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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">FirmataConstants.h</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
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<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> FirmataConstants.h</span></div>
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<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved.</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> Copyright (C) 2009-2017 Jeff Hoefs. All rights reserved.</span></div>
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<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"></span> </div>
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<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> This library is free software; you can redistribute it and/or</span></div>
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<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> modify it under the terms of the GNU Lesser General Public</span></div>
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<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> License as published by the Free Software Foundation; either</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> version 2.1 of the License, or (at your option) any later version.</span></div>
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<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"></span> </div>
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<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> See file LICENSE.txt for further informations on licensing terms.</span></div>
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<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">*/</span></div>
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<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  </div>
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<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#ifndef FirmataConstants_h</span></div>
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<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#define FirmataConstants_h</span></div>
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<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  </div>
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<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="keyword">namespace </span>firmata {</div>
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<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">/* Version numbers for the Firmata library.</span></div>
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<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * The firmware version will not always equal the protocol version going forward.</span></div>
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<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> * Query using the REPORT_FIRMWARE message.</span></div>
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<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> */</span></div>
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<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> FIRMWARE_MAJOR_VERSION = 2;</div>
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<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> FIRMWARE_MINOR_VERSION = 5;</div>
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<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> FIRMWARE_BUGFIX_VERSION = 7;</div>
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<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  </div>
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<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">/* Version numbers for the protocol. The protocol is still changing, so these</span></div>
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<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * version numbers are important.</span></div>
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<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * Query using the REPORT_VERSION message.</span></div>
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<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> */</span></div>
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<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <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>
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<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <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>
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<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <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>
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<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  </div>
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<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <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>
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<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  </div>
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<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment">// message command bytes (128-255/0x80-0xFF)</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div>
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<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <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>
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<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <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>
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<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <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>
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<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <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>
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<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="comment">//</span></div>
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<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <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>
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<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <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>
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<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="comment">//</span></div>
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<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <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>
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<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <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>
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<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="comment">//</span></div>
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<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <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>
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<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <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>
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<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  </div>
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<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="comment">// extended command set using sysex (0-127/0x00-0x7F)</span></div>
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<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="comment">/* 0x00-0x0F reserved for user-defined commands */</span></div>
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<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  </div>
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<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <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>
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<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <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>
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<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <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>
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<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> <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>
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<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <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>
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<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> <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>
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<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> <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>
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<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> <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>
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<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <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>
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<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <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>
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<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <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>
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<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> <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>
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<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> <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's current mode and value</span></div>
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<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> <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's current mode and value</span></div>
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<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <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>
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<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <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>
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<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> <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>
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<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> <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>
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<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> <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>
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<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> <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>
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<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> <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>
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<div class="line"><a name="l00076"></a><span class="lineno"> 76</span> <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>
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<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  </div>
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<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> <span class="comment">// pin modes</span></div>
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<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> <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>
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<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> <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>
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<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> <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>
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<div class="line"><a name="l00082"></a><span class="lineno"> 82</span> <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>
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<div class="line"><a name="l00083"></a><span class="lineno"> 83</span> <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>
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<div class="line"><a name="l00084"></a><span class="lineno"> 84</span> <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>
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<div class="line"><a name="l00085"></a><span class="lineno"> 85</span> <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>
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<div class="line"><a name="l00086"></a><span class="lineno"> 86</span> <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>
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<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> <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>
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<div class="line"><a name="l00088"></a><span class="lineno"> 88</span> <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>
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<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> <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>
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<div class="line"><a name="l00090"></a><span class="lineno"> 90</span> <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>
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<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> <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>
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<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  </div>
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<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> TOTAL_PIN_MODES = 13;</div>
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<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  </div>
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<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> } <span class="comment">// namespace firmata</span></div>
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<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  </div>
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<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> <span class="preprocessor">#endif // FirmataConstants_h</span></div>
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