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firmata: Convert mraa FirmataC implementation to work over Uart instead of serial implementation

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Signed-off-by: Shiran Ben-Melech <shiran.ben-melech@intel.com>
Signed-off-by: Brendan Le Foll <brendan.le.foll@intel.com>
This commit is contained in:
Shiran Ben-Melech
2016-03-01 15:17:22 +02:00
committed by Brendan Le Foll
parent 4b76fbd14c
commit 04f7cbff5d
6 changed files with 42 additions and 425 deletions
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50
src/firmata/firmata.c
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@@ -22,7 +22,6 @@
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include "firmata/serial.h"
#include "firmata/firmata.h"
#include <string.h>
@@ -33,6 +32,7 @@ t_firmata*
firmata_new(const char* name)
{
t_firmata* res;
mraa_result_t uart_res = MRAA_ERROR_UNSPECIFIED;
printf("Opening device at: %s\n", name);
res = malloc(sizeof(t_firmata));
@@ -41,14 +41,20 @@ firmata_new(const char* name)
return (NULL);
}
memset(res, 0, sizeof(*res));
res->serial = serial_new();
if (!res->serial) {
perror("firmata_new::Failed malloc");
return (NULL);
res->uart = mraa_uart_init_raw(name);
if (res->uart == NULL) {
fprintf(stderr, "UART failed to setup\n");
return EXIT_FAILURE;
}
serial_open(res->serial, name);
firmata_initPins(res);
serial_setBaud(res->serial, 57600);
uart_res = mraa_uart_set_baudrate(res->uart, 57600);
if (uart_res != MRAA_SUCCESS) {
mraa_result_print(uart_res);
}
firmata_askFirmware(res);
printf("Device opened at: %s\n", name);
return (res);
@@ -60,9 +66,9 @@ firmata_pull(t_firmata* firmata)
uint8_t buff[FIRMATA_MSG_LEN];
int r;
r = serial_waitInput(firmata->serial, 40);
r = mraa_uart_data_available(firmata->uart, 40);
if (r > 0) {
r = serial_read(firmata->serial, buff, sizeof(buff));
r = mraa_uart_read(firmata->uart, buff, sizeof(buff));
if (r < 0) {
return (0);
}
@@ -178,7 +184,7 @@ firmata_endParse(t_firmata* firmata)
buf[len++] = 1;
}
firmata->isReady = 1;
serial_write(firmata->serial, buf, len);
mraa_uart_write(firmata->uart, buf, len);
} else if (firmata->parse_buff[1] == FIRMATA_CAPABILITY_RESPONSE) {
int pin, i, n;
for (pin = 0; pin < 128; pin++) {
@@ -206,7 +212,7 @@ firmata_endParse(t_firmata* firmata)
buf[len++] = pin;
buf[len++] = FIRMATA_END_SYSEX;
}
serial_write(firmata->serial, buf, len);
mraa_uart_write(firmata->uart, buf, len);
}
} else if (firmata->parse_buff[1] == FIRMATA_ANALOG_MAPPING_RESPONSE) {
int pin = 0;
@@ -228,12 +234,12 @@ firmata_endParse(t_firmata* firmata)
printf("got an i2c reply with count %d!!\n", firmata->parse_count);
int addr = (firmata->parse_buff[2] & 0x7f) | ((firmata->parse_buff[3] & 0x7f) << 7);
int reg = (firmata->parse_buff[4] & 0x7f) | ((firmata->parse_buff[5] & 0x7f) << 7);
int i = 6;
int ii = 0;
for (ii; ii < (firmata->parse_count - 7) / 2; ii++) {
firmata->i2cmsg[addr][reg+ii] = (firmata->parse_buff[i] & 0x7f) | ((firmata->parse_buff[i+1] & 0x7f) << 7);;
i = i+2;
}
int i = 6;
int ii = 0;
for (ii; ii < (firmata->parse_count - 7) / 2; ii++) {
firmata->i2cmsg[addr][reg+ii] = (firmata->parse_buff[i] & 0x7f) | ((firmata->parse_buff[i+1] & 0x7f) << 7);;
i = i+2;
}
printf("i2c reply is %d\n", firmata->i2cmsg[addr][reg]);
}
return;
@@ -265,7 +271,7 @@ firmata_askFirmware(t_firmata* firmata)
buf[0] = FIRMATA_START_SYSEX;
buf[1] = FIRMATA_REPORT_FIRMWARE; // read firmata name & version
buf[2] = FIRMATA_END_SYSEX;
res = serial_write(firmata->serial, buf, 3);
res = mraa_uart_write(firmata->uart, buf, 3);
return (res);
}
@@ -280,7 +286,7 @@ firmata_pinMode(t_firmata* firmata, int pin, int mode)
buff[1] = pin;
buff[2] = mode;
printf("Setting pinMode at: %i with value: %i\n", pin, mode);
res = serial_write(firmata->serial, buff, 3);
res = mraa_uart_write(firmata->uart, buff, 3);
return (res);
}
@@ -294,7 +300,7 @@ firmata_analogWrite(t_firmata* firmata, int pin, int value)
buff[0] = 0xE0 | pin;
buff[1] = value & 0x7F;
buff[2] = (value >> 7) & 0x7F;
res = serial_write(firmata->serial, buff, 3);
res = mraa_uart_write(firmata->uart, buff, 3);
return (res);
}
@@ -308,7 +314,7 @@ firmata_analogRead(t_firmata *firmata, int pin)
buff[0] = FIRMATA_REPORT_ANALOG | pin;
buff[1] = value;
printf("192 == %d, pinval == %d, pin %d", buff[0], buff[1], pin);
res = serial_write(firmata->serial, buff, 2);
res = mraa_uart_write(firmata->uart, buff, 2);
return res;
}
@@ -336,6 +342,6 @@ firmata_digitalWrite(t_firmata* firmata, int pin, int value)
buff[0] = FIRMATA_DIGITAL_MESSAGE | port_num;
buff[1] = port_val & 0x7F;
buff[2] = (port_val >> 7) & 0x7F;
res = serial_write(firmata->serial, buff, 3);
res = mraa_uart_write(firmata->uart, buff, 3);
return (res);
}