diff options
Diffstat (limited to 'OpenModelicaArduino')
| -rw-r--r-- | OpenModelicaArduino/ArduinoExamples.mo | 12 | ||||
| -rw-r--r-- | OpenModelicaArduino/Firmware/Arduino/pidmata3/pidmata3.ino | 904 | ||||
| -rw-r--r-- | OpenModelicaArduino/Firmware/Tiva C/StandardFirmata.zip | bin | 0 -> 858425 bytes | |||
| -rwxr-xr-x[-rw-r--r--] | OpenModelicaArduino/Resources/Include/modelPlugFirmata.h | 3 | ||||
| -rwxr-xr-x | OpenModelicaArduino/Resources/Include/modelPlugFirmata.h~ | 33 | ||||
| -rwxr-xr-x | OpenModelicaArduino/Resources/Library/linux64/libmodelPlugFirmata.so | bin | 56284 -> 56334 bytes | |||
| -rwxr-xr-x | OpenModelicaArduino/Source/libmodelPlugFirmata.so | bin | 65528 -> 56334 bytes | |||
| -rwxr-xr-x | OpenModelicaArduino/Source/modelPlugFirmata.h | 2 | ||||
| -rw-r--r-- | OpenModelicaArduino/package.mo | 66 |
9 files changed, 999 insertions, 21 deletions
diff --git a/OpenModelicaArduino/ArduinoExamples.mo b/OpenModelicaArduino/ArduinoExamples.mo index 3f2717f..349db46 100644 --- a/OpenModelicaArduino/ArduinoExamples.mo +++ b/OpenModelicaArduino/ArduinoExamples.mo @@ -133,7 +133,7 @@ package ArduinoExamples extends Modelica.Icons.Example; OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( Placement(visible = true, transformation(origin = {-60, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); - OpenModelicaArduino.Pins.AnalogInput analogInput1(MaxValue = 1023, MinValue = 0, Pin = 19) annotation( + OpenModelicaArduino.Pins.AnalogInput analogInput1(MaxValue = 1024, MinValue = 0, Pin = 23, adcResolution = 12) annotation( Placement(visible = true, transformation(origin = {-4.44089e-16, 4.44089e-16}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( Placement(visible = true, transformation(origin = {-60, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); @@ -150,6 +150,8 @@ package ArduinoExamples end ex1_ldr_read; + + model ex2_ldr_led extends Modelica.Icons.Example; OpenModelicaArduino.Pins.DigitalOutput digitalOutput1(Pin = 9) annotation( @@ -380,7 +382,7 @@ package ArduinoExamples Placement(visible = true, transformation(origin = {70, 70}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( Placement(visible = true, transformation(origin = {78, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); - OpenModelicaArduino.Pins.Servo servo1(InputUnit = OpenModelicaArduino.Internal.Types.ServoUnit.None, MaxPulse = 1000000, MinPulse = 500000, Pin = 9) annotation( + OpenModelicaArduino.Pins.Servo servo1(InputUnit = OpenModelicaArduino.Internal.Types.ServoUnit.None, MaxPulse = 1000000, MinPulse = 500000, Pin = 23) annotation( Placement(visible = true, transformation(origin = {20, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); Modelica.Blocks.Sources.Constant const(k = 0.1667) annotation( Placement(visible = true, transformation(origin = {-40, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); @@ -393,13 +395,14 @@ package ArduinoExamples uses(Modelica_DeviceDrivers(version = "1.5.0"), OpenModelicaArduino(version = "1.2"), Modelica(version = "3.2.2"))); end ex1_servo_init; + model ex2_servo_reverse extends Modelica.Icons.Example; Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( Placement(visible = true, transformation(origin = {70, 70}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( Placement(visible = true, transformation(origin = {78, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); - OpenModelicaArduino.Pins.Servo servo1(InputUnit = OpenModelicaArduino.Internal.Types.ServoUnit.None, MaxPulse = 1000000, MinPulse = 500000, Pin = 9) annotation( + OpenModelicaArduino.Pins.Servo servo1(InputUnit = OpenModelicaArduino.Internal.Types.ServoUnit.None, MaxPulse = 1000000, MinPulse = 500000, Pin = 3) annotation( Placement(visible = true, transformation(origin = {20, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); Modelica.Blocks.Sources.Pulse pulse2(amplitude = 0.5, offset = 0.5, period = 2, startTime = 6, width = 50) annotation( Placement(visible = true, transformation(origin = {-80, -60}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); @@ -426,7 +429,7 @@ package ArduinoExamples Placement(visible = true, transformation(origin = {70, 70}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( Placement(visible = true, transformation(origin = {78, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); - OpenModelicaArduino.Pins.Servo servo1(InputUnit = OpenModelicaArduino.Internal.Types.ServoUnit.None, MaxPulse = 1000000, MinPulse = 500000, Pin = 9) annotation( + OpenModelicaArduino.Pins.Servo servo1(InputUnit = OpenModelicaArduino.Internal.Types.ServoUnit.None, MaxPulse = 1000000, MinPulse = 500000, Pin = 23) annotation( Placement(visible = true, transformation(origin = {20, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); Modelica.Blocks.Sources.Ramp ramp1(duration = 10, height = 10, startTime = 5) annotation( Placement(visible = true, transformation(origin = {-90, -70}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); @@ -455,6 +458,7 @@ package ArduinoExamples uses(Modelica_DeviceDrivers(version = "1.5.0"), OpenModelicaArduino(version = "1.2"), Modelica(version = "3.2.2"))); end ex3_servo_loop; + model ex4_servo_pot extends Modelica.Icons.Example; OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( diff --git a/OpenModelicaArduino/Firmware/Arduino/pidmata3/pidmata3.ino b/OpenModelicaArduino/Firmware/Arduino/pidmata3/pidmata3.ino new file mode 100644 index 0000000..01a4710 --- /dev/null +++ b/OpenModelicaArduino/Firmware/Arduino/pidmata3/pidmata3.ino @@ -0,0 +1,904 @@ +/* + Firmata is a generic protocol for communicating with microcontrollers + from software on a host computer. It is intended to work with + any host computer software package. + + To download a host software package, please click on the following link + to open the list of Firmata client libraries in your default browser. + + https://github.com/firmata/arduino#firmata-client-libraries + + Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved. + Copyright (C) 2010-2011 Paul Stoffregen. All rights reserved. + Copyright (C) 2009 Shigeru Kobayashi. All rights reserved. + Copyright (C) 2009-2016 Jeff Hoefs. All rights reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + See file LICENSE.txt for further informations on licensing terms. + + Last updated August 17th, 2017 +*/ + +#include <Servo.h> +#include <Wire.h> +#include <Firmata.h> +#include <AutoPID.h> + +//Comment the line below, "#define PID", if you are not using PID else uncomment it and follow further instructions. +#define PID + +//------------PID values---------------- +// Pin 6 - setPoint (input value) +// Pin 5 - feedback (input value) +// Pin 15 - control (output value) + +//If you use real analog pin for input for PID just uncomment next line with #define REAL_INPUT, if use virtual sources comment this line +//If you use both real will be prefered +//#define REAL_INPUT +// This line define analog pin for read values from real sources +#define AREAD_PIN A1 + + +#define PID_OUTPUT_MIN -512.0 +#define PID_OUTPUT_MAX 512.0 +#define PID_KP 15 +#define PID_KI 10 +#define PID_KD 10 +#define PID_BANG_BANG 40 +#define PID_INTERVAL 100 + + + + +#define I2C_WRITE B00000000 +#define I2C_READ B00001000 +#define I2C_READ_CONTINUOUSLY B00010000 +#define I2C_STOP_READING B00011000 +#define I2C_READ_WRITE_MODE_MASK B00011000 +#define I2C_10BIT_ADDRESS_MODE_MASK B00100000 +#define I2C_END_TX_MASK B01000000 +#define I2C_STOP_TX 1 +#define I2C_RESTART_TX 0 +#define I2C_MAX_QUERIES 8 +#define I2C_REGISTER_NOT_SPECIFIED -1 + +// the minimum interval for sampling analog input +#define MINIMUM_SAMPLING_INTERVAL 1 + + +/*============================================================================== + * GLOBAL VARIABLES + *============================================================================*/ + +#ifdef FIRMATA_SERIAL_FEATURE +SerialFirmata serialFeature; +#endif + +/* analog inputs */ +int analogInputsToReport = 0; // bitwise array to store pin reporting + +/* digital input ports */ +byte reportPINs[TOTAL_PORTS]; // 1 = report this port, 0 = silence +byte previousPINs[TOTAL_PORTS]; // previous 8 bits sent + +/* pins configuration */ +byte portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else + +/* timer variables */ +unsigned long currentMillis; // store the current value from millis() +unsigned long previousMillis; // for comparison with currentMillis +unsigned int samplingInterval = 19; // how often to run the main loop (in ms) + +/* i2c data */ +struct i2c_device_info { + byte addr; + int reg; + byte bytes; + byte stopTX; +}; + + +double currentPoint=0.0, setPoint=0.0, control_value=0.0; + +#ifdef PID + AutoPID myPID(¤tPoint, &setPoint, &control_value, PID_OUTPUT_MIN, PID_OUTPUT_MAX, PID_KP, PID_KI, PID_KD); +#endif + + +/* for i2c read continuous more */ +i2c_device_info query[I2C_MAX_QUERIES]; + +byte i2cRxData[64]; +boolean isI2CEnabled = false; +signed char queryIndex = -1; +// default delay time between i2c read request and Wire.requestFrom() +unsigned int i2cReadDelayTime = 0; + +Servo servos[MAX_SERVOS]; +byte servoPinMap[TOTAL_PINS]; +byte detachedServos[MAX_SERVOS]; +byte detachedServoCount = 0; +byte servoCount = 0; + +boolean isResetting = false; + +// Forward declare a few functions to avoid compiler errors with older versions +// of the Arduino IDE. +void setPinModeCallback(byte, int); +void reportAnalogCallback(byte analogPin, int value); +void sysexCallback(byte, byte, byte*); + +/* utility functions */ +void wireWrite(byte data) +{ +#if ARDUINO >= 100 + Wire.write((byte)data); +#else + Wire.send(data); +#endif +} + +byte wireRead(void) +{ +#if ARDUINO >= 100 + return Wire.read(); +#else + return Wire.receive(); +#endif +} + + /*============================================================================== + * PID + *==============================================================================*/ + +void update_setPoint(int value) +{ + + #ifdef REAL_INPUT + setPoint=(double)analogRead(AREAD_PIN); + #else + setPoint=(double)(value-512); + #endif + } + +void update_currentPoint(int value) +{ + currentPoint=(double)(value-512); +} + +/*============================================================================== + * FUNCTIONS + *============================================================================*/ + +void attachServo(byte pin, int minPulse, int maxPulse) +{ + if (servoCount < MAX_SERVOS) { + // reuse indexes of detached servos until all have been reallocated + if (detachedServoCount > 0) { + servoPinMap[pin] = detachedServos[detachedServoCount - 1]; + if (detachedServoCount > 0) detachedServoCount--; + } else { + servoPinMap[pin] = servoCount; + servoCount++; + } + if (minPulse > 0 && maxPulse > 0) { + servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse); + } else { + servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin)); + } + } else { + Firmata.sendString("Max servos attached"); + } +} + +void detachServo(byte pin) +{ + servos[servoPinMap[pin]].detach(); + // if we're detaching the last servo, decrement the count + // otherwise store the index of the detached servo + if (servoPinMap[pin] == servoCount && servoCount > 0) { + servoCount--; + } else if (servoCount > 0) { + // keep track of detached servos because we want to reuse their indexes + // before incrementing the count of attached servos + detachedServoCount++; + detachedServos[detachedServoCount - 1] = servoPinMap[pin]; + } + + servoPinMap[pin] = 255; +} + +void enableI2CPins() +{ + byte i; + // is there a faster way to do this? would probaby require importing + // Arduino.h to get SCL and SDA pins + for (i = 0; i < TOTAL_PINS; i++) { + if (IS_PIN_I2C(i)) { + // mark pins as i2c so they are ignore in non i2c data requests + setPinModeCallback(i, PIN_MODE_I2C); + } + } + + isI2CEnabled = true; + + Wire.begin(); +} + +/* disable the i2c pins so they can be used for other functions */ +void disableI2CPins() { + isI2CEnabled = false; + // disable read continuous mode for all devices + queryIndex = -1; +} + +void readAndReportData(byte address, int theRegister, byte numBytes, byte stopTX) { + // allow I2C requests that don't require a register read + // for example, some devices using an interrupt pin to signify new data available + // do not always require the register read so upon interrupt you call Wire.requestFrom() + if (theRegister != I2C_REGISTER_NOT_SPECIFIED) { + Wire.beginTransmission(address); + wireWrite((byte)theRegister); + Wire.endTransmission(stopTX); // default = true + // do not set a value of 0 + if (i2cReadDelayTime > 0) { + // delay is necessary for some devices such as WiiNunchuck + delayMicroseconds(i2cReadDelayTime); + } + } else { + theRegister = 0; // fill the register with a dummy value + } + + Wire.requestFrom(address, numBytes); // all bytes are returned in requestFrom + + // check to be sure correct number of bytes were returned by slave + if (numBytes < Wire.available()) { + Firmata.sendString("I2C: Too many bytes received"); + } else if (numBytes > Wire.available()) { + Firmata.sendString("I2C: Too few bytes received"); + } + + i2cRxData[0] = address; + i2cRxData[1] = theRegister; + + for (int i = 0; i < numBytes && Wire.available(); i++) { + i2cRxData[2 + i] = wireRead(); + } + + // send slave address, register and received bytes + Firmata.sendSysex(SYSEX_I2C_REPLY, numBytes + 2, i2cRxData); +} + +void outputPort(byte portNumber, byte portValue, byte forceSend) +{ + // pins not configured as INPUT are cleared to zeros + portValue = portValue & portConfigInputs[portNumber]; + // only send if the value is different than previously sent + if (forceSend || previousPINs[portNumber] != portValue) { + Firmata.sendDigitalPort(portNumber, portValue); + previousPINs[portNumber] = portValue; + } +} + +/* ----------------------------------------------------------------------------- + * check all the active digital inputs for change of state, then add any events + * to the Serial output queue using Serial.print() */ +void checkDigitalInputs(void) +{ + /* Using non-looping code allows constants to be given to readPort(). + * The compiler will apply substantial optimizations if the inputs + * to readPort() are compile-time constants. */ + if (TOTAL_PORTS > 0 && reportPINs[0]) outputPort(0, readPort(0, portConfigInputs[0]), false); + if (TOTAL_PORTS > 1 && reportPINs[1]) outputPort(1, readPort(1, portConfigInputs[1]), false); + if (TOTAL_PORTS > 2 && reportPINs[2]) outputPort(2, readPort(2, portConfigInputs[2]), false); + if (TOTAL_PORTS > 3 && reportPINs[3]) outputPort(3, readPort(3, portConfigInputs[3]), false); + if (TOTAL_PORTS > 4 && reportPINs[4]) outputPort(4, readPort(4, portConfigInputs[4]), false); + if (TOTAL_PORTS > 5 && reportPINs[5]) outputPort(5, readPort(5, portConfigInputs[5]), false); + if (TOTAL_PORTS > 6 && reportPINs[6]) outputPort(6, readPort(6, portConfigInputs[6]), false); + if (TOTAL_PORTS > 7 && reportPINs[7]) outputPort(7, readPort(7, portConfigInputs[7]), false); + if (TOTAL_PORTS > 8 && reportPINs[8]) outputPort(8, readPort(8, portConfigInputs[8]), false); + if (TOTAL_PORTS > 9 && reportPINs[9]) outputPort(9, readPort(9, portConfigInputs[9]), false); + if (TOTAL_PORTS > 10 && reportPINs[10]) outputPort(10, readPort(10, portConfigInputs[10]), false); + if (TOTAL_PORTS > 11 && reportPINs[11]) outputPort(11, readPort(11, portConfigInputs[11]), false); + if (TOTAL_PORTS > 12 && reportPINs[12]) outputPort(12, readPort(12, portConfigInputs[12]), false); + if (TOTAL_PORTS > 13 && reportPINs[13]) outputPort(13, readPort(13, portConfigInputs[13]), false); + if (TOTAL_PORTS > 14 && reportPINs[14]) outputPort(14, readPort(14, portConfigInputs[14]), false); + if (TOTAL_PORTS > 15 && reportPINs[15]) outputPort(15, readPort(15, portConfigInputs[15]), false); +} + +// ----------------------------------------------------------------------------- +/* sets the pin mode to the correct state and sets the relevant bits in the + * two bit-arrays that track Digital I/O and PWM status + */ +void setPinModeCallback(byte pin, int mode) +{ + if (Firmata.getPinMode(pin) == PIN_MODE_IGNORE) + return; + + if (Firmata.getPinMode(pin) == PIN_MODE_I2C && isI2CEnabled && mode != PIN_MODE_I2C) { + // disable i2c so pins can be used for other functions + // the following if statements should reconfigure the pins properly + disableI2CPins(); + } + if (IS_PIN_DIGITAL(pin) && mode != PIN_MODE_SERVO) { + if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) { + detachServo(pin); + } + } + if (IS_PIN_ANALOG(pin)) { + reportAnalogCallback(PIN_TO_ANALOG(pin), mode == PIN_MODE_ANALOG ? 1 : 0); // turn on/off reporting + } + if (IS_PIN_DIGITAL(pin)) { + if (mode == INPUT || mode == PIN_MODE_PULLUP) { + portConfigInputs[pin / 8] |= (1 << (pin & 7)); + } else { + portConfigInputs[pin / 8] &= ~(1 << (pin & 7)); + } + } + Firmata.setPinState(pin, 0); + switch (mode) { + case PIN_MODE_ANALOG: + if (IS_PIN_ANALOG(pin)) { + if (IS_PIN_DIGITAL(pin)) { + pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver +#if ARDUINO <= 100 + // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6 + digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups +#endif + } + Firmata.setPinMode(pin, PIN_MODE_ANALOG); + } + break; + case INPUT: + if (IS_PIN_DIGITAL(pin)) { + pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver +#if ARDUINO <= 100 + // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6 + digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups +#endif + Firmata.setPinMode(pin, INPUT); + } + break; + case PIN_MODE_PULLUP: + if (IS_PIN_DIGITAL(pin)) { + pinMode(PIN_TO_DIGITAL(pin), INPUT_PULLUP); + Firmata.setPinMode(pin, PIN_MODE_PULLUP); + Firmata.setPinState(pin, 1); + } + break; + case OUTPUT: + if (IS_PIN_DIGITAL(pin)) { + if (Firmata.getPinMode(pin) == PIN_MODE_PWM) { + // Disable PWM if pin mode was previously set to PWM. + digitalWrite(PIN_TO_DIGITAL(pin), LOW); + } + pinMode(PIN_TO_DIGITAL(pin), OUTPUT); + Firmata.setPinMode(pin, OUTPUT); + } + break; + case PIN_MODE_PWM: + if (IS_PIN_PWM(pin)) { + pinMode(PIN_TO_PWM(pin), OUTPUT); + analogWrite(PIN_TO_PWM(pin), 0); + Firmata.setPinMode(pin, PIN_MODE_PWM); + } + break; + case PIN_MODE_SERVO: + if (IS_PIN_DIGITAL(pin)) { + Firmata.setPinMode(pin, PIN_MODE_SERVO); + if (servoPinMap[pin] == 255 || !servos[servoPinMap[pin]].attached()) { + // pass -1 for min and max pulse values to use default values set + // by Servo library + attachServo(pin, -1, -1); + } + } + break; + case PIN_MODE_I2C: + if (IS_PIN_I2C(pin)) { + // mark the pin as i2c + // the user must call I2C_CONFIG to enable I2C for a device + Firmata.setPinMode(pin, PIN_MODE_I2C); + } + break; + case PIN_MODE_SERIAL: +#ifdef FIRMATA_SERIAL_FEATURE + serialFeature.handlePinMode(pin, PIN_MODE_SERIAL); +#endif + break; + default: + Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM + } + // TODO: save status to EEPROM here, if changed +} + +/* + * Sets the value of an individual pin. Useful if you want to set a pin value but + * are not tracking the digital port state. + * Can only be used on pins configured as OUTPUT. + * Cannot be used to enable pull-ups on Digital INPUT pins. + */ +void setPinValueCallback(byte pin, int value) +{ + if (pin < TOTAL_PINS && IS_PIN_DIGITAL(pin)) { + if (Firmata.getPinMode(pin) == OUTPUT) { + Firmata.setPinState(pin, value); + digitalWrite(PIN_TO_DIGITAL(pin), value); + } + } +} + +void analogWriteCallback(byte pin, int value) +{ + if (pin < TOTAL_PINS) { + switch (Firmata.getPinMode(pin)) { + case PIN_MODE_SERVO: + if (IS_PIN_DIGITAL(pin)) + servos[servoPinMap[pin]].write(value); + Firmata.setPinState(pin, value); + break; + case PIN_MODE_PWM: + if (IS_PIN_PWM(pin)) + //analogWrite(PIN_TO_PWM(pin), value); + switch(pin) + { + case 5: + update_currentPoint(value); + break; + case 6: + update_setPoint(value); + } + + Firmata.setPinState(pin, value); + break; + } + } +} + +void digitalWriteCallback(byte port, int value) +{ + byte pin, lastPin, pinValue, mask = 1, pinWriteMask = 0; + + if (port < TOTAL_PORTS) { + // create a mask of the pins on this port that are writable. + lastPin = port * 8 + 8; + if (lastPin > TOTAL_PINS) lastPin = TOTAL_PINS; + for (pin = port * 8; pin < lastPin; pin++) { + // do not disturb non-digital pins (eg, Rx & Tx) + if (IS_PIN_DIGITAL(pin)) { + // do not touch pins in PWM, ANALOG, SERVO or other modes + if (Firmata.getPinMode(pin) == OUTPUT || Firmata.getPinMode(pin) == INPUT) { + pinValue = ((byte)value & mask) ? 1 : 0; + if (Firmata.getPinMode(pin) == OUTPUT) { + pinWriteMask |= mask; + } else if (Firmata.getPinMode(pin) == INPUT && pinValue == 1 && Firmata.getPinState(pin) != 1) { + // only handle INPUT here for backwards compatibility +#if ARDUINO > 100 + pinMode(pin, INPUT_PULLUP); +#else + // only write to the INPUT pin to enable pullups if Arduino v1.0.0 or earlier + pinWriteMask |= mask; +#endif + } + Firmata.setPinState(pin, pinValue); + } + } + mask = mask << 1; + } + writePort(port, (byte)value, pinWriteMask); + } +} + + +// ----------------------------------------------------------------------------- +/* sets bits in a bit array (int) to toggle the reporting of the analogIns + */ +//void FirmataClass::setAnalogPinReporting(byte pin, byte state) { +//} +void reportAnalogCallback(byte analogPin, int value) +{ + if (analogPin < TOTAL_ANALOG_PINS) { + if (value == 0) { + analogInputsToReport = analogInputsToReport & ~ (1 << analogPin); + } else { + analogInputsToReport = analogInputsToReport | (1 << analogPin); + // prevent during system reset or all analog pin values will be reported + // which may report noise for unconnected analog pins + if (!isResetting) { + // Send pin value immediately. This is helpful when connected via + // ethernet, wi-fi or bluetooth so pin states can be known upon + // reconnecting. + Firmata.sendAnalog(analogPin, analogRead(analogPin)); + } + } + } + // TODO: save status to EEPROM here, if changed +} + +void reportDigitalCallback(byte port, int value) +{ + if (port < TOTAL_PORTS) { + reportPINs[port] = (byte)value; + // Send port value immediately. This is helpful when connected via + // ethernet, wi-fi or bluetooth so pin states can be known upon + // reconnecting. + if (value) outputPort(port, readPort(port, portConfigInputs[port]), true); + } + // do not disable analog reporting on these 8 pins, to allow some + // pins used for digital, others analog. Instead, allow both types + // of reporting to be enabled, but check if the pin is configured + // as analog when sampling the analog inputs. Likewise, while + // scanning digital pins, portConfigInputs will mask off values from any + // pins configured as analog +} + +/*============================================================================== + * SYSEX-BASED commands + *============================================================================*/ + +void sysexCallback(byte command, byte argc, byte *argv) +{ + byte mode; + byte stopTX; + byte slaveAddress; + byte data; + int slaveRegister; + unsigned int delayTime; + + switch (command) { + case I2C_REQUEST: + mode = argv[1] & I2C_READ_WRITE_MODE_MASK; + if (argv[1] & I2C_10BIT_ADDRESS_MODE_MASK) { + Firmata.sendString("10-bit addressing not supported"); + return; + } + else { + slaveAddress = argv[0]; + } + + // need to invert the logic here since 0 will be default for client + // libraries that have not updated to add support for restart tx + if (argv[1] & I2C_END_TX_MASK) { + stopTX = I2C_RESTART_TX; + } + else { + stopTX = I2C_STOP_TX; // default + } + + switch (mode) { + case I2C_WRITE: + Wire.beginTransmission(slaveAddress); + for (byte i = 2; i < argc; i += 2) { + data = argv[i] + (argv[i + 1] << 7); + wireWrite(data); + } + Wire.endTransmission(); + delayMicroseconds(70); + break; + case I2C_READ: + if (argc == 6) { + // a slave register is specified + slaveRegister = argv[2] + (argv[3] << 7); + data = argv[4] + (argv[5] << 7); // bytes to read + } + else { + // a slave register is NOT specified + slaveRegister = I2C_REGISTER_NOT_SPECIFIED; + data = argv[2] + (argv[3] << 7); // bytes to read + } + readAndReportData(slaveAddress, (int)slaveRegister, data, stopTX); + break; + case I2C_READ_CONTINUOUSLY: + if ((queryIndex + 1) >= I2C_MAX_QUERIES) { + // too many queries, just ignore + Firmata.sendString("too many queries"); + break; + } + if (argc == 6) { + // a slave register is specified + slaveRegister = argv[2] + (argv[3] << 7); + data = argv[4] + (argv[5] << 7); // bytes to read + } + else { + // a slave register is NOT specified + slaveRegister = (int)I2C_REGISTER_NOT_SPECIFIED; + data = argv[2] + (argv[3] << 7); // bytes to read + } + queryIndex++; + query[queryIndex].addr = slaveAddress; + query[queryIndex].reg = slaveRegister; + query[queryIndex].bytes = data; + query[queryIndex].stopTX = stopTX; + break; + case I2C_STOP_READING: + byte queryIndexToSkip; + // if read continuous mode is enabled for only 1 i2c device, disable + // read continuous reporting for that device + if (queryIndex <= 0) { + queryIndex = -1; + } else { + queryIndexToSkip = 0; + // if read continuous mode is enabled for multiple devices, + // determine which device to stop reading and remove it's data from + // the array, shifiting other array data to fill the space + for (byte i = 0; i < queryIndex + 1; i++) { + if (query[i].addr == slaveAddress) { + queryIndexToSkip = i; + break; + } + } + + for (byte i = queryIndexToSkip; i < queryIndex + 1; i++) { + if (i < I2C_MAX_QUERIES) { + query[i].addr = query[i + 1].addr; + query[i].reg = query[i + 1].reg; + query[i].bytes = query[i + 1].bytes; + query[i].stopTX = query[i + 1].stopTX; + } + } + queryIndex--; + } + break; + default: + break; + } + break; + case I2C_CONFIG: + delayTime = (argv[0] + (argv[1] << 7)); + + if (argc > 1 && delayTime > 0) { + i2cReadDelayTime = delayTime; + } + + if (!isI2CEnabled) { + enableI2CPins(); + } + + break; + case SERVO_CONFIG: + if (argc > 4) { + // these vars are here for clarity, they'll optimized away by the compiler + byte pin = argv[0]; + int minPulse = argv[1] + (argv[2] << 7); + int maxPulse = argv[3] + (argv[4] << 7); + + if (IS_PIN_DIGITAL(pin)) { + if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) { + detachServo(pin); + } + attachServo(pin, minPulse, maxPulse); + setPinModeCallback(pin, PIN_MODE_SERVO); + } + } + break; + case SAMPLING_INTERVAL: + if (argc > 1) { + samplingInterval = argv[0] + (argv[1] << 7); + if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) { + samplingInterval = MINIMUM_SAMPLING_INTERVAL; + } + } else { + //Firmata.sendString("Not enough data"); + } + break; + case EXTENDED_ANALOG: + if (argc > 1) { + int val = argv[1]; + if (argc > 2) val |= (argv[2] << 7); + if (argc > 3) val |= (argv[3] << 14); + analogWriteCallback(argv[0], val); + } + break; + case CAPABILITY_QUERY: + Firmata.write(START_SYSEX); + Firmata.write(CAPABILITY_RESPONSE); + for (byte pin = 0; pin < TOTAL_PINS; pin++) { + if (IS_PIN_DIGITAL(pin)) { + Firmata.write((byte)INPUT); + Firmata.write(1); + Firmata.write((byte)PIN_MODE_PULLUP); + Firmata.write(1); + Firmata.write((byte)OUTPUT); + Firmata.write(1); + } + if (IS_PIN_ANALOG(pin)) { + Firmata.write(PIN_MODE_ANALOG); + Firmata.write(10); // 10 = 10-bit resolution + } + if (IS_PIN_PWM(pin)) { + Firmata.write(PIN_MODE_PWM); + Firmata.write(DEFAULT_PWM_RESOLUTION); + } + if (IS_PIN_DIGITAL(pin)) { + Firmata.write(PIN_MODE_SERVO); + Firmata.write(14); + } + if (IS_PIN_I2C(pin)) { + Firmata.write(PIN_MODE_I2C); + Firmata.write(1); // TODO: could assign a number to map to SCL or SDA + } +#ifdef FIRMATA_SERIAL_FEATURE + serialFeature.handleCapability(pin); +#endif + Firmata.write(127); + } + Firmata.write(END_SYSEX); + break; + case PIN_STATE_QUERY: + if (argc > 0) { + byte pin = argv[0]; + Firmata.write(START_SYSEX); + Firmata.write(PIN_STATE_RESPONSE); + Firmata.write(pin); + if (pin < TOTAL_PINS) { + Firmata.write(Firmata.getPinMode(pin)); + Firmata.write((byte)Firmata.getPinState(pin) & 0x7F); + if (Firmata.getPinState(pin) & 0xFF80) Firmata.write((byte)(Firmata.getPinState(pin) >> 7) & 0x7F); + if (Firmata.getPinState(pin) & 0xC000) Firmata.write((byte)(Firmata.getPinState(pin) >> 14) & 0x7F); + } + Firmata.write(END_SYSEX); + } + break; + case ANALOG_MAPPING_QUERY: + Firmata.write(START_SYSEX); + Firmata.write(ANALOG_MAPPING_RESPONSE); + for (byte pin = 0; pin < TOTAL_PINS; pin++) { + Firmata.write(IS_PIN_ANALOG(pin) ? PIN_TO_ANALOG(pin) : 127); + } + Firmata.write(END_SYSEX); + break; + + case SERIAL_MESSAGE: +#ifdef FIRMATA_SERIAL_FEATURE + serialFeature.handleSysex(command, argc, argv); +#endif + break; + } +} + +/*============================================================================== + * SETUP() + *============================================================================*/ + +void systemResetCallback() +{ + isResetting = true; + + // initialize a defalt state + // TODO: option to load config from EEPROM instead of default + +#ifdef FIRMATA_SERIAL_FEATURE + serialFeature.reset(); +#endif + + if (isI2CEnabled) { + disableI2CPins(); + } + + for (byte i = 0; i < TOTAL_PORTS; i++) { + reportPINs[i] = false; // by default, reporting off + portConfigInputs[i] = 0; // until activated + previousPINs[i] = 0; + } + + for (byte i = 0; i < TOTAL_PINS; i++) { + // pins with analog capability default to analog input + // otherwise, pins default to digital output + if (IS_PIN_ANALOG(i)) { + // turns off pullup, configures everything + setPinModeCallback(i, PIN_MODE_ANALOG); + } else if (IS_PIN_DIGITAL(i)) { + // sets the output to 0, configures portConfigInputs + setPinModeCallback(i, OUTPUT); + } + + servoPinMap[i] = 255; + } + // by default, do not report any analog inputs + analogInputsToReport = 0; + + detachedServoCount = 0; + servoCount = 0; + + /* send digital inputs to set the initial state on the host computer, + * since once in the loop(), this firmware will only send on change */ + /* + TODO: this can never execute, since no pins default to digital input + but it will be needed when/if we support EEPROM stored config + for (byte i=0; i < TOTAL_PORTS; i++) { + outputPort(i, readPort(i, portConfigInputs[i]), true); + } + */ + isResetting = false; +} + +void setup() +{ + Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_MINOR_VERSION); + + Firmata.attach(ANALOG_MESSAGE, analogWriteCallback); + Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback); + Firmata.attach(REPORT_ANALOG, reportAnalogCallback); + Firmata.attach(REPORT_DIGITAL, reportDigitalCallback); + Firmata.attach(SET_PIN_MODE, setPinModeCallback); + Firmata.attach(SET_DIGITAL_PIN_VALUE, setPinValueCallback); + Firmata.attach(START_SYSEX, sysexCallback); + Firmata.attach(SYSTEM_RESET, systemResetCallback); + + // to use a port other than Serial, such as Serial1 on an Arduino Leonardo or Mega, + // Call begin(baud) on the alternate serial port and pass it to Firmata to begin like this: + // Serial1.begin(57600); + // Firmata.begin(Serial1); + // However do not do this if you are using SERIAL_MESSAGE + + Firmata.begin(57600); + while (!Serial) { + ; // wait for serial port to connect. Needed for ATmega32u4-based boards and Arduino 101 + } + + systemResetCallback(); // reset to default config + + #ifdef PID + //if temperature is more than 4 below or above setpoint, OUTPUT will be set to min or max respectively + myPID.setBangBang(PID_BANG_BANG); + //set PID update interval to + myPID.setTimeStep(PID_INTERVAL); + #endif +} + +/*============================================================================== + * LOOP() + *============================================================================*/ +void loop() +{ + byte pin, analogPin; + + /* DIGITALREAD - as fast as possible, check for changes and output them to the + * FTDI buffer using Serial.print() */ + checkDigitalInputs(); + + /* STREAMREAD - processing incoming messagse as soon as possible, while still + * checking digital inputs. */ + while (Firmata.available()) + Firmata.processInput(); + + #ifdef PID + #ifdef REAL_INPUT + update_setPoint(1); + #endif + myPID.run(); //call every loop, updates automatically at certain time interval + #endif + + // TODO - ensure that Stream buffer doesn't go over 60 bytes + + currentMillis = millis(); + if (currentMillis - previousMillis > samplingInterval) { + previousMillis += samplingInterval; + /* ANALOGREAD - do all analogReads() at the configured sampling interval */ + for (pin = 0; pin < TOTAL_PINS; pin++) { + if (IS_PIN_ANALOG(pin) && Firmata.getPinMode(pin) == PIN_MODE_ANALOG) { + analogPin = PIN_TO_ANALOG(pin); + if (analogInputsToReport & (1 << analogPin)) { + #ifdef PID + Firmata.sendAnalog(analogPin, (int)(control_value+512.0)); + #else + Firmata.sendAnalog(analogPin, analogRead(analogPin)); + #endif + } + } + } + // report i2c data for all device with read continuous mode enabled + if (queryIndex > -1) { + for (byte i = 0; i < queryIndex + 1; i++) { + readAndReportData(query[i].addr, query[i].reg, query[i].bytes, query[i].stopTX); + } + } + } + +#ifdef FIRMATA_SERIAL_FEATURE + serialFeature.update(); +#endif +} diff --git a/OpenModelicaArduino/Firmware/Tiva C/StandardFirmata.zip b/OpenModelicaArduino/Firmware/Tiva C/StandardFirmata.zip Binary files differnew file mode 100644 index 0000000..8907dc5 --- /dev/null +++ b/OpenModelicaArduino/Firmware/Tiva C/StandardFirmata.zip diff --git a/OpenModelicaArduino/Resources/Include/modelPlugFirmata.h b/OpenModelicaArduino/Resources/Include/modelPlugFirmata.h index e5007db..8fd513b 100644..100755 --- a/OpenModelicaArduino/Resources/Include/modelPlugFirmata.h +++ b/OpenModelicaArduino/Resources/Include/modelPlugFirmata.h @@ -10,6 +10,7 @@ typedef unsigned char bool; // GCC #define EXPORT __attribute__((visibility("default"))) #endif + #ifdef _cplusplus extern "C" { #endif @@ -21,7 +22,7 @@ EXPORT void updateBoard(int id); EXPORT int getBoardId(void* object); -EXPORT double readAnalogPin (int pin, double min, double max, double init, int id); +EXPORT double readAnalogPin (int pin, double min, double max, double init, int id, int adcResolution); EXPORT int readDigitalPin (int pin, int init, int id); EXPORT void writeAnalogPin (int pin, int id,double value); EXPORT void writeDigitalPin(int pin, int id,int value); diff --git a/OpenModelicaArduino/Resources/Include/modelPlugFirmata.h~ b/OpenModelicaArduino/Resources/Include/modelPlugFirmata.h~ new file mode 100755 index 0000000..8fd513b --- /dev/null +++ b/OpenModelicaArduino/Resources/Include/modelPlugFirmata.h~ @@ -0,0 +1,33 @@ +#ifndef MODELPLUG_H +#define MODELPLUG_H + +typedef unsigned char bool; + +#if defined(_MSC_VER) + // Microsoft VC++ + #define EXPORT __declspec(dllexport) +#else + // GCC + #define EXPORT __attribute__((visibility("default"))) +#endif + +#ifdef _cplusplus +extern "C" { +#endif + +EXPORT void* boardConstructor(char* port,bool showCapabilitites,int samplingMs,int baudRate,bool dtr); +EXPORT void boardDestructor(void* object); + +EXPORT void updateBoard(int id); +EXPORT int getBoardId(void* object); + + +EXPORT double readAnalogPin (int pin, double min, double max, double init, int id, int adcResolution); +EXPORT int readDigitalPin (int pin, int init, int id); +EXPORT void writeAnalogPin (int pin, int id,double value); +EXPORT void writeDigitalPin(int pin, int id,int value); +EXPORT void writeServoPin (int pin, int id,double value, int min, int max); +#ifdef _cplusplus +} +#endif +#endif diff --git a/OpenModelicaArduino/Resources/Library/linux64/libmodelPlugFirmata.so b/OpenModelicaArduino/Resources/Library/linux64/libmodelPlugFirmata.so Binary files differindex 241635b..22d3c01 100755 --- a/OpenModelicaArduino/Resources/Library/linux64/libmodelPlugFirmata.so +++ b/OpenModelicaArduino/Resources/Library/linux64/libmodelPlugFirmata.so diff --git a/OpenModelicaArduino/Source/libmodelPlugFirmata.so b/OpenModelicaArduino/Source/libmodelPlugFirmata.so Binary files differindex f4cd733..22d3c01 100755 --- a/OpenModelicaArduino/Source/libmodelPlugFirmata.so +++ b/OpenModelicaArduino/Source/libmodelPlugFirmata.so diff --git a/OpenModelicaArduino/Source/modelPlugFirmata.h b/OpenModelicaArduino/Source/modelPlugFirmata.h index d4249f9..3aa1034 100755 --- a/OpenModelicaArduino/Source/modelPlugFirmata.h +++ b/OpenModelicaArduino/Source/modelPlugFirmata.h @@ -19,7 +19,7 @@ EXPORT void updateBoard(int id); EXPORT int getBoardId(void* object); -EXPORT double readAnalogPin (int pin, double min, double max, double init, int id); +EXPORT double readAnalogPin (int pin, double min, double max, double init, int id, int adcResolution); EXPORT int readDigitalPin (int pin, int init, int id); EXPORT void writeAnalogPin (int pin, int id,double value); EXPORT void writeDigitalPin(int pin, int id,int value); diff --git a/OpenModelicaArduino/package.mo b/OpenModelicaArduino/package.mo index 15c4f47..b8addeb 100644 --- a/OpenModelicaArduino/package.mo +++ b/OpenModelicaArduino/package.mo @@ -85,8 +85,9 @@ model AnalogInput "Reads an analog signal from the specified pin" parameter Real InitValue = 0 "Initial value until the board responds" annotation(Dialog(group = "Initialization")); parameter Real MinValue = 0 "Minimum value when the ADC reads 0" annotation(Dialog(group = "Scaling")); parameter Real MaxValue = 1 "Maximum value when the ADC reads 1024" annotation(Dialog(group = "Scaling")); + parameter Integer adcResolution = 10 "Resolution of the ADC your board is using" annotation(Dialog(group = "Scaling")); equation - y = OpenModelicaArduino.Internal.ExternalFunctions.readAnalogPin(Pin, MinValue, MaxValue, InitValue, pinConnector); + y = OpenModelicaArduino.Internal.ExternalFunctions.readAnalogPin(Pin, MinValue, MaxValue, InitValue, pinConnector, adcResolution); annotation(Documentation(info = "<html><p>Reads an analog signal from the specified pin. This component uses the 'analogRead' function of Arduino.</p> <p><strong>Signal Range:</strong> By default, the signal goes from 0 to 1 where 0 represents no voltage and 1 the voltage reference of the ADC in the board. This signal can be scaled by setting the 'MinValue' and 'MaxValue' parameters.</p> <p>Not all pins support analog input. Check the documentation of your board to find the pin capabilities.</p> @@ -110,6 +111,14 @@ end AnalogInput; + + + + + + + + model AnalogOutput "Writes an analog signal to the specified pin" extends OpenModelicaArduino.Internal.Icons.Block; Modelica.Blocks.Interfaces.RealInput u annotation(Placement(visible = true, transformation(origin = {-110, -0}, extent = {{-25, -25}, {25, 25}}, rotation = 0), iconTransformation(origin = {-100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); @@ -186,6 +195,7 @@ end AnalogOutput; end Servo; + annotation(Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(visible = true, origin = {-30, 30}, fillColor = {250, 105, 0}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-25, -25}, {25, 25}}, radius = 50), Rectangle(visible = true, origin = {30, 30}, fillColor = {243, 134, 48}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-25, -25}, {25, 25}}, radius = 50), Rectangle(visible = true, origin = {-30, -30}, fillColor = {167, 219, 216}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-25, -25}, {25, 25}}, radius = 50), Rectangle(visible = true, origin = {30, -30}, fillColor = {105, 210, 231}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-25, -25}, {25, 25}}, radius = 50)}), Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5}))); end Pins; @@ -319,6 +329,7 @@ end customBoard; + annotation(Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(visible = true, origin = {12.096, 9.352}, fillColor = {0, 128, 0}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-85.75100000000001, 70.648}, {-102.737, 66.761}, {-105.751, 50.648}, {-105.751, -69.352}, {-99.47499999999999, -85.465}, {-85.75100000000001, -89.352}, {74.249, -89.352}, {81.746, -83.29000000000001}, {86.32899999999999, -74.352}, {84.249, 34.141}, {82.185, 50.648}, {74.732, 67.486}, {52.373, 70.648}, {31.729, 70.648}}, smooth = Smooth.Bezier), Rectangle(visible = true, origin = {-69.67700000000001, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(visible = true, origin = {-77.83199999999999, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Rectangle(visible = true, origin = {24.177, 70}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-54.177, -6.186}, {54.177, 6.186}}, radius = 10), Rectangle(visible = true, origin = {23.906, -63.814}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-64.17700000000001, -6.186}, {64.17700000000001, 6.186}}, radius = 10), Rectangle(visible = true, origin = {21.91, 0}, fillPattern = FillPattern.Solid, extent = {{-28.09, -25}, {28.09, 25}}, radius = 10), Rectangle(visible = true, origin = {78.083, -63.624}, fillColor = {250, 105, 0}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {68.083, -63.624}, fillColor = {243, 134, 48}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {58.083, -63.624}, fillColor = {250, 105, 0}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {48.083, -63.624}, fillColor = {243, 134, 48}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {38.083, -63.624}, fillColor = {250, 105, 0}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {28.083, -63.624}, fillColor = {243, 134, 48}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {70.00100000000001, 70}, fillColor = {167, 219, 216}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {60.001, 70}, fillColor = {105, 210, 231}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {50.001, 70}, fillColor = {167, 219, 216}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {40.001, 70}, fillColor = {105, 210, 231}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {30.001, 70}, fillColor = {167, 219, 216}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {20.001, 70}, fillColor = {105, 210, 231}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {10.001, 70}, fillColor = {167, 219, 216}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {0.001, 70}, fillColor = {105, 210, 231}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {-9.999000000000001, 70}, fillColor = {167, 219, 216}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {-19.999, 70}, fillColor = {105, 210, 231}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {-31.917, -63.624}, fillColor = {204, 208, 224}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {-21.917, -63.624}, fillColor = {204, 208, 224}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {-11.917, -63.624}, fillColor = {204, 208, 224}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {-1.917, -63.624}, fillColor = {204, 208, 224}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50)}), Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5}))); end Boards; @@ -328,7 +339,7 @@ end customBoard; model BlinkLed "Basic example of blinking an LED" extends Modelica.Icons.Example; replaceable OpenModelicaArduino.Boards.Arduino arduino(Port = "/dev/ttyACM0", ShowPinCapabilities = true, UseDTR = false) annotation(Placement(visible = true, transformation(origin = {30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - OpenModelicaArduino.Pins.DigitalOutput digitalOutput(Pin = 9) annotation(Placement(visible = true, transformation(origin = {0, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalOutput digitalOutput(Pin = 30) annotation(Placement(visible = true, transformation(origin = {0, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( Placement(visible = true, transformation(origin = {35, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); Modelica.Blocks.Sources.BooleanPulse booleanPulse annotation( @@ -374,13 +385,18 @@ end BlinkLed; model DimmingLed "Changing the intensity of an LED" extends Modelica.Icons.Example; OpenModelicaArduino.Boards.Arduino arduino(Port = "/dev/ttyACM0", ShowPinCapabilities = true) annotation(Placement(visible = true, transformation(origin = {30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Pins.AnalogOutput analogOutput(Pin = 9) annotation(Placement(visible = true, transformation(origin = {0, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica.Blocks.Sources.Sine sine(amplitude = 1 / 2, freqHz = 1 / 4, offset = 1 / 2) annotation(Placement(visible = true, transformation(origin = {-30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Pins.AnalogOutput analogOutput(MaxValue = 512, MinValue = -512, Pin = 30) annotation(Placement(visible = true, transformation(origin = {0, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( - Placement(visible = true, transformation(origin = {35, 10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Placement(visible = true, transformation(origin = {35, 25}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaArduino.Pins.AnalogInput analogInput1(MaxValue = 512, MinValue = -512, Pin = 23) annotation( + Placement(visible = true, transformation(origin = {-30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); equation - connect(sine.y, analogOutput.u) annotation(Line(visible = true, origin = {-14.5, -10}, points = {{-4.5, 0}, {4.5, 0}}, color = {0, 0, 127})); - connect(analogOutput.pinConnector, arduino.boardConnector) annotation(Line(visible = true, origin = {20, -10}, points = {{-10, -0}, {10, 0}})); + connect(analogInput1.pinConnector, arduino.boardConnector) annotation( + Line(points = {{-40, -10}, {-45, -10}, {-45, -40}, {30, -40}, {30, -10}, {30, -10}})); + connect(analogInput1.y, analogOutput.u) annotation( + Line(points = {{-20, -10}, {-10, -10}, {-10, -10}, {-10, -10}}, color = {0, 0, 127})); + connect(analogOutput.pinConnector, arduino.boardConnector) annotation( + Line(visible = true, origin = {20, -10}, points = {{-10, -0}, {10, 0}})); annotation(experiment(Interval = 0.001, __Wolfram_SynchronizeWithRealTime = true), Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = false, initialScale = 0.1, grid = {10, 10})), preferredView = "diagram", Documentation(info = "<html><h4>Hardware Components Used</h4> <ul> <li>1 Arduino board</li> @@ -455,10 +471,10 @@ end BlinkLed; model SimpleONOFF "A simple On/Off controller" extends Modelica.Icons.Example; OpenModelicaArduino.Boards.Arduino arduino(Port = "/dev/ttyACM0") annotation(Placement(visible = true, transformation(origin = {0, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - OpenModelicaArduino.Pins.AnalogInput analogInput1( MaxValue = 3.3 * 100,Pin = 16) annotation(Placement(visible = true, transformation(origin = {30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaArduino.Pins.AnalogInput analogInput1(MaxValue = 3.3 * 100,Pin = 23, adcResolution = 12) annotation(Placement(visible = true, transformation(origin = {30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); Modelica.Blocks.Sources.Constant Reference(k = 40) annotation(Placement(visible = true, transformation(origin = {35, -25}, extent = {{-10, -10}, {10, 10}}, rotation = -180))); Modelica.Blocks.Math.Add add1(k2 = +1, k1 = -1) annotation(Placement(visible = true, transformation(origin = {-0, -25}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); - Pins.DigitalOutput digitalOutput(Pin = 10) annotation(Placement(visible = true, transformation(origin = {-30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Pins.DigitalOutput digitalOutput(Pin = 30) annotation(Placement(visible = true, transformation(origin = {-30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); Modelica.Blocks.Logical.Hysteresis hysteresis(uLow = -1, uHigh = 1) annotation(Placement(visible = true, transformation(origin = {-30, -25}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( Placement(visible = true, transformation(origin = {42.5, 42.5}, extent = {{-7.5, -7.5}, {7.5, 7.5}}, rotation = 0))); @@ -488,6 +504,17 @@ end BlinkLed; + + + + + + + + + + + model UsingArduinoLeonardo "Basic example of blinking an LED" extends OpenModelicaArduino.Examples.BlinkLed(redeclare ModelPlug.Boards.ArduinoLeonardo arduino); annotation(experiment(StopTime = 10, Interval = 0.001, __Wolfram_SynchronizeWithRealTime = true), Documentation(info = "<html><h4>Hardware Components Used </h4> @@ -561,17 +588,17 @@ end BlinkLed; Placement(visible = true, transformation(origin = {13, 29}, extent = {{-25, -25}, {25, 25}}, rotation = 0))); Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( Placement(visible = true, transformation(origin = {54, 78}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - OpenModelicaArduino.Pins.AnalogOutput analogOutput1(MaxValue = 255, Pin = 9) annotation( + OpenModelicaArduino.Pins.AnalogOutput analogOutput1(MaxValue = 255, Pin = 30) annotation( Placement(visible = true, transformation(origin = {-57, 29}, extent = {{-15, -15}, {15, 15}}, rotation = 0))); - OpenModelicaArduino.Pins.DigitalOutput digitalOutput1(Pin = 6) annotation( + OpenModelicaArduino.Pins.DigitalOutput digitalOutput1(Pin = 8) annotation( Placement(visible = true, transformation(origin = {-45, -23}, extent = {{-13, -13}, {13, 13}}, rotation = 90))); - OpenModelicaArduino.Pins.DigitalOutput digitalOutput2(Pin = 7) annotation( + OpenModelicaArduino.Pins.DigitalOutput digitalOutput2(Pin = 9) annotation( Placement(visible = true, transformation(origin = {50, -28}, extent = {{-10, -10}, {10, 10}}, rotation = 90))); Modelica.Blocks.Sources.BooleanConstant booleanConstant1(k = true) annotation( Placement(visible = true, transformation(origin = {-70, -70}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); Modelica.Blocks.Sources.BooleanConstant booleanConstant2(k = false) annotation( Placement(visible = true, transformation(origin = {14, -74}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - OpenModelicaArduino.Pins.AnalogInput analogInput1(Pin = 16) annotation( + OpenModelicaArduino.Pins.AnalogInput analogInput1(MaxValue = 1024, Pin = 23) annotation( Placement(visible = true, transformation(origin = {-56, 74}, extent = {{-14, -14}, {14, 14}}, rotation = 0))); equation connect(analogInput1.y, analogOutput1.u) annotation( @@ -681,13 +708,21 @@ end BlinkLed; input Real max; input Real init; input Integer board; + input Integer adcResolution; output Real value; - external "C" value = readAnalogPin(pin, min, max, init, board) annotation(Include = "#include \"modelPlugFirmata.h\"", Library = "modelPlugFirmata", IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include", LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library"); + external "C" value = readAnalogPin(pin, min, max, init, board, adcResolution) annotation(Include = "#include \"modelPlugFirmata.h\"", Library = "modelPlugFirmata", IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include", LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library"); end readAnalogPin; + + + + + + + class FirmataBoardObject extends ExternalObject; @@ -756,6 +791,7 @@ end BlinkLed; external "C" writeServoPin(pin, board, value, MinPulse, MaxPulse) annotation(Include = "#include \"modelPlugFirmata.h\"", Library = "modelPlugFirmata", IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include", LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library"); end writeServoPin; + annotation(Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Text(visible = true, origin = {11.425, 9.596}, extent = {{-101.424, -59.596}, {78.57599999999999, 40.404}}, textString = "EF")}), Documentation(info = "", revisions = ""), Diagram(coordinateSystem(extent = {{-148.5, 105}, {148.5, -105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10})), Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}), graphics = {Rectangle(visible = true, fillColor = {209, 209, 209}, fillPattern = FillPattern.Solid, extent = {{-100, -100}, {75, 75}}), Polygon(visible = true, fillColor = {236, 236, 236}, fillPattern = FillPattern.Solid, points = {{-100, 75}, {-75, 100}, {100, 100}, {75, 75}}), Polygon(visible = true, fillColor = {177, 177, 177}, fillPattern = FillPattern.Solid, points = {{75, -100}, {75, 75}, {100, 100}, {100, -75}}), Text(visible = true, extent = {{-95.95, -91.88}, {63.97, 71.52}}, textString = "C")})); end ExternalFunctions; @@ -884,4 +920,4 @@ end BlinkLed; <p> </p> <p> </p></html>", revisions = ""), version = "1.2", Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5}), graphics = {Rectangle(visible = true, fillColor = {190, 53, 19}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -100}, {100, 100}}, radius = 25), Polygon(visible = true, origin = {-17.857, -4.643}, fillColor = {128, 128, 128}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{42.857, 59.643}, {42.857, 64.643}, {37.857, 69.643}, {32.857, 69.643}, {-17.143, 69.643}, {-42.143, 54.643}, {-57.143, 34.643}, {-65.22199999999999, 4.643}, {-57.143, -25.357}, {-42.143, -45.357}, {-17.143, -60.357}, {32.857, -60.357}, {37.857, -60.357}, {42.857, -55.357}, {42.857, -50.357}}, smooth = Smooth.Bezier), Polygon(visible = true, origin = {-17.857, -4.643}, fillColor = {255, 255, 255}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{42.857, 59.643}, {42.857, 64.643}, {37.857, 69.643}, {30.028, 54.643}, {-12.143, 59.643}, {-37.143, 44.643}, {-50.141, 26.339}, {-55.168, 4.643}, {-52.143, -20.357}, {-42.143, -42.453}, {-17.143, -60.357}, {32.857, -60.357}, {37.857, -60.357}, {42.857, -55.357}, {42.857, -50.357}}, smooth = Smooth.Bezier), Rectangle(visible = true, origin = {50, 27.5}, lineColor = {128, 128, 128}, fillColor = {255, 255, 255}, fillPattern = FillPattern.HorizontalCylinder, extent = {{-25, -12.5}, {25, 12.5}}), Rectangle(visible = true, origin = {50, -27.5}, lineColor = {128, 128, 128}, fillColor = {255, 255, 255}, fillPattern = FillPattern.HorizontalCylinder, extent = {{-25, -12.5}, {25, 12.5}}), Polygon(visible = true, origin = {-23.077, -0.385}, fillColor = {191, 191, 191}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{38.077, 50.385}, {38.077, 55.385}, {33.077, 55.385}, {-6.923, 55.385}, {-26.923, 45.385}, {-41.923, 30.385}, {-50.213, 0.385}, {-41.923, -29.615}, {-26.923, -44.615}, {-6.923, -54.615}, {33.077, -54.615}, {38.077, -54.615}, {38.077, -49.615}}, smooth = Smooth.Bezier), Polygon(visible = true, origin = {-17.857, -4.643}, lineColor = {128, 128, 128}, fillColor = {128, 128, 128}, points = {{42.857, 59.643}, {42.857, 64.643}, {37.857, 69.643}, {32.857, 69.643}, {-17.143, 69.643}, {-42.143, 54.643}, {-57.143, 34.643}, {-65.22199999999999, 4.643}, {-57.143, -25.357}, {-42.143, -45.357}, {-17.143, -60.357}, {32.857, -60.357}, {37.857, -60.357}, {42.857, -55.357}, {42.857, -50.357}}, smooth = Smooth.Bezier)}), Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5})), uses(Modelica_DeviceDrivers(version = "1.5.0"), Modelica(version = "3.2.2"))); -end OpenModelicaArduino;
\ No newline at end of file +end OpenModelicaArduino; |