一、简介
Firmata是一个PC与MCU通讯的一个常用协议。其遵旨是能与任何主机PC软件包兼容。到目前为止,已经得到不少语言的支持,这样可方便地将对协议的支持加入软件系统中。Firmata起初是针对于PC与Arduino通讯的固件(Firmware),其目标是让开发者可以通过PC软件完全地控件Arduino。
二、Firmata协议详解
I/O支持
- 超过16路模拟通道
- 超过128(16 * 8-bit ports)路数字通道
消息类型
/* This protocol uses the MIDI message format, but does not use the whole * protocol. Most of the command mappings here will not be directly usable in * terms of MIDI controllers and synths. It should co-exist with MIDI without * trouble and can be parsed by standard MIDI interpreters. Just some of the * message data is used differently. * * MIDI format: http://www.harmony-central.com/MIDI/Doc/table1.html * * MIDI * type command channel first byte second byte *---------------------------------------------------------------------------- * analog I/O message 0xE0 pin # LSB(bits 0-6) MSB(bits 7-13) * digital I/O message 0x90 port LSB(bits 0-6) MSB(bits 7-13) * report analog pin 0xC0 pin # disable/enable(0/1) - n/a - * report digital port 0xD0 port disable/enable(0/1) - n/a - * * sysex start 0xF0 * set pin mode(I/O) 0xF4 pin # (0-127) pin state(0=in) * sysex end 0xF7 * protocol version 0xF9 major version minor version * system reset 0xFF * */
/* SysEx-based commands (0x00-0x7F) are used for an extended command set. * * type command first byte second byte ... *----------------------------------------------------------------------------- * string 0x71 char *string ... * firmware name/version 0x79 major version minor version char *name... */
该协议使用了MIDI消息格式,但并非MIDI消息格式的完整实现,Firmata中大多数命令不能直接按MIDI规定的的术语来使用。
但可与MIDI兼容并可被任何标准MIDI解释器兼容。仅有部分消息数据的使用是不同的。
MIDI消息格式
类型 |
命令 |
MIDI通道 |
第一字节 |
第二字节 |
模拟IO消息 | 0xE0 | 引脚# | 低字节(0-6) | 高字节(7-13) |
数字IO消息 | 0x90 | 端口 | 低字节(0-6) | 高字节(7-13) |
报告模拟引脚 | 0xC0 | 引脚# | 禁止/使能(0/1) | |
报告数字端口 | 0xD0 | 端口 | 禁止/使能(0/1) | |
sysex命令起始 | 0xF0 | |||
引脚模式设置 | 0xF4 | 引脚# | 引脚状态(0=输入) | |
sysex命令停止 | 0xF7 | |||
协议版本 | 0xF9 | 主版本 | 次版本 | |
系统重启 | 0xFF | |||
基于sysex的命令 | ||||
字符串 | 0x71 | char *string ... | ||
固件版本 | 0x79 | 主版本 | 次版本 | char *name... |
数据消息详解
/* two byte digital data format 两字节数字数据格式 * 0 digital data, 0x90-0x9F, (MIDI NoteOn, but different data format) 数字数据,0x90-0x9F * 1 digital pins 0-6 bitmask 数字引脚0-6位标志掩码 * 2 digital pins 7-13 bitmask 数字引脚7-13位标志掩码 */
/* analog 14-bit data format 14位模拟数据格式 * 0 analog pin, 0xE0-0xEF, (MIDI Pitch Wheel) 模拟引脚,0xE0-0xEF * 1 analog least significant 7 bits 模拟最低有效位7位 * 2 analog most significant 7 bits 模拟最高有效位7位 */
/* version report format * ------------------------------------------------- * 0 version report header (0xF9) (MIDI Undefined) * 1 major version (0-127) * 2 minor version (0-127) */
控制消息详解
/* set pin mode设置引脚模式 * 1 set digital pin mode (0xF4) (MIDI Undefined) * 2 pin number (0-127) * 3 state (INPUT/OUTPUT/ANALOG/PWM/SERVO, 0/1/2/3/4) */
/* toggle analogIn reporting by pin * 0 toggle digitalIn reporting (0xC0-0xCF) (MIDI Program Change) * 1 disable(0)/enable(non-zero) */
/* toggle digital port reporting by port * 0 toggle digital port reporting (0xD0-0xDF) (MIDI Aftertouch) * 1 disable(0)/enable(non-zero) */
/* request version report * 0 request version report (0xF9) (MIDI Undefined) */
Sysex消息格式
The idea for SysEx is to have a second command space using the first byte after the SysEx Start byte. The key difference is that the data can be of any size, rather than just one or two bytes for standard MIDI messages.
SysEX的思想是在继SysEx起始字节之后,具备包含第二消息的能力。与非SysEX的命令相比,其最大的优点在于数据的大小可以任意定义,而不是像标准MIDI格式那样的仅仅一个或二个字节
/* Generic Sysex Message * 0 START_SYSEX (0xF0) * 1 sysex command (0x00-0x7F) * x between 0 and MAX_DATA_BYTES 7-bit bytes of arbitrary data * last END_SYSEX (0xF7) */
Query Firmware Name and Version
The firmware name to be reported should be exactly the same as the name of the Arduino file, minus the .pde. So for Standard_Firmata.pde, the firmware name is: Standard_Firmata.
/* Query Firmware Name and Version * 0 START_SYSEX (0xF0) * 1 queryFirmware (0x79) * 2 END_SYSEX (0xF7) */
/* Receive Firmware Name and Versio