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firmata: initial work

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Signed-off-by: Brendan Le Foll <brendan.le.foll@intel.com>
This commit is contained in:
Brendan Le Foll
2016-03-07 14:49:42 +00:00
parent f2cbe1c68d
commit 78caa990f1
17 changed files with 1586 additions and 34 deletions
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111
include/firmata/firmata.h Normal file
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@@ -0,0 +1,111 @@
/*
* Copyright (c) 2016 Intel Corporation
* Copyright (c) 2015 Jules Dourlens (jdourlens@gmail.com)
*
* 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.
*/
#pragma once
#include "serial.h"
#define MODE_INPUT 0x00
#define MODE_OUTPUT 0x01
#define MODE_ANALOG 0x02
#define MODE_PWM 0x03
#define MODE_SERVO 0x04
#define MODE_SHIFT 0x05
#define MODE_I2C 0x06
#define LOW 0
#define HIGH 1
#define FIRMATA_START_SYSEX 0xF0 // start a MIDI Sysex message
#define FIRMATA_END_SYSEX 0xF7 // end a MIDI Sysex message
#define FIRMATA_PIN_MODE_QUERY 0x72 // ask for current and supported pin modes
#define FIRMATA_PIN_MODE_RESPONSE 0x73 // reply with current and supported pin modes
#define FIRMATA_PIN_STATE_QUERY 0x6D
#define FIRMATA_PIN_STATE_RESPONSE 0x6E
#define FIRMATA_CAPABILITY_QUERY 0x6B
#define FIRMATA_CAPABILITY_RESPONSE 0x6C
#define FIRMATA_ANALOG_MAPPING_QUERY 0x69
#define FIRMATA_ANALOG_MAPPING_RESPONSE 0x6A
#define FIRMATA_DIGITAL_MESSAGE 0x90 // send data for a digital pin
#define FIRMATA_ANALOG_MESSAGE 0xE0 // send data for an analog pin (or PWM)
#define FIRMATA_ANALOG_MESSAGE 0xE0 // send data for an analog pin (or PWM)
#define FIRMATA_REPORT_ANALOG 0xC0 // enable analog input by pin #
#define FIRMATA_REPORT_DIGITAL 0xD0 // enable digital input by port pair
#define FIRMATA_I2C_CONFIG 0x78
#define FIRMATA_I2C_REPLY 0x77
#define FIRMATA_I2C_REQUEST 0x76
#define I2C_MODE_WRITE 0x00
#define I2C_MODE_READ 0x01
#define I2C_CONTINUOUSREAD 0x02
#define I2C_STOP_READING 0x03
#define FIRMATA_SET_PIN_MODE 0xF4 // set a pin to INPUT/OUTPUT/PWM/etc
#define FIRMATA_REPORT_VERSION 0xF9 // report protocol version
#define FIRMATA_SYSTEM_RESET 0xFF // reset from MIDI
#define FIRMATA_START_SYSEX 0xF0 // start a MIDI Sysex message
#define FIRMATA_END_SYSEX 0xF7 // end a MIDI Sysex message
// extended command set using sysex (0-127/0x00-0x7F)
/* 0x00-0x0F reserved for custom commands */
#define FIRMATA_SERVO_CONFIG 0x70 // set max angle, minPulse, maxPulse, freq
#define FIRMATA_STRING 0x71 // a string message with 14-bits per char
#define FIRMATA_REPORT_FIRMWARE 0x79 // report name and version of the firmware
#define FIRMATA_SYSEX_NON_REALTIME 0x7E // MIDI Reserved for non-realtime messages
#define FIRMATA_SYSEX_REALTIME 0x7F // MIDI Reserved for realtime messages
#define FIRMATA_MSG_LEN 1024
typedef struct s_pin {
uint8_t mode;
uint8_t analog_channel;
uint64_t supported_modes;
uint32_t value;
} t_pin;
typedef struct s_firmata {
t_serial* serial;
t_pin pins[128];
int i2cmsg[256][256];
int parse_command_len;
int parse_count;
uint8_t parse_buff[FIRMATA_MSG_LEN];
int isReady;
char firmware[140];
} t_firmata;
t_firmata* firmata_new(const char* name);
void firmata_initPins(t_firmata* firmata);
int firmata_askFirmware(t_firmata* firmata);
int firmata_pinMode(t_firmata* firmata, int pin, int mode);
int firmata_digitalWrite(t_firmata* firmata, int pin, int value);
int firmata_analogWrite(t_firmata* firmata, int pin, int value);
int firmata_analogRead(t_firmata* firmata, int pin);
int firmata_pull(t_firmata* firmata);
void firmata_parse(t_firmata* firmata, const uint8_t* buf, int len);
void firmata_endParse(t_firmata* firmata);

38
include/firmata/firmata_mraa.h Normal file
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/*
* 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.
*/
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#include "mraa_internal.h"
mraa_platform_t mraa_firmata_platform(mraa_board_t* board, const char* uart_dev);
#ifdef __cplusplus
}
#endif

51
include/firmata/serial.h Normal file
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/*
* Copyright (c) 2016 Intel Corporation
* Copyright (c) 2015 Jules Dourlens (jdourlens@gmail.com)
*
* 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.
*/
#pragma once
#include <stdint.h>
#include <termios.h>
typedef struct s_serial {
int port_is_open;
const char* port_name;
int baud_rate;
char* error_msg;
int port_fd;
struct termios settings_orig;
struct termios settings;
int tx;
int rx;
} t_serial;
t_serial* serial_new();
int serial_open(t_serial* serial, const char* name);
int serial_setBaud(t_serial* serial, int baud);
int serial_read(t_serial* serial, void* ptr, int count);
int serial_write(t_serial* serial, void* ptr, int len);
int serial_waitInput(t_serial* serial, int msec);
int serial_discardInput(t_serial* serial);
void serial_flushOutput(t_serial* serial);
int serial_setControl(t_serial* serial, int dtr, int rts);

35
include/firmata/servo.h Normal file
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/*
* Copyright (c) 2016 Intel Corporation
* Copyright (c) 2015 Jules Dourlens (jdourlens@gmail.com)
*
* 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.
*/
#pragma once
#include "firmata.h"
typedef struct s_servo {
t_firmata* firmata;
int pin;
} t_servo;
t_servo* servo_attach(t_firmata* firmata, int pin);
int servo_write(t_servo* servo, int value);

2
include/mraa_adv_func.h
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@@ -73,6 +73,8 @@ typedef struct {
mraa_result_t (*i2c_write_word_data_replace) (mraa_i2c_context dev, const uint16_t data, const uint8_t command);
mraa_result_t (*i2c_stop_replace) (mraa_i2c_context dev);
mraa_result_t (*aio_init_internal_replace) (mraa_aio_context dev, int pin);
mraa_result_t (*aio_read_replace) (mraa_aio_context dev);
mraa_result_t (*aio_get_valid_fp) (mraa_aio_context dev);
mraa_result_t (*aio_init_pre) (unsigned int aio);
mraa_result_t (*aio_init_post) (mraa_aio_context dev);