pin, int mode); // sets pin reporting to ARD_ON or ARD_OFF // enables / disables reporting for the pins port void sendDigitalPortReporting(int port, int mode); // sets port reporting to ARD_ON or ARD_OFF // enables / disables reporting for ports 0-2 // port 0: pins 2-7 (0,1 are serial RX/TX) // port 1: pins 8-13 (14,15 are disabled for the crystal) // port 2: pins 16-21 analog pins used as digital, all analog reporting will be turned off if this is set to ARD_ON void processData(unsigned char inputData); void processDigitalPort(int port, unsigned char value); virtual void processSysExData(vector<unsigned char> data); ofSerial _port; int _portStatus; // --- history variables int _analogHistoryLength; int _digitalHistoryLength; int _stringHistoryLength; int _sysExHistoryLength; // --- data processing variables int _waitForData; int _executeMultiByteCommand; int _multiByteChannel; // indicates which pin data came from // --- data holders unsigned char _storedInputData[FIRMATA_MAX_DATA_BYTES]; vector<unsigned char> _sysExData; int _majorProtocolVersion; int _minorProtocolVersion; int _majorFirmwareVersion; int _minorFirmwareVersion; string _firmwareName; list<vector<unsigned char> > _sysExHistory; // maintains a history of received sysEx messages (excluding SysEx messages in the extended command set) list<string> _stringHistory; // maintains a history of received strings list<int> _analogHistory[ARD_TOTAL_ANALOG_PINS]; // a history of received data for each analog pin list<int> _digitalHistory[ARD_TOTAL_DIGITAL_PINS]; // a history of received data for each digital pin int _digitalPinMode[ARD_TOTAL_DIGITAL_PINS]; // the modes for all digital pins int _digitalPinValue[ARD_TOTAL_DIGITAL_PINS]; // the last set values (DIGITAL/PWM) on all digital pins int _digitalPortValue[ARD_TOTAL_PORTS]; // the last set values on all ports int _digitalPortReporting[ARD_TOTAL_PORTS]; // whether pin reporting is enabled / disabled int _digitalPinReporting[ARD_TOTAL_DIGITAL_PINS]; // whether pin reporting is enabled / disabled int _analogPinReporting[ARD_TOTAL_ANALOG_PINS]; // whether pin reporting is enabled / disabled }; endif
[]readme course(s) prefaceI 1 2II 3 4III 5 6 7IV 8 9 10V 11 12 afterthought(s)appendix reference(s) example(s)resource(s) _
(C) Æliens 04/09/2009
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