Added support for Intel's Galileo Board

.gitignore

@@ -1,2 +1 @@
 .DS_Store
-release.sh

Boards.h

@@ -338,7 +338,7 @@ writePort(port, value, bitmask):  Write an 8 bit port.
 #endif
 
 // as long this is not defined for all boards:
-#ifndef IS_PIN_SPI(p)
+#ifndef IS_PIN_SPI
 #define IS_PIN_SPI(p)           0
 #endif
 
@@ -400,6 +400,7 @@ static inline unsigned char writePort(byte port, byte value, byte bitmask)
 		PORTC = (PORTC & maskC) | valC;
 		sei();
 	}
+    return 1;
 #else
 	byte pin=port*8;
 	if ((bitmask & 0x01)) digitalWrite(PIN_TO_DIGITAL(pin+0), (value & 0x01));
@@ -410,6 +411,7 @@ static inline unsigned char writePort(byte port, byte value, byte bitmask)
 	if ((bitmask & 0x20)) digitalWrite(PIN_TO_DIGITAL(pin+5), (value & 0x20));
 	if ((bitmask & 0x40)) digitalWrite(PIN_TO_DIGITAL(pin+6), (value & 0x40));
 	if ((bitmask & 0x80)) digitalWrite(PIN_TO_DIGITAL(pin+7), (value & 0x80));
+    return 1;
 #endif
 }
 

Firmata.cpp

@@ -1,5 +1,5 @@
 /*
-  Firmata.cpp - Firmata library
+  Firmata.cpp - Firmata library v2.4.0 - 2013-08-09
   Copyright (C) 2006-2008 Hans-Christoph Steiner.  All rights reserved.
 
   This library is free software; you can redistribute it and/or
@@ -28,18 +28,18 @@ extern "C" {
 
 void FirmataClass::sendValueAsTwo7bitBytes(int value)
 {
-  FirmataSerial->write(value & B01111111); // LSB
-  FirmataSerial->write(value >> 7 & B01111111); // MSB
+  FirmataStream->write(value & B01111111); // LSB
+  FirmataStream->write(value >> 7 & B01111111); // MSB
 }
 
 void FirmataClass::startSysex(void)
 {
-  FirmataSerial->write(START_SYSEX);
+  FirmataStream->write(START_SYSEX);
 }
 
 void FirmataClass::endSysex(void)
 {
-  FirmataSerial->write(END_SYSEX);
+  FirmataStream->write(END_SYSEX);
 }
 
 //******************************************************************************
@@ -67,7 +67,7 @@ void FirmataClass::begin(void)
 void FirmataClass::begin(long speed)
 {
   Serial.begin(speed);
-  FirmataSerial = &Serial;
+  FirmataStream = &Serial;
   blinkVersion();
   printVersion();
   printFirmwareVersion();
@@ -76,7 +76,7 @@ void FirmataClass::begin(long speed)
 /* begin method for overriding default stream */
 void FirmataClass::begin(Stream &s)
 {
-  FirmataSerial = &s;
+  FirmataStream = &s;
   // do not call blinkVersion() here because some hardware such as the
   // Ethernet shield use pin 13
   printVersion();
@@ -85,9 +85,9 @@ void FirmataClass::begin(Stream &s)
 
 // output the protocol version message to the serial port
 void FirmataClass::printVersion(void) {
-  FirmataSerial->write(REPORT_VERSION);
-  FirmataSerial->write(FIRMATA_MAJOR_VERSION);
-  FirmataSerial->write(FIRMATA_MINOR_VERSION);
+  FirmataStream->write(REPORT_VERSION);
+  FirmataStream->write(FIRMATA_MAJOR_VERSION);
+  FirmataStream->write(FIRMATA_MINOR_VERSION);
 }
 
 void FirmataClass::blinkVersion(void)
@@ -106,9 +106,9 @@ void FirmataClass::printFirmwareVersion(void)
 
   if(firmwareVersionCount) { // make sure that the name has been set before reporting
     startSysex();
-    FirmataSerial->write(REPORT_FIRMWARE);
-    FirmataSerial->write(firmwareVersionVector[0]); // major version number
-    FirmataSerial->write(firmwareVersionVector[1]); // minor version number
+    FirmataStream->write(REPORT_FIRMWARE);
+    FirmataStream->write(firmwareVersionVector[0]); // major version number
+    FirmataStream->write(firmwareVersionVector[1]); // minor version number
     for(i=2; i<firmwareVersionCount; ++i) {
       sendValueAsTwo7bitBytes(firmwareVersionVector[i]);
     }
@@ -118,46 +118,48 @@ void FirmataClass::printFirmwareVersion(void)
 
 void FirmataClass::setFirmwareNameAndVersion(const char *name, byte major, byte minor)
 {
-  const char *filename;
-  char *extension;
+  const char *firmwareName;
+  const char *extension;
 
   // parse out ".cpp" and "applet/" that comes from using __FILE__
   extension = strstr(name, ".cpp");
-  filename = strrchr(name, '/') + 1; //points to slash, +1 gets to start of filename
-  // add two bytes for version numbers
-  if(extension && filename) {
-    firmwareVersionCount = extension - filename + 2;
-  } else {
-    firmwareVersionCount = strlen(name) + 2;
-    filename = name;
+  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);
   firmwareVersionVector[firmwareVersionCount] = 0;
   firmwareVersionVector[0] = major;
   firmwareVersionVector[1] = minor;
-  strncpy((char*)firmwareVersionVector + 2, filename, firmwareVersionCount - 2);
-  // alas, no snprintf on Arduino
-  //    snprintf(firmwareVersionVector, MAX_DATA_BYTES, "%c%c%s", 
-  //             (char)major, (char)minor, firmwareVersionVector);
+  strncpy((char*)firmwareVersionVector + 2, firmwareName, firmwareVersionCount - 2);
 }
-
-// this method is only used for unit testing
-// void FirmataClass::unsetFirmwareVersion()
-// {
-//   firmwareVersionCount = 0;
-//   free(firmwareVersionVector); 
-//   firmwareVersionVector = 0;
-// }
 
 //------------------------------------------------------------------------------
 // Serial Receive Handling
 
 int FirmataClass::available(void)
 {
-  return FirmataSerial->available();
+  return FirmataStream->available();
 }
 
 
@@ -170,17 +172,24 @@ void FirmataClass::processSysexMessage(void)
   case STRING_DATA:
     if(currentStringCallback) {
       byte bufferLength = (sysexBytesRead - 1) / 2;
-      char *buffer = (char*)malloc(bufferLength * sizeof(char));
       byte i = 1;
       byte j = 0;
       while(j < bufferLength) {
-        buffer[j] = (char)storedInputData[i];
+        // The string length will only be at most half the size of the
+        // stored input buffer so we can decode the string within the buffer.
+        storedInputData[j] = storedInputData[i];
         i++;
-        buffer[j] += (char)(storedInputData[i] << 7);
+        storedInputData[j] += (storedInputData[i] << 7);
         i++;
         j++;
       }
-      (*currentStringCallback)(buffer);
+      // Make sure string is null terminated. This may be the case for data
+      // coming from client libraries in languages that don't null terminate
+      // strings.
+      if (storedInputData[j-1] != '\0') {
+        storedInputData[j] = '\0';
+      }
+      (*currentStringCallback)((char*)&storedInputData[0]);
     }
     break;
   default:
@@ -191,7 +200,7 @@ void FirmataClass::processSysexMessage(void)
 
 void FirmataClass::processInput(void)
 {
-  int inputData = FirmataSerial->read(); // this is 'int' to handle -1 when no data
+  int inputData = FirmataStream->read(); // this is 'int' to handle -1 when no data
   int command;
 
   // TODO make sure it handles -1 properly
@@ -259,7 +268,7 @@ void FirmataClass::processInput(void)
       break;
     case REPORT_ANALOG:
     case REPORT_DIGITAL:
-      waitForData = 1; // two data bytes needed
+      waitForData = 1; // one data byte needed
       executeMultiByteCommand = command;
       break;
     case START_SYSEX:
@@ -283,7 +292,7 @@ void FirmataClass::processInput(void)
 void FirmataClass::sendAnalog(byte pin, int value) 
 {
   // pin can only be 0-15, so chop higher bits
-  FirmataSerial->write(ANALOG_MESSAGE | (pin & 0xF));
+  FirmataStream->write(ANALOG_MESSAGE | (pin & 0xF));
   sendValueAsTwo7bitBytes(value);
 }
 
@@ -314,17 +323,17 @@ void FirmataClass::sendDigital(byte pin, int value)
 // send an 8-bit port in a single digital message (protocol v2)
 void FirmataClass::sendDigitalPort(byte portNumber, int portData)
 {
-  FirmataSerial->write(DIGITAL_MESSAGE | (portNumber & 0xF));
-  FirmataSerial->write((byte)portData % 128); // Tx bits 0-6
-  FirmataSerial->write(portData >> 7);  // Tx bits 7-13
+  FirmataStream->write(DIGITAL_MESSAGE | (portNumber & 0xF));
+  FirmataStream->write((byte)portData % 128); // Tx bits 0-6
+  FirmataStream->write(portData >> 7);  // Tx bits 7-13
 }
 
 
 void FirmataClass::sendSysex(byte command, byte bytec, byte* bytev) 
 {
   byte i;
   startSysex();
-  FirmataSerial->write(command);
+  FirmataStream->write(command);
   for(i=0; i<bytec; i++) {
     sendValueAsTwo7bitBytes(bytev[i]);        
   }
@@ -346,7 +355,7 @@ void FirmataClass::sendString(const char* string)
 // expose the write method
 void FirmataClass::write(byte c)
 {
-  FirmataSerial->write(c);
+  FirmataStream->write(c);
 }
 
 
@@ -436,8 +445,6 @@ void FirmataClass::systemReset(void)
 
   if(currentSystemResetCallback)
     (*currentSystemResetCallback)();
-
-  //flush(); //TODO uncomment when Firmata is a subclass of HardwareSerial
 }
 
 
@@ -459,5 +466,3 @@ void FirmataClass::strobeBlinkPin(int count, int onInterval, int offInterval)
 
 // make one instance for the user to use
 FirmataClass Firmata;
-
-

Firmata.h

@@ -1,5 +1,5 @@
 /*
-  Firmata.h - Firmata library
+  Firmata.h - Firmata library v2.4.0 - 2013-08-09
   Copyright (C) 2006-2008 Hans-Christoph Steiner.  All rights reserved.
 
   This library is free software; you can redistribute it and/or
@@ -20,10 +20,10 @@
  * software can test whether it will be compatible with the currently
  * installed firmware. */
 #define FIRMATA_MAJOR_VERSION   2 // for non-compatible changes
-#define FIRMATA_MINOR_VERSION   3 // for backwards compatible changes
-#define FIRMATA_BUGFIX_VERSION  6 // for bugfix releases
+#define FIRMATA_MINOR_VERSION   4 // for backwards compatible changes
+#define FIRMATA_BUGFIX_VERSION  0 // for bugfix releases
 
-#define MAX_DATA_BYTES 32 // max number of data bytes in non-Sysex messages
+#define MAX_DATA_BYTES 64 // max number of data bytes in incoming messages
 
 // message command bytes (128-255/0x80-0xFF)
 #define DIGITAL_MESSAGE         0x90 // send data for a digital pin
@@ -43,6 +43,8 @@
 /* 0x00-0x0F reserved for user-defined commands */
 #define SERVO_CONFIG            0x70 // set max angle, minPulse, maxPulse, freq
 #define STRING_DATA             0x71 // a string message with 14-bits per char
+#define STEPPER_DATA            0x72 // control a stepper motor
+#define ONEWIRE_DATA            0x73 // send an OneWire read/write/reset/select/skip/search request
 #define SHIFT_DATA              0x75 // a bitstream to/from a shift register
 #define I2C_REQUEST             0x76 // send an I2C read/write request
 #define I2C_REPLY               0x77 // a reply to an I2C read request
@@ -56,6 +58,7 @@
 #define ANALOG_MAPPING_RESPONSE 0x6A // reply with mapping info
 #define REPORT_FIRMWARE         0x79 // report name and version of the firmware
 #define SAMPLING_INTERVAL       0x7A // set the poll rate of the main loop
+#define SCHEDULER_DATA          0x7B // send a createtask/deletetask/addtotask/schedule/querytasks/querytask request to the scheduler
 #define SYSEX_NON_REALTIME      0x7E // MIDI Reserved for non-realtime messages
 #define SYSEX_REALTIME          0x7F // MIDI Reserved for realtime messages
 // these are DEPRECATED to make the naming more consistent
@@ -72,7 +75,10 @@
 #define SERVO                   0x04 // digital pin in Servo output mode
 #define SHIFT                   0x05 // shiftIn/shiftOut mode
 #define I2C                     0x06 // pin included in I2C setup
-#define TOTAL_PIN_MODES         7
+#define ONEWIRE                 0x07 // pin configured for 1-wire
+#define STEPPER                 0x08 // pin configured for stepper motor
+#define IGNORE                  0x7F // pin configured to be ignored by digitalWrite and capabilityResponse
+#define TOTAL_PIN_MODES         10
 
 extern "C" {
 // callback function types
@@ -98,7 +104,6 @@ class FirmataClass
     void printFirmwareVersion(void);
   //void setFirmwareVersion(byte major, byte minor);  // see macro below
     void setFirmwareNameAndVersion(const char *name, byte major, byte minor);
-    //void unsetFirmwareVersion(); // only used for unit test
 /* serial receive handling */
     int available(void);
     void processInput(void);
@@ -118,7 +123,7 @@ class FirmataClass
     void detach(byte command);
 
 private:
-    Stream *FirmataSerial;
+    Stream *FirmataStream;
 /* firmware name and version */
     byte firmwareVersionCount;
     byte *firmwareVersionVector;
@@ -162,4 +167,3 @@ extern FirmataClass Firmata;
 #define setFirmwareVersion(x, y)   setFirmwareNameAndVersion(__FILE__, x, y)
 
 #endif /* Firmata_h */
-

examples/AllInputsFirmata/AllInputsFirmata.ino

@@ -45,7 +45,7 @@ void setup()
 {
   byte i, port, status;
 
-  Firmata.setFirmwareVersion(0, 1);
+  Firmata.setFirmwareVersion(FIRMATA_MAJOR_VERSION, FIRMATA_MINOR_VERSION);
 
   for(pin = 0; pin < TOTAL_PINS; pin++) {
     if IS_PIN_DIGITAL(pin) pinMode(PIN_TO_DIGITAL(pin), INPUT);

examples/AnalogFirmata/AnalogFirmata.ino

@@ -66,7 +66,7 @@ void reportAnalogCallback(byte pin, int value)
  *============================================================================*/
 void setup() 
 {
-    Firmata.setFirmwareVersion(0, 2);
+    Firmata.setFirmwareVersion(FIRMATA_MAJOR_VERSION, FIRMATA_MINOR_VERSION);
     Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
     Firmata.attach(REPORT_ANALOG, reportAnalogCallback);