/* Boards.h - Hardware Abstraction Layer for Firmata library */ #ifndef Firmata_Boards_h #define Firmata_Boards_h #include #if defined(ARDUINO) && ARDUINO >= 100 #include "Arduino.h" // for digitalRead, digitalWrite, etc #else #include "WProgram.h" #endif // Normally Servo.h must be included before Firmata.h (which then includes // this file). If Servo.h wasn't included, this allows the code to still // compile, but without support for any Servos. Hopefully that's what the // user intended by not including Servo.h #ifndef MAX_SERVOS #define MAX_SERVOS 0 #endif /* Firmata Hardware Abstraction Layer Firmata is built on top of the hardware abstraction functions of Arduino, specifically digitalWrite, digitalRead, analogWrite, analogRead, and pinMode. While these functions offer simple integer pin numbers, Firmata needs more information than is provided by Arduino. This file provides all other hardware specific details. To make Firmata support a new board, only this file should require editing. The key concept is every "pin" implemented by Firmata may be mapped to any pin as implemented by Arduino. Usually a simple 1-to-1 mapping is best, but such mapping should not be assumed. This hardware abstraction layer allows Firmata to implement any number of pins which map onto the Arduino implemented pins in almost any arbitrary way. General Constants: These constants provide basic information Firmata requires. TOTAL_PINS: The total number of pins Firmata implemented by Firmata. Usually this will match the number of pins the Arduino functions implement, including any pins pins capable of analog or digital. However, Firmata may implement any number of pins. For example, on Arduino Mini with 8 analog inputs, 6 of these may be used for digital functions, and 2 are analog only. On such boards, Firmata can implement more pins than Arduino's pinMode() function, in order to accommodate those special pins. The Firmata protocol supports a maximum of 128 pins, so this constant must not exceed 128. TOTAL_ANALOG_PINS: The total number of analog input pins implemented. The Firmata protocol allows up to 16 analog inputs, accessed using offsets 0 to 15. Because Firmata presents the analog inputs using different offsets than the actual pin numbers (a legacy of Arduino's analogRead function, and the way the analog input capable pins are physically labeled on all Arduino boards), the total number of analog input signals must be specified. 16 is the maximum. VERSION_BLINK_PIN: When Firmata starts up, it will blink the version number. This constant is the Arduino pin number where a LED is connected. Pin Mapping Macros: These macros provide the mapping between pins as implemented by Firmata protocol and the actual pin numbers used by the Arduino functions. Even though such mappings are often simple, pin numbers received by Firmata protocol should always be used as input to these macros, and the result of the macro should be used with with any Arduino function. When Firmata is extended to support a new pin mode or feature, a pair of macros should be added and used for all hardware access. For simple 1:1 mapping, these macros add no actual overhead, yet their consistent use allows source code which uses them consistently to be easily adapted to all other boards with different requirements. IS_PIN_XXXX(pin): The IS_PIN macros resolve to true or non-zero if a pin as implemented by Firmata corresponds to a pin that actually implements the named feature. PIN_TO_XXXX(pin): The PIN_TO macros translate pin numbers as implemented by Firmata to the pin numbers needed as inputs to the Arduino functions. The corresponding IS_PIN macro should always be tested before using a PIN_TO macro, so these macros only need to handle valid Firmata pin numbers for the named feature. Port Access Inline Funtions: For efficiency, Firmata protocol provides access to digital input and output pins grouped by 8 bit ports. When these groups of 8 correspond to actual 8 bit ports as implemented by the hardware, these inline functions can provide high speed direct port access. Otherwise, a default implementation using 8 calls to digitalWrite or digitalRead is used. When porting Firmata to a new board, it is recommended to use the default functions first and focus only on the constants and macros above. When those are working, if optimized port access is desired, these inline functions may be extended. The recommended approach defines a symbol indicating which optimization to use, and then conditional complication is used within these functions. readPort(port, bitmask): Read an 8 bit port, returning the value. port: The port number, Firmata pins port*8 to port*8+7 bitmask: The actual pins to read, indicated by 1 bits. writePort(port, value, bitmask): Write an 8 bit port. port: The port number, Firmata pins port*8 to port*8+7 value: The 8 bit value to write bitmask: The actual pins to write, indicated by 1 bits. */ /*============================================================================== * Board Specific Configuration *============================================================================*/ #ifndef digitalPinHasPWM #define digitalPinHasPWM(p) IS_PIN_DIGITAL(p) #endif // Arduino Duemilanove, Diecimila, and NG #if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) #if defined(NUM_ANALOG_INPUTS) && NUM_ANALOG_INPUTS == 6 #define TOTAL_ANALOG_PINS 6 #define TOTAL_PINS 20 // 14 digital + 6 analog #else #define TOTAL_ANALOG_PINS 8 #define TOTAL_PINS 22 // 14 digital + 8 analog #endif #define VERSION_BLINK_PIN 13 #define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) <= 19) #define IS_PIN_ANALOG(p) ((p) >= 14 && (p) < 14 + TOTAL_ANALOG_PINS) #define IS_PIN_PWM(p) digitalPinHasPWM(p) #define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) - 2 < MAX_SERVOS) #define IS_PIN_I2C(p) ((p) == 18 || (p) == 19) #define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK) #define PIN_TO_DIGITAL(p) (p) #define PIN_TO_ANALOG(p) ((p) - 14) #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) #define PIN_TO_SERVO(p) ((p) - 2) #define ARDUINO_PINOUT_OPTIMIZE 1 // Wiring (and board) #elif defined(WIRING) #define VERSION_BLINK_PIN WLED #define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS) #define IS_PIN_ANALOG(p) ((p) >= FIRST_ANALOG_PIN && (p) < (FIRST_ANALOG_PIN+TOTAL_ANALOG_PINS)) #define IS_PIN_PWM(p) digitalPinHasPWM(p) #define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) #define IS_PIN_I2C(p) ((p) == SDA || (p) == SCL) #define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK) #define PIN_TO_DIGITAL(p) (p) #define PIN_TO_ANALOG(p) ((p) - FIRST_ANALOG_PIN) #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) #define PIN_TO_SERVO(p) (p) // old Arduinos #elif defined(__AVR_ATmega8__) #define TOTAL_ANALOG_PINS 6 #define TOTAL_PINS 20 // 14 digital + 6 analog #define VERSION_BLINK_PIN 13 #define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) <= 19) #define IS_PIN_ANALOG(p) ((p) >= 14 && (p) <= 19) #define IS_PIN_PWM(p) digitalPinHasPWM(p) #define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) - 2 < MAX_SERVOS) #define IS_PIN_I2C(p) ((p) == 18 || (p) == 19) #define PIN_TO_DIGITAL(p) (p) #define PIN_TO_ANALOG(p) ((p) - 14) #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) #define PIN_TO_SERVO(p) ((p) - 2) #define ARDUINO_PINOUT_OPTIMIZE 1 // Arduino Mega #elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) #define TOTAL_ANALOG_PINS 16 #define TOTAL_PINS 70 // 54 digital + 16 analog #define VERSION_BLINK_PIN 13 #define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS) #define IS_PIN_ANALOG(p) ((p) >= 54 && (p) < TOTAL_PINS) #define IS_PIN_PWM(p) digitalPinHasPWM(p) #define IS_PIN_SERVO(p) ((p) >= 2 && (p) - 2 < MAX_SERVOS) #define IS_PIN_I2C(p) ((p) == 20 || (p) == 21) #define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK) #define PIN_TO_DIGITAL(p) (p) #define PIN_TO_ANALOG(p) ((p) - 54) #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) #define PIN_TO_SERVO(p) ((p) - 2) // Arduino DUE #elif defined(__SAM3X8E__) #define TOTAL_ANALOG_PINS 12 #define TOTAL_PINS 66 // 54 digital + 12 analog #define VERSION_BLINK_PIN 13 #define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS) #define IS_PIN_ANALOG(p) ((p) >= 54 && (p) < TOTAL_PINS) #define IS_PIN_PWM(p) digitalPinHasPWM(p) #define IS_PIN_SERVO(p) ((p) >= 2 && (p) - 2 < MAX_SERVOS) #define IS_PIN_I2C(p) ((p) == 20 || (p) == 21) // 70 71 #define PIN_TO_DIGITAL(p) (p) #define PIN_TO_ANALOG(p) ((p) - 54) #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) #define PIN_TO_SERVO(p) ((p) - 2) // Teensy 1.0 #elif defined(__AVR_AT90USB162__) #define TOTAL_ANALOG_PINS 0 #define TOTAL_PINS 21 // 21 digital + no analog #define VERSION_BLINK_PIN 6 #define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS) #define IS_PIN_ANALOG(p) (0) #define IS_PIN_PWM(p) digitalPinHasPWM(p) #define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) #define IS_PIN_I2C(p) (0) #define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK) #define PIN_TO_DIGITAL(p) (p) #define PIN_TO_ANALOG(p) (0) #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) #define PIN_TO_SERVO(p) (p) // Teensy 2.0 #elif defined(__AVR_ATmega32U4__) && defined(CORE_TEENSY) #define TOTAL_ANALOG_PINS 12 #define TOTAL_PINS 25 // 11 digital + 12 analog #define VERSION_BLINK_PIN 11 #define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS) #define IS_PIN_ANALOG(p) ((p) >= 11 && (p) <= 22) #define IS_PIN_PWM(p) digitalPinHasPWM(p) #define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) #define IS_PIN_I2C(p) ((p) == 5 || (p) == 6) #define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK) #define PIN_TO_DIGITAL(p) (p) #define PIN_TO_ANALOG(p) (((p)<22)?21-(p):11) #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) #define PIN_TO_SERVO(p) (p) // Teensy 3.0 #elif defined(__MK20DX128__) #define TOTAL_ANALOG_PINS 14 #define TOTAL_PINS 38 // 24 digital + 10 analog-digital + 4 analog #define VERSION_BLINK_PIN 13 #define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) <= 34) #define IS_PIN_ANALOG(p) (((p) >= 14 && (p) <= 23) || ((p) >= 34 && (p) <= 38)) #define IS_PIN_PWM(p) digitalPinHasPWM(p) #define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) #define IS_PIN_I2C(p) ((p) == 18 || (p) == 19) #define PIN_TO_DIGITAL(p) (p) #define PIN_TO_ANALOG(p) (((p)<=23)?(p)-14:(p)-24) #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) #define PIN_TO_SERVO(p) (p) // Teensy++ 1.0 and 2.0 #elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__) #define TOTAL_ANALOG_PINS 8 #define TOTAL_PINS 46 // 38 digital + 8 analog #define VERSION_BLINK_PIN 6 #define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS) #define IS_PIN_ANALOG(p) ((p) >= 38 && (p) < TOTAL_PINS) #define IS_PIN_PWM(p) digitalPinHasPWM(p) #define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) #define IS_PIN_I2C(p) ((p) == 0 || (p) == 1) #define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK) #define PIN_TO_DIGITAL(p) (p) #define PIN_TO_ANALOG(p) ((p) - 38) #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) #define PIN_TO_SERVO(p) (p) // Leonardo #elif defined(__AVR_ATmega32U4__) #define TOTAL_ANALOG_PINS 12 #define TOTAL_PINS 30 // 14 digital + 12 analog + 4 SPI (D14-D17 on ISP header) #define VERSION_BLINK_PIN 13 #define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS) #define IS_PIN_ANALOG(p) ((p) >= 18 && (p) < TOTAL_PINS) #define IS_PIN_PWM(p) ((p) == 3 || (p) == 5 || (p) == 6 || (p) == 9 || (p) == 10 || (p) == 11 || (p) == 13) #define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) #define IS_PIN_I2C(p) ((p) == 2 || (p) == 3) #define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK) #define PIN_TO_DIGITAL(p) (p) #define PIN_TO_ANALOG(p) (p) - 18 #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) #define PIN_TO_SERVO(p) (p) // Sanguino #elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__) #define TOTAL_ANALOG_PINS 8 #define TOTAL_PINS 32 // 24 digital + 8 analog #define VERSION_BLINK_PIN 0 #define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS) #define IS_PIN_ANALOG(p) ((p) >= 24 && (p) < TOTAL_PINS) #define IS_PIN_PWM(p) digitalPinHasPWM(p) #define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) #define IS_PIN_I2C(p) ((p) == 16 || (p) == 17) #define PIN_TO_DIGITAL(p) (p) #define PIN_TO_ANALOG(p) ((p) - 24) #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) #define PIN_TO_SERVO(p) ((p) - 2) // Illuminato #elif defined(__AVR_ATmega645__) #define TOTAL_ANALOG_PINS 6 #define TOTAL_PINS 42 // 36 digital + 6 analog #define VERSION_BLINK_PIN 13 #define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS) #define IS_PIN_ANALOG(p) ((p) >= 36 && (p) < TOTAL_PINS) #define IS_PIN_PWM(p) digitalPinHasPWM(p) #define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) #define IS_PIN_I2C(p) ((p) == 4 || (p) == 5) #define PIN_TO_DIGITAL(p) (p) #define PIN_TO_ANALOG(p) ((p) - 36) #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) #define PIN_TO_SERVO(p) ((p) - 2) // anything else #else #error "Please edit Boards.h with a hardware abstraction for this board" #endif // as long this is not defined for all boards: #ifndef IS_PIN_SPI(p) #define IS_PIN_SPI(p) 0 #endif /*============================================================================== * readPort() - Read an 8 bit port *============================================================================*/ static inline unsigned char readPort(byte, byte) __attribute__((always_inline, unused)); static inline unsigned char readPort(byte port, byte bitmask) { #if defined(ARDUINO_PINOUT_OPTIMIZE) if (port == 0) return (PIND & 0xFC) & bitmask; // ignore Rx/Tx 0/1 if (port == 1) return ((PINB & 0x3F) | ((PINC & 0x03) << 6)) & bitmask; if (port == 2) return ((PINC & 0x3C) >> 2) & bitmask; return 0; #else unsigned char out=0, pin=port*8; if (IS_PIN_DIGITAL(pin+0) && (bitmask & 0x01) && digitalRead(PIN_TO_DIGITAL(pin+0))) out |= 0x01; if (IS_PIN_DIGITAL(pin+1) && (bitmask & 0x02) && digitalRead(PIN_TO_DIGITAL(pin+1))) out |= 0x02; if (IS_PIN_DIGITAL(pin+2) && (bitmask & 0x04) && digitalRead(PIN_TO_DIGITAL(pin+2))) out |= 0x04; if (IS_PIN_DIGITAL(pin+3) && (bitmask & 0x08) && digitalRead(PIN_TO_DIGITAL(pin+3))) out |= 0x08; if (IS_PIN_DIGITAL(pin+4) && (bitmask & 0x10) && digitalRead(PIN_TO_DIGITAL(pin+4))) out |= 0x10; if (IS_PIN_DIGITAL(pin+5) && (bitmask & 0x20) && digitalRead(PIN_TO_DIGITAL(pin+5))) out |= 0x20; if (IS_PIN_DIGITAL(pin+6) && (bitmask & 0x40) && digitalRead(PIN_TO_DIGITAL(pin+6))) out |= 0x40; if (IS_PIN_DIGITAL(pin+7) && (bitmask & 0x80) && digitalRead(PIN_TO_DIGITAL(pin+7))) out |= 0x80; return out; #endif } /*============================================================================== * writePort() - Write an 8 bit port, only touch pins specified by a bitmask *============================================================================*/ static inline unsigned char writePort(byte, byte, byte) __attribute__((always_inline, unused)); static inline unsigned char writePort(byte port, byte value, byte bitmask) { #if defined(ARDUINO_PINOUT_OPTIMIZE) if (port == 0) { bitmask = bitmask & 0xFC; // do not touch Tx & Rx pins byte valD = value & bitmask; byte maskD = ~bitmask; cli(); PORTD = (PORTD & maskD) | valD; sei(); } else if (port == 1) { byte valB = (value & bitmask) & 0x3F; byte valC = (value & bitmask) >> 6; byte maskB = ~(bitmask & 0x3F); byte maskC = ~((bitmask & 0xC0) >> 6); cli(); PORTB = (PORTB & maskB) | valB; PORTC = (PORTC & maskC) | valC; sei(); } else if (port == 2) { bitmask = bitmask & 0x0F; byte valC = (value & bitmask) << 2; byte maskC = ~(bitmask << 2); cli(); PORTC = (PORTC & maskC) | valC; sei(); } #else byte pin=port*8; if ((bitmask & 0x01)) digitalWrite(PIN_TO_DIGITAL(pin+0), (value & 0x01)); if ((bitmask & 0x02)) digitalWrite(PIN_TO_DIGITAL(pin+1), (value & 0x02)); if ((bitmask & 0x04)) digitalWrite(PIN_TO_DIGITAL(pin+2), (value & 0x04)); if ((bitmask & 0x08)) digitalWrite(PIN_TO_DIGITAL(pin+3), (value & 0x08)); if ((bitmask & 0x10)) digitalWrite(PIN_TO_DIGITAL(pin+4), (value & 0x10)); if ((bitmask & 0x20)) digitalWrite(PIN_TO_DIGITAL(pin+5), (value & 0x20)); if ((bitmask & 0x40)) digitalWrite(PIN_TO_DIGITAL(pin+6), (value & 0x40)); if ((bitmask & 0x80)) digitalWrite(PIN_TO_DIGITAL(pin+7), (value & 0x80)); #endif } #ifndef TOTAL_PORTS #define TOTAL_PORTS ((TOTAL_PINS + 7) / 8) #endif #endif /* Firmata_Boards_h */