This library is a modification of the BLE Mini library for Arduino that runs in Energia. You will need to include ''ble_mini.h'' and ''ble_mini.cpp'' and ''ble_mini_boards.h'' to properly run an example. For the Energia version, the library has an example of Firmata running on the LaunchPad. We will be able to fully control the LaunchPad using BLE (Bluetooth 4.0 Low Energy) and the BLEController sample application. There may be a newer version of the app on the various app stores for your mobile phone, so you can check there first. If a newer version of the app has difficulty connecting, you may need to revert to V1.0. More information is detailed at http://redbearlab.com/blemini/.
The BLE Mini is nice because it is small form factor, affordable, and communicates through UART to the target board. UART communication is managed through the Serial library in Energia. We will need to connect VCC and GND on the BLE Mini. The 3.3V or 5V VCC can be used. We will also need to hook up the RX line of the BLE Mini to the TX line of the LaunchPad and the TX line of the BLE Mini to the RX line of the LaunchPad. The 4 pins are all you need to add BLE control to your LaunchPad.
The BLE Mini and Firmata is expecting a baud rate of 57600 for UART serial communication, so that means devices like the MSP430G2553 with limited baud rate at 9600 will not be able to run the example.
#ifndef _BLE_MINI_H #define _BLE_MINI_H #include <Energia.h> void BLEMini_begin(unsigned long bound); int BLEMini_available(); void BLEMini_write(unsigned char dat); void BLEMini_write_bytes(unsigned char *dat, unsigned char len); int BLEMini_read(); #endif
#include "ble_Mini.h"
// UNO
// TX: pin 1
// RX: pin 0
#if defined (__AVR_ATmega168__) || defined (__AVR_ATmega328P__)
#define BLEMINI Serial
// LaunchPad TX RX
// MSP-EXP430F5529LP 4 3
#elif defined (__MSP430F5529)
#define BLEMINI Serial
// other board
// board TX RX
// Leonardo 1 0
// MEGA 18 19
// DUE 18 19
#else
#define BLEMINI Serial1
#endif
void BLEMini_begin(unsigned long bound)
{
BLEMINI.begin(bound);
}
int BLEMini_available()
{
return BLEMINI.available();
}
void BLEMini_write(unsigned char dat)
{
BLEMINI.write(dat);
}
void BLEMini_write_bytes(unsigned char *dat, unsigned char len)
{
delay(10);
if(len > 0)
BLEMINI.write(dat, len);
}
int BLEMini_read()
{
delay(10);
return BLEMINI.read();
}
/*
* When use DUE board, the Arduino IDE should be the version of 1.5.4 or above.
* Board BLEMini(TX, RX)
* DUE (18, 19)
* MEGA (18, 19)
* UNO (1, 0)
* LEONARDO (1, 0)
*/
/*
* Energia IDE
* Board BLEMini(TX, RX)
* MSP4305529 (4, 3)
*/
#include
#include "Boards.h"
#include <ble_mini.h>
#define PROTOCOL_MAJOR_VERSION 0 //
#define PROTOCOL_MINOR_VERSION 0 //
#define PROTOCOL_BUGFIX_VERSION 2 // bugfix
#define PIN_CAPABILITY_NONE 0x00
#define PIN_CAPABILITY_DIGITAL 0x01
#define PIN_CAPABILITY_ANALOG 0x02
#define PIN_CAPABILITY_PWM 0x04
#define PIN_CAPABILITY_SERVO 0x08
#define PIN_CAPABILITY_I2C 0x10
// pin modes
//#define INPUT 0x00 // defined in wiring.h
//#define OUTPUT 0x01 // defined in wiring.h
#define ANALOG 0x02 // analog pin in analogInput mode
#define PWM 0x03 // digital pin in PWM output mode
#define SERVO 0x04 // digital pin in Servo output mode
byte pin_mode[TOTAL_PINS];
byte pin_state[TOTAL_PINS];
byte pin_pwm[TOTAL_PINS];
byte pin_servo[TOTAL_PINS];
Servo servos[MAX_SERVOS];
/* timer variables */
unsigned long currentMillis; // store the current value from millis()
unsigned long previousMillis; // for comparison with currentMillis
int samplingInterval = 5; // how often to run the main loop (in ms)
void setup()
{
BLEMini_begin(57600);
//#if !defined(__AVR_ATmega328P__)
//Serial.begin(57600);
//while(!Serial);
//Serial.println("BLE Arduino Slave ");
//#endif
/* Default all to digital input */
for (int pin = 0; pin < TOTAL_PINS; pin++)
{
// Set pin to input with internal pull up
if(IS_PIN_DIGITAL(pin))
{
pinMode(pin, INPUT);
}
digitalWrite(pin, HIGH);
// Save pin mode and state
pin_mode[pin] = INPUT;
pin_state[pin] = LOW;
}
}
static byte buf_len = 0;
byte reportDigitalInput()
{
static byte pin = 0;
byte report = 0;
if (!IS_PIN_DIGITAL(pin))
{
pin++;
if (pin >= TOTAL_PINS)
pin = 0;
return 0;
}
if (pin_mode[pin] == INPUT)
{
byte current_state = digitalRead(pin);
if (pin_state[pin] != current_state)
{
pin_state[pin] = current_state;
byte buf[] = {'G', pin, INPUT, current_state};
BLEMini_write_bytes(buf, 4);
report = 1;
}
}
pin++;
if (pin >= TOTAL_PINS)
pin = 0;
return report;
}
void reportPinCapability(byte pin)
{
byte buf[] = {'P', pin, 0x00};
byte pin_cap = 0;
if (IS_PIN_DIGITAL(pin))
pin_cap |= PIN_CAPABILITY_DIGITAL;
if (IS_PIN_ANALOG(pin))
pin_cap |= PIN_CAPABILITY_ANALOG;
if (IS_PIN_PWM(pin))
pin_cap |= PIN_CAPABILITY_PWM;
if (IS_PIN_SERVO(pin))
pin_cap |= PIN_CAPABILITY_SERVO;
buf[2] = pin_cap;
BLEMini_write_bytes(buf, 3);
}
void reportPinServoData(byte pin)
{
// if (IS_PIN_SERVO(pin))
// servos[PIN_TO_SERVO(pin)].write(value);
// pin_servo[pin] = value;
byte value = pin_servo[pin];
byte mode = pin_mode[pin];
byte buf[] = {'G', pin, mode, value};
BLEMini_write_bytes(buf, 4);
}
byte reportPinAnalogData()
{
static byte pin = 0;
byte report = 0;
if (!IS_PIN_DIGITAL(pin))
{
pin++;
if (pin >= TOTAL_PINS)
pin = 0;
return 0;
}
if (pin_mode[pin] == ANALOG)
{
uint16_t value = analogRead(pin);
byte value_lo = value;
byte value_hi = value>>8;
byte mode = pin_mode[pin];
mode = (value_hi << 4) | mode;
byte buf[] = {'G', pin, mode, value};
BLEMini_write_bytes(buf, 4);
}
pin++;
if (pin >= TOTAL_PINS)
pin = 0;
return report;
}
void reportPinDigitalData(byte pin)
{
byte state = digitalRead(pin);
byte mode = pin_mode[pin];
byte buf[] = {'G', pin, mode, state};
BLEMini_write_bytes(buf, 4);
}
void reportPinPWMData(byte pin)
{
byte value = pin_pwm[pin];
byte mode = pin_mode[pin];
byte buf[] = {'G', pin, mode, value};
BLEMini_write_bytes(buf, 4);
}
void sendCustomData(uint8_t *buf, uint8_t len)
{
uint8_t data[20] = "Z";
memcpy(&data[1], buf, len);
BLEMini_write_bytes(data, len+1);
}
byte queryDone = false;
void loop()
{
while(BLEMini_available())
{
byte cmd;
cmd = BLEMini_read();
#if !defined(__AVR_ATmega328P__) // don't print out on UNO
//Serial.write(cmd);
#endif
// Parse data here
switch (cmd)
{
case 'V': // query protocol version
{
queryDone = false;
byte buf[] = {'V', 0x00, 0x00, 0x01};
BLEMini_write_bytes(buf, 4);
}
break;
case 'C': // query board total pin count
{
byte buf[2];
buf[0] = 'C';
buf[1] = TOTAL_PINS;
BLEMini_write_bytes(buf, 2);
}
break;
case 'M': // query pin mode
{
byte pin = BLEMini_read();
byte buf[] = {'M', pin, pin_mode[pin]}; // report pin mode
BLEMini_write_bytes(buf, 3);
}
break;
case 'S': // set pin mode
{
byte pin = BLEMini_read();
byte mode = BLEMini_read();
if (IS_PIN_SERVO(pin) && mode != SERVO && servos[PIN_TO_SERVO(pin)].attached())
servos[PIN_TO_SERVO(pin)].detach();
/* ToDo: check the mode is in its capability or not */
/* assume always ok */
if (mode != pin_mode[pin])
{
pinMode(pin, mode);
pin_mode[pin] = mode;
if (mode == OUTPUT)
{
digitalWrite(pin, LOW);
pin_state[pin] = LOW;
}
else if (mode == INPUT)
{
digitalWrite(pin, HIGH);
pin_state[pin] = HIGH;
}
else if (mode == ANALOG)
{
if (IS_PIN_ANALOG(pin)) {
if (IS_PIN_DIGITAL(pin)) {
pinMode(PIN_TO_DIGITAL(pin), LOW);
}
}
}
else if (mode == PWM)
{
if (IS_PIN_PWM(pin))
{
pinMode(PIN_TO_PWM(pin), OUTPUT);
analogWrite(PIN_TO_PWM(pin), 0);
pin_pwm[pin] = 0;
pin_mode[pin] = PWM;
}
}
else if (mode == SERVO)
{
if (IS_PIN_SERVO(pin))
{
pin_servo[pin] = 0;
pin_mode[pin] = SERVO;
if (!servos[PIN_TO_SERVO(pin)].attached())
servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin));
}
}
}
// if (mode == ANALOG)
// reportPinAnalogData(pin);
if ( (mode == INPUT) || (mode == OUTPUT) )
reportPinDigitalData(pin);
else if (mode == PWM)
reportPinPWMData(pin);
else if (mode == SERVO)
reportPinServoData(pin);
}
break;
case 'G': // query pin data
{
byte pin = BLEMini_read();
reportPinDigitalData(pin);
}
break;
case 'T': // set pin digital state
{
byte pin = BLEMini_read();
byte state = BLEMini_read();
digitalWrite(pin, state);
reportPinDigitalData(pin);
}
break;
case 'N': // set PWM
{
byte pin = BLEMini_read();
byte value = BLEMini_read();
analogWrite(PIN_TO_PWM(pin), value);
pin_pwm[pin] = value;
reportPinPWMData(pin);
}
break;
case 'O': // set Servo
{
byte pin = BLEMini_read();
byte value = BLEMini_read();
if (IS_PIN_SERVO(pin))
servos[PIN_TO_SERVO(pin)].write(value);
pin_servo[pin] = value;
reportPinServoData(pin);
}
break;
case 'A': // query all pin status
for (int pin = 0; pin < TOTAL_PINS; pin++)
{
reportPinCapability(pin);
if ( (pin_mode[pin] == INPUT) || (pin_mode[pin] == OUTPUT) )
reportPinDigitalData(pin);
else if (pin_mode[pin] == PWM)
reportPinPWMData(pin);
else if (pin_mode[pin] == SERVO)
reportPinServoData(pin);
}
queryDone = true;
{
uint8_t str[] = "ABC";
sendCustomData(str, 3);
}
break;
case 'P': // query pin capability
{
byte pin = BLEMini_read();
reportPinCapability(pin);
}
break;
case 'Z':
{
byte len = BLEMini_read();
byte buf[len];
for (int i=0;i<len;i++)
buf[i] = BLEMini_read();
//#if !defined(__AVR_ATmega328P__)
// Serial.println("->");
// Serial.print("Received: ");
// Serial.print(len);
// Serial.println(" byte(s)");
//#endif
}
}
return; // only do this task in this loop
}
// No input data, no commands, process analog data
// if (!ble_connected())
// queryDone = false; // reset query state
if (queryDone) // only report data after the query state
{
byte input_data_pending = reportDigitalInput();
if (input_data_pending)
return; // only do this task in this loop
currentMillis = millis();
if (currentMillis - previousMillis > samplingInterval)
{
previousMillis += samplingInterval;
reportPinAnalogData();
}
}
}
/* Boards.h - Hardware Abstraction Layer for Firmata library */
#ifndef Firmata_Boards_h
#define Firmata_Boards_h
#include
//include Arduino.h for Arduino or Energia.h for Energia
/*
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h" // for digitalRead, digitalWrite, etc
#else
#include "WProgram.h"
#endif
*/
#include "Energia.h"
// 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) <= 13) || ((p) >= 20 && (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) <= 13 && (p) - 2 < MAX_SERVOS)) || ((p) >= 20 && (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) <= 13) || ((p) >= 20 && (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) <= 13 && (p) - 2 < MAX_SERVOS)) || ((p) >= 20 && (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 13
#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
#define IS_PIN_ANALOG(p) ((p) >= 11 && (p) <= 22)
#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) == 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) >= 2 && (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) >= 2 && (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)
// MSP-EXP430F5529LP
#elif defined(__MSP430F5529)
#define TOTAL_ANALOG_PINS 8
#define TOTAL_PINS 45
#define VERSION_BLINK_PIN 43
#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) <= 15) || ((p) >= 17 && (p) <= 19) || ((p) >= 23 && (p) <= 44)
#define IS_PIN_ANALOG(p) ((p) == 2) || ((p) == 6) || ((p) >= 23 && (p) <= 28)
#define IS_PIN_PWM(p) ((p) == 12) || ((p) == 19) || ((p) >= 35 && (p) <= 40)
#define IS_PIN_SERVO(p) ((p) == 12) || ((p) == 19) || ((p) >= 35 && (p) <= 40)
#define IS_PIN_I2C(p) ((p) == 9 || (p) == 10)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) ((p))
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
#define PIN_TO_SERVO(p) ((p) == 12) || ((p) == 19) || ((p) >= 35 && (p) <= 40)
// anything else
#else
#define TOTAL_ANALOG_PINS 0
#define TOTAL_PINS 0
#define VERSION_BLINK_PIN 0
#define IS_PIN_DIGITAL(p) (p)
#define IS_PIN_ANALOG(p) (p)
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
#define IS_PIN_SERVO(p) (p)
#define IS_PIN_I2C(p) (p)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) (p)
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
#define PIN_TO_SERVO(p) (p)
#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 */
Corrections, suggestions, and new documentation are very welcomed. They can be contributed to the energia website repository on Github.
The text of the Energia getting started and reference guides are licensed under a Creative Commons Attribution-ShareAlike 3.0 License. The Energia reference is based on the Wiring/Arduino reference. Code samples in the guide are released into the public domain.
Energia sketches are C/C++ based and compiled with the open-source compiler MSPGCC or arm-gcc-none-eabi. The Energia language comes from Wiring. The Energia environment is based on Processing and includes modifications made by Wiring and Arduino.
© Energia