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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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36
src/firmata/firmata.c
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@@ -23,6 +23,7 @@
*/
#include "firmata/firmata.h"
#include "mraa_internal.h"
#include <string.h>
#include <stdlib.h>
@@ -35,17 +36,17 @@ firmata_new(const char* name)
mraa_result_t uart_res = MRAA_ERROR_UNSPECIFIED;
printf("Opening device at: %s\n", name);
res = malloc(sizeof(t_firmata));
res = calloc(1, sizeof(t_firmata));
if (!res) {
perror("firmata_new::Failed malloc");
return (NULL);
return NULL;
}
memset(res, 0, sizeof(*res));
res->uart = mraa_uart_init_raw(name);
if (res->uart == NULL) {
fprintf(stderr, "UART failed to setup\n");
return EXIT_FAILURE;
free(res);
return NULL;
}
firmata_initPins(res);
@@ -70,15 +71,14 @@ firmata_pull(t_firmata* firmata)
if (r > 0) {
r = mraa_uart_read(firmata->uart, buff, sizeof(buff));
if (r < 0) {
return (0);
return 0;
}
if (r > 0) {
firmata_parse(firmata, buff, r);
return (r);
return r;
}
} else if (r < 0) {
return (r);
}
return r;
}
void
@@ -230,6 +230,8 @@ firmata_endParse(t_firmata* firmata)
firmata->pins[pin].value |= (firmata->parse_buff[5] << 7);
if (firmata->parse_count > 7)
firmata->pins[pin].value |= (firmata->parse_buff[6] << 14);
#if 1
// disable this to check the firmata_devs responses
} else if (firmata->parse_buff[1] == FIRMATA_I2C_REPLY) {
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);
@@ -237,10 +239,26 @@ firmata_endParse(t_firmata* firmata)
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);;
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]);
#endif
} else {
struct _firmata* devs = firmata->devs[0];
int i = 0;
if (devs != NULL) {
for (i; i < firmata->dev_count; i++, devs++) {
if (devs != NULL) {
if (firmata->parse_buff[1] == devs->feature) {
// call func
if (devs->isr) {
devs->isr(firmata->parse_buff, firmata->parse_count);
}
}
}
}
}
}
return;
}