| 1 | /* Boards.h - Hardware Abstraction Layer for Firmata library */
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| 2 |
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| 3 | #ifndef Firmata_Boards_h
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| 4 | #define Firmata_Boards_h
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| 5 |
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| 6 | #include <inttypes.h>
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| 7 |
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| 8 | #if defined(ARDUINO) && ARDUINO >= 100
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| 9 | #include "Arduino.h" // for digitalRead, digitalWrite, etc
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| 10 | #else
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| 11 | #include "WProgram.h"
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| 12 | #endif
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| 13 |
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| 14 | // Normally Servo.h must be included before Firmata.h (which then includes
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| 15 | // this file). If Servo.h wasn't included, this allows the code to still
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| 16 | // compile, but without support for any Servos. Hopefully that's what the
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| 17 | // user intended by not including Servo.h
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| 18 | #ifndef MAX_SERVOS
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| 19 | #define MAX_SERVOS 0
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| 20 | #endif
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| 21 |
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| 22 | /*
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| 23 | Firmata Hardware Abstraction Layer
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| 24 |
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| 25 | Firmata is built on top of the hardware abstraction functions of Arduino,
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| 26 | specifically digitalWrite, digitalRead, analogWrite, analogRead, and
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| 27 | pinMode. While these functions offer simple integer pin numbers, Firmata
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| 28 | needs more information than is provided by Arduino. This file provides
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| 29 | all other hardware specific details. To make Firmata support a new board,
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| 30 | only this file should require editing.
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| 31 |
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| 32 | The key concept is every "pin" implemented by Firmata may be mapped to
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| 33 | any pin as implemented by Arduino. Usually a simple 1-to-1 mapping is
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| 34 | best, but such mapping should not be assumed. This hardware abstraction
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| 35 | layer allows Firmata to implement any number of pins which map onto the
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| 36 | Arduino implemented pins in almost any arbitrary way.
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| 37 |
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| 38 |
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| 39 | General Constants:
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| 40 |
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| 41 | These constants provide basic information Firmata requires.
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| 42 |
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| 43 | TOTAL_PINS: The total number of pins Firmata implemented by Firmata.
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| 44 | Usually this will match the number of pins the Arduino functions
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| 45 | implement, including any pins pins capable of analog or digital.
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| 46 | However, Firmata may implement any number of pins. For example,
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| 47 | on Arduino Mini with 8 analog inputs, 6 of these may be used
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| 48 | for digital functions, and 2 are analog only. On such boards,
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| 49 | Firmata can implement more pins than Arduino's pinMode()
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| 50 | function, in order to accommodate those special pins. The
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| 51 | Firmata protocol supports a maximum of 128 pins, so this
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| 52 | constant must not exceed 128.
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| 53 |
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| 54 | TOTAL_ANALOG_PINS: The total number of analog input pins implemented.
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| 55 | The Firmata protocol allows up to 16 analog inputs, accessed
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| 56 | using offsets 0 to 15. Because Firmata presents the analog
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| 57 | inputs using different offsets than the actual pin numbers
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| 58 | (a legacy of Arduino's analogRead function, and the way the
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| 59 | analog input capable pins are physically labeled on all
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| 60 | Arduino boards), the total number of analog input signals
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| 61 | must be specified. 16 is the maximum.
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| 62 |
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| 63 | VERSION_BLINK_PIN: When Firmata starts up, it will blink the version
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| 64 | number. This constant is the Arduino pin number where a
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| 65 | LED is connected.
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| 66 |
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| 67 |
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| 68 | Pin Mapping Macros:
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| 69 |
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| 70 | These macros provide the mapping between pins as implemented by
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| 71 | Firmata protocol and the actual pin numbers used by the Arduino
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| 72 | functions. Even though such mappings are often simple, pin
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| 73 | numbers received by Firmata protocol should always be used as
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| 74 | input to these macros, and the result of the macro should be
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| 75 | used with with any Arduino function.
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| 76 |
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| 77 | When Firmata is extended to support a new pin mode or feature,
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| 78 | a pair of macros should be added and used for all hardware
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| 79 | access. For simple 1:1 mapping, these macros add no actual
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| 80 | overhead, yet their consistent use allows source code which
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| 81 | uses them consistently to be easily adapted to all other boards
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| 82 | with different requirements.
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| 83 |
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| 84 | IS_PIN_XXXX(pin): The IS_PIN macros resolve to true or non-zero
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| 85 | if a pin as implemented by Firmata corresponds to a pin
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| 86 | that actually implements the named feature.
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| 87 |
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| 88 | PIN_TO_XXXX(pin): The PIN_TO macros translate pin numbers as
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| 89 | implemented by Firmata to the pin numbers needed as inputs
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| 90 | to the Arduino functions. The corresponding IS_PIN macro
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| 91 | should always be tested before using a PIN_TO macro, so
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| 92 | these macros only need to handle valid Firmata pin
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| 93 | numbers for the named feature.
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| 94 |
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| 95 |
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| 96 | Port Access Inline Funtions:
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| 97 |
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| 98 | For efficiency, Firmata protocol provides access to digital
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| 99 | input and output pins grouped by 8 bit ports. When these
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| 100 | groups of 8 correspond to actual 8 bit ports as implemented
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| 101 | by the hardware, these inline functions can provide high
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| 102 | speed direct port access. Otherwise, a default implementation
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| 103 | using 8 calls to digitalWrite or digitalRead is used.
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| 104 |
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| 105 | When porting Firmata to a new board, it is recommended to
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| 106 | use the default functions first and focus only on the constants
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| 107 | and macros above. When those are working, if optimized port
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| 108 | access is desired, these inline functions may be extended.
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| 109 | The recommended approach defines a symbol indicating which
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| 110 | optimization to use, and then conditional complication is
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| 111 | used within these functions.
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| 112 |
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| 113 | readPort(port, bitmask): Read an 8 bit port, returning the value.
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| 114 | port: The port number, Firmata pins port*8 to port*8+7
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| 115 | bitmask: The actual pins to read, indicated by 1 bits.
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| 116 |
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| 117 | writePort(port, value, bitmask): Write an 8 bit port.
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| 118 | port: The port number, Firmata pins port*8 to port*8+7
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| 119 | value: The 8 bit value to write
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| 120 | bitmask: The actual pins to write, indicated by 1 bits.
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| 121 | */
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| 122 |
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| 123 | /*==============================================================================
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| 124 | * Board Specific Configuration
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| 125 | *============================================================================*/
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| 126 |
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| 127 | #ifndef digitalPinHasPWM
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| 128 | #define digitalPinHasPWM(p) IS_PIN_DIGITAL(p)
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| 129 | #endif
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| 130 |
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| 131 | // Arduino Duemilanove, Diecimila, and NG
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| 132 | #if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__)
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| 133 | #if defined(NUM_ANALOG_INPUTS) && NUM_ANALOG_INPUTS == 6
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| 134 | #define TOTAL_ANALOG_PINS 6
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| 135 | #define TOTAL_PINS 20 // 14 digital + 6 analog
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| 136 | #else
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| 137 | #define TOTAL_ANALOG_PINS 8
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| 138 | #define TOTAL_PINS 22 // 14 digital + 8 analog
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| 139 | #endif
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| 140 | #define VERSION_BLINK_PIN 13
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| 141 | #define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) <= 19)
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| 142 | #define IS_PIN_ANALOG(p) ((p) >= 14 && (p) < 14 + TOTAL_ANALOG_PINS)
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| 143 | #define IS_PIN_PWM(p) digitalPinHasPWM(p)
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| 144 | #define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) - 2 < MAX_SERVOS)
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| 145 | #define IS_PIN_I2C(p) ((p) == 18 || (p) == 19)
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| 146 | #define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
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| 147 | #define PIN_TO_DIGITAL(p) (p)
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| 148 | #define PIN_TO_ANALOG(p) ((p) - 14)
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| 149 | #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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| 150 | #define PIN_TO_SERVO(p) ((p) - 2)
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| 151 | #define ARDUINO_PINOUT_OPTIMIZE 1
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| 152 |
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| 153 |
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| 154 | // Wiring (and board)
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| 155 | #elif defined(WIRING)
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| 156 | #define VERSION_BLINK_PIN WLED
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| 157 | #define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
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| 158 | #define IS_PIN_ANALOG(p) ((p) >= FIRST_ANALOG_PIN && (p) < (FIRST_ANALOG_PIN+TOTAL_ANALOG_PINS))
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| 159 | #define IS_PIN_PWM(p) digitalPinHasPWM(p)
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| 160 | #define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
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| 161 | #define IS_PIN_I2C(p) ((p) == SDA || (p) == SCL)
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| 162 | #define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
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| 163 | #define PIN_TO_DIGITAL(p) (p)
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| 164 | #define PIN_TO_ANALOG(p) ((p) - FIRST_ANALOG_PIN)
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| 165 | #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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| 166 | #define PIN_TO_SERVO(p) (p)
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| 167 |
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| 168 |
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| 169 | // old Arduinos
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| 170 | #elif defined(__AVR_ATmega8__)
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| 171 | #define TOTAL_ANALOG_PINS 6
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| 172 | #define TOTAL_PINS 20 // 14 digital + 6 analog
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| 173 | #define VERSION_BLINK_PIN 13
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| 174 | #define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) <= 19)
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| 175 | #define IS_PIN_ANALOG(p) ((p) >= 14 && (p) <= 19)
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| 176 | #define IS_PIN_PWM(p) digitalPinHasPWM(p)
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| 177 | #define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) - 2 < MAX_SERVOS)
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| 178 | #define IS_PIN_I2C(p) ((p) == 18 || (p) == 19)
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| 179 | #define PIN_TO_DIGITAL(p) (p)
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| 180 | #define PIN_TO_ANALOG(p) ((p) - 14)
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| 181 | #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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| 182 | #define PIN_TO_SERVO(p) ((p) - 2)
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| 183 | #define ARDUINO_PINOUT_OPTIMIZE 1
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| 184 |
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| 185 |
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| 186 | // Arduino Mega
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| 187 | #elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
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| 188 | #define TOTAL_ANALOG_PINS 16
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| 189 | #define TOTAL_PINS 70 // 54 digital + 16 analog
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| 190 | #define VERSION_BLINK_PIN 13
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| 191 | #define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS)
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| 192 | #define IS_PIN_ANALOG(p) ((p) >= 54 && (p) < TOTAL_PINS)
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| 193 | #define IS_PIN_PWM(p) digitalPinHasPWM(p)
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| 194 | #define IS_PIN_SERVO(p) ((p) >= 2 && (p) - 2 < MAX_SERVOS)
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| 195 | #define IS_PIN_I2C(p) ((p) == 20 || (p) == 21)
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| 196 | #define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
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| 197 | #define PIN_TO_DIGITAL(p) (p)
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| 198 | #define PIN_TO_ANALOG(p) ((p) - 54)
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| 199 | #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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| 200 | #define PIN_TO_SERVO(p) ((p) - 2)
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| 201 |
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| 202 |
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| 203 | // Arduino DUE
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| 204 | #elif defined(__SAM3X8E__)
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| 205 | #define TOTAL_ANALOG_PINS 12
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| 206 | #define TOTAL_PINS 66 // 54 digital + 12 analog
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| 207 | #define VERSION_BLINK_PIN 13
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| 208 | #define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS)
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| 209 | #define IS_PIN_ANALOG(p) ((p) >= 54 && (p) < TOTAL_PINS)
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| 210 | #define IS_PIN_PWM(p) digitalPinHasPWM(p)
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| 211 | #define IS_PIN_SERVO(p) ((p) >= 2 && (p) - 2 < MAX_SERVOS)
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| 212 | #define IS_PIN_I2C(p) ((p) == 20 || (p) == 21) // 70 71
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| 213 | #define PIN_TO_DIGITAL(p) (p)
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| 214 | #define PIN_TO_ANALOG(p) ((p) - 54)
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| 215 | #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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| 216 | #define PIN_TO_SERVO(p) ((p) - 2)
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| 217 |
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| 218 |
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| 219 | // Teensy 1.0
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| 220 | #elif defined(__AVR_AT90USB162__)
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| 221 | #define TOTAL_ANALOG_PINS 0
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| 222 | #define TOTAL_PINS 21 // 21 digital + no analog
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| 223 | #define VERSION_BLINK_PIN 6
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| 224 | #define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
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| 225 | #define IS_PIN_ANALOG(p) (0)
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| 226 | #define IS_PIN_PWM(p) digitalPinHasPWM(p)
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| 227 | #define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
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| 228 | #define IS_PIN_I2C(p) (0)
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| 229 | #define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
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| 230 | #define PIN_TO_DIGITAL(p) (p)
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| 231 | #define PIN_TO_ANALOG(p) (0)
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| 232 | #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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| 233 | #define PIN_TO_SERVO(p) (p)
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| 234 |
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| 235 |
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| 236 | // Teensy 2.0
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| 237 | #elif defined(__AVR_ATmega32U4__) && defined(CORE_TEENSY)
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| 238 | #define TOTAL_ANALOG_PINS 12
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| 239 | #define TOTAL_PINS 25 // 11 digital + 12 analog
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| 240 | #define VERSION_BLINK_PIN 11
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| 241 | #define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
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| 242 | #define IS_PIN_ANALOG(p) ((p) >= 11 && (p) <= 22)
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| 243 | #define IS_PIN_PWM(p) digitalPinHasPWM(p)
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| 244 | #define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
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| 245 | #define IS_PIN_I2C(p) ((p) == 5 || (p) == 6)
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| 246 | #define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
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| 247 | #define PIN_TO_DIGITAL(p) (p)
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| 248 | #define PIN_TO_ANALOG(p) (((p)<22)?21-(p):11)
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| 249 | #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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| 250 | #define PIN_TO_SERVO(p) (p)
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| 251 |
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| 252 |
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| 253 | // Teensy 3.0
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| 254 | #elif defined(__MK20DX128__)
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| 255 | #define TOTAL_ANALOG_PINS 14
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| 256 | #define TOTAL_PINS 38 // 24 digital + 10 analog-digital + 4 analog
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| 257 | #define VERSION_BLINK_PIN 13
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| 258 | #define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) <= 34)
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| 259 | #define IS_PIN_ANALOG(p) (((p) >= 14 && (p) <= 23) || ((p) >= 34 && (p) <= 38))
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| 260 | #define IS_PIN_PWM(p) digitalPinHasPWM(p)
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| 261 | #define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
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| 262 | #define IS_PIN_I2C(p) ((p) == 18 || (p) == 19)
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| 263 | #define PIN_TO_DIGITAL(p) (p)
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| 264 | #define PIN_TO_ANALOG(p) (((p)<=23)?(p)-14:(p)-24)
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| 265 | #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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| 266 | #define PIN_TO_SERVO(p) (p)
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| 267 |
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| 268 |
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| 269 | // Teensy++ 1.0 and 2.0
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| 270 | #elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
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| 271 | #define TOTAL_ANALOG_PINS 8
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| 272 | #define TOTAL_PINS 46 // 38 digital + 8 analog
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| 273 | #define VERSION_BLINK_PIN 6
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| 274 | #define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
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| 275 | #define IS_PIN_ANALOG(p) ((p) >= 38 && (p) < TOTAL_PINS)
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| 276 | #define IS_PIN_PWM(p) digitalPinHasPWM(p)
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| 277 | #define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
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| 278 | #define IS_PIN_I2C(p) ((p) == 0 || (p) == 1)
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| 279 | #define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
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| 280 | #define PIN_TO_DIGITAL(p) (p)
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| 281 | #define PIN_TO_ANALOG(p) ((p) - 38)
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| 282 | #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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| 283 | #define PIN_TO_SERVO(p) (p)
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| 284 |
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| 285 |
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| 286 | // Leonardo
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| 287 | #elif defined(__AVR_ATmega32U4__)
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| 288 | #define TOTAL_ANALOG_PINS 12
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| 289 | #define TOTAL_PINS 30 // 14 digital + 12 analog + 4 SPI (D14-D17 on ISP header)
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| 290 | #define VERSION_BLINK_PIN 13
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| 291 | #define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
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| 292 | #define IS_PIN_ANALOG(p) ((p) >= 18 && (p) < TOTAL_PINS)
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| 293 | #define IS_PIN_PWM(p) ((p) == 3 || (p) == 5 || (p) == 6 || (p) == 9 || (p) == 10 || (p) == 11 || (p) == 13)
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| 294 | #define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
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| 295 | #define IS_PIN_I2C(p) ((p) == 2 || (p) == 3)
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| 296 | #define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
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| 297 | #define PIN_TO_DIGITAL(p) (p)
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| 298 | #define PIN_TO_ANALOG(p) (p) - 18
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| 299 | #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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| 300 | #define PIN_TO_SERVO(p) (p)
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| 301 |
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| 302 |
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| 303 | // Sanguino
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| 304 | #elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__)
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| 305 | #define TOTAL_ANALOG_PINS 8
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| 306 | #define TOTAL_PINS 32 // 24 digital + 8 analog
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| 307 | #define VERSION_BLINK_PIN 0
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| 308 | #define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS)
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| 309 | #define IS_PIN_ANALOG(p) ((p) >= 24 && (p) < TOTAL_PINS)
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| 310 | #define IS_PIN_PWM(p) digitalPinHasPWM(p)
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| 311 | #define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
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| 312 | #define IS_PIN_I2C(p) ((p) == 16 || (p) == 17)
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| 313 | #define PIN_TO_DIGITAL(p) (p)
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| 314 | #define PIN_TO_ANALOG(p) ((p) - 24)
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| 315 | #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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| 316 | #define PIN_TO_SERVO(p) ((p) - 2)
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| 317 |
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| 318 |
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| 319 | // Illuminato
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| 320 | #elif defined(__AVR_ATmega645__)
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| 321 | #define TOTAL_ANALOG_PINS 6
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| 322 | #define TOTAL_PINS 42 // 36 digital + 6 analog
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| 323 | #define VERSION_BLINK_PIN 13
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| 324 | #define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS)
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| 325 | #define IS_PIN_ANALOG(p) ((p) >= 36 && (p) < TOTAL_PINS)
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| 326 | #define IS_PIN_PWM(p) digitalPinHasPWM(p)
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| 327 | #define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
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| 328 | #define IS_PIN_I2C(p) ((p) == 4 || (p) == 5)
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| 329 | #define PIN_TO_DIGITAL(p) (p)
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| 330 | #define PIN_TO_ANALOG(p) ((p) - 36)
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| 331 | #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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| 332 | #define PIN_TO_SERVO(p) ((p) - 2)
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| 333 |
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| 334 |
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| 335 | // anything else
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| 336 | #else
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| 337 | #error "Please edit Boards.h with a hardware abstraction for this board"
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| 338 | #endif
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| 339 |
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| 340 | // as long this is not defined for all boards:
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| 341 | #ifndef IS_PIN_SPI(p)
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| 342 | #define IS_PIN_SPI(p) 0
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| 343 | #endif
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| 344 |
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| 345 | /*==============================================================================
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| 346 | * readPort() - Read an 8 bit port
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| 347 | *============================================================================*/
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| 348 |
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| 349 | static inline unsigned char readPort(byte, byte) __attribute__((always_inline, unused));
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| 350 | static inline unsigned char readPort(byte port, byte bitmask)
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| 351 | {
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| 352 | #if defined(ARDUINO_PINOUT_OPTIMIZE)
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| 353 | if (port == 0) return (PIND & 0xFC) & bitmask; // ignore Rx/Tx 0/1
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| 354 | if (port == 1) return ((PINB & 0x3F) | ((PINC & 0x03) << 6)) & bitmask;
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| 355 | if (port == 2) return ((PINC & 0x3C) >> 2) & bitmask;
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| 356 | return 0;
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| 357 | #else
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| 358 | unsigned char out=0, pin=port*8;
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| 359 | if (IS_PIN_DIGITAL(pin+0) && (bitmask & 0x01) && digitalRead(PIN_TO_DIGITAL(pin+0))) out |= 0x01;
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| 360 | if (IS_PIN_DIGITAL(pin+1) && (bitmask & 0x02) && digitalRead(PIN_TO_DIGITAL(pin+1))) out |= 0x02;
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| 361 | if (IS_PIN_DIGITAL(pin+2) && (bitmask & 0x04) && digitalRead(PIN_TO_DIGITAL(pin+2))) out |= 0x04;
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| 362 | if (IS_PIN_DIGITAL(pin+3) && (bitmask & 0x08) && digitalRead(PIN_TO_DIGITAL(pin+3))) out |= 0x08;
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| 363 | if (IS_PIN_DIGITAL(pin+4) && (bitmask & 0x10) && digitalRead(PIN_TO_DIGITAL(pin+4))) out |= 0x10;
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| 364 | if (IS_PIN_DIGITAL(pin+5) && (bitmask & 0x20) && digitalRead(PIN_TO_DIGITAL(pin+5))) out |= 0x20;
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| 365 | if (IS_PIN_DIGITAL(pin+6) && (bitmask & 0x40) && digitalRead(PIN_TO_DIGITAL(pin+6))) out |= 0x40;
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| 366 | if (IS_PIN_DIGITAL(pin+7) && (bitmask & 0x80) && digitalRead(PIN_TO_DIGITAL(pin+7))) out |= 0x80;
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| 367 | return out;
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| 368 | #endif
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| 369 | }
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| 370 |
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| 371 | /*==============================================================================
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| 372 | * writePort() - Write an 8 bit port, only touch pins specified by a bitmask
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| 373 | *============================================================================*/
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| 374 |
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| 375 | static inline unsigned char writePort(byte, byte, byte) __attribute__((always_inline, unused));
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| 376 | static inline unsigned char writePort(byte port, byte value, byte bitmask)
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| 377 | {
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| 378 | #if defined(ARDUINO_PINOUT_OPTIMIZE)
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| 379 | if (port == 0) {
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| 380 | bitmask = bitmask & 0xFC; // do not touch Tx & Rx pins
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| 381 | byte valD = value & bitmask;
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| 382 | byte maskD = ~bitmask;
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| 383 | cli();
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| 384 | PORTD = (PORTD & maskD) | valD;
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| 385 | sei();
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| 386 | } else if (port == 1) {
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| 387 | byte valB = (value & bitmask) & 0x3F;
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| 388 | byte valC = (value & bitmask) >> 6;
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| 389 | byte maskB = ~(bitmask & 0x3F);
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| 390 | byte maskC = ~((bitmask & 0xC0) >> 6);
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| 391 | cli();
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| 392 | PORTB = (PORTB & maskB) | valB;
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| 393 | PORTC = (PORTC & maskC) | valC;
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| 394 | sei();
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| 395 | } else if (port == 2) {
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| 396 | bitmask = bitmask & 0x0F;
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| 397 | byte valC = (value & bitmask) << 2;
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| 398 | byte maskC = ~(bitmask << 2);
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| 399 | cli();
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| 400 | PORTC = (PORTC & maskC) | valC;
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| 401 | sei();
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| 402 | }
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| 403 | #else
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| 404 | byte pin=port*8;
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| 405 | if ((bitmask & 0x01)) digitalWrite(PIN_TO_DIGITAL(pin+0), (value & 0x01));
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| 406 | if ((bitmask & 0x02)) digitalWrite(PIN_TO_DIGITAL(pin+1), (value & 0x02));
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| 407 | if ((bitmask & 0x04)) digitalWrite(PIN_TO_DIGITAL(pin+2), (value & 0x04));
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| 408 | if ((bitmask & 0x08)) digitalWrite(PIN_TO_DIGITAL(pin+3), (value & 0x08));
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| 409 | if ((bitmask & 0x10)) digitalWrite(PIN_TO_DIGITAL(pin+4), (value & 0x10));
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| 410 | if ((bitmask & 0x20)) digitalWrite(PIN_TO_DIGITAL(pin+5), (value & 0x20));
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| 411 | if ((bitmask & 0x40)) digitalWrite(PIN_TO_DIGITAL(pin+6), (value & 0x40));
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| 412 | if ((bitmask & 0x80)) digitalWrite(PIN_TO_DIGITAL(pin+7), (value & 0x80));
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| 413 | #endif
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| 414 | }
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| 415 |
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| 416 |
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| 417 |
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| 418 |
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| 419 | #ifndef TOTAL_PORTS
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| 420 | #define TOTAL_PORTS ((TOTAL_PINS + 7) / 8)
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| 421 | #endif
|
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| 422 |
|
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| 423 |
|
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| 424 | #endif /* Firmata_Boards_h */
|
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| 425 |
|
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