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firmata: add public firmata API to support custom firmata plugins

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Signed-off-by: Brendan Le Foll <brendan.le.foll@intel.com>
This commit is contained in:
Brendan Le Foll
2016-03-08 12:20:08 +00:00
parent 612f566c99
commit 59107f0a29
8 changed files with 386 additions and 14 deletions
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4
examples/CMakeLists.txt
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@@ -13,6 +13,8 @@ add_executable (mraa-gpio mraa-gpio.c)
add_executable (mraa-i2c mraa-i2c.c)
add_executable (spi_max7219 spi_max7219.c)
add_executable (iio_driver iio_driver.c)
add_executable (firmata_curie_imu firmata_curie_imu.c)
add_executable (i2c_firmata i2c_firmata.c)
include_directories(${PROJECT_SOURCE_DIR}/api)
# FIXME Hack to access mraa internal types used by mraa-i2c
@@ -34,6 +36,8 @@ target_link_libraries (mraa-gpio mraa)
target_link_libraries (mraa-i2c mraa)
target_link_libraries (spi_max7219 mraa)
target_link_libraries (iio_driver mraa)
target_link_libraries (firmata_curie_imu mraa)
target_link_libraries (i2c_firmata mraa)
add_subdirectory (c++)

103
examples/firmata_curie_imu.c Normal file
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@@ -0,0 +1,103 @@
/*
* Author: Brendan Le Foll
* Copyright (c) 2016 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <unistd.h>
#include "mraa.h"
#include "mraa/firmata.h"
#define FIRMATA_START_SYSEX 0xF0
#define FIRMATA_END_SYSEX 0xF7
#define FIRMATA_I2C_REPLY 0x77
#define FIRMATA_I2C_REQUEST 0x76
#define I2C_MODE_READ 0x01
void
interrupt(uint8_t* buf, int length)
{
printf("reg read returned: %d, with buffer size %d\n", ((buf[6] & 0x7f) | ((buf[7] & 0x7f) << 7)), length);
}
int
main()
{
mraa_init();
//! [Interesting]
/**
* This example reads from a firmata device the check buffer on a BMP085 on
* 0xD0 which should return 0x55. Obviously I2C_REPLY has to be disabled in
* firmata_pull for this to work breaking all i2c support for firmata
*/
mraa_add_subplatform(MRAA_GENERIC_FIRMATA, "/dev/ttyACM0");
mraa_firmata_context firm = mraa_firmata_init(FIRMATA_I2C_REPLY);
if (firm == NULL) {
return EXIT_FAILURE;
}
mraa_firmata_response(firm, interrupt);
uint8_t* buffer = calloc(9, 0);
if (buffer == NULL) {
free(firm);
return EXIT_FAILURE;
}
buffer[0] = FIRMATA_START_SYSEX;
buffer[1] = FIRMATA_I2C_REQUEST;
buffer[2] = 0x77;
buffer[3] = I2C_MODE_READ << 3;
// register to read from
buffer[4] = 0xD0 & 0x7f;
buffer[5] = (0xD0 >> 7) & 0x7f;
// number of bytes
buffer[6] = 1 & 0x7f;
buffer[7] = (1 >> 7) & 0x7f;
buffer[8] = FIRMATA_END_SYSEX;
mraa_firmata_write_sysex(firm, buffer, 9);
sleep(1);
// stop the isr and set it again
mraa_firmata_response_stop(firm);
mraa_firmata_response(firm, interrupt);
mraa_firmata_write_sysex(firm, buffer, 9);
sleep(1);
// close everything and try again
mraa_firmata_close(firm);
firm = mraa_firmata_init(FIRMATA_I2C_REPLY);
mraa_firmata_response(firm, interrupt);
mraa_firmata_write_sysex(firm, buffer, 9);
sleep(10);
mraa_firmata_close(firm);
//! [Interesting]
return EXIT_SUCCESS;
}

64
examples/i2c_firmata.c Normal file
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@@ -0,0 +1,64 @@
/*
* Author: Brendan Le Foll <brendan.le.foll@intel.com>
* Copyright (c) 2016 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include "mraa.h"
int
main(int argc, char** argv)
{
mraa_init();
mraa_add_subplatform(MRAA_GENERIC_FIRMATA, "/dev/ttyACM0");
mraa_i2c_context i2c;
i2c = mraa_i2c_init(0 + 512);
#if 0
mraa_i2c_address(i2c, 0x62);
#if 1
uint8_t rx_tx_buf[2];
rx_tx_buf[0] = 0x0;
rx_tx_buf[1] = 0x0;
mraa_i2c_write(i2c, rx_tx_buf, 2);
#endif
//mraa_i2c_write_byte_data(i2c, 0x0, 0x0);
mraa_i2c_write_byte_data(i2c, 0x0, 0x1);
mraa_i2c_write_byte_data(i2c, 0xFF, 0x08);
mraa_i2c_write_byte_data(i2c, 0x00, 0x04);
mraa_i2c_write_byte_data(i2c, 0xA0, 0x02);
#else
mraa_i2c_address(i2c, 0x77);
int res = mraa_i2c_read_byte_data(i2c, 0xd0);
printf("res is 0x%x\n", res);
uint8_t data[2];
mraa_i2c_write_byte(i2c, 0x77);
mraa_i2c_read(i2c, data, 1);
res = mraa_i2c_read_word_data(i2c, 0xAA); // BMP085_CAL_AC1
printf("res is %d\n", res);
#endif
sleep(10);
}