3 var ArduinoFirmata, SerialPort, debug, events, exports, serialport,
4 extend = function(child, parent) { for (var key in parent) { if (hasProp.call(parent, key)) child[key] = parent[key]; } function ctor() { this.constructor = child; } ctor.prototype = parent.prototype; child.prototype = new ctor(); child.__super__ = parent.prototype; return child; },
5 hasProp = {}.hasOwnProperty;
7 events = require('eventemitter2');
9 SerialPort = (serialport = require('serialport')).SerialPort;
11 debug = require('debug')('arduino-firmata');
13 exports = module.exports = ArduinoFirmata = (function(superClass) {
14 extend(ArduinoFirmata, superClass);
16 ArduinoFirmata.Status = {
21 ArduinoFirmata.INPUT = 0;
23 ArduinoFirmata.OUTPUT = 1;
25 ArduinoFirmata.ANALOG = 2;
27 ArduinoFirmata.PWM = 3;
29 ArduinoFirmata.SERVO = 4;
31 ArduinoFirmata.SHIFT = 5;
33 ArduinoFirmata.I2C = 6;
35 ArduinoFirmata.LOW = 0;
37 ArduinoFirmata.HIGH = 1;
39 ArduinoFirmata.MAX_DATA_BYTES = 32;
41 ArduinoFirmata.DIGITAL_MESSAGE = 0x90;
43 ArduinoFirmata.ANALOG_MESSAGE = 0xE0;
45 ArduinoFirmata.REPORT_ANALOG = 0xC0;
47 ArduinoFirmata.REPORT_DIGITAL = 0xD0;
49 ArduinoFirmata.SET_PIN_MODE = 0xF4;
51 ArduinoFirmata.REPORT_VERSION = 0xF9;
53 ArduinoFirmata.SYSTEM_RESET = 0xFF;
55 ArduinoFirmata.START_SYSEX = 0xF0;
57 ArduinoFirmata.END_SYSEX = 0xF7;
59 ArduinoFirmata.list = function(callback) {
60 return serialport.list(function(err, ports) {
61 var devices, j, len, port;
66 for (j = 0, len = ports.length; j < len; j++) {
68 if (/usb|acm|com\d+/i.test(port.comName)) {
69 devices.push(port.comName);
72 return callback(null, devices);
76 function ArduinoFirmata() {
77 this.status = ArduinoFirmata.Status.CLOSE;
78 this.wait_for_data = 0;
79 this.execute_multi_byte_command = 0;
80 this.multi_byte_channel = 0;
81 this.stored_input_data = [];
82 this.parsing_sysex = false;
83 this.sysex_bytes_read = 0;
84 this.digital_output_data = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
85 this.digital_input_data = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
86 this.analog_input_data = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
87 this.boardVersion = null;
90 ArduinoFirmata.prototype.isOldArduinoDevice = function() {
91 return /usbserial|USB/.test(this.serialport_name);
94 ArduinoFirmata.prototype.connect = function(serialport_name, opts) {
95 this.serialport_name = serialport_name;
101 opts.parser = serialport.parsers.raw;
102 if (!this.serialport_name) {
103 ArduinoFirmata.list((function(_this) {
104 return function(err, devices) {
105 return _this.connect(devices[0], opts);
110 this.once('boardReady', function() {
113 io_init_wait = this.isOldArduinoDevice() ? (debug("old arduino device found " + this.serialport_name), 3000) : (debug("new arduino device found " + this.serialport_name), 100);
114 debug("wait " + io_init_wait + "(msec)");
115 return setTimeout((function(_this) {
118 for (i = j = 0; j < 6; i = ++j) {
119 _this.write([ArduinoFirmata.REPORT_ANALOG | i, 1]);
121 for (i = k = 0; k < 2; i = ++k) {
122 _this.write([ArduinoFirmata.REPORT_DIGITAL | i, 1]);
124 debug('init IO ports');
125 return _this.emit('connect');
127 })(this), io_init_wait);
129 this.serialport = new SerialPort(this.serialport_name, opts);
130 this.serialport.once('open', (function(_this) {
133 cid = setInterval(function() {
134 debug('request REPORT_VERSION');
135 return _this.write([ArduinoFirmata.REPORT_VERSION]);
137 _this.once('boardVersion', function(version) {
139 _this.status = ArduinoFirmata.Status.OPEN;
140 return _this.emit('boardReady');
142 return _this.serialport.on('data', function(data) {
143 var byte, j, len, results;
145 for (j = 0, len = data.length; j < len; j++) {
147 results.push(_this.process_input(byte));
156 ArduinoFirmata.prototype.isOpen = function() {
157 return this.status === ArduinoFirmata.Status.OPEN;
160 ArduinoFirmata.prototype.close = function(callback) {
161 this.status = ArduinoFirmata.Status.CLOSE;
162 return this.serialport.close(callback);
165 ArduinoFirmata.prototype.reset = function(callback) {
166 return this.write([ArduinoFirmata.SYSTEM_RESET], callback);
169 ArduinoFirmata.prototype.write = function(bytes, callback) {
170 return this.serialport.write(bytes, callback);
173 ArduinoFirmata.prototype.sysex = function(command, data, callback) {
178 data = data.map(function(i) {
181 write_data = [ArduinoFirmata.START_SYSEX, command].concat(data, [ArduinoFirmata.END_SYSEX]);
182 return this.write(write_data, callback);
185 ArduinoFirmata.prototype.pinMode = function(pin, mode, callback) {
188 mode = ArduinoFirmata.OUTPUT;
191 mode = ArduinoFirmata.INPUT;
193 return this.write([ArduinoFirmata.SET_PIN_MODE, pin, mode], callback);
196 ArduinoFirmata.prototype.digitalWrite = function(pin, value, callback) {
198 this.pinMode(pin, ArduinoFirmata.OUTPUT);
199 port_num = (pin >>> 3) & 0x0F;
200 if (value === 0 || value === false) {
201 this.digital_output_data[port_num] &= ~(1 << (pin & 0x07));
203 this.digital_output_data[port_num] |= 1 << (pin & 0x07);
205 return this.write([ArduinoFirmata.DIGITAL_MESSAGE | port_num, this.digital_output_data[port_num] & 0x7F, this.digital_output_data[port_num] >>> 7], callback);
208 ArduinoFirmata.prototype.analogWrite = function(pin, value, callback) {
209 value = Math.floor(value);
210 this.pinMode(pin, ArduinoFirmata.PWM);
211 return this.write([ArduinoFirmata.ANALOG_MESSAGE | (pin & 0x0F), value & 0x7F, value >>> 7], callback);
214 ArduinoFirmata.prototype.servoWrite = function(pin, angle, callback) {
215 this.pinMode(pin, ArduinoFirmata.SERVO);
216 return this.write([ArduinoFirmata.ANALOG_MESSAGE | (pin & 0x0F), angle & 0x7F, angle >>> 7], callback);
219 ArduinoFirmata.prototype.digitalRead = function(pin) {
220 return ((this.digital_input_data[pin >>> 3] >>> (pin & 0x07)) & 0x01) > 0;
223 ArduinoFirmata.prototype.analogRead = function(pin) {
224 return this.analog_input_data[pin];
227 ArduinoFirmata.prototype.process_input = function(input_data) {
228 var analog_value, command, diff, i, j, old_analog_value, results, stat, sysex_command, sysex_data;
229 if (this.parsing_sysex) {
230 if (input_data === ArduinoFirmata.END_SYSEX) {
231 this.parsing_sysex = false;
232 sysex_command = this.stored_input_data[0];
233 sysex_data = this.stored_input_data.slice(1, this.sysex_bytes_read);
234 return this.emit('sysex', {
235 command: sysex_command,
239 this.stored_input_data[this.sysex_bytes_read] = input_data;
240 return this.sysex_bytes_read += 1;
242 } else if (this.wait_for_data > 0 && input_data < 128) {
243 this.wait_for_data -= 1;
244 this.stored_input_data[this.wait_for_data] = input_data;
245 if (this.execute_multi_byte_command !== 0 && this.wait_for_data === 0) {
246 switch (this.execute_multi_byte_command) {
247 case ArduinoFirmata.DIGITAL_MESSAGE:
248 input_data = (this.stored_input_data[0] << 7) + this.stored_input_data[1];
249 diff = this.digital_input_data[this.multi_byte_channel] ^ input_data;
250 this.digital_input_data[this.multi_byte_channel] = input_data;
251 if (this.listeners('digitalChange').length > 0) {
253 for (i = j = 0; j <= 13; i = ++j) {
254 if (((0x01 << i) & diff) > 0) {
255 stat = (input_data & diff) > 0;
256 results.push(this.emit('digitalChange', {
257 pin: i + this.multi_byte_channel * 8,
262 results.push(void 0);
268 case ArduinoFirmata.ANALOG_MESSAGE:
269 analog_value = (this.stored_input_data[0] << 7) + this.stored_input_data[1];
270 old_analog_value = this.analogRead(this.multi_byte_channel);
271 this.analog_input_data[this.multi_byte_channel] = analog_value;
272 if (old_analog_value !== analog_value) {
273 return this.emit('analogChange', {
274 pin: this.multi_byte_channel,
276 old_value: old_analog_value
280 case ArduinoFirmata.REPORT_VERSION:
281 this.boardVersion = this.stored_input_data[1] + "." + this.stored_input_data[0];
282 return this.emit('boardVersion', this.boardVersion);
286 if (input_data < 0xF0) {
287 command = input_data & 0xF0;
288 this.multi_byte_channel = input_data & 0x0F;
290 command = input_data;
292 if (command === ArduinoFirmata.START_SYSEX) {
293 this.parsing_sysex = true;
294 return this.sysex_bytes_read = 0;
295 } else if (command === ArduinoFirmata.DIGITAL_MESSAGE || command === ArduinoFirmata.ANALOG_MESSAGE || command === ArduinoFirmata.REPORT_VERSION) {
296 this.wait_for_data = 2;
297 return this.execute_multi_byte_command = command;
302 return ArduinoFirmata;
304 })(events.EventEmitter2);