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Diffstat (limited to 'libraries/Firmata/Boards.h')
| -rw-r--r-- | libraries/Firmata/Boards.h | 366 |
1 files changed, 0 insertions, 366 deletions
diff --git a/libraries/Firmata/Boards.h b/libraries/Firmata/Boards.h deleted file mode 100644 index 06f69c6..0000000 --- a/libraries/Firmata/Boards.h +++ /dev/null @@ -1,366 +0,0 @@ -/* Boards.h - Hardware Abstraction Layer for Firmata library */ - -#ifndef Firmata_Boards_h -#define Firmata_Boards_h - -#include <inttypes.h> - -#if defined(ARDUINO) && ARDUINO >= 100 -#include "Arduino.h" // for digitalRead, digitalWrite, etc -#else -#include "WProgram.h" -#endif - -// Normally Servo.h must be included before Firmata.h (which then includes -// this file). If Servo.h wasn't included, this allows the code to still -// compile, but without support for any Servos. Hopefully that's what the -// user intended by not including Servo.h -#ifndef MAX_SERVOS -#define MAX_SERVOS 0 -#endif - -/* - Firmata Hardware Abstraction Layer - -Firmata is built on top of the hardware abstraction functions of Arduino, -specifically digitalWrite, digitalRead, analogWrite, analogRead, and -pinMode. While these functions offer simple integer pin numbers, Firmata -needs more information than is provided by Arduino. This file provides -all other hardware specific details. To make Firmata support a new board, -only this file should require editing. - -The key concept is every "pin" implemented by Firmata may be mapped to -any pin as implemented by Arduino. Usually a simple 1-to-1 mapping is -best, but such mapping should not be assumed. This hardware abstraction -layer allows Firmata to implement any number of pins which map onto the -Arduino implemented pins in almost any arbitrary way. - - -General Constants: - -These constants provide basic information Firmata requires. - -TOTAL_PINS: The total number of pins Firmata implemented by Firmata. - Usually this will match the number of pins the Arduino functions - implement, including any pins pins capable of analog or digital. - However, Firmata may implement any number of pins. For example, - on Arduino Mini with 8 analog inputs, 6 of these may be used - for digital functions, and 2 are analog only. On such boards, - Firmata can implement more pins than Arduino's pinMode() - function, in order to accommodate those special pins. The - Firmata protocol supports a maximum of 128 pins, so this - constant must not exceed 128. - -TOTAL_ANALOG_PINS: The total number of analog input pins implemented. - The Firmata protocol allows up to 16 analog inputs, accessed - using offsets 0 to 15. Because Firmata presents the analog - inputs using different offsets than the actual pin numbers - (a legacy of Arduino's analogRead function, and the way the - analog input capable pins are physically labeled on all - Arduino boards), the total number of analog input signals - must be specified. 16 is the maximum. - -VERSION_BLINK_PIN: When Firmata starts up, it will blink the version - number. This constant is the Arduino pin number where a - LED is connected. - - -Pin Mapping Macros: - -These macros provide the mapping between pins as implemented by -Firmata protocol and the actual pin numbers used by the Arduino -functions. Even though such mappings are often simple, pin -numbers received by Firmata protocol should always be used as -input to these macros, and the result of the macro should be -used with with any Arduino function. - -When Firmata is extended to support a new pin mode or feature, -a pair of macros should be added and used for all hardware -access. For simple 1:1 mapping, these macros add no actual -overhead, yet their consistent use allows source code which -uses them consistently to be easily adapted to all other boards -with different requirements. - -IS_PIN_XXXX(pin): The IS_PIN macros resolve to true or non-zero - if a pin as implemented by Firmata corresponds to a pin - that actually implements the named feature. - -PIN_TO_XXXX(pin): The PIN_TO macros translate pin numbers as - implemented by Firmata to the pin numbers needed as inputs - to the Arduino functions. The corresponding IS_PIN macro - should always be tested before using a PIN_TO macro, so - these macros only need to handle valid Firmata pin - numbers for the named feature. - - -Port Access Inline Funtions: - -For efficiency, Firmata protocol provides access to digital -input and output pins grouped by 8 bit ports. When these -groups of 8 correspond to actual 8 bit ports as implemented -by the hardware, these inline functions can provide high -speed direct port access. Otherwise, a default implementation -using 8 calls to digitalWrite or digitalRead is used. - -When porting Firmata to a new board, it is recommended to -use the default functions first and focus only on the constants -and macros above. When those are working, if optimized port -access is desired, these inline functions may be extended. -The recommended approach defines a symbol indicating which -optimization to use, and then conditional complication is -used within these functions. - -readPort(port, bitmask): Read an 8 bit port, returning the value. - port: The port number, Firmata pins port*8 to port*8+7 - bitmask: The actual pins to read, indicated by 1 bits. - -writePort(port, value, bitmask): Write an 8 bit port. - port: The port number, Firmata pins port*8 to port*8+7 - value: The 8 bit value to write - bitmask: The actual pins to write, indicated by 1 bits. -*/ - -/*============================================================================== - * Board Specific Configuration - *============================================================================*/ - -#ifndef digitalPinHasPWM -#define digitalPinHasPWM(p) IS_PIN_DIGITAL(p) -#endif - -// Arduino Duemilanove, Diecimila, and NG -#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) -#if defined(NUM_ANALOG_INPUTS) && NUM_ANALOG_INPUTS == 6 -#define TOTAL_ANALOG_PINS 6 -#define TOTAL_PINS 20 // 14 digital + 6 analog -#else -#define TOTAL_ANALOG_PINS 8 -#define TOTAL_PINS 22 // 14 digital + 8 analog -#endif -#define VERSION_BLINK_PIN 13 -#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) <= 19) -#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) < 14 + TOTAL_ANALOG_PINS) -#define IS_PIN_PWM(p) digitalPinHasPWM(p) -#define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) - 2 < MAX_SERVOS) -#define IS_PIN_I2C(p) ((p) == 18 || (p) == 19) -#define PIN_TO_DIGITAL(p) (p) -#define PIN_TO_ANALOG(p) ((p) - 14) -#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) -#define PIN_TO_SERVO(p) ((p) - 2) -#define ARDUINO_PINOUT_OPTIMIZE 1 - - -// Wiring (and board) -#elif defined(WIRING) -#define VERSION_BLINK_PIN WLED -#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS) -#define IS_PIN_ANALOG(p) ((p) >= FIRST_ANALOG_PIN && (p) < (FIRST_ANALOG_PIN+TOTAL_ANALOG_PINS)) -#define IS_PIN_PWM(p) digitalPinHasPWM(p) -#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) -#define IS_PIN_I2C(p) ((p) == SDA || (p) == SCL) -#define PIN_TO_DIGITAL(p) (p) -#define PIN_TO_ANALOG(p) ((p) - FIRST_ANALOG_PIN) -#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) -#define PIN_TO_SERVO(p) (p) - - -// old Arduinos -#elif defined(__AVR_ATmega8__) -#define TOTAL_ANALOG_PINS 6 -#define TOTAL_PINS 20 // 14 digital + 6 analog -#define VERSION_BLINK_PIN 13 -#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) <= 19) -#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) <= 19) -#define IS_PIN_PWM(p) digitalPinHasPWM(p) -#define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) - 2 < MAX_SERVOS) -#define IS_PIN_I2C(p) ((p) == 18 || (p) == 19) -#define PIN_TO_DIGITAL(p) (p) -#define PIN_TO_ANALOG(p) ((p) - 14) -#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) -#define PIN_TO_SERVO(p) ((p) - 2) -#define ARDUINO_PINOUT_OPTIMIZE 1 - - -// Arduino Mega -#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) -#define TOTAL_ANALOG_PINS 16 -#define TOTAL_PINS 70 // 54 digital + 16 analog -#define VERSION_BLINK_PIN 13 -#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS) -#define IS_PIN_ANALOG(p) ((p) >= 54 && (p) < TOTAL_PINS) -#define IS_PIN_PWM(p) digitalPinHasPWM(p) -#define IS_PIN_SERVO(p) ((p) >= 2 && (p) - 2 < MAX_SERVOS) -#define IS_PIN_I2C(p) ((p) == 20 || (p) == 21) -#define PIN_TO_DIGITAL(p) (p) -#define PIN_TO_ANALOG(p) ((p) - 54) -#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) -#define PIN_TO_SERVO(p) ((p) - 2) - - -// Teensy 1.0 -#elif defined(__AVR_AT90USB162__) -#define TOTAL_ANALOG_PINS 0 -#define TOTAL_PINS 21 // 21 digital + no analog -#define VERSION_BLINK_PIN 6 -#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS) -#define IS_PIN_ANALOG(p) (0) -#define IS_PIN_PWM(p) digitalPinHasPWM(p) -#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) -#define IS_PIN_I2C(p) (0) -#define PIN_TO_DIGITAL(p) (p) -#define PIN_TO_ANALOG(p) (0) -#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) -#define PIN_TO_SERVO(p) (p) - - -// Teensy 2.0 -#elif defined(__AVR_ATmega32U4__) -#define TOTAL_ANALOG_PINS 12 -#define TOTAL_PINS 25 // 11 digital + 12 analog -#define VERSION_BLINK_PIN 11 -#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS) -#define IS_PIN_ANALOG(p) ((p) >= 11 && (p) <= 22) -#define IS_PIN_PWM(p) digitalPinHasPWM(p) -#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) -#define IS_PIN_I2C(p) ((p) == 5 || (p) == 6) -#define PIN_TO_DIGITAL(p) (p) -#define PIN_TO_ANALOG(p) (((p)<22)?21-(p):11) -#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) -#define PIN_TO_SERVO(p) (p) - - -// Teensy++ 1.0 and 2.0 -#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__) -#define TOTAL_ANALOG_PINS 8 -#define TOTAL_PINS 46 // 38 digital + 8 analog -#define VERSION_BLINK_PIN 6 -#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS) -#define IS_PIN_ANALOG(p) ((p) >= 38 && (p) < TOTAL_PINS) -#define IS_PIN_PWM(p) digitalPinHasPWM(p) -#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) -#define IS_PIN_I2C(p) ((p) == 0 || (p) == 1) -#define PIN_TO_DIGITAL(p) (p) -#define PIN_TO_ANALOG(p) ((p) - 38) -#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) -#define PIN_TO_SERVO(p) (p) - - -// Sanguino -#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__) -#define TOTAL_ANALOG_PINS 8 -#define TOTAL_PINS 32 // 24 digital + 8 analog -#define VERSION_BLINK_PIN 0 -#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS) -#define IS_PIN_ANALOG(p) ((p) >= 24 && (p) < TOTAL_PINS) -#define IS_PIN_PWM(p) digitalPinHasPWM(p) -#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) -#define IS_PIN_I2C(p) ((p) == 16 || (p) == 17) -#define PIN_TO_DIGITAL(p) (p) -#define PIN_TO_ANALOG(p) ((p) - 24) -#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) -#define PIN_TO_SERVO(p) ((p) - 2) - - -// Illuminato -#elif defined(__AVR_ATmega645__) -#define TOTAL_ANALOG_PINS 6 -#define TOTAL_PINS 42 // 36 digital + 6 analog -#define VERSION_BLINK_PIN 13 -#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS) -#define IS_PIN_ANALOG(p) ((p) >= 36 && (p) < TOTAL_PINS) -#define IS_PIN_PWM(p) digitalPinHasPWM(p) -#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) -#define IS_PIN_I2C(p) ((p) == 4 || (p) == 5) -#define PIN_TO_DIGITAL(p) (p) -#define PIN_TO_ANALOG(p) ((p) - 36) -#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) -#define PIN_TO_SERVO(p) ((p) - 2) - - -// anything else -#else -#error "Please edit Boards.h with a hardware abstraction for this board" -#endif - - -/*============================================================================== - * readPort() - Read an 8 bit port - *============================================================================*/ - -static inline unsigned char readPort(byte, byte) __attribute__((always_inline, unused)); -static inline unsigned char readPort(byte port, byte bitmask) -{ -#if defined(ARDUINO_PINOUT_OPTIMIZE) - if (port == 0) return (PIND & 0xFC) & bitmask; // ignore Rx/Tx 0/1 - if (port == 1) return ((PINB & 0x3F) | ((PINC & 0x03) << 6)) & bitmask; - if (port == 2) return ((PINC & 0x3C) >> 2) & bitmask; - return 0; -#else - unsigned char out=0, pin=port*8; - if (IS_PIN_DIGITAL(pin+0) && (bitmask & 0x01) && digitalRead(PIN_TO_DIGITAL(pin+0))) out |= 0x01; - if (IS_PIN_DIGITAL(pin+1) && (bitmask & 0x02) && digitalRead(PIN_TO_DIGITAL(pin+1))) out |= 0x02; - if (IS_PIN_DIGITAL(pin+2) && (bitmask & 0x04) && digitalRead(PIN_TO_DIGITAL(pin+2))) out |= 0x04; - if (IS_PIN_DIGITAL(pin+3) && (bitmask & 0x08) && digitalRead(PIN_TO_DIGITAL(pin+3))) out |= 0x08; - if (IS_PIN_DIGITAL(pin+4) && (bitmask & 0x10) && digitalRead(PIN_TO_DIGITAL(pin+4))) out |= 0x10; - if (IS_PIN_DIGITAL(pin+5) && (bitmask & 0x20) && digitalRead(PIN_TO_DIGITAL(pin+5))) out |= 0x20; - if (IS_PIN_DIGITAL(pin+6) && (bitmask & 0x40) && digitalRead(PIN_TO_DIGITAL(pin+6))) out |= 0x40; - if (IS_PIN_DIGITAL(pin+7) && (bitmask & 0x80) && digitalRead(PIN_TO_DIGITAL(pin+7))) out |= 0x80; - return out; -#endif -} - -/*============================================================================== - * writePort() - Write an 8 bit port, only touch pins specified by a bitmask - *============================================================================*/ - -static inline unsigned char writePort(byte, byte, byte) __attribute__((always_inline, unused)); -static inline unsigned char writePort(byte port, byte value, byte bitmask) -{ -#if defined(ARDUINO_PINOUT_OPTIMIZE) - if (port == 0) { - bitmask = bitmask & 0xFC; // do not touch Tx & Rx pins - byte valD = value & bitmask; - byte maskD = ~bitmask; - cli(); - PORTD = (PORTD & maskD) | valD; - sei(); - } else if (port == 1) { - byte valB = (value & bitmask) & 0x3F; - byte valC = (value & bitmask) >> 6; - byte maskB = ~(bitmask & 0x3F); - byte maskC = ~((bitmask & 0xC0) >> 6); - cli(); - PORTB = (PORTB & maskB) | valB; - PORTC = (PORTC & maskC) | valC; - sei(); - } else if (port == 2) { - bitmask = bitmask & 0x0F; - byte valC = (value & bitmask) << 2; - byte maskC = ~(bitmask << 2); - cli(); - PORTC = (PORTC & maskC) | valC; - sei(); - } -#else - byte pin=port*8; - if ((bitmask & 0x01)) digitalWrite(PIN_TO_DIGITAL(pin+0), (value & 0x01)); - if ((bitmask & 0x02)) digitalWrite(PIN_TO_DIGITAL(pin+1), (value & 0x02)); - if ((bitmask & 0x04)) digitalWrite(PIN_TO_DIGITAL(pin+2), (value & 0x04)); - if ((bitmask & 0x08)) digitalWrite(PIN_TO_DIGITAL(pin+3), (value & 0x08)); - if ((bitmask & 0x10)) digitalWrite(PIN_TO_DIGITAL(pin+4), (value & 0x10)); - 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)); -#endif -} - - - - -#ifndef TOTAL_PORTS -#define TOTAL_PORTS ((TOTAL_PINS + 7) / 8) -#endif - - -#endif /* Firmata_Boards_h */ - |