2010-08-06 23:55:17 +02:00
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/* Boards.h - Hardware Abstraction Layer for Firmata library */
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#ifndef Firmata_Boards_h
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#define Firmata_Boards_h
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2011-09-02 20:43:44 +02:00
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#include <inttypes.h>
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#if defined(ARDUINO) && ARDUINO >= 100
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#include "Arduino.h" // for digitalRead, digitalWrite, etc
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#else
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#include "WProgram.h"
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#endif
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2010-08-06 23:55:17 +02:00
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// Normally Servo.h must be included before Firmata.h (which then includes
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// this file). If Servo.h wasn't included, this allows the code to still
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// compile, but without support for any Servos. Hopefully that's what the
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// user intended by not including Servo.h
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#ifndef MAX_SERVOS
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#define MAX_SERVOS 0
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#endif
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/*
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Firmata Hardware Abstraction Layer
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Firmata is built on top of the hardware abstraction functions of Arduino,
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specifically digitalWrite, digitalRead, analogWrite, analogRead, and
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pinMode. While these functions offer simple integer pin numbers, Firmata
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needs more information than is provided by Arduino. This file provides
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all other hardware specific details. To make Firmata support a new board,
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only this file should require editing.
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The key concept is every "pin" implemented by Firmata may be mapped to
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any pin as implemented by Arduino. Usually a simple 1-to-1 mapping is
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best, but such mapping should not be assumed. This hardware abstraction
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layer allows Firmata to implement any number of pins which map onto the
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Arduino implemented pins in almost any arbitrary way.
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General Constants:
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These constants provide basic information Firmata requires.
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TOTAL_PINS: The total number of pins Firmata implemented by Firmata.
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Usually this will match the number of pins the Arduino functions
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implement, including any pins pins capable of analog or digital.
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However, Firmata may implement any number of pins. For example,
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on Arduino Mini with 8 analog inputs, 6 of these may be used
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for digital functions, and 2 are analog only. On such boards,
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Firmata can implement more pins than Arduino's pinMode()
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function, in order to accommodate those special pins. The
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Firmata protocol supports a maximum of 128 pins, so this
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constant must not exceed 128.
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TOTAL_ANALOG_PINS: The total number of analog input pins implemented.
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The Firmata protocol allows up to 16 analog inputs, accessed
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using offsets 0 to 15. Because Firmata presents the analog
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inputs using different offsets than the actual pin numbers
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(a legacy of Arduino's analogRead function, and the way the
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analog input capable pins are physically labeled on all
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Arduino boards), the total number of analog input signals
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must be specified. 16 is the maximum.
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VERSION_BLINK_PIN: When Firmata starts up, it will blink the version
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number. This constant is the Arduino pin number where a
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LED is connected.
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Pin Mapping Macros:
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These macros provide the mapping between pins as implemented by
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Firmata protocol and the actual pin numbers used by the Arduino
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functions. Even though such mappings are often simple, pin
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numbers received by Firmata protocol should always be used as
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input to these macros, and the result of the macro should be
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used with with any Arduino function.
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When Firmata is extended to support a new pin mode or feature,
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a pair of macros should be added and used for all hardware
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access. For simple 1:1 mapping, these macros add no actual
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overhead, yet their consistent use allows source code which
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uses them consistently to be easily adapted to all other boards
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with different requirements.
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IS_PIN_XXXX(pin): The IS_PIN macros resolve to true or non-zero
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if a pin as implemented by Firmata corresponds to a pin
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that actually implements the named feature.
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PIN_TO_XXXX(pin): The PIN_TO macros translate pin numbers as
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implemented by Firmata to the pin numbers needed as inputs
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to the Arduino functions. The corresponding IS_PIN macro
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should always be tested before using a PIN_TO macro, so
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these macros only need to handle valid Firmata pin
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numbers for the named feature.
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Port Access Inline Funtions:
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For efficiency, Firmata protocol provides access to digital
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input and output pins grouped by 8 bit ports. When these
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groups of 8 correspond to actual 8 bit ports as implemented
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by the hardware, these inline functions can provide high
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speed direct port access. Otherwise, a default implementation
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using 8 calls to digitalWrite or digitalRead is used.
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When porting Firmata to a new board, it is recommended to
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use the default functions first and focus only on the constants
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and macros above. When those are working, if optimized port
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access is desired, these inline functions may be extended.
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The recommended approach defines a symbol indicating which
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optimization to use, and then conditional complication is
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used within these functions.
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readPort(port, bitmask): Read an 8 bit port, returning the value.
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port: The port number, Firmata pins port*8 to port*8+7
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bitmask: The actual pins to read, indicated by 1 bits.
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writePort(port, value, bitmask): Write an 8 bit port.
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port: The port number, Firmata pins port*8 to port*8+7
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value: The 8 bit value to write
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bitmask: The actual pins to write, indicated by 1 bits.
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*/
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/*==============================================================================
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* Board Specific Configuration
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*============================================================================*/
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2011-09-09 23:11:42 +02:00
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#ifndef digitalPinHasPWM
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#define digitalPinHasPWM(p) IS_PIN_DIGITAL(p)
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#endif
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2010-08-06 23:55:17 +02:00
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// Arduino Duemilanove, Diecimila, and NG
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#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__)
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2011-09-02 20:43:44 +02:00
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#if defined(NUM_ANALOG_INPUTS) && NUM_ANALOG_INPUTS == 6
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#define TOTAL_ANALOG_PINS 6
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#define TOTAL_PINS 20 // 14 digital + 6 analog
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#else
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2010-08-06 23:55:17 +02:00
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#define TOTAL_ANALOG_PINS 8
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2011-09-02 20:43:44 +02:00
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#define TOTAL_PINS 22 // 14 digital + 8 analog
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#endif
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2010-08-06 23:55:17 +02:00
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#define VERSION_BLINK_PIN 13
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#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) <= 19)
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#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) < 14 + TOTAL_ANALOG_PINS)
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#define IS_PIN_PWM(p) digitalPinHasPWM(p)
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#define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) - 2 < MAX_SERVOS)
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#define IS_PIN_I2C(p) ((p) == 18 || (p) == 19)
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#define PIN_TO_DIGITAL(p) (p)
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#define PIN_TO_ANALOG(p) ((p) - 14)
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#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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#define PIN_TO_SERVO(p) ((p) - 2)
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#define ARDUINO_PINOUT_OPTIMIZE 1
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2011-09-02 20:43:44 +02:00
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// Wiring (and board)
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#elif defined(WIRING)
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#define VERSION_BLINK_PIN WLED
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#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
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#define IS_PIN_ANALOG(p) ((p) >= FIRST_ANALOG_PIN && (p) < (FIRST_ANALOG_PIN+TOTAL_ANALOG_PINS))
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#define IS_PIN_PWM(p) digitalPinHasPWM(p)
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#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
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#define IS_PIN_I2C(p) ((p) == SDA || (p) == SCL)
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#define PIN_TO_DIGITAL(p) (p)
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#define PIN_TO_ANALOG(p) ((p) - FIRST_ANALOG_PIN)
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#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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#define PIN_TO_SERVO(p) (p)
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2010-08-06 23:55:17 +02:00
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// old Arduinos
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#elif defined(__AVR_ATmega8__)
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#define TOTAL_ANALOG_PINS 6
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#define TOTAL_PINS 20 // 14 digital + 6 analog
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#define VERSION_BLINK_PIN 13
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#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) <= 19)
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#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) <= 19)
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#define IS_PIN_PWM(p) digitalPinHasPWM(p)
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#define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) - 2 < MAX_SERVOS)
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#define IS_PIN_I2C(p) ((p) == 18 || (p) == 19)
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#define PIN_TO_DIGITAL(p) (p)
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#define PIN_TO_ANALOG(p) ((p) - 14)
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#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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#define PIN_TO_SERVO(p) ((p) - 2)
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#define ARDUINO_PINOUT_OPTIMIZE 1
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// Arduino Mega
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#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
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#define TOTAL_ANALOG_PINS 16
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#define TOTAL_PINS 70 // 54 digital + 16 analog
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#define VERSION_BLINK_PIN 13
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#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS)
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#define IS_PIN_ANALOG(p) ((p) >= 54 && (p) < TOTAL_PINS)
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#define IS_PIN_PWM(p) digitalPinHasPWM(p)
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#define IS_PIN_SERVO(p) ((p) >= 2 && (p) - 2 < MAX_SERVOS)
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#define IS_PIN_I2C(p) ((p) == 20 || (p) == 21)
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#define PIN_TO_DIGITAL(p) (p)
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#define PIN_TO_ANALOG(p) ((p) - 54)
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#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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#define PIN_TO_SERVO(p) ((p) - 2)
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// Teensy 1.0
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#elif defined(__AVR_AT90USB162__)
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#define TOTAL_ANALOG_PINS 0
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#define TOTAL_PINS 21 // 21 digital + no analog
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#define VERSION_BLINK_PIN 6
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#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
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#define IS_PIN_ANALOG(p) (0)
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#define IS_PIN_PWM(p) digitalPinHasPWM(p)
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#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
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#define IS_PIN_I2C(p) (0)
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#define PIN_TO_DIGITAL(p) (p)
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#define PIN_TO_ANALOG(p) (0)
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#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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#define PIN_TO_SERVO(p) (p)
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// Teensy 2.0
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#elif defined(__AVR_ATmega32U4__)
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#define TOTAL_ANALOG_PINS 12
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#define TOTAL_PINS 25 // 11 digital + 12 analog
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#define VERSION_BLINK_PIN 11
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#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
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#define IS_PIN_ANALOG(p) ((p) >= 11 && (p) <= 22)
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#define IS_PIN_PWM(p) digitalPinHasPWM(p)
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#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
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#define IS_PIN_I2C(p) ((p) == 5 || (p) == 6)
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#define PIN_TO_DIGITAL(p) (p)
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#define PIN_TO_ANALOG(p) (((p)<22)?21-(p):11)
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#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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#define PIN_TO_SERVO(p) (p)
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// Teensy++ 1.0 and 2.0
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#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
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#define TOTAL_ANALOG_PINS 8
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#define TOTAL_PINS 46 // 38 digital + 8 analog
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#define VERSION_BLINK_PIN 6
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#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
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#define IS_PIN_ANALOG(p) ((p) >= 38 && (p) < TOTAL_PINS)
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#define IS_PIN_PWM(p) digitalPinHasPWM(p)
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#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
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2011-09-02 20:43:44 +02:00
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#define IS_PIN_I2C(p) ((p) == 0 || (p) == 1)
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2010-08-06 23:55:17 +02:00
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#define PIN_TO_DIGITAL(p) (p)
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#define PIN_TO_ANALOG(p) ((p) - 38)
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#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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#define PIN_TO_SERVO(p) (p)
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// Sanguino
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#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__)
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#define TOTAL_ANALOG_PINS 8
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#define TOTAL_PINS 32 // 24 digital + 8 analog
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#define VERSION_BLINK_PIN 0
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#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS)
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#define IS_PIN_ANALOG(p) ((p) >= 24 && (p) < TOTAL_PINS)
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#define IS_PIN_PWM(p) digitalPinHasPWM(p)
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#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
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#define IS_PIN_I2C(p) ((p) == 16 || (p) == 17)
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#define PIN_TO_DIGITAL(p) (p)
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#define PIN_TO_ANALOG(p) ((p) - 24)
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#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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#define PIN_TO_SERVO(p) ((p) - 2)
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// Illuminato
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#elif defined(__AVR_ATmega645__)
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#define TOTAL_ANALOG_PINS 6
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#define TOTAL_PINS 42 // 36 digital + 6 analog
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#define VERSION_BLINK_PIN 13
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#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS)
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#define IS_PIN_ANALOG(p) ((p) >= 36 && (p) < TOTAL_PINS)
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2011-09-09 23:11:42 +02:00
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#define IS_PIN_PWM(p) digitalPinHasPWM(p)
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2010-08-06 23:55:17 +02:00
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#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
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2011-09-02 20:43:44 +02:00
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#define IS_PIN_I2C(p) ((p) == 4 || (p) == 5)
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2010-08-06 23:55:17 +02:00
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#define PIN_TO_DIGITAL(p) (p)
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#define PIN_TO_ANALOG(p) ((p) - 36)
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#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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#define PIN_TO_SERVO(p) ((p) - 2)
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// anything else
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#else
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#error "Please edit Boards.h with a hardware abstraction for this board"
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#endif
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/*==============================================================================
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* readPort() - Read an 8 bit port
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*============================================================================*/
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static inline unsigned char readPort(byte, byte) __attribute__((always_inline, unused));
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static inline unsigned char readPort(byte port, byte bitmask)
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{
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#if defined(ARDUINO_PINOUT_OPTIMIZE)
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2011-09-02 20:43:44 +02:00
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if (port == 0) return (PIND & 0xFC) & bitmask; // ignore Rx/Tx 0/1
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if (port == 1) return ((PINB & 0x3F) | ((PINC & 0x03) << 6)) & bitmask;
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if (port == 2) return ((PINC & 0x3C) >> 2) & bitmask;
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2010-08-06 23:55:17 +02:00
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return 0;
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#else
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unsigned char out=0, pin=port*8;
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if (IS_PIN_DIGITAL(pin+0) && (bitmask & 0x01) && digitalRead(PIN_TO_DIGITAL(pin+0))) out |= 0x01;
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if (IS_PIN_DIGITAL(pin+1) && (bitmask & 0x02) && digitalRead(PIN_TO_DIGITAL(pin+1))) out |= 0x02;
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if (IS_PIN_DIGITAL(pin+2) && (bitmask & 0x04) && digitalRead(PIN_TO_DIGITAL(pin+2))) out |= 0x04;
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if (IS_PIN_DIGITAL(pin+3) && (bitmask & 0x08) && digitalRead(PIN_TO_DIGITAL(pin+3))) out |= 0x08;
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if (IS_PIN_DIGITAL(pin+4) && (bitmask & 0x10) && digitalRead(PIN_TO_DIGITAL(pin+4))) out |= 0x10;
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if (IS_PIN_DIGITAL(pin+5) && (bitmask & 0x20) && digitalRead(PIN_TO_DIGITAL(pin+5))) out |= 0x20;
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if (IS_PIN_DIGITAL(pin+6) && (bitmask & 0x40) && digitalRead(PIN_TO_DIGITAL(pin+6))) out |= 0x40;
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if (IS_PIN_DIGITAL(pin+7) && (bitmask & 0x80) && digitalRead(PIN_TO_DIGITAL(pin+7))) out |= 0x80;
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return out;
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#endif
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}
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/*==============================================================================
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* writePort() - Write an 8 bit port, only touch pins specified by a bitmask
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*============================================================================*/
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static inline unsigned char writePort(byte, byte, byte) __attribute__((always_inline, unused));
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static inline unsigned char writePort(byte port, byte value, byte bitmask)
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{
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#if defined(ARDUINO_PINOUT_OPTIMIZE)
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if (port == 0) {
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2011-09-02 20:43:44 +02:00
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bitmask = bitmask & 0xFC; // do not touch Tx & Rx pins
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byte valD = value & bitmask;
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byte maskD = ~bitmask;
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2010-08-06 23:55:17 +02:00
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cli();
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2011-09-02 20:43:44 +02:00
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PORTD = (PORTD & maskD) | valD;
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2010-08-06 23:55:17 +02:00
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sei();
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} else if (port == 1) {
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2011-09-02 20:43:44 +02:00
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byte valB = (value & bitmask) & 0x3F;
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byte valC = (value & bitmask) >> 6;
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byte maskB = ~(bitmask & 0x3F);
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byte maskC = ~((bitmask & 0xC0) >> 6);
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2010-08-06 23:55:17 +02:00
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cli();
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2011-09-02 20:43:44 +02:00
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PORTB = (PORTB & maskB) | valB;
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PORTC = (PORTC & maskC) | valC;
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2010-08-06 23:55:17 +02:00
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sei();
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} else if (port == 2) {
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2011-09-02 20:43:44 +02:00
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bitmask = bitmask & 0x0F;
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byte valC = (value & bitmask) << 2;
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byte maskC = ~(bitmask << 2);
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2010-08-06 23:55:17 +02:00
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cli();
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2011-09-02 20:43:44 +02:00
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PORTC = (PORTC & maskC) | valC;
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2010-08-06 23:55:17 +02:00
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sei();
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}
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#else
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byte pin=port*8;
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if ((bitmask & 0x01)) digitalWrite(PIN_TO_DIGITAL(pin+0), (value & 0x01));
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if ((bitmask & 0x02)) digitalWrite(PIN_TO_DIGITAL(pin+1), (value & 0x02));
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if ((bitmask & 0x04)) digitalWrite(PIN_TO_DIGITAL(pin+2), (value & 0x04));
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if ((bitmask & 0x08)) digitalWrite(PIN_TO_DIGITAL(pin+3), (value & 0x08));
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if ((bitmask & 0x10)) digitalWrite(PIN_TO_DIGITAL(pin+4), (value & 0x10));
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if ((bitmask & 0x20)) digitalWrite(PIN_TO_DIGITAL(pin+5), (value & 0x20));
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if ((bitmask & 0x40)) digitalWrite(PIN_TO_DIGITAL(pin+6), (value & 0x40));
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if ((bitmask & 0x80)) digitalWrite(PIN_TO_DIGITAL(pin+7), (value & 0x80));
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#endif
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}
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#ifndef TOTAL_PORTS
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#define TOTAL_PORTS ((TOTAL_PINS + 7) / 8)
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#endif
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#endif /* Firmata_Boards_h */
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