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Firmata Arduino zero Boards.h
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| /* Boards.h - Hardware Abstraction Layer for Firmata library */ | |
| #ifndef Firmata_Boards_h | |
| #define Firmata_Boards_h | |
| #include <inttypes.h> | |
| #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 and 3.1 | |
| #elif defined(__MK20DX128__) || defined(__MK20DX256__) | |
| #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) | |
| // Intel Galileo Board | |
| #elif defined(ARDUINO_LINUX) | |
| #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) == 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) - 14) | |
| #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) | |
| #define PIN_TO_SERVO(p) ((p) - 2) | |
| // 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) | |
| //Arduino Zero | |
| #elif defined(ARDUINO_ARCH_SAMD) | |
| #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) < 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) | |
| // 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 | |
| #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(); | |
| } | |
| return 1; | |
| #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)); | |
| return 1; | |
| #endif | |
| } | |
| #ifndef TOTAL_PORTS | |
| #define TOTAL_PORTS ((TOTAL_PINS + 7) / 8) | |
| #endif | |
| #endif /* Firmata_Boards_h */ | |
Actually, I'm not sure that ARDUINO_ARCH_SAMD is future proof since another Arduino or a 3rd party could add a different SAMD-based board in the future. Anyway, I'll add Zero to Board.h in the Firmata repo tomorrow. It will be available as of the Firmata v2.5 release.
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Why not simply submit a pull request to the Firmata repo?