From 44ad9efa7e729739cde3103d8fc1e475efa2a923 Mon Sep 17 00:00:00 2001 From: Sumeet Koli Date: Mon, 18 Jun 2018 14:46:14 +0530 Subject: Change in directory structure --- ArduinoExamples.mo | 477 +++++++ Boards.mo | 1464 +++++++++++++++++++ Examples.mo | 374 +++++ Firmware/Arduino/pidmata3/pidmata3.ino | 904 ++++++++++++ Firmware/Tiva C/StandardFirmata.zip | Bin 0 -> 858425 bytes Firmware/Tiva C/StandardFirmata/Boards.h | 566 ++++++++ Firmware/Tiva C/StandardFirmata/Firmata.cpp | 554 ++++++++ Firmware/Tiva C/StandardFirmata/Firmata.h | 180 +++ Firmware/Tiva C/StandardFirmata/FirmataConstants.h | 97 ++ Firmware/Tiva C/StandardFirmata/FirmataDefines.h | 283 ++++ .../Tiva C/StandardFirmata/FirmataMarshaller.cpp | 431 ++++++ .../Tiva C/StandardFirmata/FirmataMarshaller.h | 75 + Firmware/Tiva C/StandardFirmata/FirmataParser.cpp | 480 +++++++ Firmware/Tiva C/StandardFirmata/FirmataParser.h | 105 ++ Firmware/Tiva C/StandardFirmata/Servo.cpp | 234 ++++ Firmware/Tiva C/StandardFirmata/Servo.h | 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C/StandardFirmata/Boards.h create mode 100644 Firmware/Tiva C/StandardFirmata/Firmata.cpp create mode 100644 Firmware/Tiva C/StandardFirmata/Firmata.h create mode 100644 Firmware/Tiva C/StandardFirmata/FirmataConstants.h create mode 100644 Firmware/Tiva C/StandardFirmata/FirmataDefines.h create mode 100644 Firmware/Tiva C/StandardFirmata/FirmataMarshaller.cpp create mode 100644 Firmware/Tiva C/StandardFirmata/FirmataMarshaller.h create mode 100644 Firmware/Tiva C/StandardFirmata/FirmataParser.cpp create mode 100644 Firmware/Tiva C/StandardFirmata/FirmataParser.h create mode 100644 Firmware/Tiva C/StandardFirmata/Servo.cpp create mode 100644 Firmware/Tiva C/StandardFirmata/Servo.h create mode 100644 Firmware/Tiva C/StandardFirmata/StandardFirmata.ino create mode 100644 Firmware/Tiva C/StandardFirmata/TM4C123GH6PM_PinDiagram.jpeg create mode 100644 Firmware/Tiva C/StandardFirmata/pinout_tm4c123g.txt create mode 100644 Firmware/pidmata3.ino create mode 100644 Firmware/pidmata3/pidmata3.ino create mode 100644 GettingStarted.mo create mode 100644 Internal.mo create mode 100644 Pins.mo create mode 100644 Resources/Images/Blink.png create mode 100644 Resources/Images/BlinkingLEDModel.png create mode 100644 Resources/Images/CustomExample.png create mode 100644 Resources/Images/DefaultSynchronize.png create mode 100644 Resources/Images/Dimming.png create mode 100644 Resources/Images/FirmataLocation.png create mode 100644 Resources/Images/Interval.png create mode 100644 Resources/Images/ModelPlugDocumentation-1.png create mode 100644 Resources/Images/ModelPlugDocumentation-2.png create mode 100644 Resources/Images/ModelPlugDocumentation-3.png create mode 100644 Resources/Images/ModelPlugLog-nomarkers.png create mode 100644 Resources/Images/ModelPlugLog-withmarkers.png create mode 100644 Resources/Images/PinNumber.png create mode 100644 Resources/Images/QuotedSerialPort.png create mode 100644 Resources/Images/ReadAnalog.png create mode 100644 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mode 100755 Source/CMakeFiles/modelPlugFirmata.dir/modelPlugFirmata.cpp.o create mode 100755 Source/CMakeFiles/modelPlugFirmata.dir/progress.make create mode 100755 Source/CMakeFiles/modelPlugFirmata.dir/serial.cpp.o create mode 100755 Source/CMakeFiles/progress.marks create mode 100755 Source/CMakeLists.txt create mode 100755 Source/COPYING create mode 100755 Source/Makefile create mode 100755 Source/Makefile~ create mode 100755 Source/README create mode 100755 Source/cmake_install.cmake create mode 100755 Source/libmodelPlugFirmata.so create mode 100755 Source/modelPlugFirmata.cpp create mode 100755 Source/modelPlugFirmata.h create mode 100755 Source/serial.cpp create mode 100755 Source/serial.h create mode 100644 package.mo create mode 100644 package.order diff --git a/ArduinoExamples.mo b/ArduinoExamples.mo new file mode 100644 index 0000000..fb76844 --- /dev/null +++ b/ArduinoExamples.mo @@ -0,0 +1,477 @@ + package ArduinoExamples + extends Modelica.Icons.ExamplesPackage; + + package Led + extends Modelica.Icons.ExamplesPackage; + + model ex1_led_blue + extends Modelica.Icons.Example; + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-60, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalOutput digitalOutput1(Pin = 9) annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica.Blocks.Sources.BooleanConstant booleanConstant1(k = true) annotation( + Placement(visible = true, transformation(origin = {-60, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Boards.customBoard customBoard1(BoardName = "Arduino UNO", Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {61, -21}, extent = {{-21, -21}, {21, 21}}, rotation = 0))); + equation + connect(digitalOutput1.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{20, -20}, {60, -20}, {60, -20}, {62, -20}})); + connect(booleanConstant1.y, digitalOutput1.u) annotation( + Line(points = {{-38, -20}, {-20, -20}, {-20, -20}, {-20, -20}}, color = {255, 0, 255})); + end ex1_led_blue; + + + + model ex2_led_blue_delay + extends Modelica.Icons.Example; + OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {60, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalOutput digitalOutput1(Pin = 9) annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1(enableRealTimeScaling = false) annotation( + Placement(visible = true, transformation(origin = {-60, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica.Blocks.Sources.BooleanPulse booleanPulse1(period = 20, startTime = 5, width = 10) annotation( + Placement(visible = true, transformation(origin = {-60, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + connect(booleanPulse1.y, digitalOutput1.u) annotation( + Line(points = {{-38, -20}, {-20, -20}, {-20, -20}, {-20, -20}}, color = {255, 0, 255})); + connect(digitalOutput1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{20, -20}, {60, -20}, {60, -20}, {60, -20}})); + end ex2_led_blue_delay; + + model ex3_led_blue_red + extends Modelica.Icons.Example; + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-60, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalOutput digitalOutput1(Pin = 9) annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalOutput digitalOutput2(Pin = 11) annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, -60}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica.Blocks.Sources.BooleanPulse booleanPulse1(period = 20, startTime = 5, width = 25) annotation( + Placement(visible = true, transformation(origin = {-60, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica.Blocks.Sources.BooleanPulse booleanPulse2(period = 20, startTime = 5, width = 40) annotation( + Placement(visible = true, transformation(origin = {-60, -60}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Boards.customBoard customBoard1(BoardName = "Arduino UNO", Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {60, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + connect(digitalOutput1.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{20, 0}, {60, 0}, {60, -20}, {60, -20}})); + connect(digitalOutput2.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{20, -60}, {60, -60}, {60, -20}, {60, -20}})); + connect(booleanPulse2.y, digitalOutput2.u) annotation( + Line(points = {{-38, -60}, {-20, -60}, {-20, -60}, {-20, -60}}, color = {255, 0, 255})); + connect(booleanPulse1.y, digitalOutput1.u) annotation( + Line(points = {{-38, 0}, {-20, 0}, {-20, 0}, {-20, 0}}, color = {255, 0, 255})); + end ex3_led_blue_red; + + model ex4_led_blink + extends Modelica.Icons.Example; + OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {42, -6}, extent = {{-14, -14}, {14, 14}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalOutput digitalOutput1(Pin = 10) annotation( + Placement(visible = true, transformation(origin = {-9, -7}, extent = {{-13, -13}, {13, 13}}, rotation = 0))); + Modelica.Blocks.Sources.BooleanPulse booleanPulse1(period = 2, startTime = 4, width = 50) annotation( + Placement(visible = true, transformation(origin = {-68, -12}, extent = {{-14, -14}, {14, 14}}, rotation = 0))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-19, 51}, extent = {{-13, -13}, {13, 13}}, rotation = 0))); + equation + connect(booleanPulse1.y, digitalOutput1.u) annotation( + Line(points = {{-53, -12}, {-24, -12}, {-24, -7}, {-22, -7}}, color = {255, 0, 255})); + connect(digitalOutput1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{4, -7}, {22, -7}, {22, -6}, {42, -6}})); + annotation( + uses(OpenModelicaArduino(version = "1.2"), Modelica(version = "3.2.2"), Modelica_DeviceDrivers(version = "1.5.0"))); + end ex4_led_blink; + end Led; + + package Push_button + extends Modelica.Icons.ExamplesPackage; + + model ex1_push_button_status + 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 = {-60, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalInput digitalInput1(Pin = 12) annotation( + Placement(visible = true, transformation(origin = {0, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica.Blocks.Interaction.Show.BooleanValue booleanValue1 annotation( + Placement(visible = true, transformation(origin = {80, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + connect(digitalInput1.y, booleanValue1.activePort) annotation( + Line(points = {{20, 0}, {54, 0}, {54, 0}, {58, 0}}, color = {255, 0, 255})); + connect(arduino1.boardConnector, digitalInput1.pinConnector) annotation( + Line(points = {{-60, 0}, {-20, 0}})); + Modelica.Utilities.Streams.print(String(booleanValue1.activePort)); + end ex1_push_button_status; + + model ex2_led_push_button + extends Modelica.Icons.Example; + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-60, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalOutput digitalOutput1(Pin = 9) annotation( + Placement(visible = true, transformation(origin = {-60, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalInput digitalInput1(Pin = 12) annotation( + Placement(visible = true, transformation(origin = {62, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Boards.customBoard customBoard1(BoardName = "Arduino UNO", Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + connect(customBoard1.boardConnector, digitalInput1.pinConnector) annotation( + Line(points = {{0, 0}, {44, 0}, {44, 0}, {42, 0}})); + connect(digitalOutput1.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{-40, 0}, {0, 0}, {0, 0}, {0, 0}})); + connect(digitalInput1.y, digitalOutput1.u) annotation( + Line(points = {{82, 0}, {94, 0}, {94, -40}, {-92, -40}, {-92, 0}, {-80, 0}, {-80, 0}}, color = {255, 0, 255})); + end ex2_led_push_button; + end Push_button; + + package Ldr + extends Modelica.Icons.ExamplesPackage; + + model ex1_ldr_read + 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 = 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))); + Modelica.Blocks.Interaction.Show.RealValue realValue1(use_numberPort = true) annotation( + Placement(visible = true, transformation(origin = {60, -8.88178e-16}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + connect(analogInput1.y, realValue1.numberPort) annotation( + Line(points = {{20, 0}, {37, 0}}, color = {0, 0, 127})); + connect(arduino1.boardConnector, analogInput1.pinConnector) annotation( + Line(points = {{-60, 0}, {-20, 0}, {-20, 0}, {-20, 0}})); + Modelica.Utilities.Streams.print(String(realValue1.numberPort)); + annotation( + uses(Modelica(version = "3.2.2"))); + end ex1_ldr_read; + + model ex2_ldr_led + extends Modelica.Icons.Example; + OpenModelicaArduino.Pins.DigitalOutput digitalOutput1(Pin = 9) annotation( + Placement(visible = true, transformation(origin = {-60, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.AnalogInput analogInput1(MaxValue = 1023, MinValue = 0, Pin = 19) annotation( + Placement(visible = true, transformation(origin = {60, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-70, 68}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.Constant const(k = 300) annotation( + Placement(visible = true, transformation(origin = {60, -70}, extent = {{20, -20}, {-20, 20}}, rotation = 0))); + Modelica.Blocks.Logical.Less less1 annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, -40}, extent = {{20, -20}, {-20, 20}}, rotation = 0))); + OpenModelicaArduino.Boards.customBoard customBoard1(BoardName = "Arduino UNO", Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + connect(customBoard1.boardConnector, analogInput1.pinConnector) annotation( + Line(points = {{0, 20}, {40, 20}, {40, 20}, {40, 20}})); + connect(digitalOutput1.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{-40, 20}, {0, 20}, {0, 20}, {0, 20}})); + connect(const.y, less1.u2) annotation( + Line(points = {{38, -70}, {32, -70}, {32, -56}, {24, -56}}, color = {0, 0, 127})); + connect(less1.y, digitalOutput1.u) annotation( + Line(points = {{-22, -40}, {-92, -40}, {-92, 20}, {-80, 20}}, color = {255, 0, 255})); + connect(analogInput1.y, less1.u1) annotation( + Line(points = {{80, 20}, {90, 20}, {90, -40}, {24, -40}}, color = {0, 0, 127})); + end ex2_ldr_led; + end Ldr; + + package DC_motor + extends Modelica.Icons.ExamplesPackage; + + model ex1_dcmotor_clock + extends Modelica.Icons.Example; + OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {60, 4.21885e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.AnalogOutput analogOutput1(MaxValue = 255, MinValue = 0, Pin = 9) annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.AnalogOutput analogOutput2(MaxValue = 255, MinValue = 0, Pin = 10) annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, -40}, 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))); + Modelica.Blocks.Sources.Constant const(k = 0) annotation( + Placement(visible = true, transformation(origin = {-60, -40}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica.Blocks.Sources.Pulse pulse1(amplitude = 255, period = 20, startTime = 5, width = 15) annotation( + Placement(visible = true, transformation(origin = {-60, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + connect(analogOutput2.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{20, -40}, {60, -40}, {60, 0}, {60, 0}})); + connect(analogOutput1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{20, 20}, {60, 20}, {60, 0}, {60, 0}, {60, 0}})); + connect(const.y, analogOutput2.u) annotation( + Line(points = {{-38, -40}, {-22, -40}, {-22, -40}, {-20, -40}}, color = {0, 0, 127})); + connect(pulse1.y, analogOutput1.u) annotation( + Line(points = {{-38, 20}, {-22, 20}, {-22, 20}, {-20, 20}}, color = {0, 0, 127})); + end ex1_dcmotor_clock; + + model ex2_dcmotor_both + extends Modelica.Icons.Example; + OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {60, 4.21885e-15}, 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))); + OpenModelicaArduino.Pins.DigitalOutput digitalOutput1(Pin = 8) annotation( + Placement(visible = true, transformation(origin = {1.33227e-15, 26}, extent = {{-14, -14}, {14, 14}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalOutput digitalOutput2(Pin = 9) annotation( + Placement(visible = true, transformation(origin = {4, -40}, extent = {{-14, -14}, {14, 14}}, rotation = 0))); + Modelica.Blocks.Sources.BooleanPulse booleanPulse1(period = 20) annotation( + Placement(visible = true, transformation(origin = {-65, 25}, extent = {{-13, -13}, {13, 13}}, rotation = 0))); + Modelica.Blocks.Sources.BooleanPulse booleanPulse2(period = 20, startTime = 10) annotation( + Placement(visible = true, transformation(origin = {-60, -40}, extent = {{-14, -14}, {14, 14}}, rotation = 0))); + equation + connect(booleanPulse1.y, digitalOutput1.u) annotation( + Line(points = {{-50, 26}, {-14, 26}}, color = {255, 0, 255})); + connect(digitalOutput1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{14, 26}, {60, 26}, {60, 0}})); + connect(booleanPulse2.y, digitalOutput2.u) annotation( + Line(points = {{-44, -40}, {-10, -40}}, color = {255, 0, 255})); + connect(digitalOutput2.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{18, -40}, {60, -40}, {60, 0}})); + end ex2_dcmotor_both; + + model ex3_dcmotor_loop + extends Modelica.Icons.Example; + OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {60, 4.21885e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.AnalogOutput analogOutput1(MaxValue = 255, MinValue = 0, Pin = 9) annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, 18}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.AnalogOutput analogOutput2(MaxValue = 255, MinValue = 0, Pin = 10) annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, -40}, 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))); + Modelica.Blocks.Sources.Pulse pulse1(amplitude = 255, period = 10, startTime = 5, width = 30) annotation( + Placement(visible = true, transformation(origin = {-60, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica.Blocks.Sources.Pulse pulse2(amplitude = 255, period = 10, startTime = 10, width = 20) annotation( + Placement(visible = true, transformation(origin = {-60, -40}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + connect(pulse1.y, analogOutput1.u) annotation( + Line(points = {{-38, 20}, {-20, 20}, {-20, 18}}, color = {0, 0, 127})); + connect(analogOutput1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{20, 18}, {20, 39}, {60, 39}, {60, 0}})); + connect(pulse2.y, analogOutput2.u) annotation( + Line(points = {{-38, -40}, {-20, -40}, {-20, -40}, {-20, -40}}, color = {0, 0, 127})); + connect(analogOutput2.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{20, -40}, {60, -40}, {60, 0}, {60, 0}})); + end ex3_dcmotor_loop; + end DC_motor; + + package Potentiometer + extends Modelica.Icons.ExamplesPackage; + + model ex1_pot_threshold + extends Modelica.Icons.Example; + OpenModelicaArduino.Pins.AnalogInput analogInput1(MaxValue = 1023, MinValue = 0, Pin = 23, adcResolution = 12) annotation( + Placement(visible = true, transformation(origin = {28, 50}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalOutput digitalOutput1(Pin = 9) annotation( + Placement(visible = true, transformation(origin = {-50, 90}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {70, 70}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalOutput digitalOutput2(Pin = 10) annotation( + Placement(visible = true, transformation(origin = {-50, 50}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Logical.GreaterEqualThreshold greaterEqualThreshold1(threshold = 0) annotation( + Placement(visible = true, transformation(origin = {70, 10}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Logical.GreaterEqualThreshold greaterEqualThreshold2(threshold = 320) annotation( + Placement(visible = true, transformation(origin = {70, -30}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Logical.GreaterEqualThreshold greaterEqualThreshold3(threshold = 900) annotation( + Placement(visible = true, transformation(origin = {70, -70}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Logical.Xor xor1 annotation( + Placement(visible = true, transformation(origin = {30, -10}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Logical.Xor xor2 annotation( + Placement(visible = true, transformation(origin = {30, -50}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalOutput digitalOutput3(Pin = 11) annotation( + Placement(visible = true, transformation(origin = {-50, 10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaArduino.Boards.customBoard customBoard1(BoardName = "Arduino UNO", Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {-10, 50}, extent = {{-14, -14}, {14, 14}}, rotation = 0))); + equation + connect(analogInput1.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{18, 50}, {-10, 50}})); + connect(digitalOutput1.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{-40, 90}, {-10, 90}, {-10, 50}})); + connect(digitalOutput2.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{-40, 50}, {-10, 50}})); + connect(digitalOutput3.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{-40, 10}, {-10, 10}, {-10, 50}})); + connect(xor1.y, digitalOutput3.u) annotation( + Line(points = {{20, -10}, {-72, -10}, {-72, 10}, {-60, 10}, {-60, 10}}, color = {255, 0, 255})); + connect(xor2.y, digitalOutput2.u) annotation( + Line(points = {{20, -50}, {-80, -50}, {-80, 50}, {-60, 50}, {-60, 50}}, color = {255, 0, 255})); + connect(greaterEqualThreshold3.y, digitalOutput1.u) annotation( + Line(points = {{60, -70}, {-90, -70}, {-90, 90}, {-60, 90}, {-60, 90}}, color = {255, 0, 255})); + connect(greaterEqualThreshold3.y, xor2.u2) annotation( + Line(points = {{60, -70}, {52, -70}, {52, -58}, {42, -58}, {42, -58}, {42, -58}}, color = {255, 0, 255})); + connect(greaterEqualThreshold2.y, xor2.u1) annotation( + Line(points = {{60, -30}, {52, -30}, {52, -50}, {42, -50}, {42, -50}}, color = {255, 0, 255})); + connect(greaterEqualThreshold2.y, xor1.u2) annotation( + Line(points = {{60, -30}, {52, -30}, {52, -18}, {42, -18}, {42, -18}}, color = {255, 0, 255})); + connect(greaterEqualThreshold1.y, xor1.u1) annotation( + Line(points = {{60, 10}, {50, 10}, {50, -10}, {42, -10}, {42, -10}}, color = {255, 0, 255})); + connect(analogInput1.y, greaterEqualThreshold1.u) annotation( + Line(points = {{38, 50}, {94, 50}, {94, 10}, {82, 10}, {82, 10}}, color = {0, 0, 127})); + connect(analogInput1.y, greaterEqualThreshold2.u) annotation( + Line(points = {{38, 50}, {94, 50}, {94, -30}, {82, -30}, {82, -30}, {82, -30}}, color = {0, 0, 127})); + connect(analogInput1.y, greaterEqualThreshold3.u) annotation( + Line(points = {{38, 50}, {94, 50}, {94, -70}, {82, -70}, {82, -70}}, color = {0, 0, 127})); + annotation( + uses(OpenModelicaArduino(version = "1.2"))); + end ex1_pot_threshold; + end Potentiometer; + + package Thermistor + extends Modelica.Icons.ExamplesPackage; + + model ex1_therm_read + extends Modelica.Icons.Example; + OpenModelicaArduino.Pins.AnalogInput analogInput1(MaxValue = 1023, MinValue = 0, Pin = 18) 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))); + OpenModelicaArduino.Boards.customBoard customBoard1(BoardName = "Arduino UNO", Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {-59, -1}, extent = {{-21, -21}, {21, 21}}, rotation = 0))); + equation + connect(customBoard1.boardConnector, analogInput1.pinConnector) annotation( + Line(points = {{-58, 0}, {-20, 0}, {-20, 0}, {-20, 0}})); + Modelica.Utilities.Streams.print(String(analogInput1.y)); + end ex1_therm_read; + + model ex2_therm_buzzer + extends Modelica.Icons.Example; + OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalOutput digitalOutput1(Pin = 3) annotation( + Placement(visible = true, transformation(origin = {-60, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.AnalogInput analogInput1(MaxValue = 1023, MinValue = 0, Pin = 18) annotation( + Placement(visible = true, transformation(origin = {60, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-70, 68}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.Constant const(k = 500) annotation( + Placement(visible = true, transformation(origin = {60, -70}, extent = {{20, -20}, {-20, 20}}, rotation = 0))); + Modelica.Blocks.Logical.Greater greater1 annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, -40}, extent = {{20, -20}, {-20, 20}}, rotation = 0))); + Modelica.Blocks.Interaction.Show.RealValue realValue1 annotation( + Placement(visible = true, transformation(origin = {40, 60}, extent = {{20, -20}, {-20, 20}}, rotation = 0))); + equation + connect(analogInput1.y, realValue1.numberPort) annotation( + Line(points = {{80, 20}, {90, 20}, {90, 60}, {64, 60}, {64, 60}}, color = {0, 0, 127})); + connect(greater1.y, digitalOutput1.u) annotation( + Line(points = {{-22, -40}, {-94, -40}, {-94, 20}, {-80, 20}, {-80, 20}}, color = {255, 0, 255})); + connect(analogInput1.y, greater1.u1) annotation( + Line(points = {{80, 20}, {92, 20}, {92, -40}, {24, -40}, {24, -40}}, color = {0, 0, 127})); + connect(greater1.u2, const.y) annotation( + Line(points = {{24, -56}, {32, -56}, {32, -70}, {38, -70}, {38, -70}}, color = {0, 0, 127})); + connect(arduino1.boardConnector, analogInput1.pinConnector) annotation( + Line(points = {{0, 20}, {40, 20}})); + connect(digitalOutput1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{-40, 20}, {0, 20}})); + Modelica.Utilities.Streams.print(String(realValue1.numberPort)); + annotation( + uses(Modelica(version = "3.2.2"))); + end ex2_therm_buzzer; + end Thermistor; + + package Servo_motor + extends Modelica.Icons.ExamplesPackage; + + model ex1_servo_init + 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, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + 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))); + equation + connect(const.y, servo1.u) annotation( + Line(points = {{-18, 20}, {-4, 20}, {-4, 20}, {0, 20}}, color = {0, 0, 127})); + connect(servo1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{40, 20}, {76, 20}, {76, 18}, {78, 18}, {78, 20}})); + annotation( + 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 = 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))); + Modelica.Blocks.Math.Product product1 annotation( + Placement(visible = true, transformation(origin = {-40, 1.77636e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica.Blocks.Sources.Constant const(k = 0.5) annotation( + Placement(visible = true, transformation(origin = {-80, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + connect(const.y, product1.u1) annotation( + Line(points = {{-58, 60}, {-36, 60}, {-36, 24}, {-80, 24}, {-80, 10}, {-64, 10}, {-64, 12}}, color = {0, 0, 127})); + connect(pulse2.y, product1.u2) annotation( + Line(points = {{-58, -60}, {-48, -60}, {-48, -24}, {-80, -24}, {-80, -12}, {-64, -12}, {-64, -12}}, color = {0, 0, 127})); + connect(product1.y, servo1.u) annotation( + Line(points = {{-18, 0}, {0, 0}, {0, 0}, {0, 0}}, color = {0, 0, 127})); + connect(servo1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{40, 0}, {78, 0}})); + annotation( + uses(Modelica_DeviceDrivers(version = "1.5.0"), OpenModelicaArduino(version = "1.2"), Modelica(version = "3.2.2"))); + end ex2_servo_reverse; + + model ex3_servo_loop + 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 = 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))); + Modelica.Blocks.Math.RealToInteger realToInteger1 annotation( + Placement(visible = true, transformation(origin = {-50, -70}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.Constant const(k = 0.11) annotation( + Placement(visible = true, transformation(origin = {-70, 68}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Product product1 annotation( + Placement(visible = true, transformation(origin = {-28, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.IntegerToReal integerToReal1 annotation( + Placement(visible = true, transformation(origin = {-10, -70}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + equation + connect(integerToReal1.y, product1.u2) annotation( + Line(points = {{2, -70}, {14, -70}, {14, -36}, {-56, -36}, {-56, -6}, {-40, -6}, {-40, -6}}, color = {0, 0, 127})); + connect(realToInteger1.y, integerToReal1.u) annotation( + Line(points = {{-38, -70}, {-22, -70}, {-22, -70}, {-22, -70}}, color = {255, 127, 0})); + connect(ramp1.y, realToInteger1.u) annotation( + Line(points = {{-78, -70}, {-62, -70}}, color = {0, 0, 127})); + connect(const.y, product1.u1) annotation( + Line(points = {{-58, 68}, {-52, 68}, {-52, 6}, {-40, 6}, {-40, 6}}, color = {0, 0, 127})); + connect(product1.y, servo1.u) annotation( + Line(points = {{-16, 0}, {0, 0}, {0, 0}, {0, 0}}, color = {0, 0, 127})); + connect(servo1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{40, 0}, {78, 0}})); + annotation( + 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( + Placement(visible = true, transformation(origin = {60, 3.10862e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.Servo servo1(InputUnit = OpenModelicaArduino.Internal.Types.ServoUnit.None, MaxPulse = 1000000, MinPulse = 500000, Pin = 9) annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.AnalogInput analogInput1(MaxValue = 1, MinValue = 0, Pin = 16) annotation( + Placement(visible = true, transformation(origin = {-60, 3.55271e-15}, 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))); + equation + connect(analogInput1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{-80, 0}, {-92, 0}, {-92, -52}, {60, -52}, {60, 0}, {60, 0}})); + connect(servo1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{20, 0}, {62, 0}, {62, 0}, {60, 0}, {60, 0}})); + connect(analogInput1.y, servo1.u) annotation( + Line(points = {{-40, 0}, {-16, 0}, {-16, 0}, {-20, 0}}, color = {0, 0, 127})); + annotation( + uses(OpenModelicaArduino(version = "1.2"), Modelica_DeviceDrivers(version = "1.5.0"))); + end ex4_servo_pot; + end Servo_motor; + end ArduinoExamples; \ No newline at end of file diff --git a/Boards.mo b/Boards.mo new file mode 100644 index 0000000..7a8a579 --- /dev/null +++ b/Boards.mo @@ -0,0 +1,1464 @@ +package OpenModelicaEmbedded "Connecting OpenModelica with Arduino" + package GettingStarted "Procedure to run first model using OpenModelicaArduino" + extends Modelica.Icons.Information; + annotation( + preferredView = "info", + Documentation(info = "

.

+

Preparing Your Board

+

.

+

The first thing you need to do is upload the Firmware code to your board .

+

\"\"

+

Figure 1. Location of the Firmware sketch.

+

If you wish to use PID(Proportional-integral-derivative) then use another firmware provided with the package. To open an firmware through Arduino IDE click on “Open“ and Browse to the location where you extracted the package. Insdie the package folder look for folder named “Firmware“ which contains a file named “pidmata3.ino“. Select that file and click open to load firmware in Arduino IDE.
+ Important instructions for using above mentioned firmware “pidmata3.ino“: +

+

+

Once the the Firmware code is in the board, you need to write down the serial port that it is using. This is important because you need to give the port name to OpenModelicaArduino in order to communicate with the board. You can find the serial port in Tools->Serial Port or in the bottom-right corner of the Arduino software window (see Figure 2). In Windows the serial port name is something like “COM5”, while in OS X and Linux the name will be something like “/dev/ttyACM0”. Now you are ready to make your first model.

+

\"\"

+

Figure 2. Finding the serial port being used. 

+

Blinking LED

+

As a first exercise, you are going to reproduce with OpenModelicaArduino the blinking LED example. You can either open the prebuilt example (OpenModelicaArduino.Examples.BlinkLed) or build it by yourself. To build the model, locate the components:

+ +

Connect the components as in Figure 3. One thing to notice is that the DigitalOutput model is connected to the Arduino component to specify that the pin belongs to that board. This connection is necessary because OpenModelicaArduino can use multiple boards with multiple pins at the same time.

+

\"\"

+

Figure 3. Diagram of the blinking LED.

+

Next you need to specify the serial port that the board is using. This is done by selecting the Arduino component and showing its parameters. In the parameter view, you can find the Port parameter. Write the port name that you got in the section “Preparing your board”. Important: the name must be have quotation marks as shown in Figure 4.

+

\"\"

+

Figure 4. Specifying the serial port name. 

+

Now you need to set the pin number that you are going to use in the DigitalOutput component. Usually, the Arduino boards have an LED attached to pin 13. Set that number in the Pin parameter as shown in Figure 5.

+

\"\"

+

Figure 5. Specifying the pin to use.

+

For the BooleanPulse component, set the 'period' parameter to 1. The model is ready to simulate. Press the simulate button and wait to see the results.

+

The first time you run the model, it is probably simulated so fast that you do not have time to react. The reason is that OpenModelica simulates the model as fast as possible. In order to interact with your models using OpenModelicaArduino, it is necessary to synchronize the simulation time with real time. This is done in by using Synchronisation block in ModelicaDeviceDriver library. After simulating the model one time, you need to check in the checkbox “Synchronize with real-time” as shown in Figure 6.

+ //

 \"\"

+ //

Figure 6. Synchronizing your simulation with real time. 

+ //

If you are building many models with the OpenModelicaArduino library, you should set the “Synchronize with real-time” option as a default simulation setting in SimulationCenter under the menu Tools->Options in the section SimulationCenter->Default Experiment (see Figure 7). 

+ //

\"\" 

+ //

Figure 7. Setting \"Synchronize with real-time\" as default.

+ //

Now run the simulation again and you should see the LED blinking until the simulation reaches the stop time. If you want to keep the simulation running continuously, you need to change the stop time to “infinite” as shown in Figure 8.

+ //

\"\"

+ //

Figure 8.  Setting the stop time to infinite.

+ //

If you run the simulation again, you should see the LED blinking continuously.

+

One thing that you may have noticed is that OpenModelicaArduino prints status messages in the simulation log (see Figure 9). The first thing it prints is a list of the available ports. In that list, you should see your current port (A). After that, it prints the current port and the speed used (B). Once the port is opened, you receive a notification that the board is initialized (C). Usually the boards report the version of Firmata that you are running. Then you set the sampling interval that the board uses (D). In this example, you can see that you are setting pin 13 to be an output because you have used the DigitalOutput component (E). Finally you will see that the board will send you a list of all the pins available and thier capabilities (F). This list contains the number of the pin and the modes in which it can be used, for example: DigitalInput, DigitalOutput, AnalogInput, AnalogOutput, and Servo.

+

\"\"

+

Figure 9. Messages shown by OpenModelicaArduino.

+

Troubleshooting

+

This is a checklist that you can follow in order to solve most of the problems that can occur when using the ModelPlug library:

+
    +
  1. Verify that you can upload any Arduino example to your board.
    2. +
  2. Verify that you have uploaded a StandardFirmata example to your board.
    3. +
  3. Verify that the port name in the board component matches the port where you have your board connected.
    4. +
  4. Verify that the port name has quotation marks.
    5. +
  5. ModelPlug will not connect to the board if there is another application using the port. Verify you do not have other applications using the port.
    6. +
  6. If the simulation log does not show the board capabilities, try uploading the Firmata to your board again.
    7. +
  7. When using multiple boards, your operating system may have changed the port names. Verify that the port names in the components correspond to each hardware board.
    8. +
  8. Some boards like the Arduino Leonardo and compatible require the parameter UseDTR set to true. Change the parameter and test your board.
    9. +
+

If you are still having problems, you can go to http://community.wolfram.com and ask a question.

+

What Next?

+

OpenModelicaArduino contains a series of basic examples showing the functionality of the components. You can check the Examples under ModelPlug.Examples. Once you have learned how to use the basic components of OpenModelicaArduino, you can check the Arduino Playground to learn how to connect other sensors and actuators (http://playground.arduino.cc).

", revisions = ""), + Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5}))); + end GettingStarted; + + package Pins "Components to access the board I/O" + extends Internal.Icons.Block; + + model AnalogInput "Reads an analog signal from the specified pin" + extends OpenModelicaArduino.Internal.Icons.Block; + Modelica.Blocks.Interfaces.RealOutput y annotation( + Placement(visible = true, transformation(origin = {110, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + parameter Integer Pin = 0 "Number of the analog pin"; + OpenModelicaArduino.Internal.Interfaces.PinConnector pinConnector annotation( + Placement(visible = true, transformation(origin = {-100, -0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-100, -0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + parameter Real InitValue = 0 "Initial value until the board responds" annotation( + Dialog(group = "Initialization")); + parameter Real MinValue = 0 "Minimum value of ADC" annotation( + Dialog(group = "Scaling")); + parameter Real MaxValue = 1 "Maximum value of ADC" annotation( + Dialog(group = "Scaling")); + parameter Integer adcResolution = 10 "Resolution of the ADC in your microcontroller" annotation( + Dialog(group = "Scaling")); + equation + y = OpenModelicaArduino.Internal.ExternalFunctions.readAnalogPin(Pin, MinValue, MaxValue, InitValue, pinConnector, adcResolution); + annotation( + Documentation(info = "

Reads an analog signal from the specified pin. This component uses the 'analogRead' function of Arduino.

+

Signal Range: 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.

+

Not all pins support analog input. Check the documentation of your board to find the pin capabilities.

+

 

", revisions = ""), + Icon(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -85}, {100, 85}}, radius = 40), Rectangle(fillColor = {243, 134, 48}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -60}, {90, 60}}, radius = 40), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "Pin %Pin"), Text(origin = {0, 10}, extent = {{-75, -15}, {75, 25}}, textString = "Analog", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Input", textStyle = {TextStyle.Bold})}), + Diagram(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -75}, {100, 75}}, radius = 40), Rectangle(fillColor = {243, 134, 48}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -50}, {90, 50}}, radius = 40), Text(origin = {0, 20}, extent = {{-75, -15}, {75, 25}}, textString = "Analog", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Input", textStyle = {TextStyle.Bold})})); + 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))); + parameter Integer Pin = 0 "Number of the PWM/DAC pin"; + OpenModelicaArduino.Internal.Interfaces.PinConnector pinConnector annotation( + Placement(visible = true, transformation(origin = {100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + parameter Real MinValue = 0 "Value considered as minimum by the PWM/DAC" annotation( + Dialog(group = "Scaling")); + parameter Real MaxValue = 1 "Value considered as maximum by the PWM/DAC" annotation( + Dialog(group = "Scaling")); + protected + Real scaled_u = (u - MinValue) / (MaxValue - MinValue); + equation + OpenModelicaArduino.Internal.ExternalFunctions.writeAnalogPin(Pin, pinConnector, scaled_u); + annotation( + Documentation(info = "

Writes an analog signal to the specified pin. This component uses the 'analogWrite' function of Arduino.

+

Signal Range: By default, the signal goes from 0 to 1, where 0 represents no voltage and 1 the maximum voltage that PWM/DAC of your board can provide. This signal can be scaled by setting the 'MinValue' and 'MaxValue' parameters.

+

Analog outputs use the PWM capabilities of the pins, therefore, they do not provide a continuous signal. If you want to get a continuous signal, you need to add a lowpass filter. Check the Arduino Playground (http://playground.arduino.cc) for more information on PWM.

+

Not all pins support analog output. Check the documentation of your board to find the pin capabilities.

+

 

", revisions = ""), + Icon(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -85}, {100, 85}}, radius = 40), Rectangle(fillColor = {243, 134, 48}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -60}, {90, 60}}, radius = 40), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "Pin %Pin"), Text(origin = {0, 10}, extent = {{-75, -15}, {75, 25}}, textString = "Analog", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Output", textStyle = {TextStyle.Bold})}), + Diagram(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -75}, {100, 75}}, radius = 40), Rectangle(fillColor = {243, 134, 48}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -50}, {90, 50}}, radius = 40), Text(origin = {0, 20}, extent = {{-75, -15}, {75, 25}}, textString = "Analog", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Output", textStyle = {TextStyle.Bold})})); + end AnalogOutput; + + model DigitalInput "Reads a digital signal from the specified pin" + extends OpenModelicaArduino.Internal.Icons.Block; + Modelica.Blocks.Interfaces.BooleanOutput y annotation( + Placement(visible = true, transformation(origin = {110, 1.643}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {101.75, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + parameter Integer Pin = 0 "Number of the digital pin"; + parameter Boolean InitValue = false "Initial value until the board responds" annotation( + Dialog(group = "Initialization")); + OpenModelicaArduino.Internal.Interfaces.PinConnector pinConnector annotation( + Placement(visible = true, transformation(origin = {-100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + y = OpenModelicaArduino.Internal.ExternalFunctions.readDigitalPin(Pin, InitValue, pinConnector); + annotation( + Documentation(info = "

Reads a digital signal from the specified pin. This component uses the 'digitalRead' function of Arduino.

+

Signal Range: This component accepts only Boolean signals (true/false).

", revisions = ""), + Icon(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -85}, {100, 85}}, radius = 40), Rectangle(fillColor = {0, 170, 255}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -60}, {90, 60}}, radius = 40), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "Pin %Pin"), Text(origin = {0, 10}, extent = {{-75, -15}, {75, 25}}, textString = "Digital", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Input", textStyle = {TextStyle.Bold})}), + Diagram(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -75}, {100, 75}}, radius = 40), Rectangle(fillColor = {0, 170, 255}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -50}, {90, 50}}, radius = 40), Text(origin = {0, 20}, extent = {{-75, -15}, {75, 25}}, textString = "Digital", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Input", textStyle = {TextStyle.Bold})})); + end DigitalInput; + + model DigitalOutput "Writes a digital signal to the specified pin" + extends OpenModelicaArduino.Internal.Icons.Block; + Modelica.Blocks.Interfaces.BooleanInput u annotation( + Placement(visible = true, transformation(origin = {-110, -0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + parameter Integer Pin = 0 "Number of the digital pin"; + OpenModelicaArduino.Internal.Interfaces.PinConnector pinConnector annotation( + Placement(visible = true, transformation(origin = {100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + OpenModelicaArduino.Internal.ExternalFunctions.writeDigitalPin(Pin, pinConnector, u); + annotation( + Documentation(info = "

Writes a digital signal to the specified pin. This component uses the 'digitalWrite' function of Arduino.

+

Signal Range: This component accepts only Boolean signals (true/false).

", revisions = ""), + Icon(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -85}, {100, 85}}, radius = 40), Rectangle(fillColor = {0, 170, 255}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -60}, {90, 60}}, radius = 40), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "Pin %Pin"), Text(origin = {0, 10}, extent = {{-75, -15}, {75, 25}}, textString = "Digital", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Output", textStyle = {TextStyle.Bold})}), + Diagram(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -75}, {100, 75}}, radius = 40), Rectangle(fillColor = {0, 170, 255}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -50}, {90, 50}}, radius = 40), Text(origin = {0, 20}, extent = {{-75, -15}, {75, 25}}, textString = "Digital", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Input", textStyle = {TextStyle.Bold})})); + end DigitalOutput; + + model Servo "Controls a servo motor attached to the specified pin" + extends OpenModelicaArduino.Internal.Icons.Block; + Modelica.Blocks.Interfaces.RealInput u annotation( + Placement(visible = true, transformation(origin = {-110, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-100, -0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Internal.Interfaces.PinConnector pinConnector annotation( + Placement(visible = true, transformation(origin = {100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {100, -0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + parameter Integer Pin = 0 "Pin number of the servo"; + parameter OpenModelicaArduino.Internal.Types.ServoUnit InputUnit "if None (Default) the servo receives a signal between 0 and 1. If Degrees the control signal is from 0 to 180. If Radians the signal is from 0 to Pi."; + parameter Integer MinPulse = 544 "The pulse width, in microseconds, corresponding to the minimum (0-degree) angle on the servo. + (Ignore this parameter if using Tiva C board)" annotation( + Dialog(group = "Advanced")); + parameter Integer MaxPulse = 2400 "The pulse width, in microseconds, corresponding to the maximum (180-degree) angle on the servo. + (Ignore this parameter if using Tiva C board)" annotation( + Dialog(group = "Advanced")); + Real outputSignal; + equation + outputSignal = if InputUnit == OpenModelicaArduino.Internal.Types.ServoUnit.None then u else if InputUnit == OpenModelicaArduino.Internal.Types.ServoUnit.Degrees then u / 180 else if InputUnit == OpenModelicaArduino.Internal.Types.ServoUnit.Radians then u / Modelica.Constants.pi else u; + OpenModelicaArduino.Internal.ExternalFunctions.writeServoPin(Pin, pinConnector, u, MinPulse, MaxPulse); + annotation( + Documentation(info = "

Controls a servo motor attached to the specified pin. This component uses the 'Servo' library of Arduino.

+

Signal Range: By default, the range goes from 0 to 1, which corresponds to 0 to 180 degrees. If you want to input values in radians, you can change the parameter 'InputUnit' from 'Degrees' to 'Radians'.

+

If your servo does not work correctly with the default settings, you can set the parameters 'MinPulse' and 'MaxPulse'. To get more information on how to configure a servo, you can check the documentation of the Servo library, http://arduino.cc/en/reference/servo.

", revisions = ""), + Icon(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -85}, {100, 85}}, radius = 40), Rectangle(fillColor = {0, 255, 127}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -60}, {90, 60}}, radius = 40), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "Pin %Pin"), Text(extent = {{-75, -25}, {75, 25}}, textString = "Servo", textStyle = {TextStyle.Bold})}), + Diagram(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -75}, {100, 75}}, radius = 40), Rectangle(fillColor = {0, 255, 127}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -50}, {90, 50}}, radius = 40), Text(extent = {{-75, -25}, {75, 25}}, textString = "Servo", textStyle = {TextStyle.Bold})})); + 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; + + package Boards "Components to connect to the Firmata boards" + model Arduino "Component with default configuration for Arduino boards" + parameter Internal.Types.SerialPort Port = "COM1" "Name of the serial port"; + parameter Boolean ShowPinCapabilities = true "Set to true if you want to see the capabilities of the pins in your board"; + parameter Boolean UseDTR = false "Some boards like Arduino Leonardo require UseDTR=true"; + OpenModelicaArduino.Internal.ExternalFunctions.FirmataBoardObject board = Internal.ExternalFunctions.FirmataBoardObject.constructor(Port, ShowPinCapabilities, integer(UpdatePeriod * 1000), BaudRate, UseDTR); + OpenModelicaArduino.Internal.Interfaces.BoardConnector boardConnector annotation( + Placement(visible = true, transformation(origin = {-90, -12.256}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {0, 0}, extent = {{-100, -100}, {100, 100}}, rotation = 0))); + protected + discrete Integer BoardId(start = -1) "Board Identifier. Initialized automatically keep as -1."; + constant Modelica.SIunits.Time UpdatePeriod = 0.01 "Sampling interval. The standard Firmata has a maximum samplig period of 10 ms (0.01 s)"; + constant Integer BaudRate = 57600 "Baud rate used to comunicate with the board"; + equation + when initial() then + BoardId = Internal.ExternalFunctions.getBoardId(board); + end when; + when sample(0, UpdatePeriod) then + OpenModelicaArduino.Internal.ExternalFunctions.updateBoard(BoardId); + end when; + boardConnector = BoardId; + annotation( + Documentation(info = "

This component provides a ready-to-use configuration for the Arduino board. This component has been tested with Arduino Uno, Arduino Mega 2560, and Arduino Mini, but it should work with any Arduino board.

+

When running the simulation, you will get a list of the capabilities of every pin. If you want to stop showing the capabilities every time you simulate, you need to set the property 'ShowCapabilities' to false. If you are not sure about the location of a specific pin in your board, you should check the documentation for your board.

", revisions = ""), + Icon(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(origin = {10.562, 9.352}, fillColor = {42, 85, 94}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-85.751, 70.648}, {-102.737, 66.761}, {-105.751, 50.648}, {-105.751, -69.352}, {-99.475, -85.465}, {-85.751, -89.352}, {74.249, -89.352}, {81.746, -83.29}, {84.249, -76.041}, {84.249, 34.141}, {79.249, 43.202}, {54.249, 43.202}, {52.314, 67.486}, {31.729, 70.648}, {-85.751, 70.648}}, smooth = Smooth.Bezier), Rectangle(origin = {-71.211, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(origin = {-79.366, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "%Port"), Text(origin = {5, -30}, lineColor = {255, 255, 255}, extent = {{-75, 30}, {75, -30}}, textString = "Arduino")}), + Diagram(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(origin = {10.562, 9.352}, fillColor = {42, 85, 94}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-85.751, 70.648}, {-102.737, 66.761}, {-105.751, 50.648}, {-105.751, -69.352}, {-99.475, -85.465}, {-85.751, -89.352}, {74.249, -89.352}, {81.746, -83.29}, {84.249, -76.041}, {84.249, 34.141}, {79.249, 43.202}, {54.249, 43.202}, {52.314, 67.486}, {31.729, 70.648}, {-85.751, 70.648}}, smooth = Smooth.Bezier), Rectangle(origin = {-71.211, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(origin = {-79.366, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Ellipse(origin = {-8.451, 32.225}, lineColor = {255, 255, 255}, fillColor = {42, 85, 94}, fillPattern = FillPattern.Solid, lineThickness = 5, extent = {{-15, -12.225}, {15, 12.225}}, endAngle = 360), Ellipse(origin = {21.55, 32.22}, lineColor = {255, 255, 255}, fillColor = {42, 85, 94}, fillPattern = FillPattern.Solid, lineThickness = 5, extent = {{-15, -12.23}, {15, 12.23}}, endAngle = 360), Text(origin = {-5, -15}, lineColor = {255, 255, 255}, extent = {{-75, 25}, {95, -35}}, textString = "Arduino", textStyle = {TextStyle.Bold})})); + end Arduino; + + model StandardFirmata "Component with default configuration for any board with the standard Firmata" + parameter Internal.Types.SerialPort Port = "COM1" "Name of the serial port"; + parameter Boolean ShowPinCapabilities = true "Set to true if you want to see the capabilities of the pins in your board"; + parameter Boolean UseDTR = false "Set to true if your board requires DTR"; + OpenModelicaArduino.Internal.Interfaces.BoardConnector boardConnector annotation( + Placement(visible = true, transformation(origin = {-90, -14.401}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {0, 0}, extent = {{-100, -100}, {100, 100}}, rotation = 0))); + OpenModelicaArduino.Internal.ExternalFunctions.FirmataBoardObject board = Internal.ExternalFunctions.FirmataBoardObject.constructor(Port, ShowPinCapabilities, integer(UpdatePeriod * 1000), BaudRate, UseDTR); + protected + discrete Integer BoardId(start = -1) "Board Identifier. Initialized automatically keep as -1."; + constant Modelica.SIunits.Time UpdatePeriod = 0.01 "Sampling interval. The standard Firmata has a maximum samplig period of 10 ms (0.01 s)"; + constant Integer BaudRate = 57600 "Baud rate used to comunicate with the board"; + equation + when initial() then + BoardId = Internal.ExternalFunctions.getBoardId(board); + end when; + when sample(0, UpdatePeriod) then + OpenModelicaArduino.Internal.ExternalFunctions.updateBoard(BoardId); + end when; + boardConnector = BoardId; + annotation( + Documentation(info = "

This component provides a ready-to-use configuration for boards flashed with the StandardFirmata. This component has been tested with chipKIT UNO and Teensy 3.1, but it should work with any board supporting the StandardFirmata.

+

When running the simulation, you will get a list of the capabilities of every pin. If you want to stop showing the capabilities every time you simulate, you need to set the property 'ShowCapabilities' to False. If you are not sure about the location of an specific pin in your board, you should check the documentation for your board.

+

 

", revisions = ""), + Icon(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(origin = {10.56, 9.35}, fillColor = {0, 170, 0}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-85.751, 70.648}, {-102.737, 66.761}, {-105.751, 50.648}, {-105.751, -69.352}, {-99.475, -85.465}, {-85.751, -89.352}, {74.249, -89.352}, {81.746, -83.29}, {84.249, -76.041}, {84.249, 34.141}, {79.249, 43.202}, {54.249, 43.202}, {52.314, 67.486}, {31.729, 70.648}, {-85.751, 70.648}}, smooth = Smooth.Bezier), Rectangle(origin = {-71.211, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(origin = {-79.366, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "%Port"), Text(origin = {5, -10}, lineColor = {255, 255, 255}, extent = {{-75, 30}, {75, -30}}, textString = "Standard")}), + Diagram(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(origin = {10.56, 9.35}, fillColor = {0, 170, 0}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-85.751, 70.648}, {-102.737, 66.761}, {-105.751, 50.648}, {-105.751, -69.352}, {-99.475, -85.465}, {-85.751, -89.352}, {74.249, -89.352}, {81.746, -83.29}, {84.249, -76.041}, {84.249, 34.141}, {79.249, 43.202}, {54.249, 43.202}, {52.314, 67.486}, {31.729, 70.648}, {-85.751, 70.648}}, smooth = Smooth.Bezier), Rectangle(origin = {-71.211, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(origin = {-79.366, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Text(origin = {-5, -15}, lineColor = {255, 255, 255}, extent = {{-75, 25}, {95, -35}}, textString = "Standard", textStyle = {TextStyle.Bold})})); + end StandardFirmata; + + model CustomFirmata "Component that allows custom configuration of the Firmata" + parameter Internal.Types.SerialPort Port = "COM1" "Name of the serial port"; + parameter Boolean ShowPinCapabilities = true "Set to true if you want to see the capabilities of the pins in your board"; + parameter Boolean UseDTR = false "Some boards like Arduino Leonardo require UseDTR=true"; + OpenModelicaArduino.Internal.Interfaces.BoardConnector boardConnector annotation( + Placement(visible = true, transformation(origin = {-90, -14.401}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {0, 0}, extent = {{-100, -100}, {100, 100}}, rotation = 0))); + OpenModelicaArduino.Internal.ExternalFunctions.FirmataBoardObject board = Internal.ExternalFunctions.FirmataBoardObject.constructor(Port, ShowPinCapabilities, integer(UpdatePeriod * 1000), BaudRate, UseDTR); + parameter Modelica.SIunits.Time UpdatePeriod = 0.01 "Sampling interval. The standard Firmata has a maximum samplig period of 10 ms (0.01 s)"; + parameter Integer BaudRate = 57600 "Baud rate used to communicate with the board"; + protected + discrete Integer BoardId(start = -1) "Board Identifier. Initialized automatically keep as -1."; + equation + when initial() then + BoardId = Internal.ExternalFunctions.getBoardId(board); + end when; + when sample(0, UpdatePeriod) then + OpenModelicaArduino.Internal.ExternalFunctions.updateBoard(BoardId); + end when; + boardConnector = BoardId; + annotation( + Documentation(info = "

This component is for advanced users who can modify the Firmata source code or have a non-Arduino board running Firmata. This component allows you to specify your preferred baud rate and sampling interval. 

+

The baud rate is specified with the 'BaudRate' property. You have to consider that standard serial ports do not support arbitrary baud rates.

+

When setting the 'UpdatePeriod' property, it is necessary to change the \"Interval length\" in the simulation settings, to match the update period.

", revisions = ""), + Icon(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(origin = {10.56, 9.35}, fillColor = {170, 0, 127}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-85.751, 70.648}, {-102.737, 66.761}, {-105.751, 50.648}, {-105.751, -69.352}, {-99.475, -85.465}, {-85.751, -89.352}, {74.249, -89.352}, {81.746, -83.29}, {84.249, -76.041}, {84.249, 34.141}, {79.249, 43.202}, {54.249, 43.202}, {52.314, 67.486}, {31.729, 70.648}, {-85.751, 70.648}}, smooth = Smooth.Bezier), Rectangle(origin = {-71.211, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(origin = {-79.366, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "%Port"), Text(origin = {5, -10}, lineColor = {255, 255, 255}, extent = {{-75, 30}, {75, -30}}, textString = "Custom")}), + Diagram(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(origin = {10.56, 9.35}, fillColor = {170, 0, 127}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-85.751, 70.648}, {-102.737, 66.761}, {-105.751, 50.648}, {-105.751, -69.352}, {-99.475, -85.465}, {-85.751, -89.352}, {74.249, -89.352}, {81.746, -83.29}, {84.249, -76.041}, {84.249, 34.141}, {79.249, 43.202}, {54.249, 43.202}, {52.314, 67.486}, {31.729, 70.648}, {-85.751, 70.648}}, smooth = Smooth.Bezier), Rectangle(origin = {-71.211, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(origin = {-79.366, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Text(origin = {-5, -15}, lineColor = {255, 255, 255}, extent = {{-75, 25}, {95, -35}}, textString = "Custom", textStyle = {TextStyle.Bold})})); + end CustomFirmata; + + model ArduinoLeonardo "Component with configuration for Arduino Leonardo boards" + parameter Internal.Types.SerialPort Port = "COM1" "Name of the serial port"; + parameter Boolean ShowPinCapabilities = true "Set to true if you want to see the capabilities of the pins in your board"; + parameter Boolean UseDTR = true "Some boards like Arduino Leonardo require UseDTR=true"; + OpenModelicaArduino.Internal.ExternalFunctions.FirmataBoardObject board = Internal.ExternalFunctions.FirmataBoardObject.constructor(Port, ShowPinCapabilities, integer(UpdatePeriod * 1000), BaudRate, UseDTR); + OpenModelicaArduino.Internal.Interfaces.BoardConnector boardConnector annotation( + Placement(visible = true, transformation(origin = {-90, -12.256}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {0, 0}, extent = {{-100, -100}, {100, 100}}, rotation = 0))); + protected + discrete Integer BoardId(start = -1) "Board Identifier. Initialized automatically keep as -1."; + constant Modelica.SIunits.Time UpdatePeriod = 0.01 "Sampling interval. The standard Firmata has a maximum samplig period of 10 ms (0.01 s)"; + constant Integer BaudRate = 57600 "Baud rate used to comunicate with the board"; + equation + when initial() then + BoardId = Internal.ExternalFunctions.getBoardId(board); + end when; + when sample(0, UpdatePeriod) then + OpenModelicaArduino.Internal.ExternalFunctions.updateBoard(BoardId); + end when; + boardConnector = BoardId; + annotation( + Documentation(info = "

This component provides a ready-to-use configuration for the Arduino Leonardo board. This component works for any board using native USB communication, like the Arduino Esplora.

+

When running the simulation, you will get a list of the capabilities of every pin. If you want to stop showing the capabilities every time you simulate, you need to set the property "ShowCapabilities" to false.

", revisions = ""), + Icon(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(origin = {10.562, 9.352}, fillColor = {42, 85, 94}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-85.751, 70.648}, {-102.737, 66.761}, {-105.751, 50.648}, {-105.751, -69.352}, {-99.475, -85.465}, {-85.751, -89.352}, {74.249, -89.352}, {81.746, -83.29}, {84.249, -76.041}, {84.249, 34.141}, {79.249, 43.202}, {54.249, 43.202}, {52.314, 67.486}, {31.729, 70.648}, {-85.751, 70.648}}, smooth = Smooth.Bezier), Rectangle(origin = {-71.211, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(origin = {-79.366, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "%Port"), Text(origin = {5, -30}, lineColor = {255, 255, 255}, extent = {{-75, 30}, {75, -30}}, textString = "Leonardo")}), + Diagram(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(origin = {10.562, 9.352}, fillColor = {42, 85, 94}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-85.751, 70.648}, {-102.737, 66.761}, {-105.751, 50.648}, {-105.751, -69.352}, {-99.475, -85.465}, {-85.751, -89.352}, {74.249, -89.352}, {81.746, -83.29}, {84.249, -76.041}, {84.249, 34.141}, {79.249, 43.202}, {54.249, 43.202}, {52.314, 67.486}, {31.729, 70.648}, {-85.751, 70.648}}, smooth = Smooth.Bezier), Rectangle(origin = {-71.211, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(origin = {-79.366, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Ellipse(origin = {-8.451, 32.225}, lineColor = {255, 255, 255}, fillColor = {42, 85, 94}, fillPattern = FillPattern.Solid, lineThickness = 5, extent = {{-15, -12.225}, {15, 12.225}}, endAngle = 360), Ellipse(origin = {21.55, 32.22}, lineColor = {255, 255, 255}, fillColor = {42, 85, 94}, fillPattern = FillPattern.Solid, lineThickness = 5, extent = {{-15, -12.23}, {15, 12.23}}, endAngle = 360), Text(origin = {-5, -15}, lineColor = {255, 255, 255}, extent = {{-75, 25}, {95, -35}}, textString = "Leonardo", textStyle = {TextStyle.Bold})}), + Diagram(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(visible = true, origin = {10.751, 9.352}, fillColor = {42, 85, 94}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-85.751, 70.648}, {-102.737, 66.761}, {-105.751, 50.648}, {-105.751, -69.352}, {-99.475, -85.465}, {-85.751, -89.352}, {74.249, -89.352}, {81.746, -83.29}, {84.249, -76.041}, {84.249, 34.141}, {79.249, 43.202}, {54.249, 43.202}, {52.314, 67.486}, {31.729, 70.648}}, smooth = Smooth.Bezier), Rectangle(visible = true, origin = {-71.211, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(visible = true, origin = {-79.366, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Rectangle(visible = true, origin = {0.725, 70}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-54.177, -6.186}, {54.177, 6.186}}, radius = 10), Rectangle(visible = true, origin = {22.372, -63.814}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-64.177, -6.186}, {64.177, 6.186}}, radius = 10), Rectangle(visible = true, origin = {25.52, -30}, fillPattern = FillPattern.Solid, extent = {{-51.029, -13.424}, {51.029, 13.424}}, radius = 10), Rectangle(visible = true, origin = {76.549, -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 = {66.549, -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 = {56.549, -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 = {46.549, -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 = {36.549, -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 = {26.549, -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 = {46.549, 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 = {36.549, 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 = {26.549, 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 = {16.549, 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 = {6.549, 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 = {-3.451, 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 = {-13.451, 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 = {-23.451, 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 = {-33.451, 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 = {-43.451, 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 = {-33.451, -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 = {-23.451, -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 = {-13.451, -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 = {-3.451, -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), Ellipse(visible = true, origin = {-8.451, 43.801}, lineColor = {255, 255, 255}, fillColor = {42, 85, 94}, fillPattern = FillPattern.Solid, lineThickness = 5, extent = {{-15, -12.225}, {15, 12.225}}), Ellipse(visible = true, origin = {21.549, 43.801}, lineColor = {255, 255, 255}, fillColor = {42, 85, 94}, fillPattern = FillPattern.Solid, lineThickness = 5, extent = {{-15, -12.225}, {15, 12.225}}), Text(visible = true, origin = {10, 23.151}, extent = {{-40, -10}, {40, 10}}, textString = "Leonardo")})); + end ArduinoLeonardo; + + model customBoard + parameter Internal.Types.SerialPort Port = "COM1" "Name of the serial port"; + parameter Boolean ShowPinCapabilities = true "Set to true if you want to see the capabilities of the pins in your board"; + parameter Boolean UseDTR = false "Some boards like Arduino Leonardo require UseDTR=true"; + parameter String BoardName = "[Board Name]" "Name of the development board/Microcontroller you are using"; + OpenModelicaEmbedded.Internal.ExternalFunctions.FirmataBoardObject board = Internal.ExternalFunctions.FirmataBoardObject.constructor(Port, ShowPinCapabilities, integer(UpdatePeriod * 1000), BaudRate, UseDTR); + OpenModelicaEmbedded.Internal.Interfaces.BoardConnector boardConnector annotation( + Placement(visible = true, transformation(origin = {-90, -12.256}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {0, 0}, extent = {{-100, -100}, {100, 100}}, rotation = 0))); + protected + discrete Integer BoardId(start = -1) "Board Identifier. Initialized automatically keep as -1."; + constant Modelica.SIunits.Time UpdatePeriod = 0.01 "Sampling interval. The standard Firmata has a maximum sampling period of 10 ms (0.01 s)"; + constant Integer BaudRate = 57600 "Baud rate used to communicate with the board"; + equation + when initial() then + BoardId = Internal.ExternalFunctions.getBoardId(board); + end when; + when sample(0, UpdatePeriod) then + OpenModelicaEmbedded.Internal.ExternalFunctions.updateBoard(BoardId); + end when; + boardConnector = BoardId; + annotation( + Icon(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(fillColor = {0, 85, 0}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-95, 90}, {95, -70}}, radius = 10), Text(origin = {0, 20}, lineColor = {255, 255, 255}, extent = {{-85, 40}, {85, -40}}, textString = "%BoardName"), Text(origin = {0, -80}, extent = {{-50, 20}, {50, -20}}, textString = "Port: %Port")}), + Diagram(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(fillColor = {0, 85, 0}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-95, 80}, {95, -80}}, radius = 10), Text(lineColor = {255, 255, 255}, extent = {{-85, 35}, {85, -35}}, textString = "%BoardName")})); + 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; + + package Examples "A collection of examples to help you get started" + extends Modelica.Icons.ExamplesPackage; + + 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 = 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( + Placement(visible = true, transformation(origin = {-30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + equation + connect(digitalOutput.pinConnector, arduino.boardConnector) annotation( + Line(points = {{10, -10}, {30, -10}}, color = {72, 73, 79})); + connect(booleanPulse.y, digitalOutput.u) annotation( + Line(points = {{-19, -10}, {-10, -10}}, color = {255, 0, 255})); + annotation( + experiment(StopTime = 10, Interval = 0.001), + Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = false, initialScale = 0.1, grid = {10, 10})), + preferredView = "diagram", + Documentation(info = "

Hardware Components Used 

+ +

Description

+

This example uses the DigitalOutput component to control the LED attached to the Arduino board on pin 13. It uses a BooleanPulse from the Modelica library to produce an On/Off signal that is fed into the DigitalOutput component. This will make the LED attached to the pin blink.

+

You can go ahead and add more LEDs to the board as shown in the following figure. This will require you to add one more DigitalOutput component to control the LED on pin 9.

+

\"\"/

", revisions = ""), + Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); + 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(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, 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(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 = "

Hardware Components Used

+ +


Description

+

This example uses the AnalogOutput component to change the light intensity of an LED. AnalogOutput uses the Arduino function 'analogWrite', which produces a PWM (Pulse-Width Modulated) signal. This type of signal can be used to directly control the LED intensity. The following figure shows the connections.

+

\"\"

+

You can check the Arduino Playground to know more about PWM outputs. 

", revisions = ""), + Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); + end DimmingLed; + + model ReadSensor "Reading analog signals" + 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.DigitalOutput digitalOutput(Pin = 10) annotation( + Placement(visible = true, transformation(origin = {-30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaArduino.Pins.AnalogInput analogInput1(Pin = 16) annotation( + Placement(visible = true, transformation(origin = {30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Logical.Greater greater1 annotation( + Placement(visible = true, transformation(origin = {-10, -15}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.Constant Reference(k = 0.5) annotation( + Placement(visible = true, transformation(origin = {30, -30}, extent = {{-10, -10}, {10, 10}}, rotation = -180))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-30, -40}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + equation + connect(greater1.y, digitalOutput.u) annotation( + Line(visible = true, origin = {-38.744, -2.5}, points = {{17.744, -12.5}, {-6.256, -12.5}, {-6.256, 17.5}, {-1.256, 17.5}}, color = {255, 0, 255})); + connect(analogInput1.y, greater1.u1) annotation( + Line(visible = true, origin = {33.994, -5}, points = {{6.006, 20}, {11.006, 20}, {11.006, 0}, {-23.994, 0}, {-23.994, -10}, {-31.994, -10}}, color = {0, 0, 127})); + connect(analogInput1.pinConnector, arduino.boardConnector) annotation( + Line(visible = true, origin = {10, 15}, points = {{10, 0}, {-10, 0}}, color = {72, 73, 79})); + connect(digitalOutput.pinConnector, arduino.boardConnector) annotation( + Line(visible = true, origin = {-10, 15}, points = {{-10, 0}, {10, 0}}, color = {72, 73, 79})); + connect(Reference.y, greater1.u2) annotation( + Line(visible = true, origin = {12.75, -29}, points = {{6.25, -1}, {-2.75, -1}, {-2.75, 6}, {-10.75, 6}}, color = {0, 0, 127})); + annotation( + experiment(StartTime = 0.0, StopTime = 10.0, Interval = 0.001, __Wolfram_Algorithm = "dassl", Tolerance = 1e-006, __Wolfram_SynchronizeWithRealTime = true), + Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = false, initialScale = 0.1, grid = {10, 10})), + preferredView = "diagram", + Documentation(info = "

Hardware Components Used

+ +

Description

+

This example shows how to read an analog voltage using the AnalogInput component. The analog signal is then compared to a reference, and if the signal is above the reference, it will turn on an LED. You can see in the following figure how to build this example.

+

\"\"

+

You can see that pin A0 for the Arduino corresponds to pin number 14 for the Firmata. For other boards, the pin numbering may vary.

+

Run the simulation and move the potentiometer. You should see that when the position of the shaft is near the middle, the LED changes state.

+

The AnalogInput component returns a signal between 0 and 1. This value represents the voltage between 0 and the reference voltage. If you prefer to get the signal directly in volts, you need to change the 'MaxValue' property to the reference voltage, but generally it is either 5 V or 3.3 V.

", revisions = ""), + Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); + end ReadSensor; + + model MoveServo "Using servos" + extends Modelica.Icons.Example; + Boards.Arduino arduino(Port = "COM1") annotation( + Placement(visible = true, transformation(origin = {30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Pins.Servo servo(Pin = 10) annotation( + Placement(visible = true, transformation(origin = {0, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.ExpSine expSine(offset = 0.5, amplitude = 0.5, freqHz = 0.4, damping = 0.1) annotation( + Placement(visible = true, transformation(origin = {-30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-25, 35}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + equation + connect(expSine.y, servo.u) annotation( + Line(visible = true, origin = {-14.5, -10}, points = {{-4.5, -0}, {4.5, 0}}, color = {0, 0, 127})); + connect(servo.pinConnector, arduino.boardConnector) annotation( + Line(visible = true, origin = {20, -10}, points = {{-10, 0}, {10, -0}}, color = {72, 73, 79})); + 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 = "

Hardware Components Used

+ +

Description

+

This example shows how to control a servo by using the Servo component. You can find the diagram in the following figure.

+

For this example, it is recommended to use an external power source to provide voltage for the servo. This is because the power from the Arduino may not be enough to supply the servo. If you are not sure how to connect your servo, take a look at the reference in the Arduino Playground (http://playground.arduino.cc).

+

\"\"

+

Servos are controlled with a signal in the range of 0 to 1, where 0 corresponds to 0 degrees of rotation and 1 to 180 degrees. This example makes the servo bounce from 0 to 180 degrees until it gets stable around 90 degrees.

", revisions = ""), + Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); + end MoveServo; + + 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 = 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 = 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))); + equation + connect(hysteresis.u, add1.y) annotation( + Line(visible = true, origin = {-14.5, -25}, points = {{-3.5, -0}, {3.5, 0}}, color = {0, 0, 127})); + connect(digitalOutput.u, hysteresis.y) annotation( + Line(visible = true, origin = {-43.25, 5}, points = {{3.25, 10}, {-1.75, 10}, {-1.75, -30}, {2.25, -30}}, color = {255, 0, 255})); + connect(digitalOutput.pinConnector, arduino.boardConnector) annotation( + Line(visible = true, origin = {-10, 15}, points = {{-10, 0}, {10, 0}})); + connect(add1.u2, Reference.y) annotation( + Line(visible = true, origin = {18.5, -23}, points = {{-6.5, -8}, {1.5, -8}, {1.5, -2}, {5.5, -2}}, color = {0, 0, 127})); + connect(analogInput1.y, add1.u1) annotation( + Line(visible = true, origin = {33.506, 12}, points = {{6.494, 3}, {11.494, 3}, {11.494, -17}, {-13.506, -17}, {-13.506, -31}, {-21.506, -31}}, color = {0, 0, 127})); + connect(arduino.boardConnector, analogInput1.pinConnector) annotation( + Line(visible = true, origin = {10, 15}, 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 = "

Hardware Components Used

+ +

Description

+

This example is a simple ON/OFF controller and can be used for either heating or cooling. It uses an LM35 to read the temperature, and based on that temperature, the controller switches a relay on or off. You can attach a fan or a heater to the relay, depending on the operation you want to perform. You can find the diagram in the following figure.
Note: You need to be careful when using relays that control electrical equipment using AC voltage, because an incorrect connection may damage your board.

+

\"\"

+

The target temperature is set by a constant component. The measured temperature is subtracted from the reference in order to obtain the error. The error signal is fed into the hysteresis component, which will send a Boolean signal to control the relay. If you want cooling instead of heating, you need to invert the logic of this signal.

"), + Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); + end SimpleONOFF; + + 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 = "

Hardware Components Used 

+ +

Description

+

This example shows how the + Blink Led can be used with an Arduino Leonardo.

", revisions = "")); + end UsingArduinoLeonardo; + + model UsingCustomBoard "Using a Firmata-compatible board" + extends Modelica.Icons.Example; + Modelica.Blocks.Sources.BooleanPulse booleanPulse(period = 1) annotation( + Placement(visible = true, transformation(origin = {-30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Pins.DigitalOutput digitalOutput(Pin = 13) annotation( + Placement(visible = true, transformation(origin = {-0, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Boards.CustomFirmata customFirmata(Port = "COM1", BaudRate = 115200, UpdatePeriod = 0.001) annotation( + Placement(visible = true, transformation(origin = {30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-30, 30}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + equation + connect(digitalOutput.pinConnector, customFirmata.boardConnector) annotation( + Line(visible = true, origin = {20, -10}, points = {{-10, 0}, {10, -0}})); + connect(booleanPulse.y, digitalOutput.u) annotation( + Line(visible = true, origin = {-14.5, -10}, points = {{-4.5, 0}, {4.5, 0}}, color = {255, 0, 255})); + 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 = "

Hardware Components Used

+

- 1 Teensy 3.1 board

+

Description

+

This example shows how to use a board with a custom version of Firmata. The Teensy board works perfectly with the StandardFirmata, but in this example it is modified in order get a faster data transfer speed.

+

\"\"

+


The main difference of the CustomFirmata component is that it allows you to set the baud rate to the sampling interval that you want to use. In this case the oce of the StandardFirmata is modified to use a baud rate of 115200. You can perform this modification in the source code. Search for the line:

+

Firmata.Begin(57600);

+

and changing it to

+

Firmata.Begin(115200);

+

This initializes the serial port at the given speed. The next change that you can make is reducing the minimum sampling interval. You can find this tweak by searching in the code the text:

+

#define MINIMUM_SAMPLING_INTERVAL 10

+

and changing it to

+

#define MINIMUM_SAMPLING_INTERVAL 1

+

This changes the sampling interval limit from 10 ms to 1ms. You have to consider that this change is possible because the Teensy board can run up to 96 MHz. If you change the sampling interval, it is necessary to change the simulation setting in SimulationCenter to 1 ms, as shown in the following figure.

+

\"\"

", revisions = ""), + Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); + end UsingCustomBoard; + + model UsingStandardFirmata "Using a standard Firmata board" + extends Modelica.Icons.Example; + Boards.StandardFirmata standardFirmata(Port = "COM1", ShowPinCapabilities = true) annotation( + Placement(visible = true, transformation(origin = {30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalOutput digitalOutput(Pin = 13) annotation( + Placement(visible = true, transformation(origin = {-0, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.BooleanPulse booleanPulse(period = 1) annotation( + Placement(visible = true, transformation(origin = {-30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-35, 40}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + equation + connect(digitalOutput.pinConnector, standardFirmata.boardConnector) annotation( + Line(visible = true, origin = {20, -10}, points = {{-10, 0}, {10, 0}}, color = {72, 73, 79})); + connect(booleanPulse.y, digitalOutput.u) annotation( + Line(visible = true, origin = {-14.5, -10}, points = {{-4.5, 0}, {4.5, 0}}, color = {255, 0, 255})); + annotation( + experiment(StopTime = 10, 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 = "

Hardware Components Used

+ +

Description

+

This example uses the DigitalOutput component to control the LED attached to a standard Firmata board on pin 13. It uses a BooleanPulse from the Modelica library to produce an On/Off signal that is fed into the DigitalOutput component. This will make the LED attached to the pin blink.

+

You can go ahead and add more LEDs to the board as shown in the following figure. This will require you to add one more DigitalOutput component to control the LED on pin 9.

+

\"\"

", revisions = ""), + Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); + end UsingStandardFirmata; + + model DCMotorWithPWM + extends Modelica.Icons.Example; + OpenModelicaArduino.Boards.customBoard customBoard1(BoardName = "Arduino UNO", Port = "/dev/ttyACM0") annotation( + 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 = 30) annotation( + Placement(visible = true, transformation(origin = {-57, 29}, extent = {{-15, -15}, {15, 15}}, rotation = 0))); + 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 = 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(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( + Line(points = {{-42, 74}, {-20, 74}, {-20, 52}, {-90, 52}, {-90, 28}, {-72, 28}, {-72, 30}}, color = {0, 0, 127})); + connect(analogInput1.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{-70, 74}, {-88, 74}, {-88, 92}, {12, 92}, {12, 30}, {14, 30}})); + connect(digitalOutput1.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{-45, -10}, {-44.75, -10}, {-44.75, -2}, {14, -2}, {14, 30}})); + connect(booleanConstant1.y, digitalOutput1.u) annotation( + Line(points = {{-58, -70}, {-46, -70}, {-46, -36}, {-45, -36}}, color = {255, 0, 255})); + connect(booleanConstant2.y, digitalOutput2.u) annotation( + Line(points = {{26, -74}, {50, -74}, {50, -40}, {49, -40}, {49, -38}, {50, -38}}, color = {255, 0, 255})); + connect(digitalOutput2.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{50, -18}, {50, 30}, {14, 30}})); + connect(analogOutput1.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{-42, 30}, {13, 30}, {13, 29}})); + annotation( + uses(OpenModelicaArduino(version = "1.2"), Modelica(version = "3.2.2"), Modelica_DeviceDrivers(version = "1.5.0"))); + end DCMotorWithPWM; + + model DCMotorWithPID + extends Modelica.Icons.Example; + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1(priority = "High", setPriority = true) annotation( + Placement(visible = true, transformation(origin = {92, 88}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Mechanics.Rotational.Components.Inertia inertia1(J = 1, a(start = 0), phi(start = 0), w(start = 0)) annotation( + Placement(visible = true, transformation(origin = {-22, -86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Mechanics.Rotational.Components.Inertia inertia2(J = 1, a(start = 0), phi(start = 0), w(start = 0)) annotation( + Placement(visible = true, transformation(origin = {56, -86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Mechanics.Rotational.Components.SpringDamper springDamper1(c = 20, d = 10, phi_rel0 = 0) annotation( + Placement(visible = true, transformation(origin = {16, -86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Mechanics.Rotational.Sources.Torque torque1 annotation( + Placement(visible = true, transformation(origin = {-64, -86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Mechanics.Rotational.Sources.ConstantTorque constantTorque1(tau_constant = 10) annotation( + Placement(visible = true, transformation(origin = {98, -86}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Mechanics.Rotational.Sensors.SpeedSensor speedSensor1 annotation( + Placement(visible = true, transformation(origin = {88, -36}, extent = {{-10, -10}, {10, 10}}, rotation = 90))); + OpenModelicaArduino.Boards.CustomFirmata customFirmata1(BaudRate = 57600, Port = "/dev/ttyACM0", ShowPinCapabilities = true, UpdatePeriod = 0.02, UseDTR = true) annotation( + Placement(visible = true, transformation(origin = {-10, 4}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaArduino.Pins.AnalogOutput analogOutput1(MaxValue = 512, MinValue = -512, Pin = 5) annotation( + Placement(visible = true, transformation(origin = {46, 2}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + OpenModelicaArduino.Pins.AnalogInput analogInput1(InitValue = 0, MaxValue = 512, MinValue = -512, Pin = 15) annotation( + Placement(visible = true, transformation(origin = {-64, 2}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + OpenModelicaArduino.Pins.AnalogOutput analogOutput2(MaxValue = 512, MinValue = -512, Pin = 6) annotation( + Placement(visible = true, transformation(origin = {-54, 58}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.Sine sine1(amplitude = 512, freqHz = 0.5) annotation( + Placement(visible = true, transformation(origin = {-122, 58}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + equation + connect(sine1.y, analogOutput2.u) annotation( + Line(points = {{-110, 58}, {-64, 58}, {-64, 58}, {-64, 58}}, color = {0, 0, 127})); + connect(analogOutput2.pinConnector, customFirmata1.boardConnector) annotation( + Line(points = {{-44, 58}, {-10, 58}, {-10, 4}})); + connect(analogInput1.y, torque1.tau) annotation( + Line(points = {{-74, 2}, {-84, 2}, {-84, 2}, {-94, 2}, {-94, -86}, {-76, -86}}, color = {0, 0, 127})); + connect(analogInput1.pinConnector, customFirmata1.boardConnector) annotation( + Line(points = {{-54, 2}, {-10, 2}, {-10, 4}})); + connect(speedSensor1.w, analogOutput1.u) annotation( + Line(points = {{88, -25}, {89, -25}, {89, -23}, {88, -23}, {88, 3}, {56, 3}, {56, 1}}, color = {0, 0, 127})); + connect(analogOutput1.pinConnector, customFirmata1.boardConnector) annotation( + Line(points = {{36, 2}, {35.5, 2}, {35.5, 2}, {35, 2}, {35, 4}, {-10, 4}})); + connect(speedSensor1.flange, constantTorque1.flange) annotation( + Line(points = {{88, -46}, {88, -86}})); + connect(inertia2.flange_b, constantTorque1.flange) annotation( + Line(points = {{66, -86}, {88, -86}, {88, -86}, {88, -86}, {88, -86}, {88, -86}})); + connect(torque1.flange, inertia1.flange_a) annotation( + Line(points = {{-54, -86}, {-37, -86}, {-37, -86}, {-32, -86}, {-32, -86}, {-31, -86}, {-31, -86}, {-32, -86}})); + connect(springDamper1.flange_b, inertia2.flange_a) annotation( + Line(points = {{26, -86}, {36, -86}, {36, -86}, {46, -86}, {46, -86}, {46, -86}})); + connect(inertia1.flange_b, springDamper1.flange_a) annotation( + Line(points = {{-12, -86}, {-3, -86}, {-3, -86}, {6, -86}, {6, -86}, {6, -86}})); + annotation( + uses(OpenModelicaArduino(version = "1.2"), Modelica(version = "3.2.2"), Modelica_DeviceDrivers(version = "1.5.0"))); + end DCMotorWithPID; + annotation( + Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5}))); + end Examples; + + package Internal "Internal classes that should not be used directly by the user" + extends Modelica.Icons.Package; + + package Icons "Icons used in ModelPlug" + extends Modelica.Icons.IconsPackage; + + partial model Block "Icon for blocks" + annotation( + experiment(NumberOfIntervals = -1), + preferredView = "icon", + Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(visible = true, fillColor = {128, 128, 128}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -80}, {100, 80}}, radius = 40), Rectangle(visible = true, origin = {5, -5}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-95, -75}, {95, 75}}, radius = 40), Rectangle(visible = true, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -70}, {90, 70}}, radius = 30)}), + Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5}))); + end Block; + annotation( + Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5}))); + end Icons; + + package ExternalFunctions "External functions used to communicate with the boards" + extends Modelica.Icons.Package; + + function readAnalogPin + input Integer pin; + input Real min; + input Real max; + input Real init; + input Integer board; + input Integer adcResolution; + output Real value; + + 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; + + function constructor "Function that call the external constructor" + input String port; + input Boolean showCapabilities; + input Integer samplingMs; + input Integer BaudRate; + input Boolean UseDTR; + output FirmataBoardObject board; + + external "C" board = boardConstructor(port, showCapabilities, samplingMs, BaudRate, UseDTR) annotation( + Include = "#include \"modelPlugFirmata.h\"", + Library = "modelPlugFirmata", + IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include", + LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library"); + end constructor; + + function destructor "Function to destroy the object" + input FirmataBoardObject board; + + external "C" boardDestructor(board) annotation( + Include = "#include \"modelPlugFirmata.h\"", + Library = "modelPlugFirmata", + IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include", + LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library"); + end destructor; + end FirmataBoardObject; + + function getBoardId + input FirmataBoardObject board; + output Integer id; + + external "C" id = getBoardId(board) annotation( + Include = "#include \"modelPlugFirmata.h\"", + Library = "modelPlugFirmata", + IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include", + LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library"); + end getBoardId; + + function readDigitalPin + input Integer pin; + input Boolean init; + input Integer board; + output Boolean value; + + external "C" value = readDigitalPin(pin, init, board) annotation( + Include = "#include \"modelPlugFirmata.h\"", + Library = "modelPlugFirmata", + IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include", + LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library"); + end readDigitalPin; + + function writeAnalogPin + input Integer pin; + input Integer board; + input Real value; + + external "C" writeAnalogPin(pin, board, value) annotation( + Include = "#include \"modelPlugFirmata.h\"", + Library = "modelPlugFirmata", + IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include", + LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library"); + end writeAnalogPin; + + function writeDigitalPin + input Integer pin; + input Integer board; + input Boolean value; + + external "C" writeDigitalPin(pin, board, value) annotation( + Include = "#include \"modelPlugFirmata.h\"", + Library = "modelPlugFirmata", + IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include", + LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library"); + end writeDigitalPin; + + function updateBoard + input Integer board; + + external "C" updateBoard(board) annotation( + Include = "#include \"modelPlugFirmata.h\"", + Library = "modelPlugFirmata", + IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include", + LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library"); + end updateBoard; + + function writeServoPin + input Integer pin; + input Integer board; + input Real value; + input Integer MinPulse; + input Integer MaxPulse; + + 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; + + package Types "Type and unit definitions" + extends Modelica.Icons.TypesPackage; + type ServoUnit = enumeration(None, Degrees, Radians); + type SerialPort = String annotation( + Dialog(__Wolfram_serialPortSelector = true)); + annotation( + Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5}))); + end Types; + + package Interfaces "Package with connectors and partial models" + extends Modelica.Icons.InterfacesPackage; + connector BoardConnector = output Integer annotation( + Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Ellipse(visible = true, origin = {-0, 0.74}, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-10, -9.26}, {10, 9.26}})}), + Diagram(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Ellipse(visible = true, origin = {-0, 0.74}, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-10, -9.26}, {10, 9.26}})})); + connector PinConnector = input Integer annotation( + Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Ellipse(visible = true, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -100}, {100, 100}}), Ellipse(visible = true, fillColor = {128, 128, 128}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-70, -70}, {70, 70}})}), + Diagram(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Ellipse(visible = true, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -100}, {100, 100}}), Ellipse(visible = true, fillColor = {128, 128, 128}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-70, -70}, {70, 70}})})); + end Interfaces; + annotation( + Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(visible = true, origin = {1.383, -4.142}, rotation = 45, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-15, 93.333}, {-15, 68.333}, {0, 58.333}, {15, 68.333}, {15, 93.333}, {20, 93.333}, {25, 83.333}, {25, 58.333}, {10, 43.333}, {10, -41.667}, {25, -56.667}, {25, -76.667}, {10, -91.667}, {0, -91.667}, {0, -81.667}, {5, -81.667}, {15, -71.667}, {15, -61.667}, {5, -51.667}, {-5, -51.667}, {-15, -61.667}, {-15, -71.667}, {-5, -81.667}, {0, -81.667}, {0, -91.667}, {-10, -91.667}, {-25, -76.667}, {-25, -56.667}, {-10, -41.667}, {-10, 43.333}, {-25, 58.333}, {-25, 83.333}, {-20, 93.333}}), Polygon(visible = true, origin = {10.102, 5.218}, rotation = -45, fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, points = {{-15, 87.273}, {15, 87.273}, {20, 82.273}, {20, 27.273}, {10, 17.273}, {10, 7.273}, {20, 2.273}, {20, -2.727}, {5, -2.727}, {5, -77.727}, {10, -87.727}, {5, -112.727}, {-5, -112.727}, {-10, -87.727}, {-5, -77.727}, {-5, -2.727}, {-20, -2.727}, {-20, 2.273}, {-10, 7.273}, {-10, 17.273}, {-20, 27.273}, {-20, 82.273}})})); + end Internal; + + package ArduinoExamples + extends Modelica.Icons.ExamplesPackage; + + package Led + extends Modelica.Icons.ExamplesPackage; + + model ex1_led_blue + extends Modelica.Icons.Example; + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-60, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalOutput digitalOutput1(Pin = 9) annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica.Blocks.Sources.BooleanConstant booleanConstant1(k = true) annotation( + Placement(visible = true, transformation(origin = {-60, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Boards.customBoard customBoard1(BoardName = "Arduino UNO", Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {61, -21}, extent = {{-21, -21}, {21, 21}}, rotation = 0))); + equation + connect(digitalOutput1.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{20, -20}, {60, -20}, {60, -20}, {62, -20}})); + connect(booleanConstant1.y, digitalOutput1.u) annotation( + Line(points = {{-38, -20}, {-20, -20}, {-20, -20}, {-20, -20}}, color = {255, 0, 255})); + end ex1_led_blue; + + + + model ex2_led_blue_delay + extends Modelica.Icons.Example; + OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {60, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalOutput digitalOutput1(Pin = 9) annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1(enableRealTimeScaling = false) annotation( + Placement(visible = true, transformation(origin = {-60, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica.Blocks.Sources.BooleanPulse booleanPulse1(period = 20, startTime = 5, width = 10) annotation( + Placement(visible = true, transformation(origin = {-60, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + connect(booleanPulse1.y, digitalOutput1.u) annotation( + Line(points = {{-38, -20}, {-20, -20}, {-20, -20}, {-20, -20}}, color = {255, 0, 255})); + connect(digitalOutput1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{20, -20}, {60, -20}, {60, -20}, {60, -20}})); + end ex2_led_blue_delay; + + model ex3_led_blue_red + extends Modelica.Icons.Example; + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-60, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalOutput digitalOutput1(Pin = 9) annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalOutput digitalOutput2(Pin = 11) annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, -60}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica.Blocks.Sources.BooleanPulse booleanPulse1(period = 20, startTime = 5, width = 25) annotation( + Placement(visible = true, transformation(origin = {-60, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica.Blocks.Sources.BooleanPulse booleanPulse2(period = 20, startTime = 5, width = 40) annotation( + Placement(visible = true, transformation(origin = {-60, -60}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Boards.customBoard customBoard1(BoardName = "Arduino UNO", Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {60, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + connect(digitalOutput1.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{20, 0}, {60, 0}, {60, -20}, {60, -20}})); + connect(digitalOutput2.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{20, -60}, {60, -60}, {60, -20}, {60, -20}})); + connect(booleanPulse2.y, digitalOutput2.u) annotation( + Line(points = {{-38, -60}, {-20, -60}, {-20, -60}, {-20, -60}}, color = {255, 0, 255})); + connect(booleanPulse1.y, digitalOutput1.u) annotation( + Line(points = {{-38, 0}, {-20, 0}, {-20, 0}, {-20, 0}}, color = {255, 0, 255})); + end ex3_led_blue_red; + + model ex4_led_blink + extends Modelica.Icons.Example; + OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {42, -6}, extent = {{-14, -14}, {14, 14}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalOutput digitalOutput1(Pin = 10) annotation( + Placement(visible = true, transformation(origin = {-9, -7}, extent = {{-13, -13}, {13, 13}}, rotation = 0))); + Modelica.Blocks.Sources.BooleanPulse booleanPulse1(period = 2, startTime = 4, width = 50) annotation( + Placement(visible = true, transformation(origin = {-68, -12}, extent = {{-14, -14}, {14, 14}}, rotation = 0))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-19, 51}, extent = {{-13, -13}, {13, 13}}, rotation = 0))); + equation + connect(booleanPulse1.y, digitalOutput1.u) annotation( + Line(points = {{-53, -12}, {-24, -12}, {-24, -7}, {-22, -7}}, color = {255, 0, 255})); + connect(digitalOutput1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{4, -7}, {22, -7}, {22, -6}, {42, -6}})); + annotation( + uses(OpenModelicaArduino(version = "1.2"), Modelica(version = "3.2.2"), Modelica_DeviceDrivers(version = "1.5.0"))); + end ex4_led_blink; + end Led; + + package Push_button + extends Modelica.Icons.ExamplesPackage; + + model ex1_push_button_status + 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 = {-60, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalInput digitalInput1(Pin = 12) annotation( + Placement(visible = true, transformation(origin = {0, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica.Blocks.Interaction.Show.BooleanValue booleanValue1 annotation( + Placement(visible = true, transformation(origin = {80, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + connect(digitalInput1.y, booleanValue1.activePort) annotation( + Line(points = {{20, 0}, {54, 0}, {54, 0}, {58, 0}}, color = {255, 0, 255})); + connect(arduino1.boardConnector, digitalInput1.pinConnector) annotation( + Line(points = {{-60, 0}, {-20, 0}})); + Modelica.Utilities.Streams.print(String(booleanValue1.activePort)); + end ex1_push_button_status; + + model ex2_led_push_button + extends Modelica.Icons.Example; + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-60, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalOutput digitalOutput1(Pin = 9) annotation( + Placement(visible = true, transformation(origin = {-60, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalInput digitalInput1(Pin = 12) annotation( + Placement(visible = true, transformation(origin = {62, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Boards.customBoard customBoard1(BoardName = "Arduino UNO", Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + connect(customBoard1.boardConnector, digitalInput1.pinConnector) annotation( + Line(points = {{0, 0}, {44, 0}, {44, 0}, {42, 0}})); + connect(digitalOutput1.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{-40, 0}, {0, 0}, {0, 0}, {0, 0}})); + connect(digitalInput1.y, digitalOutput1.u) annotation( + Line(points = {{82, 0}, {94, 0}, {94, -40}, {-92, -40}, {-92, 0}, {-80, 0}, {-80, 0}}, color = {255, 0, 255})); + end ex2_led_push_button; + end Push_button; + + package Ldr + extends Modelica.Icons.ExamplesPackage; + + model ex1_ldr_read + 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 = 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))); + Modelica.Blocks.Interaction.Show.RealValue realValue1(use_numberPort = true) annotation( + Placement(visible = true, transformation(origin = {60, -8.88178e-16}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + connect(analogInput1.y, realValue1.numberPort) annotation( + Line(points = {{20, 0}, {37, 0}}, color = {0, 0, 127})); + connect(arduino1.boardConnector, analogInput1.pinConnector) annotation( + Line(points = {{-60, 0}, {-20, 0}, {-20, 0}, {-20, 0}})); + Modelica.Utilities.Streams.print(String(realValue1.numberPort)); + annotation( + uses(Modelica(version = "3.2.2"))); + end ex1_ldr_read; + + model ex2_ldr_led + extends Modelica.Icons.Example; + OpenModelicaArduino.Pins.DigitalOutput digitalOutput1(Pin = 9) annotation( + Placement(visible = true, transformation(origin = {-60, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.AnalogInput analogInput1(MaxValue = 1023, MinValue = 0, Pin = 19) annotation( + Placement(visible = true, transformation(origin = {60, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-70, 68}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.Constant const(k = 300) annotation( + Placement(visible = true, transformation(origin = {60, -70}, extent = {{20, -20}, {-20, 20}}, rotation = 0))); + Modelica.Blocks.Logical.Less less1 annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, -40}, extent = {{20, -20}, {-20, 20}}, rotation = 0))); + OpenModelicaArduino.Boards.customBoard customBoard1(BoardName = "Arduino UNO", Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + connect(customBoard1.boardConnector, analogInput1.pinConnector) annotation( + Line(points = {{0, 20}, {40, 20}, {40, 20}, {40, 20}})); + connect(digitalOutput1.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{-40, 20}, {0, 20}, {0, 20}, {0, 20}})); + connect(const.y, less1.u2) annotation( + Line(points = {{38, -70}, {32, -70}, {32, -56}, {24, -56}}, color = {0, 0, 127})); + connect(less1.y, digitalOutput1.u) annotation( + Line(points = {{-22, -40}, {-92, -40}, {-92, 20}, {-80, 20}}, color = {255, 0, 255})); + connect(analogInput1.y, less1.u1) annotation( + Line(points = {{80, 20}, {90, 20}, {90, -40}, {24, -40}}, color = {0, 0, 127})); + end ex2_ldr_led; + end Ldr; + + package DC_motor + extends Modelica.Icons.ExamplesPackage; + + model ex1_dcmotor_clock + extends Modelica.Icons.Example; + OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {60, 4.21885e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.AnalogOutput analogOutput1(MaxValue = 255, MinValue = 0, Pin = 9) annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.AnalogOutput analogOutput2(MaxValue = 255, MinValue = 0, Pin = 10) annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, -40}, 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))); + Modelica.Blocks.Sources.Constant const(k = 0) annotation( + Placement(visible = true, transformation(origin = {-60, -40}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica.Blocks.Sources.Pulse pulse1(amplitude = 255, period = 20, startTime = 5, width = 15) annotation( + Placement(visible = true, transformation(origin = {-60, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + connect(analogOutput2.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{20, -40}, {60, -40}, {60, 0}, {60, 0}})); + connect(analogOutput1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{20, 20}, {60, 20}, {60, 0}, {60, 0}, {60, 0}})); + connect(const.y, analogOutput2.u) annotation( + Line(points = {{-38, -40}, {-22, -40}, {-22, -40}, {-20, -40}}, color = {0, 0, 127})); + connect(pulse1.y, analogOutput1.u) annotation( + Line(points = {{-38, 20}, {-22, 20}, {-22, 20}, {-20, 20}}, color = {0, 0, 127})); + end ex1_dcmotor_clock; + + model ex2_dcmotor_both + extends Modelica.Icons.Example; + OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {60, 4.21885e-15}, 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))); + OpenModelicaArduino.Pins.DigitalOutput digitalOutput1(Pin = 8) annotation( + Placement(visible = true, transformation(origin = {1.33227e-15, 26}, extent = {{-14, -14}, {14, 14}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalOutput digitalOutput2(Pin = 9) annotation( + Placement(visible = true, transformation(origin = {4, -40}, extent = {{-14, -14}, {14, 14}}, rotation = 0))); + Modelica.Blocks.Sources.BooleanPulse booleanPulse1(period = 20) annotation( + Placement(visible = true, transformation(origin = {-65, 25}, extent = {{-13, -13}, {13, 13}}, rotation = 0))); + Modelica.Blocks.Sources.BooleanPulse booleanPulse2(period = 20, startTime = 10) annotation( + Placement(visible = true, transformation(origin = {-60, -40}, extent = {{-14, -14}, {14, 14}}, rotation = 0))); + equation + connect(booleanPulse1.y, digitalOutput1.u) annotation( + Line(points = {{-50, 26}, {-14, 26}}, color = {255, 0, 255})); + connect(digitalOutput1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{14, 26}, {60, 26}, {60, 0}})); + connect(booleanPulse2.y, digitalOutput2.u) annotation( + Line(points = {{-44, -40}, {-10, -40}}, color = {255, 0, 255})); + connect(digitalOutput2.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{18, -40}, {60, -40}, {60, 0}})); + end ex2_dcmotor_both; + + model ex3_dcmotor_loop + extends Modelica.Icons.Example; + OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {60, 4.21885e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.AnalogOutput analogOutput1(MaxValue = 255, MinValue = 0, Pin = 9) annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, 18}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.AnalogOutput analogOutput2(MaxValue = 255, MinValue = 0, Pin = 10) annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, -40}, 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))); + Modelica.Blocks.Sources.Pulse pulse1(amplitude = 255, period = 10, startTime = 5, width = 30) annotation( + Placement(visible = true, transformation(origin = {-60, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica.Blocks.Sources.Pulse pulse2(amplitude = 255, period = 10, startTime = 10, width = 20) annotation( + Placement(visible = true, transformation(origin = {-60, -40}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + connect(pulse1.y, analogOutput1.u) annotation( + Line(points = {{-38, 20}, {-20, 20}, {-20, 18}}, color = {0, 0, 127})); + connect(analogOutput1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{20, 18}, {20, 39}, {60, 39}, {60, 0}})); + connect(pulse2.y, analogOutput2.u) annotation( + Line(points = {{-38, -40}, {-20, -40}, {-20, -40}, {-20, -40}}, color = {0, 0, 127})); + connect(analogOutput2.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{20, -40}, {60, -40}, {60, 0}, {60, 0}})); + end ex3_dcmotor_loop; + end DC_motor; + + package Potentiometer + extends Modelica.Icons.ExamplesPackage; + + model ex1_pot_threshold + extends Modelica.Icons.Example; + OpenModelicaArduino.Pins.AnalogInput analogInput1(MaxValue = 1023, MinValue = 0, Pin = 23, adcResolution = 12) annotation( + Placement(visible = true, transformation(origin = {28, 50}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalOutput digitalOutput1(Pin = 9) annotation( + Placement(visible = true, transformation(origin = {-50, 90}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {70, 70}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalOutput digitalOutput2(Pin = 10) annotation( + Placement(visible = true, transformation(origin = {-50, 50}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Logical.GreaterEqualThreshold greaterEqualThreshold1(threshold = 0) annotation( + Placement(visible = true, transformation(origin = {70, 10}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Logical.GreaterEqualThreshold greaterEqualThreshold2(threshold = 320) annotation( + Placement(visible = true, transformation(origin = {70, -30}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Logical.GreaterEqualThreshold greaterEqualThreshold3(threshold = 900) annotation( + Placement(visible = true, transformation(origin = {70, -70}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Logical.Xor xor1 annotation( + Placement(visible = true, transformation(origin = {30, -10}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Logical.Xor xor2 annotation( + Placement(visible = true, transformation(origin = {30, -50}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalOutput digitalOutput3(Pin = 11) annotation( + Placement(visible = true, transformation(origin = {-50, 10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaArduino.Boards.customBoard customBoard1(BoardName = "Arduino UNO", Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {-10, 50}, extent = {{-14, -14}, {14, 14}}, rotation = 0))); + equation + connect(analogInput1.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{18, 50}, {-10, 50}})); + connect(digitalOutput1.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{-40, 90}, {-10, 90}, {-10, 50}})); + connect(digitalOutput2.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{-40, 50}, {-10, 50}})); + connect(digitalOutput3.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{-40, 10}, {-10, 10}, {-10, 50}})); + connect(xor1.y, digitalOutput3.u) annotation( + Line(points = {{20, -10}, {-72, -10}, {-72, 10}, {-60, 10}, {-60, 10}}, color = {255, 0, 255})); + connect(xor2.y, digitalOutput2.u) annotation( + Line(points = {{20, -50}, {-80, -50}, {-80, 50}, {-60, 50}, {-60, 50}}, color = {255, 0, 255})); + connect(greaterEqualThreshold3.y, digitalOutput1.u) annotation( + Line(points = {{60, -70}, {-90, -70}, {-90, 90}, {-60, 90}, {-60, 90}}, color = {255, 0, 255})); + connect(greaterEqualThreshold3.y, xor2.u2) annotation( + Line(points = {{60, -70}, {52, -70}, {52, -58}, {42, -58}, {42, -58}, {42, -58}}, color = {255, 0, 255})); + connect(greaterEqualThreshold2.y, xor2.u1) annotation( + Line(points = {{60, -30}, {52, -30}, {52, -50}, {42, -50}, {42, -50}}, color = {255, 0, 255})); + connect(greaterEqualThreshold2.y, xor1.u2) annotation( + Line(points = {{60, -30}, {52, -30}, {52, -18}, {42, -18}, {42, -18}}, color = {255, 0, 255})); + connect(greaterEqualThreshold1.y, xor1.u1) annotation( + Line(points = {{60, 10}, {50, 10}, {50, -10}, {42, -10}, {42, -10}}, color = {255, 0, 255})); + connect(analogInput1.y, greaterEqualThreshold1.u) annotation( + Line(points = {{38, 50}, {94, 50}, {94, 10}, {82, 10}, {82, 10}}, color = {0, 0, 127})); + connect(analogInput1.y, greaterEqualThreshold2.u) annotation( + Line(points = {{38, 50}, {94, 50}, {94, -30}, {82, -30}, {82, -30}, {82, -30}}, color = {0, 0, 127})); + connect(analogInput1.y, greaterEqualThreshold3.u) annotation( + Line(points = {{38, 50}, {94, 50}, {94, -70}, {82, -70}, {82, -70}}, color = {0, 0, 127})); + annotation( + uses(OpenModelicaArduino(version = "1.2"))); + end ex1_pot_threshold; + end Potentiometer; + + package Thermistor + extends Modelica.Icons.ExamplesPackage; + + model ex1_therm_read + extends Modelica.Icons.Example; + OpenModelicaArduino.Pins.AnalogInput analogInput1(MaxValue = 1023, MinValue = 0, Pin = 18) 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))); + OpenModelicaArduino.Boards.customBoard customBoard1(BoardName = "Arduino UNO", Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {-59, -1}, extent = {{-21, -21}, {21, 21}}, rotation = 0))); + equation + connect(customBoard1.boardConnector, analogInput1.pinConnector) annotation( + Line(points = {{-58, 0}, {-20, 0}, {-20, 0}, {-20, 0}})); + Modelica.Utilities.Streams.print(String(analogInput1.y)); + end ex1_therm_read; + + model ex2_therm_buzzer + extends Modelica.Icons.Example; + OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalOutput digitalOutput1(Pin = 3) annotation( + Placement(visible = true, transformation(origin = {-60, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.AnalogInput analogInput1(MaxValue = 1023, MinValue = 0, Pin = 18) annotation( + Placement(visible = true, transformation(origin = {60, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-70, 68}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.Constant const(k = 500) annotation( + Placement(visible = true, transformation(origin = {60, -70}, extent = {{20, -20}, {-20, 20}}, rotation = 0))); + Modelica.Blocks.Logical.Greater greater1 annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, -40}, extent = {{20, -20}, {-20, 20}}, rotation = 0))); + Modelica.Blocks.Interaction.Show.RealValue realValue1 annotation( + Placement(visible = true, transformation(origin = {40, 60}, extent = {{20, -20}, {-20, 20}}, rotation = 0))); + equation + connect(analogInput1.y, realValue1.numberPort) annotation( + Line(points = {{80, 20}, {90, 20}, {90, 60}, {64, 60}, {64, 60}}, color = {0, 0, 127})); + connect(greater1.y, digitalOutput1.u) annotation( + Line(points = {{-22, -40}, {-94, -40}, {-94, 20}, {-80, 20}, {-80, 20}}, color = {255, 0, 255})); + connect(analogInput1.y, greater1.u1) annotation( + Line(points = {{80, 20}, {92, 20}, {92, -40}, {24, -40}, {24, -40}}, color = {0, 0, 127})); + connect(greater1.u2, const.y) annotation( + Line(points = {{24, -56}, {32, -56}, {32, -70}, {38, -70}, {38, -70}}, color = {0, 0, 127})); + connect(arduino1.boardConnector, analogInput1.pinConnector) annotation( + Line(points = {{0, 20}, {40, 20}})); + connect(digitalOutput1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{-40, 20}, {0, 20}})); + Modelica.Utilities.Streams.print(String(realValue1.numberPort)); + annotation( + uses(Modelica(version = "3.2.2"))); + end ex2_therm_buzzer; + end Thermistor; + + package Servo_motor + extends Modelica.Icons.ExamplesPackage; + + model ex1_servo_init + 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, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + 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))); + equation + connect(const.y, servo1.u) annotation( + Line(points = {{-18, 20}, {-4, 20}, {-4, 20}, {0, 20}}, color = {0, 0, 127})); + connect(servo1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{40, 20}, {76, 20}, {76, 18}, {78, 18}, {78, 20}})); + annotation( + 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 = 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))); + Modelica.Blocks.Math.Product product1 annotation( + Placement(visible = true, transformation(origin = {-40, 1.77636e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica.Blocks.Sources.Constant const(k = 0.5) annotation( + Placement(visible = true, transformation(origin = {-80, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + connect(const.y, product1.u1) annotation( + Line(points = {{-58, 60}, {-36, 60}, {-36, 24}, {-80, 24}, {-80, 10}, {-64, 10}, {-64, 12}}, color = {0, 0, 127})); + connect(pulse2.y, product1.u2) annotation( + Line(points = {{-58, -60}, {-48, -60}, {-48, -24}, {-80, -24}, {-80, -12}, {-64, -12}, {-64, -12}}, color = {0, 0, 127})); + connect(product1.y, servo1.u) annotation( + Line(points = {{-18, 0}, {0, 0}, {0, 0}, {0, 0}}, color = {0, 0, 127})); + connect(servo1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{40, 0}, {78, 0}})); + annotation( + uses(Modelica_DeviceDrivers(version = "1.5.0"), OpenModelicaArduino(version = "1.2"), Modelica(version = "3.2.2"))); + end ex2_servo_reverse; + + model ex3_servo_loop + 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 = 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))); + Modelica.Blocks.Math.RealToInteger realToInteger1 annotation( + Placement(visible = true, transformation(origin = {-50, -70}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.Constant const(k = 0.11) annotation( + Placement(visible = true, transformation(origin = {-70, 68}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Product product1 annotation( + Placement(visible = true, transformation(origin = {-28, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.IntegerToReal integerToReal1 annotation( + Placement(visible = true, transformation(origin = {-10, -70}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + equation + connect(integerToReal1.y, product1.u2) annotation( + Line(points = {{2, -70}, {14, -70}, {14, -36}, {-56, -36}, {-56, -6}, {-40, -6}, {-40, -6}}, color = {0, 0, 127})); + connect(realToInteger1.y, integerToReal1.u) annotation( + Line(points = {{-38, -70}, {-22, -70}, {-22, -70}, {-22, -70}}, color = {255, 127, 0})); + connect(ramp1.y, realToInteger1.u) annotation( + Line(points = {{-78, -70}, {-62, -70}}, color = {0, 0, 127})); + connect(const.y, product1.u1) annotation( + Line(points = {{-58, 68}, {-52, 68}, {-52, 6}, {-40, 6}, {-40, 6}}, color = {0, 0, 127})); + connect(product1.y, servo1.u) annotation( + Line(points = {{-16, 0}, {0, 0}, {0, 0}, {0, 0}}, color = {0, 0, 127})); + connect(servo1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{40, 0}, {78, 0}})); + annotation( + 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( + Placement(visible = true, transformation(origin = {60, 3.10862e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.Servo servo1(InputUnit = OpenModelicaArduino.Internal.Types.ServoUnit.None, MaxPulse = 1000000, MinPulse = 500000, Pin = 9) annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Pins.AnalogInput analogInput1(MaxValue = 1, MinValue = 0, Pin = 16) annotation( + Placement(visible = true, transformation(origin = {-60, 3.55271e-15}, 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))); + equation + connect(analogInput1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{-80, 0}, {-92, 0}, {-92, -52}, {60, -52}, {60, 0}, {60, 0}})); + connect(servo1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{20, 0}, {62, 0}, {62, 0}, {60, 0}, {60, 0}})); + connect(analogInput1.y, servo1.u) annotation( + Line(points = {{-40, 0}, {-16, 0}, {-16, 0}, {-20, 0}}, color = {0, 0, 127})); + annotation( + uses(OpenModelicaArduino(version = "1.2"), Modelica_DeviceDrivers(version = "1.5.0"))); + end ex4_servo_pot; + end Servo_motor; + end ArduinoExamples; + annotation( + preferredView = "info", + Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5})), + Documentation(info = "

What Is ModelPlug?

+

ModelPlug is a library that allows you to connect your simulations with the real world. It uses an Arduino board (or compatible) to send analog and digital signals to physical devices and receive signals from them.

+

\"\"

+

What Can You Do with It?

+ +

 

+

With ModelPlug, you can combine simulation models and real hardware. For example, you can get data from your hardware, design a control, and test it in real time.

+

 

+

\"\"

+

 You can build a real control panel and use it to control your simulation models. 

+

\"\"

+

Overview of the Components

+

ModelPlug provides the following components:

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
  Inputs 
Analog inputReads analog values from the pins\"\" 
Digital inputReads digital values from the pins \"\"
  Output 
Analog outputWrites analog values to the pins \"\"
Digital outputWrites digital values to the pins \"\"
Servo controlWrites the angle to servo motors \"\"
  Board Handlers 
ArduinoConnects to Arduino boards like Arduino Uno, Arduino Mega 2560 \"\"
Arduino LeonardoConnects to Arduino Leonardo boards and boards using native USB \"\"
StandardFirmataConnects to Arduino-compatible boards \"\"
CustomFirmataConnects to any board supporting Firmata \"\"
+

How Does It Work?

+

ModelPlug connects with the boards using USB serial communication. In order to configure, read, and write to the board, ModelPlug uses the Firmata protocol v2.3 (http://www.firmata.org). This protocol allows you to connect not only to Arduinos, but also to many boards compatible with Arduino. Examples of other boards supporting the Firmata protocol are:

+ +

ModelPlug wraps the functionality of Firmata by providing easy-to-use Modelica models that you can connect in your simulations.

+

New in Version 1.2

+ +

Limitations

+

ModelPlug requires a board with Firmata Version 2.3 or higher.

+

Currently ModelPlug does not support sensors that communicate through I2C or SPI with the board.

+

The minimum synchronization interval is 1 ms; therefore, ModelPlug cannot have a sampling interval smaller than that. The standard Firmata allows a minimum sampling interval of 10 ms.

ModelPlug uses a serial protocol; therefore, the transfer speed is constrained by the serial port speed. This can be problematic when reading or writing too many inputs/outputs with a small sampling interval.

+

Links

+

Ask questions about SystemModeler and ModelPlug

+

http://community.wolfram.com

+

Find out how to connect sensors and actuators to the Arduino

+

http://playground.arduino.cc

+

Get details about the Firmata protocol

+

http://www.firmata.org

+

The breadboard diagrams were created using Fritzing

+

http://fritzing.org

+

 

+

 

+

 

", 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 OpenModelicaEmbedded; diff --git a/Examples.mo b/Examples.mo new file mode 100644 index 0000000..28a3f29 --- /dev/null +++ b/Examples.mo @@ -0,0 +1,374 @@ + package Examples "A collection of examples to help you get started" + extends Modelica.Icons.ExamplesPackage; + + 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 = 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( + Placement(visible = true, transformation(origin = {-30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + equation + connect(digitalOutput.pinConnector, arduino.boardConnector) annotation( + Line(points = {{10, -10}, {30, -10}}, color = {72, 73, 79})); + connect(booleanPulse.y, digitalOutput.u) annotation( + Line(points = {{-19, -10}, {-10, -10}}, color = {255, 0, 255})); + annotation( + experiment(StopTime = 10, Interval = 0.001), + Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = false, initialScale = 0.1, grid = {10, 10})), + preferredView = "diagram", + Documentation(info = "

Hardware Components Used 

+ +

Description

+

This example uses the DigitalOutput component to control the LED attached to the Arduino board on pin 13. It uses a BooleanPulse from the Modelica library to produce an On/Off signal that is fed into the DigitalOutput component. This will make the LED attached to the pin blink.

+

You can go ahead and add more LEDs to the board as shown in the following figure. This will require you to add one more DigitalOutput component to control the LED on pin 9.

+

\"\"/

", revisions = ""), + Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); + 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(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, 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(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 = "

Hardware Components Used

+ +


Description

+

This example uses the AnalogOutput component to change the light intensity of an LED. AnalogOutput uses the Arduino function 'analogWrite', which produces a PWM (Pulse-Width Modulated) signal. This type of signal can be used to directly control the LED intensity. The following figure shows the connections.

+

\"\"

+

You can check the Arduino Playground to know more about PWM outputs. 

", revisions = ""), + Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); + end DimmingLed; + + model ReadSensor "Reading analog signals" + 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.DigitalOutput digitalOutput(Pin = 10) annotation( + Placement(visible = true, transformation(origin = {-30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaArduino.Pins.AnalogInput analogInput1(Pin = 16) annotation( + Placement(visible = true, transformation(origin = {30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Logical.Greater greater1 annotation( + Placement(visible = true, transformation(origin = {-10, -15}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.Constant Reference(k = 0.5) annotation( + Placement(visible = true, transformation(origin = {30, -30}, extent = {{-10, -10}, {10, 10}}, rotation = -180))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-30, -40}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + equation + connect(greater1.y, digitalOutput.u) annotation( + Line(visible = true, origin = {-38.744, -2.5}, points = {{17.744, -12.5}, {-6.256, -12.5}, {-6.256, 17.5}, {-1.256, 17.5}}, color = {255, 0, 255})); + connect(analogInput1.y, greater1.u1) annotation( + Line(visible = true, origin = {33.994, -5}, points = {{6.006, 20}, {11.006, 20}, {11.006, 0}, {-23.994, 0}, {-23.994, -10}, {-31.994, -10}}, color = {0, 0, 127})); + connect(analogInput1.pinConnector, arduino.boardConnector) annotation( + Line(visible = true, origin = {10, 15}, points = {{10, 0}, {-10, 0}}, color = {72, 73, 79})); + connect(digitalOutput.pinConnector, arduino.boardConnector) annotation( + Line(visible = true, origin = {-10, 15}, points = {{-10, 0}, {10, 0}}, color = {72, 73, 79})); + connect(Reference.y, greater1.u2) annotation( + Line(visible = true, origin = {12.75, -29}, points = {{6.25, -1}, {-2.75, -1}, {-2.75, 6}, {-10.75, 6}}, color = {0, 0, 127})); + annotation( + experiment(StartTime = 0.0, StopTime = 10.0, Interval = 0.001, __Wolfram_Algorithm = "dassl", Tolerance = 1e-006, __Wolfram_SynchronizeWithRealTime = true), + Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = false, initialScale = 0.1, grid = {10, 10})), + preferredView = "diagram", + Documentation(info = "

Hardware Components Used

+ +

Description

+

This example shows how to read an analog voltage using the AnalogInput component. The analog signal is then compared to a reference, and if the signal is above the reference, it will turn on an LED. You can see in the following figure how to build this example.

+

\"\"

+

You can see that pin A0 for the Arduino corresponds to pin number 14 for the Firmata. For other boards, the pin numbering may vary.

+

Run the simulation and move the potentiometer. You should see that when the position of the shaft is near the middle, the LED changes state.

+

The AnalogInput component returns a signal between 0 and 1. This value represents the voltage between 0 and the reference voltage. If you prefer to get the signal directly in volts, you need to change the 'MaxValue' property to the reference voltage, but generally it is either 5 V or 3.3 V.

", revisions = ""), + Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); + end ReadSensor; + + model MoveServo "Using servos" + extends Modelica.Icons.Example; + Boards.Arduino arduino(Port = "COM1") annotation( + Placement(visible = true, transformation(origin = {30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Pins.Servo servo(Pin = 10) annotation( + Placement(visible = true, transformation(origin = {0, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.ExpSine expSine(offset = 0.5, amplitude = 0.5, freqHz = 0.4, damping = 0.1) annotation( + Placement(visible = true, transformation(origin = {-30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-25, 35}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + equation + connect(expSine.y, servo.u) annotation( + Line(visible = true, origin = {-14.5, -10}, points = {{-4.5, -0}, {4.5, 0}}, color = {0, 0, 127})); + connect(servo.pinConnector, arduino.boardConnector) annotation( + Line(visible = true, origin = {20, -10}, points = {{-10, 0}, {10, -0}}, color = {72, 73, 79})); + 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 = "

Hardware Components Used

+ +

Description

+

This example shows how to control a servo by using the Servo component. You can find the diagram in the following figure.

+

For this example, it is recommended to use an external power source to provide voltage for the servo. This is because the power from the Arduino may not be enough to supply the servo. If you are not sure how to connect your servo, take a look at the reference in the Arduino Playground (http://playground.arduino.cc).

+

\"\"

+

Servos are controlled with a signal in the range of 0 to 1, where 0 corresponds to 0 degrees of rotation and 1 to 180 degrees. This example makes the servo bounce from 0 to 180 degrees until it gets stable around 90 degrees.

", revisions = ""), + Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); + end MoveServo; + + 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 = 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 = 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))); + equation + connect(hysteresis.u, add1.y) annotation( + Line(visible = true, origin = {-14.5, -25}, points = {{-3.5, -0}, {3.5, 0}}, color = {0, 0, 127})); + connect(digitalOutput.u, hysteresis.y) annotation( + Line(visible = true, origin = {-43.25, 5}, points = {{3.25, 10}, {-1.75, 10}, {-1.75, -30}, {2.25, -30}}, color = {255, 0, 255})); + connect(digitalOutput.pinConnector, arduino.boardConnector) annotation( + Line(visible = true, origin = {-10, 15}, points = {{-10, 0}, {10, 0}})); + connect(add1.u2, Reference.y) annotation( + Line(visible = true, origin = {18.5, -23}, points = {{-6.5, -8}, {1.5, -8}, {1.5, -2}, {5.5, -2}}, color = {0, 0, 127})); + connect(analogInput1.y, add1.u1) annotation( + Line(visible = true, origin = {33.506, 12}, points = {{6.494, 3}, {11.494, 3}, {11.494, -17}, {-13.506, -17}, {-13.506, -31}, {-21.506, -31}}, color = {0, 0, 127})); + connect(arduino.boardConnector, analogInput1.pinConnector) annotation( + Line(visible = true, origin = {10, 15}, 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 = "

Hardware Components Used

+ +

Description

+

This example is a simple ON/OFF controller and can be used for either heating or cooling. It uses an LM35 to read the temperature, and based on that temperature, the controller switches a relay on or off. You can attach a fan or a heater to the relay, depending on the operation you want to perform. You can find the diagram in the following figure.
Note: You need to be careful when using relays that control electrical equipment using AC voltage, because an incorrect connection may damage your board.

+

\"\"

+

The target temperature is set by a constant component. The measured temperature is subtracted from the reference in order to obtain the error. The error signal is fed into the hysteresis component, which will send a Boolean signal to control the relay. If you want cooling instead of heating, you need to invert the logic of this signal.

"), + Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); + end SimpleONOFF; + + 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 = "

Hardware Components Used 

+ +

Description

+

This example shows how the + Blink Led can be used with an Arduino Leonardo.

", revisions = "")); + end UsingArduinoLeonardo; + + model UsingCustomBoard "Using a Firmata-compatible board" + extends Modelica.Icons.Example; + Modelica.Blocks.Sources.BooleanPulse booleanPulse(period = 1) annotation( + Placement(visible = true, transformation(origin = {-30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Pins.DigitalOutput digitalOutput(Pin = 13) annotation( + Placement(visible = true, transformation(origin = {-0, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Boards.CustomFirmata customFirmata(Port = "COM1", BaudRate = 115200, UpdatePeriod = 0.001) annotation( + Placement(visible = true, transformation(origin = {30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-30, 30}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + equation + connect(digitalOutput.pinConnector, customFirmata.boardConnector) annotation( + Line(visible = true, origin = {20, -10}, points = {{-10, 0}, {10, -0}})); + connect(booleanPulse.y, digitalOutput.u) annotation( + Line(visible = true, origin = {-14.5, -10}, points = {{-4.5, 0}, {4.5, 0}}, color = {255, 0, 255})); + 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 = "

Hardware Components Used

+

- 1 Teensy 3.1 board

+

Description

+

This example shows how to use a board with a custom version of Firmata. The Teensy board works perfectly with the StandardFirmata, but in this example it is modified in order get a faster data transfer speed.

+

\"\"

+


The main difference of the CustomFirmata component is that it allows you to set the baud rate to the sampling interval that you want to use. In this case the oce of the StandardFirmata is modified to use a baud rate of 115200. You can perform this modification in the source code. Search for the line:

+

Firmata.Begin(57600);

+

and changing it to

+

Firmata.Begin(115200);

+

This initializes the serial port at the given speed. The next change that you can make is reducing the minimum sampling interval. You can find this tweak by searching in the code the text:

+

#define MINIMUM_SAMPLING_INTERVAL 10

+

and changing it to

+

#define MINIMUM_SAMPLING_INTERVAL 1

+

This changes the sampling interval limit from 10 ms to 1ms. You have to consider that this change is possible because the Teensy board can run up to 96 MHz. If you change the sampling interval, it is necessary to change the simulation setting in SimulationCenter to 1 ms, as shown in the following figure.

+

\"\"

", revisions = ""), + Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); + end UsingCustomBoard; + + model UsingStandardFirmata "Using a standard Firmata board" + extends Modelica.Icons.Example; + Boards.StandardFirmata standardFirmata(Port = "COM1", ShowPinCapabilities = true) annotation( + Placement(visible = true, transformation(origin = {30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaArduino.Pins.DigitalOutput digitalOutput(Pin = 13) annotation( + Placement(visible = true, transformation(origin = {-0, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.BooleanPulse booleanPulse(period = 1) annotation( + Placement(visible = true, transformation(origin = {-30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-35, 40}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + equation + connect(digitalOutput.pinConnector, standardFirmata.boardConnector) annotation( + Line(visible = true, origin = {20, -10}, points = {{-10, 0}, {10, 0}}, color = {72, 73, 79})); + connect(booleanPulse.y, digitalOutput.u) annotation( + Line(visible = true, origin = {-14.5, -10}, points = {{-4.5, 0}, {4.5, 0}}, color = {255, 0, 255})); + annotation( + experiment(StopTime = 10, 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 = "

Hardware Components Used

+ +

Description

+

This example uses the DigitalOutput component to control the LED attached to a standard Firmata board on pin 13. It uses a BooleanPulse from the Modelica library to produce an On/Off signal that is fed into the DigitalOutput component. This will make the LED attached to the pin blink.

+

You can go ahead and add more LEDs to the board as shown in the following figure. This will require you to add one more DigitalOutput component to control the LED on pin 9.

+

\"\"

", revisions = ""), + Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); + end UsingStandardFirmata; + + model DCMotorWithPWM + extends Modelica.Icons.Example; + OpenModelicaArduino.Boards.customBoard customBoard1(BoardName = "Arduino UNO", Port = "/dev/ttyACM0") annotation( + 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 = 30) annotation( + Placement(visible = true, transformation(origin = {-57, 29}, extent = {{-15, -15}, {15, 15}}, rotation = 0))); + 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 = 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(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( + Line(points = {{-42, 74}, {-20, 74}, {-20, 52}, {-90, 52}, {-90, 28}, {-72, 28}, {-72, 30}}, color = {0, 0, 127})); + connect(analogInput1.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{-70, 74}, {-88, 74}, {-88, 92}, {12, 92}, {12, 30}, {14, 30}})); + connect(digitalOutput1.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{-45, -10}, {-44.75, -10}, {-44.75, -2}, {14, -2}, {14, 30}})); + connect(booleanConstant1.y, digitalOutput1.u) annotation( + Line(points = {{-58, -70}, {-46, -70}, {-46, -36}, {-45, -36}}, color = {255, 0, 255})); + connect(booleanConstant2.y, digitalOutput2.u) annotation( + Line(points = {{26, -74}, {50, -74}, {50, -40}, {49, -40}, {49, -38}, {50, -38}}, color = {255, 0, 255})); + connect(digitalOutput2.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{50, -18}, {50, 30}, {14, 30}})); + connect(analogOutput1.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{-42, 30}, {13, 30}, {13, 29}})); + annotation( + uses(OpenModelicaArduino(version = "1.2"), Modelica(version = "3.2.2"), Modelica_DeviceDrivers(version = "1.5.0"))); + end DCMotorWithPWM; + + model DCMotorWithPID + extends Modelica.Icons.Example; + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1(priority = "High", setPriority = true) annotation( + Placement(visible = true, transformation(origin = {92, 88}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Mechanics.Rotational.Components.Inertia inertia1(J = 1, a(start = 0), phi(start = 0), w(start = 0)) annotation( + Placement(visible = true, transformation(origin = {-22, -86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Mechanics.Rotational.Components.Inertia inertia2(J = 1, a(start = 0), phi(start = 0), w(start = 0)) annotation( + Placement(visible = true, transformation(origin = {56, -86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Mechanics.Rotational.Components.SpringDamper springDamper1(c = 20, d = 10, phi_rel0 = 0) annotation( + Placement(visible = true, transformation(origin = {16, -86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Mechanics.Rotational.Sources.Torque torque1 annotation( + Placement(visible = true, transformation(origin = {-64, -86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Mechanics.Rotational.Sources.ConstantTorque constantTorque1(tau_constant = 10) annotation( + Placement(visible = true, transformation(origin = {98, -86}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Mechanics.Rotational.Sensors.SpeedSensor speedSensor1 annotation( + Placement(visible = true, transformation(origin = {88, -36}, extent = {{-10, -10}, {10, 10}}, rotation = 90))); + OpenModelicaArduino.Boards.CustomFirmata customFirmata1(BaudRate = 57600, Port = "/dev/ttyACM0", ShowPinCapabilities = true, UpdatePeriod = 0.02, UseDTR = true) annotation( + Placement(visible = true, transformation(origin = {-10, 4}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaArduino.Pins.AnalogOutput analogOutput1(MaxValue = 512, MinValue = -512, Pin = 5) annotation( + Placement(visible = true, transformation(origin = {46, 2}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + OpenModelicaArduino.Pins.AnalogInput analogInput1(InitValue = 0, MaxValue = 512, MinValue = -512, Pin = 15) annotation( + Placement(visible = true, transformation(origin = {-64, 2}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + OpenModelicaArduino.Pins.AnalogOutput analogOutput2(MaxValue = 512, MinValue = -512, Pin = 6) annotation( + Placement(visible = true, transformation(origin = {-54, 58}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.Sine sine1(amplitude = 512, freqHz = 0.5) annotation( + Placement(visible = true, transformation(origin = {-122, 58}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + equation + connect(sine1.y, analogOutput2.u) annotation( + Line(points = {{-110, 58}, {-64, 58}, {-64, 58}, {-64, 58}}, color = {0, 0, 127})); + connect(analogOutput2.pinConnector, customFirmata1.boardConnector) annotation( + Line(points = {{-44, 58}, {-10, 58}, {-10, 4}})); + connect(analogInput1.y, torque1.tau) annotation( + Line(points = {{-74, 2}, {-84, 2}, {-84, 2}, {-94, 2}, {-94, -86}, {-76, -86}}, color = {0, 0, 127})); + connect(analogInput1.pinConnector, customFirmata1.boardConnector) annotation( + Line(points = {{-54, 2}, {-10, 2}, {-10, 4}})); + connect(speedSensor1.w, analogOutput1.u) annotation( + Line(points = {{88, -25}, {89, -25}, {89, -23}, {88, -23}, {88, 3}, {56, 3}, {56, 1}}, color = {0, 0, 127})); + connect(analogOutput1.pinConnector, customFirmata1.boardConnector) annotation( + Line(points = {{36, 2}, {35.5, 2}, {35.5, 2}, {35, 2}, {35, 4}, {-10, 4}})); + connect(speedSensor1.flange, constantTorque1.flange) annotation( + Line(points = {{88, -46}, {88, -86}})); + connect(inertia2.flange_b, constantTorque1.flange) annotation( + Line(points = {{66, -86}, {88, -86}, {88, -86}, {88, -86}, {88, -86}, {88, -86}})); + connect(torque1.flange, inertia1.flange_a) annotation( + Line(points = {{-54, -86}, {-37, -86}, {-37, -86}, {-32, -86}, {-32, -86}, {-31, -86}, {-31, -86}, {-32, -86}})); + connect(springDamper1.flange_b, inertia2.flange_a) annotation( + Line(points = {{26, -86}, {36, -86}, {36, -86}, {46, -86}, {46, -86}, {46, -86}})); + connect(inertia1.flange_b, springDamper1.flange_a) annotation( + Line(points = {{-12, -86}, {-3, -86}, {-3, -86}, {6, -86}, {6, -86}, {6, -86}})); + annotation( + uses(OpenModelicaArduino(version = "1.2"), Modelica(version = "3.2.2"), Modelica_DeviceDrivers(version = "1.5.0"))); + end DCMotorWithPID; + annotation( + Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5}))); + end Examples; \ No newline at end of file diff --git a/Firmware/Arduino/pidmata3/pidmata3.ino b/Firmware/Arduino/pidmata3/pidmata3.ino new file mode 100644 index 0000000..01a4710 --- /dev/null +++ b/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 +#include +#include +#include + +//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/Firmware/Tiva C/StandardFirmata.zip b/Firmware/Tiva C/StandardFirmata.zip new file mode 100644 index 0000000..8907dc5 Binary files /dev/null and b/Firmware/Tiva C/StandardFirmata.zip differ diff --git a/Firmware/Tiva C/StandardFirmata/Boards.h b/Firmware/Tiva C/StandardFirmata/Boards.h new file mode 100644 index 0000000..b8aaf3d --- /dev/null +++ b/Firmware/Tiva C/StandardFirmata/Boards.h @@ -0,0 +1,566 @@ +/* Boards.h - Hardware Abstraction Layer for Firmata library */ + +#ifndef Firmata_Boards_h +#define Firmata_Boards_h + +#include + +/*#if defined(ARDUINO) && ARDUINO >= 100 +#include "Arduino.h" // for digitalRead, digitalWrite, etc +#else +#include "WProgram.h" +#endif*/ +#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 8 +#endif + +/* + Firmata Hardware Abstraction Layer + +Firmata is built on top of the hardware abstraction functions of Arduino, +specifically digitalWrite, digitalRead, analogWrite, analogRead, and +pinMode. While these functions offer simple integer pin numbers, Firmata +needs more information than is provided by Arduino. This file provides +all other hardware specific details. To make Firmata support a new board, +only this file should require editing. + +The key concept is every "pin" implemented by Firmata may be mapped to +any pin as implemented by Arduino. Usually a simple 1-to-1 mapping is +best, but such mapping should not be assumed. This hardware abstraction +layer allows Firmata to implement any number of pins which map onto the +Arduino implemented pins in almost any arbitrary way. + + +General Constants: + +These constants provide basic information Firmata requires. + +TOTAL_PINS: The total number of pins Firmata implemented by Firmata. + Usually this will match the number of pins the Arduino functions + implement, including any pins pins capable of analog or digital. + However, Firmata may implement any number of pins. For example, + on Arduino Mini with 8 analog inputs, 6 of these may be used + for digital functions, and 2 are analog only. On such boards, + Firmata can implement more pins than Arduino's pinMode() + function, in order to accommodate those special pins. The + Firmata protocol supports a maximum of 128 pins, so this + constant must not exceed 128. + +TOTAL_ANALOG_PINS: The total number of analog input pins implemented. + The Firmata protocol allows up to 16 analog inputs, accessed + using offsets 0 to 15. Because Firmata presents the analog + inputs using different offsets than the actual pin numbers + (a legacy of Arduino's analogRead function, and the way the + analog input capable pins are physically labeled on all + Arduino boards), the total number of analog input signals + must be specified. 16 is the maximum. + +VERSION_BLINK_PIN: When Firmata starts up, it will blink the version + number. This constant is the Arduino pin number where a + LED is connected. + + +Pin Mapping Macros: + +These macros provide the mapping between pins as implemented by +Firmata protocol and the actual pin numbers used by the Arduino +functions. Even though such mappings are often simple, pin +numbers received by Firmata protocol should always be used as +input to these macros, and the result of the macro should be +used with with any Arduino function. + +When Firmata is extended to support a new pin mode or feature, +a pair of macros should be added and used for all hardware +access. For simple 1:1 mapping, these macros add no actual +overhead, yet their consistent use allows source code which +uses them consistently to be easily adapted to all other boards +with different requirements. + +IS_PIN_XXXX(pin): The IS_PIN macros resolve to true or non-zero + if a pin as implemented by Firmata corresponds to a pin + that actually implements the named feature. + +PIN_TO_XXXX(pin): The PIN_TO macros translate pin numbers as + implemented by Firmata to the pin numbers needed as inputs + to the Arduino functions. The corresponding IS_PIN macro + should always be tested before using a PIN_TO macro, so + these macros only need to handle valid Firmata pin + numbers for the named feature. + + +Port Access Inline Funtions: + +For efficiency, Firmata protocol provides access to digital +input and output pins grouped by 8 bit ports. When these +groups of 8 correspond to actual 8 bit ports as implemented +by the hardware, these inline functions can provide high +speed direct port access. Otherwise, a default implementation +using 8 calls to digitalWrite or digitalRead is used. + +When porting Firmata to a new board, it is recommended to +use the default functions first and focus only on the constants +and macros above. When those are working, if optimized port +access is desired, these inline functions may be extended. +The recommended approach defines a symbol indicating which +optimization to use, and then conditional complication is +used within these functions. + +readPort(port, bitmask): Read an 8 bit port, returning the value. + port: The port number, Firmata pins port*8 to port*8+7 + bitmask: The actual pins to read, indicated by 1 bits. + +writePort(port, value, bitmask): Write an 8 bit port. + port: The port number, Firmata pins port*8 to port*8+7 + value: The 8 bit value to write + bitmask: The actual pins to write, indicated by 1 bits. +*/ + +/*============================================================================== + * Board Specific Configuration + *============================================================================*/ + +#ifndef digitalPinHasPWM +#define digitalPinHasPWM(p) IS_PIN_DIGITAL(p) +#endif + +// Arduino Duemilanove, Diecimila, and NG +#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) +#if defined(NUM_ANALOG_INPUTS) && NUM_ANALOG_INPUTS == 6 +#define TOTAL_ANALOG_PINS 6 +#define TOTAL_PINS 20 // 14 digital + 6 analog +#else +#define TOTAL_ANALOG_PINS 8 +#define TOTAL_PINS 22 // 14 digital + 8 analog +#endif +#define VERSION_BLINK_PIN 13 +#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) <= 19) +#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) < 14 + TOTAL_ANALOG_PINS) +#define IS_PIN_PWM(p) digitalPinHasPWM(p) +#define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) - 2 < MAX_SERVOS) +#define IS_PIN_I2C(p) ((p) == 18 || (p) == 19) +#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK) +#define PIN_TO_DIGITAL(p) (p) +#define PIN_TO_ANALOG(p) ((p) - 14) +#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) +#define PIN_TO_SERVO(p) ((p) - 2) +#define ARDUINO_PINOUT_OPTIMIZE 1 + + +// Wiring (and board) +#elif defined(WIRING) +#define VERSION_BLINK_PIN WLED +#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS) +#define IS_PIN_ANALOG(p) ((p) >= FIRST_ANALOG_PIN && (p) < (FIRST_ANALOG_PIN+TOTAL_ANALOG_PINS)) +#define IS_PIN_PWM(p) digitalPinHasPWM(p) +#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) +#define IS_PIN_I2C(p) ((p) == SDA || (p) == SCL) +#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK) +#define PIN_TO_DIGITAL(p) (p) +#define PIN_TO_ANALOG(p) ((p) - FIRST_ANALOG_PIN) +#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) +#define PIN_TO_SERVO(p) (p) + + +// old Arduinos +#elif defined(__AVR_ATmega8__) +#define TOTAL_ANALOG_PINS 6 +#define TOTAL_PINS 20 // 14 digital + 6 analog +#define VERSION_BLINK_PIN 13 +#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) <= 19) +#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) <= 19) +#define IS_PIN_PWM(p) digitalPinHasPWM(p) +#define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) - 2 < MAX_SERVOS) +#define IS_PIN_I2C(p) ((p) == 18 || (p) == 19) +#define PIN_TO_DIGITAL(p) (p) +#define PIN_TO_ANALOG(p) ((p) - 14) +#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) +#define PIN_TO_SERVO(p) ((p) - 2) +#define ARDUINO_PINOUT_OPTIMIZE 1 + + +// Arduino Mega +#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) +#define TOTAL_ANALOG_PINS 16 +#define TOTAL_PINS 70 // 54 digital + 16 analog +#define VERSION_BLINK_PIN 13 +#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS) +#define IS_PIN_ANALOG(p) ((p) >= 54 && (p) < TOTAL_PINS) +#define IS_PIN_PWM(p) digitalPinHasPWM(p) +#define IS_PIN_SERVO(p) ((p) >= 2 && (p) - 2 < MAX_SERVOS) +#define IS_PIN_I2C(p) ((p) == 20 || (p) == 21) +#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK) +#define PIN_TO_DIGITAL(p) (p) +#define PIN_TO_ANALOG(p) ((p) - 54) +#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) +#define PIN_TO_SERVO(p) ((p) - 2) + + +// Arduino DUE +#elif defined(__SAM3X8E__) +#define TOTAL_ANALOG_PINS 12 +#define TOTAL_PINS 66 // 54 digital + 12 analog +#define VERSION_BLINK_PIN 13 +#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS) +#define IS_PIN_ANALOG(p) ((p) >= 54 && (p) < TOTAL_PINS) +#define IS_PIN_PWM(p) digitalPinHasPWM(p) +#define IS_PIN_SERVO(p) ((p) >= 2 && (p) - 2 < MAX_SERVOS) +#define IS_PIN_I2C(p) ((p) == 20 || (p) == 21) // 70 71 +#define PIN_TO_DIGITAL(p) (p) +#define PIN_TO_ANALOG(p) ((p) - 54) +#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) +#define PIN_TO_SERVO(p) ((p) - 2) + + +// Teensy 1.0 +#elif defined(__AVR_AT90USB162__) +#define TOTAL_ANALOG_PINS 0 +#define TOTAL_PINS 21 // 21 digital + no analog +#define VERSION_BLINK_PIN 6 +#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS) +#define IS_PIN_ANALOG(p) (0) +#define IS_PIN_PWM(p) digitalPinHasPWM(p) +#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) +#define IS_PIN_I2C(p) (0) +#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK) +#define PIN_TO_DIGITAL(p) (p) +#define PIN_TO_ANALOG(p) (0) +#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) +#define PIN_TO_SERVO(p) (p) + + +// Teensy 2.0 +#elif defined(__AVR_ATmega32U4__) && defined(CORE_TEENSY) +#define TOTAL_ANALOG_PINS 12 +#define TOTAL_PINS 25 // 11 digital + 12 analog +#define VERSION_BLINK_PIN 11 +#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS) +#define IS_PIN_ANALOG(p) ((p) >= 11 && (p) <= 22) +#define IS_PIN_PWM(p) digitalPinHasPWM(p) +#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) +#define IS_PIN_I2C(p) ((p) == 5 || (p) == 6) +#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK) +#define PIN_TO_DIGITAL(p) (p) +#define PIN_TO_ANALOG(p) (((p)<22)?21-(p):11) +#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) +#define PIN_TO_SERVO(p) (p) + + +// Teensy 3.0 +#elif defined(__MK20DX128__) +#define TOTAL_ANALOG_PINS 14 +#define TOTAL_PINS 38 // 24 digital + 10 analog-digital + 4 analog +#define VERSION_BLINK_PIN 13 +#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) <= 34) +#define IS_PIN_ANALOG(p) (((p) >= 14 && (p) <= 23) || ((p) >= 34 && (p) <= 38)) +#define IS_PIN_PWM(p) digitalPinHasPWM(p) +#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) +#define IS_PIN_I2C(p) ((p) == 18 || (p) == 19) +#define PIN_TO_DIGITAL(p) (p) +#define PIN_TO_ANALOG(p) (((p)<=23)?(p)-14:(p)-24) +#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) +#define PIN_TO_SERVO(p) (p) + + +// Teensy++ 1.0 and 2.0 +#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__) +#define TOTAL_ANALOG_PINS 8 +#define TOTAL_PINS 46 // 38 digital + 8 analog +#define VERSION_BLINK_PIN 6 +#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS) +#define IS_PIN_ANALOG(p) ((p) >= 38 && (p) < TOTAL_PINS) +#define IS_PIN_PWM(p) digitalPinHasPWM(p) +#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) +#define IS_PIN_I2C(p) ((p) == 0 || (p) == 1) +#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK) +#define PIN_TO_DIGITAL(p) (p) +#define PIN_TO_ANALOG(p) ((p) - 38) +#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) +#define PIN_TO_SERVO(p) (p) + + +// Leonardo +#elif defined(__AVR_ATmega32U4__) +#define TOTAL_ANALOG_PINS 12 +#define TOTAL_PINS 30 // 14 digital + 12 analog + 4 SPI (D14-D17 on ISP header) +#define VERSION_BLINK_PIN 13 +#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS) +#define IS_PIN_ANALOG(p) ((p) >= 18 && (p) < TOTAL_PINS) +#define IS_PIN_PWM(p) ((p) == 3 || (p) == 5 || (p) == 6 || (p) == 9 || (p) == 10 || (p) == 11 || (p) == 13) +#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) +#define IS_PIN_I2C(p) ((p) == 2 || (p) == 3) +#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK) +#define PIN_TO_DIGITAL(p) (p) +#define PIN_TO_ANALOG(p) (p) - 18 +#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) +#define PIN_TO_SERVO(p) (p) + + +// Sanguino +#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__) +#define TOTAL_ANALOG_PINS 8 +#define TOTAL_PINS 32 // 24 digital + 8 analog +#define VERSION_BLINK_PIN 0 +#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS) +#define IS_PIN_ANALOG(p) ((p) >= 24 && (p) < TOTAL_PINS) +#define IS_PIN_PWM(p) digitalPinHasPWM(p) +#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) +#define IS_PIN_I2C(p) ((p) == 16 || (p) == 17) +#define PIN_TO_DIGITAL(p) (p) +#define PIN_TO_ANALOG(p) ((p) - 24) +#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) +#define PIN_TO_SERVO(p) ((p) - 2) + + +// Illuminato +#elif defined(__AVR_ATmega645__) +#define TOTAL_ANALOG_PINS 6 +#define TOTAL_PINS 42 // 36 digital + 6 analog +#define VERSION_BLINK_PIN 13 +#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS) +#define IS_PIN_ANALOG(p) ((p) >= 36 && (p) < TOTAL_PINS) +#define IS_PIN_PWM(p) digitalPinHasPWM(p) +#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) +#define IS_PIN_I2C(p) ((p) == 4 || (p) == 5) +#define PIN_TO_DIGITAL(p) (p) +#define PIN_TO_ANALOG(p) ((p) - 36) +#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) +#define PIN_TO_SERVO(p) ((p) - 2) + +// MSP430F5529 +#elif defined(__MSP430F5529__) +#define TOTAL_ANALOG_PINS 13 +#define TOTAL_PINS 45 +#define VERSION_BLINK_PIN 44 +#define IS_PIN_DIGITAL(p) ((p)>=2 && (p) <= 44 && (p)!=16 && (p)!=20 && (p)!=21 && (p)!=22 ) +#define IS_PIN_ANALOG(p) ((p) == 2 || (p) == 6 || \ + (p)==23 || (p)==24 || (p)==25 || (p)==26 || (p)==27 || (p)==28 ) +#define IS_PIN_PWM(p) ( (p)==12 || (p)==19 || ((p)>=35 && (p)<=40) ) +#define IS_PIN_SERVO(p) IS_PIN_PWM(p) +#define IS_PIN_I2C(p) ((p) == 14 || (p) == 15) +#define PIN_TO_DIGITAL(p) (p) +#define PIN_TO_ANALOG(p) ((p)>=23 && (p)<=27)?((p)-23):(((p)==2)?(5):((p)==28?(12):((p)==6?6:10) )) +#define PIN_TO_PWM(p) (p) +#define PIN_TO_SERVO(p) (p) + +// MSP430FR5969 FRAM +#elif defined(__MSP430FR5969__) +#define TOTAL_ANALOG_PINS 13 +#define TOTAL_PINS 29 +#define VERSION_BLINK_PIN 26 +#define IS_PIN_DIGITAL(p) ( ((p)>=2 && (p) < 20 && (p)!=16 && (p)!=17) || (p)==25 || (p)==26 ) +#define IS_PIN_ANALOG(p) ((p) == 2 || (p) == 5 || (p)==11 || (p)==12 || (p)==13 || (p)==18 || (p)==19) +#define IS_PIN_PWM(p) ((p)>=3 && (p) < 20 && (p)!=16 && (p)!=17 && (p)!=5) +#define IS_PIN_SERVO(p) IS_PIN_PWM(p) +#define IS_PIN_I2C(p) ((p) == 14 || (p) == 15) +#define PIN_TO_DIGITAL(p) (p) +#define PIN_TO_ANALOG(p) ((p)==2?10:\ + (p)==5?11:\ + (p)==11?3:\ + (p)==12?4:\ + (p)==13?5:\ + (p)==18?12:2) +#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) +#define PIN_TO_SERVO(p) (p) + +// MSP430FR5739 +#elif defined(__MSP430FR5739__) +// Baudrate only up to 9600, currently does NOT support Firmata +#define TOTAL_ANALOG_PINS 8 +#define TOTAL_PINS 28 // 38 digital + 8 analog, but should be multiple of 8 for NodeJS Firmata +#define VERSION_BLINK_PIN 26 +#define IS_PIN_DIGITAL(p) ((p)>=2 && (p) < 24 && (p)!=24) +#define IS_PIN_ANALOG(p) ((p)>=13 && (p)<=22) +#define IS_PIN_PWM(p) ((p)>=5 && (p)<= 15) || ((p)>=20 && (p)<=22) +#define IS_PIN_SERVO(p) IS_PIN_PWM(p) +#define IS_PIN_I2C(p) ((p) == 11 || (p) == 12) +#define PIN_TO_DIGITAL(p) (p) +#define PIN_TO_ANALOG(p) (22-(p)) +#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) +#define PIN_TO_SERVO(p) (p) + +// MSP430G2553 Value Line +#elif defined(__MSP430G2553__) +// Baudrate only up to 9600, currently does NOT support Firmata +#define TOTAL_ANALOG_PINS 8 +#define TOTAL_PINS 20 +#define VERSION_BLINK_PIN 2 +#define IS_PIN_DIGITAL(p) ((p) >= 3 && (p) < TOTAL_PINS && (p)!=16) +#define IS_PIN_ANALOG(p) ((p) >= 3 && (p) < 8) +#define IS_PIN_PWM(p) digitalPinHasPWM(p) +#define IS_PIN_SERVO(p) IS_PIN_PWM(p) +#define IS_PIN_I2C(p) ((p) == 14 || (p) == 15) +#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) +//#define TOTAL_PORTS 2 + +// Tiva C TM4C123G - EK-TM4C123GXL and Stellaris LM4F120H5QR +#elif (defined(__TM4C123GH6PM__) || defined(__LM4F120H5QR__)) +#define TOTAL_ANALOG_PINS 13 +#define TOTAL_PINS 41 +#define VERSION_BLINK_PIN 40 +#define IS_PIN_DIGITAL(p) ((p)>=2 && (p)<=TOTAL_PINS && (p)!=16 && (p)!=20 && (p)!=21 && (p)!=22) +#define IS_PIN_ANALOG(p) ((p)>=23 && (p)<=29) || (p==2) || (p==5) || (p==6) || (p==7) || (p==18) +#define IS_PIN_PWM(p) ((p)==2 || (p)==3 || (p)==4 || (p)==7) || \ + (p)==14 || (p)==15 || (p)==17 || (p)==19 || \ + ((p)>=23 && (p)<=26) || (p)==30 || \ + ((p)>=31 && (p)<=40) +#define IS_PIN_SERVO(p) (IS_PIN_PWM(p)) +#define IS_PIN_I2C(p) ((p) == 19 || (p) == 38) +#define PIN_TO_DIGITAL(p) (p) +#define PIN_TO_ANALOG(p) ((p)>=23 && (p)<=26)?(30-(p)):\ + ((p)>=27&&(p)<=29)?(29-p):\ + ((p)==18)?(3):\ + ((p)==2)?(11):\ + ((p)==5)?(9):\ + ((p)==6)?(8):(10) + +/*#define PIN_TO_ANALOG(p) ((p)>=23 && (p)<=26)?(p):\ + ((p)>=27&&(p)<=29)?(29-p):\ + ((p)==18)?(3):\ + ((p)==2)?(11):\ + ((p)==5)?(9):\ + ((p)==6)?(8):(10) +//#define PIN_TO_ANALOG(p) (p) +*/ +#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) +#define PIN_TO_SERVO(p) (p) + +// Tiva C TM4C1294 - EK-TM4C1294XL +#elif defined(__TM4C1294NCPDT__) +#define TOTAL_ANALOG_PINS 20 +#define TOTAL_PINS 85 +#define VERSION_BLINK_PIN 81 // LED1 +#define IS_PIN_DIGITAL(p) ((p)>=2 && (p)<=TOTAL_PINS && (p)!=16 && (p)!=20 && (p)!=21 && (p)!=22) +#define IS_PIN_ANALOG(p) ((p)==2 || (p)==6 || (p)==7 || (p)==14 || (p)==15 || ((p)>=23 && (p)<=27) || \ + (p)==42 || (p)==45 || (p)==46 || ((p)>=63 && (p)<=68) ) +#define IS_PIN_PWM(p) ((p)== 7 || (p)== 9 || (p)==10 || (p)==14 || (p)==15 || (p)==19 || \ + ((p)>=27 && (p)<=30) || (p)==35 || (p)==36 || \ + (p)==42 || (p)==45 || (p)==46 || (p)==51 || (p)==57 || (p)==59 || \ + (p)==69 || (p)==70 || (p)==75 || (p)==76 || (p)==77 ) +#define IS_PIN_SERVO(p) (IS_PIN_PWM(p) && (p) >= 0 && (p) < MAX_SERVOS) +#define IS_PIN_I2C(p) ((p)== 9 || (p)==10 || (p)==34 || (p)==35 || (p)==37 || \ + (p)==49 || (p)==50 || (p)==80 ) +#define PIN_TO_DIGITAL(p) (p) +// Only 16 analog pins are allowed at a time. Default A0-A15. +// To enable A16-A19, other analog pins need to be replaced +#define PIN_TO_ANALOG(p) (((p)==2)?(9):\ + ((p)==6)?(8):\ + ((p)==7)?(12):\ + ((p)==14)?(15):\ + ((p)==15)?(14):\ + ((p)>=23&&(p)<=26)?(26-(p)):\ + ((p)==27)?(4):\ + ((p)==42)?(13):\ + ((p)==45)?(7):\ + ((p)==46)?(6):\ + ((p)==63)?(10):\ + ((p)==64)?(11):\ + ((p)==65)?(16):\ + ((p)==66)?(17):\ + ((p)-49)) +#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) +#define PIN_TO_SERVO(p) (p) +//#define TOTAL_PORTS 10 + + + +// 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(); + } +#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 */ + diff --git a/Firmware/Tiva C/StandardFirmata/Firmata.cpp b/Firmware/Tiva C/StandardFirmata/Firmata.cpp new file mode 100644 index 0000000..8e48bc7 --- /dev/null +++ b/Firmware/Tiva C/StandardFirmata/Firmata.cpp @@ -0,0 +1,554 @@ +/* + Firmata.cpp - Firmata library v2.5.6 - 2017-03-18 + Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved. + Copyright (C) 2009-2017 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. +*/ + +//****************************************************************************** +//* Includes +//****************************************************************************** + +#include "Firmata.h" +#include "HardwareSerial.h" + +#include +#include + +using namespace firmata; + +//****************************************************************************** +//* Static Members +//****************************************************************************** +// make one instance for the user to use +FirmataClass Firmata; + +/* callback functions */ +callbackFunction FirmataClass::currentAnalogCallback = (callbackFunction)NULL; +callbackFunction FirmataClass::currentDigitalCallback = (callbackFunction)NULL; +callbackFunction FirmataClass::currentPinModeCallback = (callbackFunction)NULL; +callbackFunction FirmataClass::currentPinValueCallback = (callbackFunction)NULL; +callbackFunction FirmataClass::currentReportAnalogCallback = (callbackFunction)NULL; +callbackFunction FirmataClass::currentReportDigitalCallback = (callbackFunction)NULL; +stringCallbackFunction FirmataClass::currentStringCallback = (stringCallbackFunction)NULL; +sysexCallbackFunction FirmataClass::currentSysexCallback = (sysexCallbackFunction)NULL; +systemCallbackFunction FirmataClass::currentSystemResetCallback = (systemCallbackFunction)NULL; + +//****************************************************************************** +//* Support Functions +//****************************************************************************** + +/** + * Split a 16-bit byte into two 7-bit values and write each value. + * @param value The 16-bit value to be split and written separately. + */ +void FirmataClass::sendValueAsTwo7bitBytes(int value) +{ + marshaller.encodeByteStream(sizeof(value), reinterpret_cast(&value), sizeof(value)); +} + +/** + * A helper method to write the beginning of a Sysex message transmission. + */ +void FirmataClass::startSysex(void) +{ + FirmataStream->write(START_SYSEX); +} + +/** + * A helper method to write the end of a Sysex message transmission. + */ +void FirmataClass::endSysex(void) +{ + FirmataStream->write(END_SYSEX); +} + +//****************************************************************************** +//* Constructors +//****************************************************************************** + +/** + * The Firmata class. + * An instance named "Firmata" is created automatically for the user. + */ +FirmataClass::FirmataClass() +: + parser(FirmataParser(parserBuffer, MAX_DATA_BYTES)) +{ + firmwareVersionCount = 0; + firmwareVersionVector = 0; + blinkVersionDisabled = false; + + // Establish callback translation to parser callbacks + parser.attach(ANALOG_MESSAGE, (FirmataParser::callbackFunction)staticAnalogCallback, (void *)NULL); + parser.attach(DIGITAL_MESSAGE, (FirmataParser::callbackFunction)staticDigitalCallback, (void *)NULL); + parser.attach(REPORT_ANALOG, (FirmataParser::callbackFunction)staticReportAnalogCallback, (void *)NULL); + parser.attach(REPORT_DIGITAL, (FirmataParser::callbackFunction)staticReportDigitalCallback, (void *)NULL); + parser.attach(SET_PIN_MODE, (FirmataParser::callbackFunction)staticPinModeCallback, (void *)NULL); + parser.attach(SET_DIGITAL_PIN_VALUE, (FirmataParser::callbackFunction)staticPinValueCallback, (void *)NULL); + parser.attach(STRING_DATA, (FirmataParser::stringCallbackFunction)staticStringCallback, (void *)NULL); + parser.attach(START_SYSEX, (FirmataParser::sysexCallbackFunction)staticSysexCallback, (void *)NULL); + parser.attach(REPORT_FIRMWARE, (FirmataParser::versionCallbackFunction)staticReportFirmwareCallback, this); + parser.attach(REPORT_VERSION, (FirmataParser::systemCallbackFunction)staticReportVersionCallback, this); + parser.attach(SYSTEM_RESET, (FirmataParser::systemCallbackFunction)staticSystemResetCallback, (void *)NULL); +} + +//****************************************************************************** +//* Public Methods +//****************************************************************************** + +/** + * Initialize the default Serial transport at the default baud of 57600. + */ +void FirmataClass::begin(void) +{ + begin(57600); +} + +/** + * Initialize the default Serial transport and override the default baud. + * Sends the protocol version to the host application followed by the firmware version and name. + * blinkVersion is also called. To skip the call to blinkVersion, call Firmata.disableBlinkVersion() + * before calling Firmata.begin(baud). + * @param speed The baud to use. 57600 baud is the default value. + */ +void FirmataClass::begin(long speed) +{ + Serial.begin(speed); + blinkVersion(); + begin(Serial); +} + +/** + * Reassign the Firmata stream transport. + * @param s A reference to the Stream transport object. This can be any type of + * transport that implements the Stream interface. Some examples include Ethernet, WiFi + * and other UARTs on the board (Serial1, Serial2, etc). + */ +void FirmataClass::begin(Stream &s) +{ + FirmataStream = &s; + marshaller.begin(s); + // do not call blinkVersion() here because some hardware such as the + // Ethernet shield use pin 13 + printVersion(); // send the protocol version + printFirmwareVersion(); // send the firmware name and version +} + +/** + * Send the Firmata protocol version to the Firmata host application. + */ +void FirmataClass::printVersion(void) +{ + marshaller.sendVersion(FIRMATA_PROTOCOL_MAJOR_VERSION, FIRMATA_PROTOCOL_MINOR_VERSION); +} + +/** + * Blink the Firmata protocol version to the onboard LEDs (if the board has an onboard LED). + * If VERSION_BLINK_PIN is not defined in Boards.h for a particular board, then this method + * does nothing. + * The first series of flashes indicates the firmware major version (2 flashes = 2). + * The second series of flashes indicates the firmware minor version (5 flashes = 5). + */ +void FirmataClass::blinkVersion(void) +{ +#if defined(VERSION_BLINK_PIN) + if (blinkVersionDisabled) return; + // flash the pin with the protocol version + pinMode(VERSION_BLINK_PIN, OUTPUT); + strobeBlinkPin(VERSION_BLINK_PIN, FIRMATA_FIRMWARE_MAJOR_VERSION, 40, 210); + delay(250); + strobeBlinkPin(VERSION_BLINK_PIN, FIRMATA_FIRMWARE_MINOR_VERSION, 40, 210); + delay(125); +#endif +} + +/** + * Provides a means to disable the version blink sequence on the onboard LED, trimming startup + * time by a couple of seconds. + * Call this before Firmata.begin(). It only applies when using the default Serial transport. + */ +void FirmataClass::disableBlinkVersion() +{ + blinkVersionDisabled = true; +} + +/** + * Sends the firmware name and version to the Firmata host application. The major and minor version + * numbers are the first 2 bytes in the message. The following bytes are the characters of the + * firmware name. + */ +void FirmataClass::printFirmwareVersion(void) +{ + if (firmwareVersionCount) { // make sure that the name has been set before reporting + marshaller.sendFirmwareVersion(static_cast(firmwareVersionVector[0]), static_cast(firmwareVersionVector[1]), (firmwareVersionCount - 2), reinterpret_cast(&firmwareVersionVector[2])); + } +} + +/** + * Sets the name and version of the firmware. This is not the same version as the Firmata protocol + * (although at times the firmware version and protocol version may be the same number). + * @param name A pointer to the name char array + * @param major The major version number + * @param minor The minor version number + */ +void FirmataClass::setFirmwareNameAndVersion(const char *name, byte major, byte minor) +{ + const char *firmwareName; + const char *extension; + + // parse out ".cpp" and "applet/" that comes from using __FILE__ + extension = strstr(name, ".cpp"); + firmwareName = strrchr(name, '/'); + + if (!firmwareName) { + // windows + firmwareName = strrchr(name, '\\'); + } + if (!firmwareName) { + // user passed firmware name + firmwareName = name; + } else { + firmwareName ++; + } + + if (!extension) { + firmwareVersionCount = strlen(firmwareName) + 2; + } else { + firmwareVersionCount = extension - firmwareName + 2; + } + + // in case anyone calls setFirmwareNameAndVersion more than once + free(firmwareVersionVector); + + firmwareVersionVector = (byte *) malloc(firmwareVersionCount + 1); + firmwareVersionVector[firmwareVersionCount] = 0; + firmwareVersionVector[0] = major; + firmwareVersionVector[1] = minor; + strncpy((char *)firmwareVersionVector + 2, firmwareName, firmwareVersionCount - 2); +} + +//------------------------------------------------------------------------------ +// Serial Receive Handling + +/** + * A wrapper for Stream::available() + * @return The number of bytes remaining in the input stream buffer. + */ +int FirmataClass::available(void) +{ + return FirmataStream->available(); +} + +/** + * Read a single int from the input stream. If the value is not = -1, pass it on to parse(byte) + */ +void FirmataClass::processInput(void) +{ + int inputData = FirmataStream->read(); // this is 'int' to handle -1 when no data + if (inputData != -1) { + parser.parse(inputData); + } +} + +/** + * Parse data from the input stream. + * @param inputData A single byte to be added to the parser. + */ +void FirmataClass::parse(byte inputData) +{ + parser.parse(inputData); +} + +/** + * @return Returns true if the parser is actively parsing data. + */ +boolean FirmataClass::isParsingMessage(void) +{ + return parser.isParsingMessage(); +} + +//------------------------------------------------------------------------------ +// Output Stream Handling + +/** + * Send an analog message to the Firmata host application. The range of pins is limited to [0..15] + * when using the ANALOG_MESSAGE. The maximum value of the ANALOG_MESSAGE is limited to 14 bits + * (16384). To increase the pin range or value, see the documentation for the EXTENDED_ANALOG + * message. + * @param pin The analog pin to send the value of (limited to pins 0 - 15). + * @param value The value of the analog pin (0 - 1024 for 10-bit analog, 0 - 4096 for 12-bit, etc). + * The maximum value is 14-bits (16384). + */ +void FirmataClass::sendAnalog(byte pin, int value) +{ + marshaller.sendAnalog(pin, value); +} + +/* (intentionally left out asterix here) + * STUB - NOT IMPLEMENTED + * Send a single digital pin value to the Firmata host application. + * @param pin The digital pin to send the value of. + * @param value The value of the pin. + */ +void FirmataClass::sendDigital(byte pin, int value) +{ + (void)pin; + (void)value; + /* TODO add single pin digital messages to the protocol, this needs to + * track the last digital data sent so that it can be sure to change just + * one bit in the packet. This is complicated by the fact that the + * numbering of the pins will probably differ on Arduino, Wiring, and + * other boards. + */ + + // TODO: the digital message should not be sent on the serial port every + // time sendDigital() is called. Instead, it should add it to an int + // which will be sent on a schedule. If a pin changes more than once + // before the digital message is sent on the serial port, it should send a + // digital message for each change. + + // if(value == 0) + // sendDigitalPortPair(); +} + + +/** + * Send an 8-bit port in a single digital message (protocol v2 and later). + * Send 14-bits in a single digital message (protocol v1). + * @param portNumber The port number to send. Note that this is not the same as a "port" on the + * physical microcontroller. Ports are defined in order per every 8 pins in ascending order + * of the Arduino digital pin numbering scheme. Port 0 = pins D0 - D7, port 1 = pins D8 - D15, etc. + * @param portData The value of the port. The value of each pin in the port is represented by a bit. + */ +void FirmataClass::sendDigitalPort(byte portNumber, int portData) +{ + marshaller.sendDigitalPort(portNumber, portData); +} + +/** + * Send a sysex message where all values after the command byte are packet as 2 7-bit bytes + * (this is not always the case so this function is not always used to send sysex messages). + * @param command The sysex command byte. + * @param bytec The number of data bytes in the message (excludes start, command and end bytes). + * @param bytev A pointer to the array of data bytes to send in the message. + */ +void FirmataClass::sendSysex(byte command, byte bytec, byte *bytev) +{ + marshaller.sendSysex(command, bytec, bytev); +} + +/** + * Send a string to the Firmata host application. + * @param command Must be STRING_DATA + * @param string A pointer to the char string + */ +void FirmataClass::sendString(byte command, const char *string) +{ + if (command == STRING_DATA) { + marshaller.sendString(string); + } +} + +/** + * Send a string to the Firmata host application. + * @param string A pointer to the char string + */ +void FirmataClass::sendString(const char *string) +{ + marshaller.sendString(string); +} + +/** + * A wrapper for Stream::available(). + * Write a single byte to the output stream. + * @param c The byte to be written. + */ +void FirmataClass::write(byte c) +{ + FirmataStream->write(c); +} + +/** + * Attach a generic sysex callback function to a command (options are: ANALOG_MESSAGE, + * DIGITAL_MESSAGE, REPORT_ANALOG, REPORT DIGITAL, SET_PIN_MODE and SET_DIGITAL_PIN_VALUE). + * @param command The ID of the command to attach a callback function to. + * @param newFunction A reference to the callback function to attach. + */ +void FirmataClass::attach(uint8_t command, ::callbackFunction newFunction) +{ + switch (command) { + case ANALOG_MESSAGE: + currentAnalogCallback = newFunction; + break; + case DIGITAL_MESSAGE: + currentDigitalCallback = newFunction; + break; + case REPORT_ANALOG: + currentReportAnalogCallback = newFunction; + break; + case REPORT_DIGITAL: + currentReportDigitalCallback = newFunction; + break; + case SET_PIN_MODE: + currentPinModeCallback = newFunction; + break; + case SET_DIGITAL_PIN_VALUE: + currentPinValueCallback = newFunction; + break; + } +} + +/** + * Attach a callback function for the SYSTEM_RESET command. + * @param command Must be set to SYSTEM_RESET or it will be ignored. + * @param newFunction A reference to the system reset callback function to attach. + */ +void FirmataClass::attach(uint8_t command, systemCallbackFunction newFunction) +{ + switch (command) { + case SYSTEM_RESET: + currentSystemResetCallback = newFunction; + break; + } +} + +/** + * Attach a callback function for the STRING_DATA command. + * @param command Must be set to STRING_DATA or it will be ignored. + * @param newFunction A reference to the string callback function to attach. + */ +void FirmataClass::attach(uint8_t command, stringCallbackFunction newFunction) +{ + switch (command) { + case STRING_DATA: + currentStringCallback = newFunction; + break; + } +} + +/** + * Attach a generic sysex callback function to sysex command. + * @param command The ID of the command to attach a callback function to. + * @param newFunction A reference to the sysex callback function to attach. + */ +void FirmataClass::attach(uint8_t command, sysexCallbackFunction newFunction) +{ + (void)command; + currentSysexCallback = newFunction; +} + +/** + * Detach a callback function for a specified command (such as SYSTEM_RESET, STRING_DATA, + * ANALOG_MESSAGE, DIGITAL_MESSAGE, etc). + * @param command The ID of the command to detatch the callback function from. + */ +void FirmataClass::detach(uint8_t command) +{ + switch (command) { + case SYSTEM_RESET: + attach(command, (systemCallbackFunction)NULL); + break; + case STRING_DATA: + attach(command, (stringCallbackFunction)NULL); + break; + case START_SYSEX: + attach(command, (sysexCallbackFunction)NULL); + break; + default: + attach(command, (callbackFunction)NULL); + break; + } +} + +/** + * @param pin The pin to get the configuration of. + * @return The configuration of the specified pin. + */ +byte FirmataClass::getPinMode(byte pin) +{ + return pinConfig[pin]; +} + +/** + * Set the pin mode/configuration. The pin configuration (or mode) in Firmata represents the + * current function of the pin. Examples are digital input or output, analog input, pwm, i2c, + * serial (uart), etc. + * @param pin The pin to configure. + * @param config The configuration value for the specified pin. + */ +void FirmataClass::setPinMode(byte pin, byte config) +{ + if (pinConfig[pin] == PIN_MODE_IGNORE) + return; + + pinConfig[pin] = config; +} + +/** + * @param pin The pin to get the state of. + * @return The state of the specified pin. + */ +int FirmataClass::getPinState(byte pin) +{ + return pinState[pin]; +} + +/** + * Set the pin state. The pin state of an output pin is the pin value. The state of an + * input pin is 0, unless the pin has it's internal pull up resistor enabled, then the value is 1. + * @param pin The pin to set the state of + * @param state Set the state of the specified pin + */ +void FirmataClass::setPinState(byte pin, int state) +{ + pinState[pin] = state; +} + +// sysex callbacks +/* + * this is too complicated for analogReceive, but maybe for Sysex? + void FirmataClass::attachSysex(sysexFunction newFunction) + { + byte i; + byte tmpCount = analogReceiveFunctionCount; + analogReceiveFunction* tmpArray = analogReceiveFunctionArray; + analogReceiveFunctionCount++; + analogReceiveFunctionArray = (analogReceiveFunction*) calloc(analogReceiveFunctionCount, sizeof(analogReceiveFunction)); + for(i = 0; i < tmpCount; i++) { + analogReceiveFunctionArray[i] = tmpArray[i]; + } + analogReceiveFunctionArray[tmpCount] = newFunction; + free(tmpArray); + } +*/ + +//****************************************************************************** +//* Private Methods +//****************************************************************************** + +/** + * Flashing the pin for the version number + * @private + * @param pin The pin the LED is attached to. + * @param count The number of times to flash the LED. + * @param onInterval The number of milliseconds for the LED to be ON during each interval. + * @param offInterval The number of milliseconds for the LED to be OFF during each interval. + */ +void FirmataClass::strobeBlinkPin(byte pin, int count, int onInterval, int offInterval) +{ + byte i; + for (i = 0; i < count; i++) { + delay(offInterval); + digitalWrite(pin, HIGH); + delay(onInterval); + digitalWrite(pin, LOW); + } +} + diff --git a/Firmware/Tiva C/StandardFirmata/Firmata.h b/Firmware/Tiva C/StandardFirmata/Firmata.h new file mode 100644 index 0000000..ec95165 --- /dev/null +++ b/Firmware/Tiva C/StandardFirmata/Firmata.h @@ -0,0 +1,180 @@ +/* + Firmata.h - Firmata library v2.5.6 - 2017-03-18 + Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved. + Copyright (C) 2009-2017 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. +*/ + +#ifndef Firmata_h +#define Firmata_h + +#include "Boards.h" /* Hardware Abstraction Layer + Wiring/Arduino */ +#include "FirmataDefines.h" +#include "FirmataMarshaller.h" +#include "FirmataParser.h" + +/* DEPRECATED as of Firmata v2.5.1. As of 2.5.1 there are separate version numbers for + * the protocol version and the firmware version. + */ +#define FIRMATA_MAJOR_VERSION 2 // same as FIRMATA_PROTOCOL_MAJOR_VERSION +#define FIRMATA_MINOR_VERSION 5 // same as FIRMATA_PROTOCOL_MINOR_VERSION +#define FIRMATA_BUGFIX_VERSION 1 // same as FIRMATA_PROTOCOL_BUGFIX_VERSION + +// extended command set using sysex (0-127/0x00-0x7F) +/* 0x00-0x0F reserved for user-defined commands */ +// these are DEPRECATED to make the naming more consistent +#define FIRMATA_STRING 0x71 // same as STRING_DATA +#define SYSEX_I2C_REQUEST 0x76 // same as I2C_REQUEST +#define SYSEX_I2C_REPLY 0x77 // same as I2C_REPLY +#define SYSEX_SAMPLING_INTERVAL 0x7A // same as SAMPLING_INTERVAL + +// pin modes +//#define INPUT 0x00 // defined in Arduino.h +//#define OUTPUT 0x01 // defined in Arduino.h +// DEPRECATED as of Firmata v2.5 +#define ANALOG 0x02 // same as PIN_MODE_ANALOG +#define PWM 0x03 // same as PIN_MODE_PWM +#define SERVO 0x04 // same as PIN_MODE_SERVO +#define SHIFT 0x05 // same as PIN_MODE_SHIFT +#define I2C 0x06 // same as PIN_MODE_I2C +#define ONEWIRE 0x07 // same as PIN_MODE_ONEWIRE +#define STEPPER 0x08 // same as PIN_MODE_STEPPER +#define ENCODER 0x09 // same as PIN_MODE_ENCODER +#define IGNORE 0x7F // same as PIN_MODE_IGNORE + +namespace firmata { + +// TODO make it a subclass of a generic Serial/Stream base class +class FirmataClass +{ + public: + typedef void (*callbackFunction)(uint8_t, int); + typedef void (*systemCallbackFunction)(void); + typedef void (*stringCallbackFunction)(char *); + typedef void (*sysexCallbackFunction)(uint8_t command, uint8_t argc, uint8_t *argv); + + FirmataClass(); + + /* Arduino constructors */ + void begin(); + void begin(long); + void begin(Stream &s); + + /* querying functions */ + void printVersion(void); + void blinkVersion(void); + void printFirmwareVersion(void); + + //void setFirmwareVersion(byte major, byte minor); // see macro below + void setFirmwareNameAndVersion(const char *name, byte major, byte minor); + void disableBlinkVersion(); + + /* serial receive handling */ + int available(void); + void processInput(void); + void parse(unsigned char value); + boolean isParsingMessage(void); + + /* serial send handling */ + void sendAnalog(byte pin, int value); + void sendDigital(byte pin, int value); // TODO implement this + void sendDigitalPort(byte portNumber, int portData); + void sendString(const char *string); + void sendString(byte command, const char *string); + void sendSysex(byte command, byte bytec, byte *bytev); + void write(byte c); + + /* attach & detach callback functions to messages */ + void attach(uint8_t command, callbackFunction newFunction); + void attach(uint8_t command, systemCallbackFunction newFunction); + void attach(uint8_t command, stringCallbackFunction newFunction); + void attach(uint8_t command, sysexCallbackFunction newFunction); + void detach(uint8_t command); + + /* access pin state and config */ + byte getPinMode(byte pin); + void setPinMode(byte pin, byte config); + + /* access pin state */ + int getPinState(byte pin); + void setPinState(byte pin, int state); + + /* utility methods */ + void sendValueAsTwo7bitBytes(int value); + void startSysex(void); + void endSysex(void); + + private: + uint8_t parserBuffer[MAX_DATA_BYTES]; + FirmataMarshaller marshaller; + FirmataParser parser; + Stream *FirmataStream; + + /* firmware name and version */ + byte firmwareVersionCount; + byte *firmwareVersionVector; + + /* pin configuration */ + byte pinConfig[TOTAL_PINS]; + int pinState[TOTAL_PINS]; + + boolean blinkVersionDisabled; + + /* private methods ------------------------------ */ + void strobeBlinkPin(byte pin, int count, int onInterval, int offInterval); + friend void FirmataMarshaller::encodeByteStream (size_t bytec, uint8_t * bytev, size_t max_bytes = 0) const; + + /* callback functions */ + static callbackFunction currentAnalogCallback; + static callbackFunction currentDigitalCallback; + static callbackFunction currentPinModeCallback; + static callbackFunction currentPinValueCallback; + static callbackFunction currentReportAnalogCallback; + static callbackFunction currentReportDigitalCallback; + static stringCallbackFunction currentStringCallback; + static sysexCallbackFunction currentSysexCallback; + static systemCallbackFunction currentSystemResetCallback; + + /* static callbacks */ + inline static void staticAnalogCallback (void *, uint8_t command, uint16_t value) { if ( currentAnalogCallback ) { currentAnalogCallback(command,(int)value); } } + inline static void staticDigitalCallback (void *, uint8_t command, uint16_t value) { if ( currentDigitalCallback ) { currentDigitalCallback(command, (int)value); } } + inline static void staticPinModeCallback (void *, uint8_t command, uint16_t value) { if ( currentPinModeCallback ) { currentPinModeCallback(command, (int)value); } } + inline static void staticPinValueCallback (void *, uint8_t command, uint16_t value) { if ( currentPinValueCallback ) { currentPinValueCallback(command, (int)value); } } + inline static void staticReportAnalogCallback (void *, uint8_t command, uint16_t value) { if ( currentReportAnalogCallback ) { currentReportAnalogCallback(command, (int)value); } } + inline static void staticReportDigitalCallback (void *, uint8_t command, uint16_t value) { if ( currentReportDigitalCallback ) { currentReportDigitalCallback(command, (int)value); } } + inline static void staticStringCallback (void *, const char * c_str) { if ( currentStringCallback ) { currentStringCallback((char *)c_str); } } + inline static void staticSysexCallback (void *, uint8_t command, size_t argc, uint8_t *argv) { if ( currentSysexCallback ) { currentSysexCallback(command, (uint8_t)argc, argv); } } + inline static void staticReportFirmwareCallback (void * context, size_t, size_t, const char *) { if ( context ) { ((FirmataClass *)context)->printFirmwareVersion(); } } + inline static void staticReportVersionCallback (void * context) { if ( context ) { ((FirmataClass *)context)->printVersion(); } } + inline static void staticSystemResetCallback (void *) { if ( currentSystemResetCallback ) { currentSystemResetCallback(); } } +}; + +} // namespace firmata + +extern "C" { + // callback function types + typedef firmata::FirmataClass::callbackFunction callbackFunction; + typedef firmata::FirmataClass::systemCallbackFunction systemCallbackFunction; + typedef firmata::FirmataClass::stringCallbackFunction stringCallbackFunction; + typedef firmata::FirmataClass::sysexCallbackFunction sysexCallbackFunction; +} + +extern firmata::FirmataClass Firmata; + +/*============================================================================== + * MACROS + *============================================================================*/ + +/* shortcut for setFirmwareNameAndVersion() that uses __FILE__ to set the + * firmware name. It needs to be a macro so that __FILE__ is included in the + * firmware source file rather than the library source file. + */ +#define setFirmwareVersion(x, y) setFirmwareNameAndVersion(__FILE__, x, y) + +#endif /* Firmata_h */ diff --git a/Firmware/Tiva C/StandardFirmata/FirmataConstants.h b/Firmware/Tiva C/StandardFirmata/FirmataConstants.h new file mode 100644 index 0000000..e8d2181 --- /dev/null +++ b/Firmware/Tiva C/StandardFirmata/FirmataConstants.h @@ -0,0 +1,97 @@ +/* + FirmataConstants.h + Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved. + Copyright (C) 2009-2017 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. +*/ + +#ifndef FirmataConstants_h +#define FirmataConstants_h + +namespace firmata { +/* Version numbers for the Firmata library. + * The firmware version will not always equal the protocol version going forward. + * Query using the REPORT_FIRMWARE message. + */ +static const int FIRMWARE_MAJOR_VERSION = 2; +static const int FIRMWARE_MINOR_VERSION = 5; +static const int FIRMWARE_BUGFIX_VERSION = 6; + +/* Version numbers for the protocol. The protocol is still changing, so these + * version numbers are important. + * Query using the REPORT_VERSION message. + */ +static const int PROTOCOL_MAJOR_VERSION = 2; // for non-compatible changes +static const int PROTOCOL_MINOR_VERSION = 5; // for backwards compatible changes +static const int PROTOCOL_BUGFIX_VERSION = 1; // for bugfix releases + +static const int MAX_DATA_BYTES = 64; // max number of data bytes in incoming messages + +// message command bytes (128-255/0x80-0xFF) + +static const int DIGITAL_MESSAGE = 0x90; // send data for a digital port (collection of 8 pins) +static const int ANALOG_MESSAGE = 0xE0; // send data for an analog pin (or PWM) +static const int REPORT_ANALOG = 0xC0; // enable analog input by pin # +static const int REPORT_DIGITAL = 0xD0; // enable digital input by port pair +// +static const int SET_PIN_MODE = 0xF4; // set a pin to INPUT/OUTPUT/PWM/etc +static const int SET_DIGITAL_PIN_VALUE = 0xF5; // set value of an individual digital pin +// +static const int REPORT_VERSION = 0xF9; // report protocol version +static const int SYSTEM_RESET = 0xFF; // reset from MIDI +// +static const int START_SYSEX = 0xF0; // start a MIDI Sysex message +static const int END_SYSEX = 0xF7; // end a MIDI Sysex message + +// extended command set using sysex (0-127/0x00-0x7F) +/* 0x00-0x0F reserved for user-defined commands */ + +static const int SERIAL_DATA = 0x60; // communicate with serial devices, including other boards +static const int ENCODER_DATA = 0x61; // reply with encoders current positions +static const int SERVO_CONFIG = 0x70; // set max angle, minPulse, maxPulse, freq +static const int STRING_DATA = 0x71; // a string message with 14-bits per char +static const int STEPPER_DATA = 0x72; // control a stepper motor +static const int ONEWIRE_DATA = 0x73; // send an OneWire read/write/reset/select/skip/search request +static const int SHIFT_DATA = 0x75; // a bitstream to/from a shift register +static const int I2C_REQUEST = 0x76; // send an I2C read/write request +static const int I2C_REPLY = 0x77; // a reply to an I2C read request +static const int I2C_CONFIG = 0x78; // config I2C settings such as delay times and power pins +static const int REPORT_FIRMWARE = 0x79; // report name and version of the firmware +static const int EXTENDED_ANALOG = 0x6F; // analog write (PWM, Servo, etc) to any pin +static const int PIN_STATE_QUERY = 0x6D; // ask for a pin's current mode and value +static const int PIN_STATE_RESPONSE = 0x6E; // reply with pin's current mode and value +static const int CAPABILITY_QUERY = 0x6B; // ask for supported modes and resolution of all pins +static const int CAPABILITY_RESPONSE = 0x6C; // reply with supported modes and resolution +static const int ANALOG_MAPPING_QUERY = 0x69; // ask for mapping of analog to pin numbers +static const int ANALOG_MAPPING_RESPONSE = 0x6A; // reply with mapping info +static const int SAMPLING_INTERVAL = 0x7A; // set the poll rate of the main loop +static const int SCHEDULER_DATA = 0x7B; // send a createtask/deletetask/addtotask/schedule/querytasks/querytask request to the scheduler +static const int SYSEX_NON_REALTIME = 0x7E; // MIDI Reserved for non-realtime messages +static const int SYSEX_REALTIME = 0x7F; // MIDI Reserved for realtime messages + +// pin modes +static const int PIN_MODE_INPUT = 0x00; // same as INPUT defined in Arduino.h +static const int PIN_MODE_OUTPUT = 0x01; // same as OUTPUT defined in Arduino.h +static const int PIN_MODE_ANALOG = 0x02; // analog pin in analogInput mode +static const int PIN_MODE_PWM = 0x03; // digital pin in PWM output mode +static const int PIN_MODE_SERVO = 0x04; // digital pin in Servo output mode +static const int PIN_MODE_SHIFT = 0x05; // shiftIn/shiftOut mode +static const int PIN_MODE_I2C = 0x06; // pin included in I2C setup +static const int PIN_MODE_ONEWIRE = 0x07; // pin configured for 1-wire +static const int PIN_MODE_STEPPER = 0x08; // pin configured for stepper motor +static const int PIN_MODE_ENCODER = 0x09; // pin configured for rotary encoders +static const int PIN_MODE_SERIAL = 0x0A; // pin configured for serial communication +static const int PIN_MODE_PULLUP = 0x0B; // enable internal pull-up resistor for pin +static const int PIN_MODE_IGNORE = 0x7F; // pin configured to be ignored by digitalWrite and capabilityResponse + +static const int TOTAL_PIN_MODES = 13; + +} // namespace firmata + +#endif // FirmataConstants_h diff --git a/Firmware/Tiva C/StandardFirmata/FirmataDefines.h b/Firmware/Tiva C/StandardFirmata/FirmataDefines.h new file mode 100644 index 0000000..fb95fb5 --- /dev/null +++ b/Firmware/Tiva C/StandardFirmata/FirmataDefines.h @@ -0,0 +1,283 @@ +/* + FirmataDefines.h + Copyright (c) 2006-2008 Hans-Christoph Steiner. 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. +*/ + +#ifndef FirmataDefines_h +#define FirmataDefines_h + +#include "FirmataConstants.h" + +/* Version numbers for the Firmata library. + * The firmware version will not always equal the protocol version going forward. + * Query using the REPORT_FIRMWARE message. + */ +#define FIRMATA_FIRMWARE_MAJOR_VERSION firmata::FIRMWARE_MAJOR_VERSION +#define FIRMATA_FIRMWARE_MINOR_VERSION firmata::FIRMWARE_MINOR_VERSION +#define FIRMATA_FIRMWARE_BUGFIX_VERSION firmata::FIRMWARE_BUGFIX_VERSION + +/* Version numbers for the protocol. The protocol is still changing, so these + * version numbers are important. + * Query using the REPORT_VERSION message. + */ +#define FIRMATA_PROTOCOL_MAJOR_VERSION firmata::PROTOCOL_MAJOR_VERSION // for non-compatible changes +#define FIRMATA_PROTOCOL_MINOR_VERSION firmata::PROTOCOL_MINOR_VERSION // for backwards compatible changes +#define FIRMATA_PROTOCOL_BUGFIX_VERSION firmata::PROTOCOL_BUGFIX_VERSION // for bugfix releases + +#ifdef MAX_DATA_BYTES +#undef MAX_DATA_BYTES +#endif +#define MAX_DATA_BYTES firmata::MAX_DATA_BYTES // max number of data bytes in incoming messages + +// message command bytes (128-255/0x80-0xFF) + +#ifdef DIGITAL_MESSAGE +#undef DIGITAL_MESSAGE +#endif +#define DIGITAL_MESSAGE firmata::DIGITAL_MESSAGE // send data for a digital port (collection of 8 pins) + +#ifdef ANALOG_MESSAGE +#undef ANALOG_MESSAGE +#endif +#define ANALOG_MESSAGE firmata::ANALOG_MESSAGE // send data for an analog pin (or PWM) + +#ifdef REPORT_ANALOG +#undef REPORT_ANALOG +#endif +#define REPORT_ANALOG firmata::REPORT_ANALOG // enable analog input by pin # + +#ifdef REPORT_DIGITAL +#undef REPORT_DIGITAL +#endif +#define REPORT_DIGITAL firmata::REPORT_DIGITAL // enable digital input by port pair + +// + +#ifdef SET_PIN_MODE +#undef SET_PIN_MODE +#endif +#define SET_PIN_MODE firmata::SET_PIN_MODE // set a pin to INPUT/OUTPUT/PWM/etc + +#ifdef SET_DIGITAL_PIN_VALUE +#undef SET_DIGITAL_PIN_VALUE +#endif +#define SET_DIGITAL_PIN_VALUE firmata::SET_DIGITAL_PIN_VALUE // set value of an individual digital pin + +// + +#ifdef REPORT_VERSION +#undef REPORT_VERSION +#endif +#define REPORT_VERSION firmata::REPORT_VERSION // report protocol version + +#ifdef SYSTEM_RESET +#undef SYSTEM_RESET +#endif +#define SYSTEM_RESET firmata::SYSTEM_RESET // reset from MIDI + +// + +#ifdef START_SYSEX +#undef START_SYSEX +#endif +#define START_SYSEX firmata::START_SYSEX // start a MIDI Sysex message + +#ifdef END_SYSEX +#undef END_SYSEX +#endif +#define END_SYSEX firmata::END_SYSEX // end a MIDI Sysex message + +// extended command set using sysex (0-127/0x00-0x7F) +/* 0x00-0x0F reserved for user-defined commands */ + +#ifdef SERIAL_MESSAGE +#undef SERIAL_MESSAGE +#endif +#define SERIAL_MESSAGE firmata::SERIAL_DATA // communicate with serial devices, including other boards + +#ifdef ENCODER_DATA +#undef ENCODER_DATA +#endif +#define ENCODER_DATA firmata::ENCODER_DATA // reply with encoders current positions + +#ifdef SERVO_CONFIG +#undef SERVO_CONFIG +#endif +#define SERVO_CONFIG firmata::SERVO_CONFIG // set max angle, minPulse, maxPulse, freq + +#ifdef STRING_DATA +#undef STRING_DATA +#endif +#define STRING_DATA firmata::STRING_DATA // a string message with 14-bits per char + +#ifdef STEPPER_DATA +#undef STEPPER_DATA +#endif +#define STEPPER_DATA firmata::STEPPER_DATA // control a stepper motor + +#ifdef ONEWIRE_DATA +#undef ONEWIRE_DATA +#endif +#define ONEWIRE_DATA firmata::ONEWIRE_DATA // send an OneWire read/write/reset/select/skip/search request + +#ifdef SHIFT_DATA +#undef SHIFT_DATA +#endif +#define SHIFT_DATA firmata::SHIFT_DATA // a bitstream to/from a shift register + +#ifdef I2C_REQUEST +#undef I2C_REQUEST +#endif +#define I2C_REQUEST firmata::I2C_REQUEST // send an I2C read/write request + +#ifdef I2C_REPLY +#undef I2C_REPLY +#endif +#define I2C_REPLY firmata::I2C_REPLY // a reply to an I2C read request + +#ifdef I2C_CONFIG +#undef I2C_CONFIG +#endif +#define I2C_CONFIG firmata::I2C_CONFIG // config I2C settings such as delay times and power pins + +#ifdef REPORT_FIRMWARE +#undef REPORT_FIRMWARE +#endif +#define REPORT_FIRMWARE firmata::REPORT_FIRMWARE // report name and version of the firmware + +#ifdef EXTENDED_ANALOG +#undef EXTENDED_ANALOG +#endif +#define EXTENDED_ANALOG firmata::EXTENDED_ANALOG // analog write (PWM, Servo, etc) to any pin + +#ifdef PIN_STATE_QUERY +#undef PIN_STATE_QUERY +#endif +#define PIN_STATE_QUERY firmata::PIN_STATE_QUERY // ask for a pin's current mode and value + +#ifdef PIN_STATE_RESPONSE +#undef PIN_STATE_RESPONSE +#endif +#define PIN_STATE_RESPONSE firmata::PIN_STATE_RESPONSE // reply with pin's current mode and value + +#ifdef CAPABILITY_QUERY +#undef CAPABILITY_QUERY +#endif +#define CAPABILITY_QUERY firmata::CAPABILITY_QUERY // ask for supported modes and resolution of all pins + +#ifdef CAPABILITY_RESPONSE +#undef CAPABILITY_RESPONSE +#endif +#define CAPABILITY_RESPONSE firmata::CAPABILITY_RESPONSE // reply with supported modes and resolution + +#ifdef ANALOG_MAPPING_QUERY +#undef ANALOG_MAPPING_QUERY +#endif +#define ANALOG_MAPPING_QUERY firmata::ANALOG_MAPPING_QUERY // ask for mapping of analog to pin numbers + +#ifdef ANALOG_MAPPING_RESPONSE +#undef ANALOG_MAPPING_RESPONSE +#endif +#define ANALOG_MAPPING_RESPONSE firmata::ANALOG_MAPPING_RESPONSE // reply with mapping info + +#ifdef SAMPLING_INTERVAL +#undef SAMPLING_INTERVAL +#endif +#define SAMPLING_INTERVAL firmata::SAMPLING_INTERVAL // set the poll rate of the main loop + +#ifdef SCHEDULER_DATA +#undef SCHEDULER_DATA +#endif +#define SCHEDULER_DATA firmata::SCHEDULER_DATA // send a createtask/deletetask/addtotask/schedule/querytasks/querytask request to the scheduler + +#ifdef SYSEX_NON_REALTIME +#undef SYSEX_NON_REALTIME +#endif +#define SYSEX_NON_REALTIME firmata::SYSEX_NON_REALTIME // MIDI Reserved for non-realtime messages + +#ifdef SYSEX_REALTIME +#undef SYSEX_REALTIME +#endif +#define SYSEX_REALTIME firmata::SYSEX_REALTIME // MIDI Reserved for realtime messages + +// pin modes + +#ifdef PIN_MODE_INPUT +#undef PIN_MODE_INPUT +#endif +#define PIN_MODE_INPUT firmata::PIN_MODE_INPUT // same as INPUT defined in Arduino.h + +#ifdef PIN_MODE_OUTPUT +#undef PIN_MODE_OUTPUT +#endif +#define PIN_MODE_OUTPUT firmata::PIN_MODE_OUTPUT // same as OUTPUT defined in Arduino.h + +#ifdef PIN_MODE_ANALOG +#undef PIN_MODE_ANALOG +#endif +#define PIN_MODE_ANALOG firmata::PIN_MODE_ANALOG // analog pin in analogInput mode + +#ifdef PIN_MODE_PWM +#undef PIN_MODE_PWM +#endif +#define PIN_MODE_PWM firmata::PIN_MODE_PWM // digital pin in PWM output mode + +#ifdef PIN_MODE_SERVO +#undef PIN_MODE_SERVO +#endif +#define PIN_MODE_SERVO firmata::PIN_MODE_SERVO // digital pin in Servo output mode + +#ifdef PIN_MODE_SHIFT +#undef PIN_MODE_SHIFT +#endif +#define PIN_MODE_SHIFT firmata::PIN_MODE_SHIFT // shiftIn/shiftOut mode + +#ifdef PIN_MODE_I2C +#undef PIN_MODE_I2C +#endif +#define PIN_MODE_I2C firmata::PIN_MODE_I2C // pin included in I2C setup + +#ifdef PIN_MODE_ONEWIRE +#undef PIN_MODE_ONEWIRE +#endif +#define PIN_MODE_ONEWIRE firmata::PIN_MODE_ONEWIRE // pin configured for 1-wire + +#ifdef PIN_MODE_STEPPER +#undef PIN_MODE_STEPPER +#endif +#define PIN_MODE_STEPPER firmata::PIN_MODE_STEPPER // pin configured for stepper motor + +#ifdef PIN_MODE_ENCODER +#undef PIN_MODE_ENCODER +#endif +#define PIN_MODE_ENCODER firmata::PIN_MODE_ENCODER // pin configured for rotary encoders + +#ifdef PIN_MODE_SERIAL +#undef PIN_MODE_SERIAL +#endif +#define PIN_MODE_SERIAL firmata::PIN_MODE_SERIAL // pin configured for serial communication + +#ifdef PIN_MODE_PULLUP +#undef PIN_MODE_PULLUP +#endif +#define PIN_MODE_PULLUP firmata::PIN_MODE_PULLUP // enable internal pull-up resistor for pin + +#ifdef PIN_MODE_IGNORE +#undef PIN_MODE_IGNORE +#endif +#define PIN_MODE_IGNORE firmata::PIN_MODE_IGNORE // pin configured to be ignored by digitalWrite and capabilityResponse + +#ifdef TOTAL_PIN_MODES +#undef TOTAL_PIN_MODES +#endif +#define TOTAL_PIN_MODES firmata::TOTAL_PIN_MODES + +#endif // FirmataConstants_h diff --git a/Firmware/Tiva C/StandardFirmata/FirmataMarshaller.cpp b/Firmware/Tiva C/StandardFirmata/FirmataMarshaller.cpp new file mode 100644 index 0000000..6cb5200 --- /dev/null +++ b/Firmware/Tiva C/StandardFirmata/FirmataMarshaller.cpp @@ -0,0 +1,431 @@ +/* + FirmataMarshaller.cpp + Copyright (c) 2006-2008 Hans-Christoph Steiner. 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. +*/ + +//****************************************************************************** +//* Includes +//****************************************************************************** + +#include "FirmataMarshaller.h" + +#if defined(__cplusplus) && !defined(ARDUINO) + #include +#else + #include +#endif + +#include "FirmataConstants.h" + +using namespace firmata; + +//****************************************************************************** +//* Support Functions +//****************************************************************************** + +/** + * Request or halt a stream of analog readings from the Firmata host application. The range of pins is + * limited to [0..15] when using the REPORT_ANALOG. The maximum result of the REPORT_ANALOG is limited to 14 bits + * (16384). To increase the pin range or value, see the documentation for the EXTENDED_ANALOG + * message. + * @param pin The analog pin for which to request the value (limited to pins 0 - 15). + * @param stream_enable A zero value will disable the stream, a non-zero will enable the stream + * @note The maximum resulting value is 14-bits (16384). + */ +void FirmataMarshaller::reportAnalog(uint8_t pin, bool stream_enable) +const +{ + if ( (Stream *)NULL == FirmataStream ) { return; } + // pin can only be 0-15, so chop higher bits + FirmataStream->write(REPORT_ANALOG | (pin & 0xF)); + FirmataStream->write(stream_enable); +} + +/** + * Request or halt an 8-bit port stream from the Firmata host application (protocol v2 and later). + * Send 14-bits in a single digital message (protocol v1). + * @param portNumber The port number for which to request the value. Note that this is not the same as a "port" on the + * physical microcontroller. Ports are defined in order per every 8 pins in ascending order + * of the Arduino digital pin numbering scheme. Port 0 = pins D0 - D7, port 1 = pins D8 - D15, etc. + * @param stream_enable A zero value will disable the stream, a non-zero will enable the stream + */ +void FirmataMarshaller::reportDigitalPort(uint8_t portNumber, bool stream_enable) +const +{ + if ( (Stream *)NULL == FirmataStream ) { return; } + FirmataStream->write(REPORT_DIGITAL | (portNumber & 0xF)); + FirmataStream->write(stream_enable); +} + +/** + * An alternative to the normal analog message, this extended version allows addressing beyond + * pin 15 and supports sending analog values with any number of bits. + * @param pin The analog pin to which the value is sent. + * @param bytec The size of the storage for the analog value + * @param bytev The pointer to the location of the analog value + */ +void FirmataMarshaller::sendExtendedAnalog(uint8_t pin, size_t bytec, uint8_t * bytev) +const +{ + if ( (Stream *)NULL == FirmataStream ) { return; } + FirmataStream->write(START_SYSEX); + FirmataStream->write(EXTENDED_ANALOG); + FirmataStream->write(pin); + encodeByteStream(bytec, bytev, bytec); + FirmataStream->write(END_SYSEX); +} + +/** + * Transform 8-bit stream into 7-bit message + * @param bytec The number of data bytes in the message. + * @param bytev A pointer to the array of data bytes to send in the message. + * @param max_bytes Force message to be n bytes, regardless of data bits. + */ +void FirmataMarshaller::encodeByteStream (size_t bytec, uint8_t * bytev, size_t max_bytes) +const +{ + static const size_t transmit_bits = 7; + static const uint8_t transmit_mask = ((1 << transmit_bits) - 1); + + size_t bytes_sent = 0; + size_t outstanding_bits = 0; + uint8_t outstanding_bit_cache = *bytev; + + if ( !max_bytes ) { max_bytes = static_cast(-1); } + for (size_t i = 0 ; (i < bytec) && (bytes_sent < max_bytes) ; ++i) { + uint8_t transmit_byte = (outstanding_bit_cache|(bytev[i] << outstanding_bits)); + FirmataStream->write(transmit_mask & transmit_byte); + ++bytes_sent; + outstanding_bit_cache = (bytev[i] >> (transmit_bits - outstanding_bits)); + outstanding_bits = (outstanding_bits + (8 - transmit_bits)); + for ( ; (outstanding_bits >= transmit_bits) && (bytes_sent < max_bytes) ; ) { + transmit_byte = outstanding_bit_cache; + FirmataStream->write(transmit_mask & transmit_byte); + ++bytes_sent; + outstanding_bit_cache >>= transmit_bits; + outstanding_bits -= transmit_bits; + } + } + if ( outstanding_bits && (bytes_sent < max_bytes) ) { + FirmataStream->write(static_cast((1 << outstanding_bits) - 1) & outstanding_bit_cache); + } +} + +//****************************************************************************** +//* Constructors +//****************************************************************************** + +/** + * The FirmataMarshaller class. + */ +FirmataMarshaller::FirmataMarshaller() +: + FirmataStream((Stream *)NULL) +{ +} + +//****************************************************************************** +//* Public Methods +//****************************************************************************** + +/** + * Reassign the Firmata stream transport. + * @param s A reference to the Stream transport object. This can be any type of + * transport that implements the Stream interface. Some examples include Ethernet, WiFi + * and other UARTs on the board (Serial1, Serial2, etc). + */ +void FirmataMarshaller::begin(Stream &s) +{ + FirmataStream = &s; +} + +/** + * Closes the FirmataMarshaller stream by setting its stream reference to `(Stream *)NULL` + */ +void FirmataMarshaller::end(void) +{ + FirmataStream = (Stream *)NULL; +} + +//****************************************************************************** +//* Output Stream Handling +//****************************************************************************** + +/** + * Query the target's firmware name and version + */ +void FirmataMarshaller::queryFirmwareVersion(void) +const +{ + if ( (Stream *)NULL == FirmataStream ) { return; } + FirmataStream->write(START_SYSEX); + FirmataStream->write(REPORT_FIRMWARE); + FirmataStream->write(END_SYSEX); +} + +/** + * Query the target's Firmata protocol version + */ +void FirmataMarshaller::queryVersion(void) +const +{ + if ( (Stream *)NULL == FirmataStream ) { return; } + FirmataStream->write(REPORT_VERSION); +} + +/** + * Halt the stream of analog readings from the Firmata host application. The range of pins is + * limited to [0..15] when using the REPORT_ANALOG. The maximum result of the REPORT_ANALOG is limited to 14 bits + * (16384). To increase the pin range or value, see the documentation for the EXTENDED_ANALOG + * message. + * @param pin The analog pin for which to request the value (limited to pins 0 - 15). + */ +void FirmataMarshaller::reportAnalogDisable(uint8_t pin) +const +{ + reportAnalog(pin, false); +} + +/** + * Request a stream of analog readings from the Firmata host application. The range of pins is + * limited to [0..15] when using the REPORT_ANALOG. The maximum result of the REPORT_ANALOG is limited to 14 bits + * (16384). To increase the pin range or value, see the documentation for the EXTENDED_ANALOG + * message. + * @param pin The analog pin for which to request the value (limited to pins 0 - 15). + */ +void FirmataMarshaller::reportAnalogEnable(uint8_t pin) +const +{ + reportAnalog(pin, true); +} + +/** + * Halt an 8-bit port stream from the Firmata host application (protocol v2 and later). + * Send 14-bits in a single digital message (protocol v1). + * @param portNumber The port number for which to request the value. Note that this is not the same as a "port" on the + * physical microcontroller. Ports are defined in order per every 8 pins in ascending order + * of the Arduino digital pin numbering scheme. Port 0 = pins D0 - D7, port 1 = pins D8 - D15, etc. + */ +void FirmataMarshaller::reportDigitalPortDisable(uint8_t portNumber) +const +{ + reportDigitalPort(portNumber, false); +} + +/** + * Request an 8-bit port stream from the Firmata host application (protocol v2 and later). + * Send 14-bits in a single digital message (protocol v1). + * @param portNumber The port number for which to request the value. Note that this is not the same as a "port" on the + * physical microcontroller. Ports are defined in order per every 8 pins in ascending order + * of the Arduino digital pin numbering scheme. Port 0 = pins D0 - D7, port 1 = pins D8 - D15, etc. + */ +void FirmataMarshaller::reportDigitalPortEnable(uint8_t portNumber) +const +{ + reportDigitalPort(portNumber, true); +} + +/** + * Send an analog message to the Firmata host application. The range of pins is limited to [0..15] + * when using the ANALOG_MESSAGE. The maximum value of the ANALOG_MESSAGE is limited to 14 bits + * (16384). To increase the pin range or value, see the documentation for the EXTENDED_ANALOG + * message. + * @param pin The analog pin to which the value is sent. + * @param value The value of the analog pin (0 - 1024 for 10-bit analog, 0 - 4096 for 12-bit, etc). + * @note The maximum value is 14-bits (16384). + */ +void FirmataMarshaller::sendAnalog(uint8_t pin, uint16_t value) +const +{ + if ( (Stream *)NULL == FirmataStream ) { return; } + if ( (0xF >= pin) && (0x3FFF >= value) ) { + FirmataStream->write(ANALOG_MESSAGE|pin); + encodeByteStream(sizeof(value), reinterpret_cast(&value), sizeof(value)); + } else { + sendExtendedAnalog(pin, sizeof(value), reinterpret_cast(&value)); + } +} + +/** + * Send an analog mapping query to the Firmata host application. The resulting sysex message will + * have an ANALOG_MAPPING_RESPONSE command byte, followed by a list of pins [0-n]; where each + * pin will specify its corresponding analog pin number or 0x7F (127) if not applicable. + */ +void FirmataMarshaller::sendAnalogMappingQuery(void) +const +{ + sendSysex(ANALOG_MAPPING_QUERY, 0, NULL); +} + +/** + * Send a capability query to the Firmata host application. The resulting sysex message will have + * a CAPABILITY_RESPONSE command byte, followed by a list of byte tuples (mode and mode resolution) + * for each pin; where each pin list is terminated by 0x7F (127). + */ +void FirmataMarshaller::sendCapabilityQuery(void) +const +{ + sendSysex(CAPABILITY_QUERY, 0, NULL); +} + +/** + * Send a single digital pin value to the Firmata host application. + * @param pin The digital pin to send the value of. + * @param value The value of the pin. + */ +void FirmataMarshaller::sendDigital(uint8_t pin, uint8_t value) +const +{ + if ( (Stream *)NULL == FirmataStream ) { return; } + FirmataStream->write(SET_DIGITAL_PIN_VALUE); + FirmataStream->write(pin & 0x7F); + FirmataStream->write(value != 0); +} + + +/** + * Send an 8-bit port in a single digital message (protocol v2 and later). + * Send 14-bits in a single digital message (protocol v1). + * @param portNumber The port number to send. Note that this is not the same as a "port" on the + * physical microcontroller. Ports are defined in order per every 8 pins in ascending order + * of the Arduino digital pin numbering scheme. Port 0 = pins D0 - D7, port 1 = pins D8 - D15, etc. + * @param portData The value of the port. The value of each pin in the port is represented by a bit. + */ +void FirmataMarshaller::sendDigitalPort(uint8_t portNumber, uint16_t portData) +const +{ + if ( (Stream *)NULL == FirmataStream ) { return; } + FirmataStream->write(DIGITAL_MESSAGE | (portNumber & 0xF)); + // Tx bits 0-6 (protocol v1 and higher) + // Tx bits 7-13 (bit 7 only for protocol v2 and higher) + encodeByteStream(sizeof(portData), reinterpret_cast(&portData), sizeof(portData)); +} + +/** + * Sends the firmware name and version to the Firmata host application. + * @param major The major verison number + * @param minor The minor version number + * @param bytec The length of the firmware name + * @param bytev The firmware name array + */ +void FirmataMarshaller::sendFirmwareVersion(uint8_t major, uint8_t minor, size_t bytec, uint8_t *bytev) +const +{ + if ( (Stream *)NULL == FirmataStream ) { return; } + size_t i; + FirmataStream->write(START_SYSEX); + FirmataStream->write(REPORT_FIRMWARE); + FirmataStream->write(major); + FirmataStream->write(minor); + for (i = 0; i < bytec; ++i) { + encodeByteStream(sizeof(bytev[i]), reinterpret_cast(&bytev[i])); + } + FirmataStream->write(END_SYSEX); +} + +/** + * Send the Firmata protocol version to the Firmata host application. + * @param major The major verison number + * @param minor The minor version number + */ +void FirmataMarshaller::sendVersion(uint8_t major, uint8_t minor) +const +{ + if ( (Stream *)NULL == FirmataStream ) { return; } + FirmataStream->write(REPORT_VERSION); + FirmataStream->write(major); + FirmataStream->write(minor); +} + +/** + * Send the pin mode/configuration. The pin configuration (or mode) in Firmata represents the + * current function of the pin. Examples are digital input or output, analog input, pwm, i2c, + * serial (uart), etc. + * @param pin The pin to configure. + * @param config The configuration value for the specified pin. + */ +void FirmataMarshaller::sendPinMode(uint8_t pin, uint8_t config) +const +{ + if ( (Stream *)NULL == FirmataStream ) { return; } + FirmataStream->write(SET_PIN_MODE); + FirmataStream->write(pin); + FirmataStream->write(config); +} + +/** + * Send a pin state query to the Firmata host application. The resulting sysex message will have + * a PIN_STATE_RESPONSE command byte, followed by the pin number, the pin mode and a stream of + * bits to indicate any *data* written to the pin (pin state). + * @param pin The pin to query + * @note The pin state is any data written to the pin (i.e. pin state != pin value) + */ +void FirmataMarshaller::sendPinStateQuery(uint8_t pin) +const +{ + if ( (Stream *)NULL == FirmataStream ) { return; } + FirmataStream->write(START_SYSEX); + FirmataStream->write(PIN_STATE_QUERY); + FirmataStream->write(pin); + FirmataStream->write(END_SYSEX); +} + +/** + * Send a sysex message where all values after the command byte are packet as 2 7-bit bytes + * (this is not always the case so this function is not always used to send sysex messages). + * @param command The sysex command byte. + * @param bytec The number of data bytes in the message (excludes start, command and end bytes). + * @param bytev A pointer to the array of data bytes to send in the message. + */ +void FirmataMarshaller::sendSysex(uint8_t command, size_t bytec, uint8_t *bytev) +const +{ + if ( (Stream *)NULL == FirmataStream ) { return; } + size_t i; + FirmataStream->write(START_SYSEX); + FirmataStream->write(command); + for (i = 0; i < bytec; ++i) { + encodeByteStream(sizeof(bytev[i]), reinterpret_cast(&bytev[i])); + } + FirmataStream->write(END_SYSEX); +} + +/** + * Send a string to the Firmata host application. + * @param string A pointer to the char string + */ +void FirmataMarshaller::sendString(const char *string) +const +{ + sendSysex(STRING_DATA, strlen(string), reinterpret_cast(const_cast(string))); +} + +/** + * The sampling interval sets how often analog data and i2c data is reported to the client. + * @param interval_ms The interval (in milliseconds) at which to sample + * @note The default sampling interval is 19ms + */ +void FirmataMarshaller::setSamplingInterval(uint16_t interval_ms) +const +{ + sendSysex(SAMPLING_INTERVAL, sizeof(interval_ms), reinterpret_cast(&interval_ms)); +} + +/** + * Perform a software reset on the target. For example, StandardFirmata.ino will initialize + * everything to a known state and reset the parsing buffer. + */ +void FirmataMarshaller::systemReset(void) +const +{ + if ( (Stream *)NULL == FirmataStream ) { return; } + FirmataStream->write(SYSTEM_RESET); +} diff --git a/Firmware/Tiva C/StandardFirmata/FirmataMarshaller.h b/Firmware/Tiva C/StandardFirmata/FirmataMarshaller.h new file mode 100644 index 0000000..3fa83f6 --- /dev/null +++ b/Firmware/Tiva C/StandardFirmata/FirmataMarshaller.h @@ -0,0 +1,75 @@ +/* + FirmataMarshaller.h + Copyright (c) 2006-2008 Hans-Christoph Steiner. 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. +*/ + +#ifndef FirmataMarshaller_h +#define FirmataMarshaller_h + +#if defined(__cplusplus) && !defined(ARDUINO) + #include + #include +#else + #include + #include +#endif + +#include + +namespace firmata { + +class FirmataMarshaller +{ + friend class FirmataClass; + + public: + /* constructors */ + FirmataMarshaller(); + + /* public methods */ + void begin(Stream &s); + void end(); + + /* serial send handling */ + void queryFirmwareVersion(void) const; + void queryVersion(void) const; + void reportAnalogDisable(uint8_t pin) const; + void reportAnalogEnable(uint8_t pin) const; + void reportDigitalPortDisable(uint8_t portNumber) const; + void reportDigitalPortEnable(uint8_t portNumber) const; + void sendAnalog(uint8_t pin, uint16_t value) const; + void sendAnalogMappingQuery(void) const; + void sendCapabilityQuery(void) const; + void sendDigital(uint8_t pin, uint8_t value) const; + void sendDigitalPort(uint8_t portNumber, uint16_t portData) const; + void sendFirmwareVersion(uint8_t major, uint8_t minor, size_t bytec, uint8_t *bytev) const; + void sendVersion(uint8_t major, uint8_t minor) const; + void sendPinMode(uint8_t pin, uint8_t config) const; + void sendPinStateQuery(uint8_t pin) const; + void sendString(const char *string) const; + void sendSysex(uint8_t command, size_t bytec, uint8_t *bytev) const; + void setSamplingInterval(uint16_t interval_ms) const; + void systemReset(void) const; + + private: + /* utility methods */ + void reportAnalog(uint8_t pin, bool stream_enable) const; + void reportDigitalPort(uint8_t portNumber, bool stream_enable) const; + void sendExtendedAnalog(uint8_t pin, size_t bytec, uint8_t * bytev) const; + void encodeByteStream (size_t bytec, uint8_t * bytev, size_t max_bytes = 0) const; + + Stream * FirmataStream; +}; + +} // namespace firmata + +#endif /* FirmataMarshaller_h */ + diff --git a/Firmware/Tiva C/StandardFirmata/FirmataParser.cpp b/Firmware/Tiva C/StandardFirmata/FirmataParser.cpp new file mode 100644 index 0000000..d402fdf --- /dev/null +++ b/Firmware/Tiva C/StandardFirmata/FirmataParser.cpp @@ -0,0 +1,480 @@ +/* + FirmataParser.cpp + Copyright (c) 2006-2008 Hans-Christoph Steiner. 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. +*/ + +//****************************************************************************** +//* Includes +//****************************************************************************** + +#include "FirmataParser.h" + +#include "FirmataConstants.h" + +using namespace firmata; + +//****************************************************************************** +//* Constructors +//****************************************************************************** + +/** + * The FirmataParser class. + * @param dataBuffer A pointer to an external buffer used to store parsed data + * @param dataBufferSize The size of the external buffer + */ +FirmataParser::FirmataParser(uint8_t * const dataBuffer, size_t dataBufferSize) +: + dataBuffer(dataBuffer), + dataBufferSize(dataBufferSize), + executeMultiByteCommand(0), + multiByteChannel(0), + waitForData(0), + parsingSysex(false), + sysexBytesRead(0), + currentAnalogCallbackContext((void *)NULL), + currentDigitalCallbackContext((void *)NULL), + currentReportAnalogCallbackContext((void *)NULL), + currentReportDigitalCallbackContext((void *)NULL), + currentPinModeCallbackContext((void *)NULL), + currentPinValueCallbackContext((void *)NULL), + currentReportFirmwareCallbackContext((void *)NULL), + currentReportVersionCallbackContext((void *)NULL), + currentDataBufferOverflowCallbackContext((void *)NULL), + currentStringCallbackContext((void *)NULL), + currentSysexCallbackContext((void *)NULL), + currentSystemResetCallbackContext((void *)NULL), + currentAnalogCallback((callbackFunction)NULL), + currentDigitalCallback((callbackFunction)NULL), + currentReportAnalogCallback((callbackFunction)NULL), + currentReportDigitalCallback((callbackFunction)NULL), + currentPinModeCallback((callbackFunction)NULL), + currentPinValueCallback((callbackFunction)NULL), + currentDataBufferOverflowCallback((dataBufferOverflowCallbackFunction)NULL), + currentStringCallback((stringCallbackFunction)NULL), + currentSysexCallback((sysexCallbackFunction)NULL), + currentReportFirmwareCallback((versionCallbackFunction)NULL), + currentReportVersionCallback((systemCallbackFunction)NULL), + currentSystemResetCallback((systemCallbackFunction)NULL) +{ + allowBufferUpdate = ((uint8_t *)NULL == dataBuffer); +} + +//****************************************************************************** +//* Public Methods +//****************************************************************************** + +//------------------------------------------------------------------------------ +// Serial Receive Handling + +/** + * Parse data from the input stream. + * @param inputData A single byte to be added to the parser. + */ +void FirmataParser::parse(uint8_t inputData) +{ + uint8_t command; + + if (parsingSysex) { + if (inputData == END_SYSEX) { + //stop sysex byte + parsingSysex = false; + //fire off handler function + processSysexMessage(); + } else { + //normal data byte - add to buffer + bufferDataAtPosition(inputData, sysexBytesRead); + ++sysexBytesRead; + } + } else if ( (waitForData > 0) && (inputData < 128) ) { + --waitForData; + bufferDataAtPosition(inputData, waitForData); + if ( (waitForData == 0) && executeMultiByteCommand ) { // got the whole message + switch (executeMultiByteCommand) { + case ANALOG_MESSAGE: + if (currentAnalogCallback) { + (*currentAnalogCallback)(currentAnalogCallbackContext, + multiByteChannel, + (dataBuffer[0] << 7) + + dataBuffer[1]); + } + break; + case DIGITAL_MESSAGE: + if (currentDigitalCallback) { + (*currentDigitalCallback)(currentDigitalCallbackContext, + multiByteChannel, + (dataBuffer[0] << 7) + + dataBuffer[1]); + } + break; + case SET_PIN_MODE: + if (currentPinModeCallback) + (*currentPinModeCallback)(currentPinModeCallbackContext, dataBuffer[1], dataBuffer[0]); + break; + case SET_DIGITAL_PIN_VALUE: + if (currentPinValueCallback) + (*currentPinValueCallback)(currentPinValueCallbackContext, dataBuffer[1], dataBuffer[0]); + break; + case REPORT_ANALOG: + if (currentReportAnalogCallback) + (*currentReportAnalogCallback)(currentReportAnalogCallbackContext, multiByteChannel, dataBuffer[0]); + break; + case REPORT_DIGITAL: + if (currentReportDigitalCallback) + (*currentReportDigitalCallback)(currentReportDigitalCallbackContext, multiByteChannel, dataBuffer[0]); + break; + } + executeMultiByteCommand = 0; + } + } else { + // remove channel info from command byte if less than 0xF0 + if (inputData < 0xF0) { + command = inputData & 0xF0; + multiByteChannel = inputData & 0x0F; + } else { + command = inputData; + // commands in the 0xF* range don't use channel data + } + switch (command) { + case ANALOG_MESSAGE: + case DIGITAL_MESSAGE: + case SET_PIN_MODE: + case SET_DIGITAL_PIN_VALUE: + waitForData = 2; // two data bytes needed + executeMultiByteCommand = command; + break; + case REPORT_ANALOG: + case REPORT_DIGITAL: + waitForData = 1; // one data byte needed + executeMultiByteCommand = command; + break; + case START_SYSEX: + parsingSysex = true; + sysexBytesRead = 0; + break; + case SYSTEM_RESET: + systemReset(); + break; + case REPORT_VERSION: + if (currentReportVersionCallback) + (*currentReportVersionCallback)(currentReportVersionCallbackContext); + break; + } + } +} + +/** + * @return Returns true if the parser is actively parsing data. + */ +bool FirmataParser::isParsingMessage(void) +const +{ + return (waitForData > 0 || parsingSysex); +} + +/** + * Provides a mechanism to either set or update the working buffer of the parser. + * The method will be enabled when no buffer has been provided, or an overflow + * condition exists. + * @param dataBuffer A pointer to an external buffer used to store parsed data + * @param dataBufferSize The size of the external buffer + */ +int FirmataParser::setDataBufferOfSize(uint8_t * dataBuffer, size_t dataBufferSize) +{ + int result; + + if ( !allowBufferUpdate ) { + result = __LINE__; + } else if ((uint8_t *)NULL == dataBuffer) { + result = __LINE__; + } else { + this->dataBuffer = dataBuffer; + this->dataBufferSize = dataBufferSize; + allowBufferUpdate = false; + result = 0; + } + + return result; +} + +/** + * Attach a generic sysex callback function to a command (options are: ANALOG_MESSAGE, + * DIGITAL_MESSAGE, REPORT_ANALOG, REPORT DIGITAL, SET_PIN_MODE and SET_DIGITAL_PIN_VALUE). + * @param command The ID of the command to attach a callback function to. + * @param newFunction A reference to the callback function to attach. + * @param context An optional context to be provided to the callback function (NULL by default). + * @note The context parameter is provided so you can pass a parameter, by reference, to + * your callback function. + */ +void FirmataParser::attach(uint8_t command, callbackFunction newFunction, void * context) +{ + switch (command) { + case ANALOG_MESSAGE: + currentAnalogCallback = newFunction; + currentAnalogCallbackContext = context; + break; + case DIGITAL_MESSAGE: + currentDigitalCallback = newFunction; + currentDigitalCallbackContext = context; + break; + case REPORT_ANALOG: + currentReportAnalogCallback = newFunction; + currentReportAnalogCallbackContext = context; + break; + case REPORT_DIGITAL: + currentReportDigitalCallback = newFunction; + currentReportDigitalCallbackContext = context; + break; + case SET_PIN_MODE: + currentPinModeCallback = newFunction; + currentPinModeCallbackContext = context; + break; + case SET_DIGITAL_PIN_VALUE: + currentPinValueCallback = newFunction; + currentPinValueCallbackContext = context; + break; + } +} + +/** + * Attach a version callback function (supported option: REPORT_FIRMWARE). + * @param command The ID of the command to attach a callback function to. + * @param newFunction A reference to the callback function to attach. + * @param context An optional context to be provided to the callback function (NULL by default). + * @note The context parameter is provided so you can pass a parameter, by reference, to + * your callback function. + */ +void FirmataParser::attach(uint8_t command, versionCallbackFunction newFunction, void * context) +{ + switch (command) { + case REPORT_FIRMWARE: + currentReportFirmwareCallback = newFunction; + currentReportFirmwareCallbackContext = context; + break; + } +} + +/** + * Attach a system callback function (supported options are: SYSTEM_RESET, REPORT_VERSION). + * @param command The ID of the command to attach a callback function to. + * @param newFunction A reference to the callback function to attach. + * @param context An optional context to be provided to the callback function (NULL by default). + * @note The context parameter is provided so you can pass a parameter, by reference, to + * your callback function. + */ +void FirmataParser::attach(uint8_t command, systemCallbackFunction newFunction, void * context) +{ + switch (command) { + case REPORT_VERSION: + currentReportVersionCallback = newFunction; + currentReportVersionCallbackContext = context; + break; + case SYSTEM_RESET: + currentSystemResetCallback = newFunction; + currentSystemResetCallbackContext = context; + break; + } +} + +/** + * Attach a callback function for the STRING_DATA command. + * @param command Must be set to STRING_DATA or it will be ignored. + * @param newFunction A reference to the string callback function to attach. + * @param context An optional context to be provided to the callback function (NULL by default). + * @note The context parameter is provided so you can pass a parameter, by reference, to + * your callback function. + */ +void FirmataParser::attach(uint8_t command, stringCallbackFunction newFunction, void * context) +{ + switch (command) { + case STRING_DATA: + currentStringCallback = newFunction; + currentStringCallbackContext = context; + break; + } +} + +/** + * Attach a generic sysex callback function to sysex command. + * @param command The ID of the command to attach a callback function to. + * @param newFunction A reference to the sysex callback function to attach. + * @param context An optional context to be provided to the callback function (NULL by default). + * @note The context parameter is provided so you can pass a parameter, by reference, to + * your callback function. + */ +void FirmataParser::attach(uint8_t command, sysexCallbackFunction newFunction, void * context) +{ + (void)command; + currentSysexCallback = newFunction; + currentSysexCallbackContext = context; +} + +/** + * Attach a buffer overflow callback + * @param newFunction A reference to the buffer overflow callback function to attach. + * @param context An optional context to be provided to the callback function (NULL by default). + * @note The context parameter is provided so you can pass a parameter, by reference, to + * your callback function. + */ +void FirmataParser::attach(dataBufferOverflowCallbackFunction newFunction, void * context) +{ + currentDataBufferOverflowCallback = newFunction; + currentDataBufferOverflowCallbackContext = context; +} + +/** + * Detach a callback function for a specified command (such as SYSTEM_RESET, STRING_DATA, + * ANALOG_MESSAGE, DIGITAL_MESSAGE, etc). + * @param command The ID of the command to detatch the callback function from. + */ +void FirmataParser::detach(uint8_t command) +{ + switch (command) { + case REPORT_FIRMWARE: + attach(command, (versionCallbackFunction)NULL, NULL); + break; + case REPORT_VERSION: + case SYSTEM_RESET: + attach(command, (systemCallbackFunction)NULL, NULL); + break; + case STRING_DATA: + attach(command, (stringCallbackFunction)NULL, NULL); + break; + case START_SYSEX: + attach(command, (sysexCallbackFunction)NULL, NULL); + break; + default: + attach(command, (callbackFunction)NULL, NULL); + break; + } +} + +/** + * Detach the buffer overflow callback + * @param Any pointer of type dataBufferOverflowCallbackFunction. + */ +void FirmataParser::detach(dataBufferOverflowCallbackFunction) +{ + currentDataBufferOverflowCallback = (dataBufferOverflowCallbackFunction)NULL; + currentDataBufferOverflowCallbackContext = (void *)NULL; +} + +//****************************************************************************** +//* Private Methods +//****************************************************************************** + +/** + * Buffer abstraction to prevent memory corruption + * @param data The byte to put into the buffer + * @param pos The position to insert the byte into the buffer + * @return writeError A boolean to indicate if an error occured + * @private + */ +bool FirmataParser::bufferDataAtPosition(const uint8_t data, const size_t pos) +{ + bool bufferOverflow = (pos >= dataBufferSize); + + // Notify of overflow condition + if ( bufferOverflow + && ((dataBufferOverflowCallbackFunction)NULL != currentDataBufferOverflowCallback) ) + { + allowBufferUpdate = true; + currentDataBufferOverflowCallback(currentDataBufferOverflowCallbackContext); + // Check if overflow was resolved during callback + bufferOverflow = (pos >= dataBufferSize); + } + + // Write data to buffer if no overflow condition persist + if ( !bufferOverflow ) + { + dataBuffer[pos] = data; + } + + return bufferOverflow; +} + +/** + * Transform 7-bit firmata message into 8-bit stream + * @param bytec The encoded data byte length of the message (max: 16383). + * @param bytev A pointer to the encoded array of data bytes. + * @return The length of the decoded data. + * @note The conversion will be done in place on the provided buffer. + * @private + */ +size_t FirmataParser::decodeByteStream(size_t bytec, uint8_t * bytev) { + size_t decoded_bytes, i; + + for ( i = 0, decoded_bytes = 0 ; i < bytec ; ++decoded_bytes, ++i ) { + bytev[decoded_bytes] = bytev[i]; + bytev[decoded_bytes] |= (uint8_t)(bytev[++i] << 7); + } + + return decoded_bytes; +} + +/** + * Process incoming sysex messages. Handles REPORT_FIRMWARE and STRING_DATA internally. + * Calls callback function for STRING_DATA and all other sysex messages. + * @private + */ +void FirmataParser::processSysexMessage(void) +{ + switch (dataBuffer[0]) { //first byte in buffer is command + case REPORT_FIRMWARE: + if (currentReportFirmwareCallback) { + const size_t major_version_offset = 1; + const size_t minor_version_offset = 2; + const size_t string_offset = 3; + // Test for malformed REPORT_FIRMWARE message (used to query firmware prior to Firmata v3.0.0) + if ( 3 > sysexBytesRead ) { + (*currentReportFirmwareCallback)(currentReportFirmwareCallbackContext, 0, 0, (const char *)NULL); + } else { + const size_t end_of_string = (string_offset + decodeByteStream((sysexBytesRead - string_offset), &dataBuffer[string_offset])); + bufferDataAtPosition('\0', end_of_string); // NULL terminate the string + (*currentReportFirmwareCallback)(currentReportFirmwareCallbackContext, (size_t)dataBuffer[major_version_offset], (size_t)dataBuffer[minor_version_offset], (const char *)&dataBuffer[string_offset]); + } + } + break; + case STRING_DATA: + if (currentStringCallback) { + const size_t string_offset = 1; + const size_t end_of_string = (string_offset + decodeByteStream((sysexBytesRead - string_offset), &dataBuffer[string_offset])); + bufferDataAtPosition('\0', end_of_string); // NULL terminate the string + (*currentStringCallback)(currentStringCallbackContext, (const char *)&dataBuffer[string_offset]); + } + break; + default: + if (currentSysexCallback) + (*currentSysexCallback)(currentSysexCallbackContext, dataBuffer[0], sysexBytesRead - 1, dataBuffer + 1); + } +} + +/** + * Resets the system state upon a SYSTEM_RESET message from the host software. + * @private + */ +void FirmataParser::systemReset(void) +{ + size_t i; + + waitForData = 0; // this flag says the next serial input will be data + executeMultiByteCommand = 0; // execute this after getting multi-byte data + multiByteChannel = 0; // channel data for multiByteCommands + + for (i = 0; i < dataBufferSize; ++i) { + dataBuffer[i] = 0; + } + + parsingSysex = false; + sysexBytesRead = 0; + + if (currentSystemResetCallback) + (*currentSystemResetCallback)(currentSystemResetCallbackContext); +} diff --git a/Firmware/Tiva C/StandardFirmata/FirmataParser.h b/Firmware/Tiva C/StandardFirmata/FirmataParser.h new file mode 100644 index 0000000..bb0c8be --- /dev/null +++ b/Firmware/Tiva C/StandardFirmata/FirmataParser.h @@ -0,0 +1,105 @@ +/* + FirmataParser.h + Copyright (c) 2006-2008 Hans-Christoph Steiner. 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. +*/ + +#ifndef FirmataParser_h +#define FirmataParser_h + +#if defined(__cplusplus) && !defined(ARDUINO) + #include + #include +#else + #include + #include +#endif + +namespace firmata { + +class FirmataParser +{ + public: + /* callback function types */ + typedef void (*callbackFunction)(void * context, uint8_t command, uint16_t value); + typedef void (*dataBufferOverflowCallbackFunction)(void * context); + typedef void (*stringCallbackFunction)(void * context, const char * c_str); + typedef void (*sysexCallbackFunction)(void * context, uint8_t command, size_t argc, uint8_t * argv); + typedef void (*systemCallbackFunction)(void * context); + typedef void (*versionCallbackFunction)(void * context, size_t sv_major, size_t sv_minor, const char * firmware); + + FirmataParser(uint8_t * dataBuffer = (uint8_t *)NULL, size_t dataBufferSize = 0); + + /* serial receive handling */ + void parse(uint8_t value); + bool isParsingMessage(void) const; + int setDataBufferOfSize(uint8_t * dataBuffer, size_t dataBufferSize); + + /* attach & detach callback functions to messages */ + void attach(uint8_t command, callbackFunction newFunction, void * context = NULL); + void attach(dataBufferOverflowCallbackFunction newFunction, void * context = NULL); + void attach(uint8_t command, stringCallbackFunction newFunction, void * context = NULL); + void attach(uint8_t command, sysexCallbackFunction newFunction, void * context = NULL); + void attach(uint8_t command, systemCallbackFunction newFunction, void * context = NULL); + void attach(uint8_t command, versionCallbackFunction newFunction, void * context = NULL); + void detach(uint8_t command); + void detach(dataBufferOverflowCallbackFunction); + + private: + /* input message handling */ + bool allowBufferUpdate; + uint8_t * dataBuffer; // multi-byte data + size_t dataBufferSize; + uint8_t executeMultiByteCommand; // execute this after getting multi-byte data + uint8_t multiByteChannel; // channel data for multiByteCommands + size_t waitForData; // this flag says the next serial input will be data + + /* sysex */ + bool parsingSysex; + size_t sysexBytesRead; + + /* callback context */ + void * currentAnalogCallbackContext; + void * currentDigitalCallbackContext; + void * currentReportAnalogCallbackContext; + void * currentReportDigitalCallbackContext; + void * currentPinModeCallbackContext; + void * currentPinValueCallbackContext; + void * currentReportFirmwareCallbackContext; + void * currentReportVersionCallbackContext; + void * currentDataBufferOverflowCallbackContext; + void * currentStringCallbackContext; + void * currentSysexCallbackContext; + void * currentSystemResetCallbackContext; + + /* callback functions */ + callbackFunction currentAnalogCallback; + callbackFunction currentDigitalCallback; + callbackFunction currentReportAnalogCallback; + callbackFunction currentReportDigitalCallback; + callbackFunction currentPinModeCallback; + callbackFunction currentPinValueCallback; + dataBufferOverflowCallbackFunction currentDataBufferOverflowCallback; + stringCallbackFunction currentStringCallback; + sysexCallbackFunction currentSysexCallback; + versionCallbackFunction currentReportFirmwareCallback; + systemCallbackFunction currentReportVersionCallback; + systemCallbackFunction currentSystemResetCallback; + + /* private methods ------------------------------ */ + bool bufferDataAtPosition(const uint8_t data, const size_t pos); + size_t decodeByteStream(size_t bytec, uint8_t * bytev); + void processSysexMessage(void); + void systemReset(void); +}; + +} // firmata + +#endif /* FirmataParser_h */ diff --git a/Firmware/Tiva C/StandardFirmata/Servo.cpp b/Firmware/Tiva C/StandardFirmata/Servo.cpp new file mode 100644 index 0000000..2216219 --- /dev/null +++ b/Firmware/Tiva C/StandardFirmata/Servo.cpp @@ -0,0 +1,234 @@ +//#include "Energia.h" +#include "Servo.h" + +#include "inc/hw_ints.h" +#include "inc/hw_memmap.h" +#include "inc/hw_types.h" +#include "driverlib/debug.h" +#include "driverlib/gpio.h" +#include "driverlib/pin_map.h" +#include "driverlib/rom.h" +#include "driverlib/sysctl.h" +#include "driverlib/timer.h" + +#include +#include + + + +/** variables and functions common to all Servo instances **/ + +volatile unsigned long ticksPerMicrosecond; // Holds the calculated value +unsigned int servoAssignedMask; +static servo_t servos[SERVOS_PER_TIMER]; +unsigned int remainderPulseWidth; +volatile int currentServo; +bool servoInitialized = false; + +// Calculate the new period remainder +static void calculatePeriodRemainder(void) +{ + unsigned long servoPeriodSum = 0; + for (int i = 0; i < SERVOS_PER_TIMER; i++){ + servoPeriodSum += servos[i].pulse_width; + } + remainderPulseWidth = REFRESH_INTERVAL - servoPeriodSum; +} + +static void initServo(void) { + + /* Work around for clock not yet up in the constructor */ +#ifdef TARGET_IS_BLIZZARD_RB1 + ROM_SysCtlClockSet(SYSCTL_SYSDIV_2_5|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|SYSCTL_OSC_MAIN); +#endif + + // Initialize global variables + ticksPerMicrosecond = 0; + servoAssignedMask = 0; + remainderPulseWidth = 0; + currentServo = 0; + + for(int i = 0; i < SERVOS_PER_TIMER; i++) + { + servos[i].pin_number = 0; + servos[i].pulse_width = DEFAULT_SERVO_PULSE_WIDTH; + servos[i].enabled = false; + } + + calculatePeriodRemainder(); + + // Enable TIMER + ROM_SysCtlPeripheralEnable(SERVO_TIMER_PERIPH); + + // Enable processor interrupts. + ROM_IntMasterEnable(); + + TimerIntRegister(SERVO_TIMER, SERVO_TIMER_A, ServoIntHandler); + // Configure the TIMER + ROM_TimerConfigure(SERVO_TIMER, SERVO_TIME_CFG); + + // Calculate the number of timer counts/microsecond + ticksPerMicrosecond = F_CPU / 1000000; + + // Initially load the timer with 20ms interval time + ROM_TimerLoadSet(SERVO_TIMER, SERVO_TIMER_A, ticksPerMicrosecond * REFRESH_INTERVAL); + + // Setup the interrupt for the TIMER1A timeout. + ROM_IntEnable(SERVO_TIMER_INTERRUPT); + ROM_TimerIntEnable(SERVO_TIMER, SERVO_TIMER_TRIGGER); + + // Enable the timer. + ROM_TimerEnable(SERVO_TIMER, SERVO_TIMER_A); + +} + +/** end of static functions **/ + +/* + * When a new servo is created: + * Initialize the servo module if it has not been initialized already. + * Add the servo to the assigned servos mask with a new index. + */ +Servo::Servo() +{ + // If the module has not been initialized + if(!servoInitialized) + { + // Initialize it. + initServo(); + // It has been initialized, prevent further calls to initServo(). + servoInitialized = true; + } + + this->index = INVALID_SERVO; + + // Look for a free servo index. + for (int i = 0; i < SERVOS_PER_TIMER; i++) + { + if (((servoAssignedMask >> i) & 1) == 0) + { + // Save the index for this instance of Servo. + this->index = i; + + // Mark the spot in the mask. + servoAssignedMask |= (1 << i); + + // Stop searching for free slots. + break; + } + } +} + +//! Write a pulse width of the given number of microseconds to the Servo's pin +void Servo::writeMicroseconds(int value) +{ + if(value < this->min) value = this->min; + if(value > this->max) value = this->max; + + servos[this->index].pulse_width = value; + + calculatePeriodRemainder(); +} + +//! Write a pulse width of the given degrees (if in the appropriate range to be degrees) +//! or of the specified number of microseconds (if in the appropriate range to be microseconds) +void Servo::write(int value) +{ + // treat values less than the min pulse width as angles in degrees (valid values in microseconds are handled as microseconds) + if(value < MIN_SERVO_PULSE_WIDTH) + { + if(value < 0) value = 0; + if(value > 180) value = 180; + + value = map(value, 0, 180, this->min, this->max); + } + this->writeMicroseconds(value); +} + +//! Returns the current pulse width of the Servo's signal, in microseconds +int Servo::readMicroseconds() +{ + return servos[this->index].pulse_width; +} + +//! Returns the current position of the Servo, in degrees +int Servo::read() // return the value as degrees +{ + return map( this->readMicroseconds()+1, this->min, this->max, 0, 180); +} + +//! Attach the Servo to the given pin (and, if specified, with the given range of legal pulse widths) +unsigned int Servo::attach(unsigned int pin, int min, int max) +{ + this->min = min; + this->max = max; + + servos[this->index].pin_number = pin; + + pinMode(pin, OUTPUT); + digitalWrite(pin, LOW); + + calculatePeriodRemainder(); + + servos[this->index].enabled = true; + + return this->index; +} + +//! Detach the Servo from its pin +void Servo::detach() +{ + // Disable, clean up + servos[this->index].enabled = false; + servos[this->index].pulse_width = DEFAULT_SERVO_PULSE_WIDTH; + calculatePeriodRemainder(); + + digitalWrite(servos[this->index].pin_number, LOW); +} + +bool Servo::attached(){ + return servos[this->index].enabled; +} + +//! ISR for generating the pulse widths +void ServoIntHandler(void) +{ + // Clear the timer interrupt. + ROM_TimerIntClear(SERVO_TIMER, SERVO_TIMER_TRIGGER); + + // Get the pulse width value for the current servo from the array + // and reload the timer with the new pulse width count value + // if we have already serviced all servos (currentServo = MAX_SERVO_NO) + // then this value should be the 20ms period value + if(currentServo < SERVOS_PER_TIMER) + { + ROM_TimerLoadSet(SERVO_TIMER, SERVO_TIMER_A, ticksPerMicrosecond * servos[currentServo].pulse_width); + } + else + { + ROM_TimerLoadSet(SERVO_TIMER, SERVO_TIMER_A, ticksPerMicrosecond * remainderPulseWidth); + } + + // End the servo pulse set previously (if any) + if(currentServo > 0) // If not the 1st Servo.... + { + if (servos[currentServo - 1].enabled) + { + digitalWrite(servos[currentServo - 1].pin_number, LOW); + } + } + + // Set the current servo pin HIGH + if(currentServo < SERVOS_PER_TIMER) + { + if (servos[currentServo - 1].enabled) + { + digitalWrite(servos[currentServo].pin_number, HIGH); + } + currentServo++; // Advance to next servo for processing next time + } + else + { + currentServo = 0; // Start all over again + } +} diff --git a/Firmware/Tiva C/StandardFirmata/Servo.h b/Firmware/Tiva C/StandardFirmata/Servo.h new file mode 100644 index 0000000..1ed6c78 --- /dev/null +++ b/Firmware/Tiva C/StandardFirmata/Servo.h @@ -0,0 +1,54 @@ +#ifndef SERVO_H +#define SERVO_H + +#include "Energia.h" +#include + +// Hardware limitations information +#define MIN_SERVO_PULSE_WIDTH 544 +#define MAX_SERVO_PULSE_WIDTH 2400 +#define DEFAULT_SERVO_PULSE_WIDTH 1500 +#define REFRESH_INTERVAL 20000 + +// Aliases for timer config and loading +#define SERVO_TIMER TIMER2_BASE +#define SERVO_TIME_CFG TIMER_CFG_PERIODIC +#define SERVO_TIMER_TRIGGER TIMER_TIMA_TIMEOUT +#define SERVO_TIMER_INTERRUPT INT_TIMER2A +#define SERVO_TIMER_A TIMER_A +#define SERVO_TIMER_PERIPH SYSCTL_PERIPH_TIMER2 + +// Other defines +#define SERVOS_PER_TIMER 8 +#define INVALID_SERVO 255 +#define MAX_SERVOS 8 + + +typedef struct +{ + unsigned int pin_number; + unsigned int pulse_width; + bool enabled; +} servo_t; + +class Servo +{ +private: + unsigned int index; + int min; + int max; +public: + Servo(); + unsigned int attach(unsigned int pin, int min = MIN_SERVO_PULSE_WIDTH, int max = MAX_SERVO_PULSE_WIDTH); + void detach(); + void writeMicroseconds(int value); + int readMicroseconds(); + void write(int value); + int read(); + bool attached(); + +}; + +extern "C" void ServoIntHandler(void); + +#endif // SERVO_H diff --git a/Firmware/Tiva C/StandardFirmata/StandardFirmata.ino b/Firmware/Tiva C/StandardFirmata/StandardFirmata.ino new file mode 100644 index 0000000..84e51b8 --- /dev/null +++ b/Firmware/Tiva C/StandardFirmata/StandardFirmata.ino @@ -0,0 +1,864 @@ +/* + 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 October 16th, 2016 +*/ + +#include "Servo.h" +#include +#include "Firmata.h" + +#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; +}; + +/* 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 +} + +/*============================================================================== + * 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_SERVO(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); + 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 (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*/8); + } + 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 +} + +/*============================================================================== + * 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(); + + // 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)) { + switch(analogPin){ + case 0: + Firmata.sendAnalog(analogPin, analogRead(A0)); + break; + case 1: + Firmata.sendAnalog(analogPin, analogRead(A1)); + break; + case 2: + Firmata.sendAnalog(analogPin, analogRead(A2)); + break; + case 3: + Firmata.sendAnalog(analogPin, analogRead(A3)); + break; + case 4: + Firmata.sendAnalog(analogPin, analogRead(A4)); + break; + case 5: + Firmata.sendAnalog(analogPin, analogRead(A5)); + break; + case 6: + Firmata.sendAnalog(analogPin, analogRead(A6)); + break; + case 7: + Firmata.sendAnalog(analogPin, analogRead(A7)); + break; + case 8: + Firmata.sendAnalog(analogPin, analogRead(A8)); + break; + case 9: + Firmata.sendAnalog(analogPin, analogRead(A9)); + break; + case 10: + Firmata.sendAnalog(analogPin, analogRead(A10)); + break; + case 11: + Firmata.sendAnalog(analogPin, analogRead(A11)); + break; + default: + Firmata.sendAnalog(analogPin, analogRead(analogPin)); + break; + } + + } + } + } + // 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/Firmware/Tiva C/StandardFirmata/TM4C123GH6PM_PinDiagram.jpeg b/Firmware/Tiva C/StandardFirmata/TM4C123GH6PM_PinDiagram.jpeg new file mode 100644 index 0000000..7bb051d Binary files /dev/null and b/Firmware/Tiva C/StandardFirmata/TM4C123GH6PM_PinDiagram.jpeg differ diff --git a/Firmware/Tiva C/StandardFirmata/pinout_tm4c123g.txt b/Firmware/Tiva C/StandardFirmata/pinout_tm4c123g.txt new file mode 100644 index 0000000..ee61b0d --- /dev/null +++ b/Firmware/Tiva C/StandardFirmata/pinout_tm4c123g.txt @@ -0,0 +1,88 @@ + + PINOUT FOR TIVA C SERIES TM4C123G LAUNCHPAD + +=============================================================================================================== +| PIN | HARDWARE | DIGITAL READ/WRITE | ANALOG READ | ANALOG WRITE | I2C (TWI) | SPI | HARDWARE SERIAL | +--------------------------------------------------------------------------------------------------------------- +| 1 | +3.3V | | | | | | | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 2 | | PB_5 | A11 | | | CS(2) | | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 3 | | PB_0 | | | | | RX(1) | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 4 | | PB_1 | | | | | TX(1) | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 5 | | PE_4 | A9 | PE_4 | SCL(2) | | RX(5) | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 6 | | PE_5 | A8 | PE_5 | SDA(2) | | TX(5) | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 7 | | PB_4 | A10 | | | SCK(2) | | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 8 | | PA_5 | | PA_5 | | MOSI(0) | | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 9 | | PA_6 | | PA_6 | SCL(1) | | | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 10 | | PA_7 | | PA_7 | SDA(1) | | | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 11 | | PA_2 | | PA_2 | | SCK(0) | | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 12 | | PA_3 | | PA_3 | | CS(0) | | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 13 | | PA_4 | | PA_4 | | MISO(0) | | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 14 | | PB_6 | | | | MISO(2) | | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 15 | | PB_7 | | | | MOSI(2) | | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 16 | RESET | | | | | | | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 17 | PUSH2 | PF_0 | | | | MISO(2) | | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 18 | | PE_0 | A3 | | | | RX(7) | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 19 | | PB_2 | | PB_2 | SCL(0) | | | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 20 | GND | | | | | | | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 21 | VBUS | | | | | | | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 22 | GND | | | | | | | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 23 | | PD_0 | A7 | | SCL(3) | SCK(3) | | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 24 | | PD_1 | A6 | | SDA(3) | CS(3) | | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 25 | | PD_2 | A5 | | | MISO(3) | | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 26 | | PD_3 | A4 | | | MOSI(3) | | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 27 | | PE_1 | A2 | PE_1 | | | TX(7) | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 28 | | PE_2 | A1 | PE_2 | | | | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 29 | | PE_3 | A0 | PE_3 | | | | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 30 | RED_LED | PF_1 | | | | MOSI(1) | | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 31 | PUSH1 | PF_4 | | PF_4 | | | | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 32 | | PD_7 | | PD_7 | | | TX(2) | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 33 | | PD_6 | | PD_6 | | | RX(2) | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 34 | | PC_7 | | PC_7 | | | TX(3) | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 35 | | PC_6 | | PC_6 | | | RX(3) | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 36 | | PC_5 | | PC_5 | | | TX(1) | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 37 | | PC_4 | | PC_4 | | | RX(1) | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 38 | | PB_3 | | PB_3 | SDA(0) | | | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 39 | GREEN_LED | PF_3 | | PF_3 | | CS(1) | | +|-----|-----------|---------------------|-------------|---------------|-----------|---------|-----------------| +| 40 | BLUE_LED | PF_2 | | PF_2 | | SCK(1) | | +--------------------------------------------------------------------------------------------------------------- +=============================================================================================================== + diff --git a/Firmware/pidmata3.ino b/Firmware/pidmata3.ino new file mode 100644 index 0000000..01a4710 --- /dev/null +++ b/Firmware/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 +#include +#include +#include + +//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/Firmware/pidmata3/pidmata3.ino b/Firmware/pidmata3/pidmata3.ino new file mode 100644 index 0000000..01a4710 --- /dev/null +++ b/Firmware/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 +#include +#include +#include + +//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/GettingStarted.mo b/GettingStarted.mo new file mode 100644 index 0000000..2ef4780 --- /dev/null +++ b/GettingStarted.mo @@ -0,0 +1,67 @@ + package GettingStarted "Procedure to run first model using OpenModelicaArduino" + extends Modelica.Icons.Information; + annotation( + preferredView = "info", + Documentation(info = "

.

+

Preparing Your Board

+

.

+

The first thing you need to do is upload the Firmware code to your board .

+

\"\"

+

Figure 1. Location of the Firmware sketch.

+

If you wish to use PID(Proportional-integral-derivative) then use another firmware provided with the package. To open an firmware through Arduino IDE click on “Open“ and Browse to the location where you extracted the package. Insdie the package folder look for folder named “Firmware“ which contains a file named “pidmata3.ino“. Select that file and click open to load firmware in Arduino IDE.
+ Important instructions for using above mentioned firmware “pidmata3.ino“: +

    +
  • To use PID uncomment the macro “#define PID“ in firmware and follow further instructions in firmware.
    • +
  • If you are not using PID then comment the above mentioned macro.
    • +
+

+

Once the the Firmware code is in the board, you need to write down the serial port that it is using. This is important because you need to give the port name to OpenModelicaArduino in order to communicate with the board. You can find the serial port in Tools->Serial Port or in the bottom-right corner of the Arduino software window (see Figure 2). In Windows the serial port name is something like “COM5”, while in OS X and Linux the name will be something like “/dev/ttyACM0”. Now you are ready to make your first model.

+

\"\"

+

Figure 2. Finding the serial port being used. 

+

Blinking LED

+

As a first exercise, you are going to reproduce with OpenModelicaArduino the blinking LED example. You can either open the prebuilt example (OpenModelicaArduino.Examples.BlinkLed) or build it by yourself. To build the model, locate the components:

+
    +
  • OpenModelicaArduino.Pins.DigitalOutput
    • +
  • OpenModelicaArduino.Boards.Arduino
    • +
  • Modelica.Blocks.Sources.BooleanPulse
    • +
+

Connect the components as in Figure 3. One thing to notice is that the DigitalOutput model is connected to the Arduino component to specify that the pin belongs to that board. This connection is necessary because OpenModelicaArduino can use multiple boards with multiple pins at the same time.

+

\"\"

+

Figure 3. Diagram of the blinking LED.

+

Next you need to specify the serial port that the board is using. This is done by selecting the Arduino component and showing its parameters. In the parameter view, you can find the Port parameter. Write the port name that you got in the section “Preparing your board”. Important: the name must be have quotation marks as shown in Figure 4.

+

\"\"

+

Figure 4. Specifying the serial port name. 

+

Now you need to set the pin number that you are going to use in the DigitalOutput component. Usually, the Arduino boards have an LED attached to pin 13. Set that number in the Pin parameter as shown in Figure 5.

+

\"\"

+

Figure 5. Specifying the pin to use.

+

For the BooleanPulse component, set the 'period' parameter to 1. The model is ready to simulate. Press the simulate button and wait to see the results.

+

The first time you run the model, it is probably simulated so fast that you do not have time to react. The reason is that OpenModelica simulates the model as fast as possible. In order to interact with your models using OpenModelicaArduino, it is necessary to synchronize the simulation time with real time. This is done in by using Synchronisation block in ModelicaDeviceDriver library. After simulating the model one time, you need to check in the checkbox “Synchronize with real-time” as shown in Figure 6.

+ //

 \"\"

+ //

Figure 6. Synchronizing your simulation with real time. 

+ //

If you are building many models with the OpenModelicaArduino library, you should set the “Synchronize with real-time” option as a default simulation setting in SimulationCenter under the menu Tools->Options in the section SimulationCenter->Default Experiment (see Figure 7). 

+ //

\"\" 

+ //

Figure 7. Setting \"Synchronize with real-time\" as default.

+ //

Now run the simulation again and you should see the LED blinking until the simulation reaches the stop time. If you want to keep the simulation running continuously, you need to change the stop time to “infinite” as shown in Figure 8.

+ //

\"\"

+ //

Figure 8.  Setting the stop time to infinite.

+ //

If you run the simulation again, you should see the LED blinking continuously.

+

One thing that you may have noticed is that OpenModelicaArduino prints status messages in the simulation log (see Figure 9). The first thing it prints is a list of the available ports. In that list, you should see your current port (A). After that, it prints the current port and the speed used (B). Once the port is opened, you receive a notification that the board is initialized (C). Usually the boards report the version of Firmata that you are running. Then you set the sampling interval that the board uses (D). In this example, you can see that you are setting pin 13 to be an output because you have used the DigitalOutput component (E). Finally you will see that the board will send you a list of all the pins available and thier capabilities (F). This list contains the number of the pin and the modes in which it can be used, for example: DigitalInput, DigitalOutput, AnalogInput, AnalogOutput, and Servo.

+

\"\"

+

Figure 9. Messages shown by OpenModelicaArduino.

+

Troubleshooting

+

This is a checklist that you can follow in order to solve most of the problems that can occur when using the ModelPlug library:

+
    +
  1. Verify that you can upload any Arduino example to your board.
    2. +
  2. Verify that you have uploaded a StandardFirmata example to your board.
    3. +
  3. Verify that the port name in the board component matches the port where you have your board connected.
    4. +
  4. Verify that the port name has quotation marks.
    5. +
  5. ModelPlug will not connect to the board if there is another application using the port. Verify you do not have other applications using the port.
    6. +
  6. If the simulation log does not show the board capabilities, try uploading the Firmata to your board again.
    7. +
  7. When using multiple boards, your operating system may have changed the port names. Verify that the port names in the components correspond to each hardware board.
    8. +
  8. Some boards like the Arduino Leonardo and compatible require the parameter UseDTR set to true. Change the parameter and test your board.
    9. +
+

If you are still having problems, you can go to http://community.wolfram.com and ask a question.

+

What Next?

+

OpenModelicaArduino contains a series of basic examples showing the functionality of the components. You can check the Examples under ModelPlug.Examples. Once you have learned how to use the basic components of OpenModelicaArduino, you can check the Arduino Playground to learn how to connect other sensors and actuators (http://playground.arduino.cc).

", revisions = ""), + Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5}))); + end GettingStarted; \ No newline at end of file diff --git a/Internal.mo b/Internal.mo new file mode 100644 index 0000000..f118d8f --- /dev/null +++ b/Internal.mo @@ -0,0 +1,164 @@ + package Internal "Internal classes that should not be used directly by the user" + extends Modelica.Icons.Package; + + package Icons "Icons used in ModelPlug" + extends Modelica.Icons.IconsPackage; + + partial model Block "Icon for blocks" + annotation( + experiment(NumberOfIntervals = -1), + preferredView = "icon", + Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(visible = true, fillColor = {128, 128, 128}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -80}, {100, 80}}, radius = 40), Rectangle(visible = true, origin = {5, -5}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-95, -75}, {95, 75}}, radius = 40), Rectangle(visible = true, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -70}, {90, 70}}, radius = 30)}), + Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5}))); + end Block; + annotation( + Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5}))); + end Icons; + + package ExternalFunctions "External functions used to communicate with the boards" + extends Modelica.Icons.Package; + + function readAnalogPin + input Integer pin; + input Real min; + input Real max; + input Real init; + input Integer board; + input Integer adcResolution; + output Real value; + + 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; + + function constructor "Function that call the external constructor" + input String port; + input Boolean showCapabilities; + input Integer samplingMs; + input Integer BaudRate; + input Boolean UseDTR; + output FirmataBoardObject board; + + external "C" board = boardConstructor(port, showCapabilities, samplingMs, BaudRate, UseDTR) annotation( + Include = "#include \"modelPlugFirmata.h\"", + Library = "modelPlugFirmata", + IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include", + LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library"); + end constructor; + + function destructor "Function to destroy the object" + input FirmataBoardObject board; + + external "C" boardDestructor(board) annotation( + Include = "#include \"modelPlugFirmata.h\"", + Library = "modelPlugFirmata", + IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include", + LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library"); + end destructor; + end FirmataBoardObject; + + function getBoardId + input FirmataBoardObject board; + output Integer id; + + external "C" id = getBoardId(board) annotation( + Include = "#include \"modelPlugFirmata.h\"", + Library = "modelPlugFirmata", + IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include", + LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library"); + end getBoardId; + + function readDigitalPin + input Integer pin; + input Boolean init; + input Integer board; + output Boolean value; + + external "C" value = readDigitalPin(pin, init, board) annotation( + Include = "#include \"modelPlugFirmata.h\"", + Library = "modelPlugFirmata", + IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include", + LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library"); + end readDigitalPin; + + function writeAnalogPin + input Integer pin; + input Integer board; + input Real value; + + external "C" writeAnalogPin(pin, board, value) annotation( + Include = "#include \"modelPlugFirmata.h\"", + Library = "modelPlugFirmata", + IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include", + LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library"); + end writeAnalogPin; + + function writeDigitalPin + input Integer pin; + input Integer board; + input Boolean value; + + external "C" writeDigitalPin(pin, board, value) annotation( + Include = "#include \"modelPlugFirmata.h\"", + Library = "modelPlugFirmata", + IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include", + LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library"); + end writeDigitalPin; + + function updateBoard + input Integer board; + + external "C" updateBoard(board) annotation( + Include = "#include \"modelPlugFirmata.h\"", + Library = "modelPlugFirmata", + IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include", + LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library"); + end updateBoard; + + function writeServoPin + input Integer pin; + input Integer board; + input Real value; + input Integer MinPulse; + input Integer MaxPulse; + + 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; + + package Types "Type and unit definitions" + extends Modelica.Icons.TypesPackage; + type ServoUnit = enumeration(None, Degrees, Radians); + type SerialPort = String annotation( + Dialog(__Wolfram_serialPortSelector = true)); + annotation( + Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5}))); + end Types; + + package Interfaces "Package with connectors and partial models" + extends Modelica.Icons.InterfacesPackage; + connector BoardConnector = output Integer annotation( + Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Ellipse(visible = true, origin = {-0, 0.74}, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-10, -9.26}, {10, 9.26}})}), + Diagram(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Ellipse(visible = true, origin = {-0, 0.74}, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-10, -9.26}, {10, 9.26}})})); + connector PinConnector = input Integer annotation( + Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Ellipse(visible = true, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -100}, {100, 100}}), Ellipse(visible = true, fillColor = {128, 128, 128}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-70, -70}, {70, 70}})}), + Diagram(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Ellipse(visible = true, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -100}, {100, 100}}), Ellipse(visible = true, fillColor = {128, 128, 128}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-70, -70}, {70, 70}})})); + end Interfaces; + annotation( + Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(visible = true, origin = {1.383, -4.142}, rotation = 45, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-15, 93.333}, {-15, 68.333}, {0, 58.333}, {15, 68.333}, {15, 93.333}, {20, 93.333}, {25, 83.333}, {25, 58.333}, {10, 43.333}, {10, -41.667}, {25, -56.667}, {25, -76.667}, {10, -91.667}, {0, -91.667}, {0, -81.667}, {5, -81.667}, {15, -71.667}, {15, -61.667}, {5, -51.667}, {-5, -51.667}, {-15, -61.667}, {-15, -71.667}, {-5, -81.667}, {0, -81.667}, {0, -91.667}, {-10, -91.667}, {-25, -76.667}, {-25, -56.667}, {-10, -41.667}, {-10, 43.333}, {-25, 58.333}, {-25, 83.333}, {-20, 93.333}}), Polygon(visible = true, origin = {10.102, 5.218}, rotation = -45, fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, points = {{-15, 87.273}, {15, 87.273}, {20, 82.273}, {20, 27.273}, {10, 17.273}, {10, 7.273}, {20, 2.273}, {20, -2.727}, {5, -2.727}, {5, -77.727}, {10, -87.727}, {5, -112.727}, {-5, -112.727}, {-10, -87.727}, {-5, -77.727}, {-5, -2.727}, {-20, -2.727}, {-20, 2.273}, {-10, 7.273}, {-10, 17.273}, {-20, 27.273}, {-20, 82.273}})})); + end Internal; \ No newline at end of file diff --git a/Pins.mo b/Pins.mo new file mode 100644 index 0000000..556188d --- /dev/null +++ b/Pins.mo @@ -0,0 +1,117 @@ + package Pins "Components to access the board I/O" + extends Internal.Icons.Block; + + model AnalogInput "Reads an analog signal from the specified pin" + extends OpenModelicaArduino.Internal.Icons.Block; + Modelica.Blocks.Interfaces.RealOutput y annotation( + Placement(visible = true, transformation(origin = {110, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + parameter Integer Pin = 0 "Number of the analog pin"; + OpenModelicaArduino.Internal.Interfaces.PinConnector pinConnector annotation( + Placement(visible = true, transformation(origin = {-100, -0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-100, -0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + parameter Real InitValue = 0 "Initial value until the board responds" annotation( + Dialog(group = "Initialization")); + parameter Real MinValue = 0 "Minimum value of ADC" annotation( + Dialog(group = "Scaling")); + parameter Real MaxValue = 1 "Maximum value of ADC" annotation( + Dialog(group = "Scaling")); + parameter Integer adcResolution = 10 "Resolution of the ADC in your microcontroller" annotation( + Dialog(group = "Scaling")); + equation + y = OpenModelicaArduino.Internal.ExternalFunctions.readAnalogPin(Pin, MinValue, MaxValue, InitValue, pinConnector, adcResolution); + annotation( + Documentation(info = "

Reads an analog signal from the specified pin. This component uses the 'analogRead' function of Arduino.

+

Signal Range: 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.

+

Not all pins support analog input. Check the documentation of your board to find the pin capabilities.

+

 

", revisions = ""), + Icon(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -85}, {100, 85}}, radius = 40), Rectangle(fillColor = {243, 134, 48}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -60}, {90, 60}}, radius = 40), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "Pin %Pin"), Text(origin = {0, 10}, extent = {{-75, -15}, {75, 25}}, textString = "Analog", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Input", textStyle = {TextStyle.Bold})}), + Diagram(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -75}, {100, 75}}, radius = 40), Rectangle(fillColor = {243, 134, 48}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -50}, {90, 50}}, radius = 40), Text(origin = {0, 20}, extent = {{-75, -15}, {75, 25}}, textString = "Analog", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Input", textStyle = {TextStyle.Bold})})); + 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))); + parameter Integer Pin = 0 "Number of the PWM/DAC pin"; + OpenModelicaArduino.Internal.Interfaces.PinConnector pinConnector annotation( + Placement(visible = true, transformation(origin = {100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + parameter Real MinValue = 0 "Value considered as minimum by the PWM/DAC" annotation( + Dialog(group = "Scaling")); + parameter Real MaxValue = 1 "Value considered as maximum by the PWM/DAC" annotation( + Dialog(group = "Scaling")); + protected + Real scaled_u = (u - MinValue) / (MaxValue - MinValue); + equation + OpenModelicaArduino.Internal.ExternalFunctions.writeAnalogPin(Pin, pinConnector, scaled_u); + annotation( + Documentation(info = "

Writes an analog signal to the specified pin. This component uses the 'analogWrite' function of Arduino.

+

Signal Range: By default, the signal goes from 0 to 1, where 0 represents no voltage and 1 the maximum voltage that PWM/DAC of your board can provide. This signal can be scaled by setting the 'MinValue' and 'MaxValue' parameters.

+

Analog outputs use the PWM capabilities of the pins, therefore, they do not provide a continuous signal. If you want to get a continuous signal, you need to add a lowpass filter. Check the Arduino Playground (http://playground.arduino.cc) for more information on PWM.

+

Not all pins support analog output. Check the documentation of your board to find the pin capabilities.

+

 

", revisions = ""), + Icon(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -85}, {100, 85}}, radius = 40), Rectangle(fillColor = {243, 134, 48}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -60}, {90, 60}}, radius = 40), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "Pin %Pin"), Text(origin = {0, 10}, extent = {{-75, -15}, {75, 25}}, textString = "Analog", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Output", textStyle = {TextStyle.Bold})}), + Diagram(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -75}, {100, 75}}, radius = 40), Rectangle(fillColor = {243, 134, 48}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -50}, {90, 50}}, radius = 40), Text(origin = {0, 20}, extent = {{-75, -15}, {75, 25}}, textString = "Analog", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Output", textStyle = {TextStyle.Bold})})); + end AnalogOutput; + + model DigitalInput "Reads a digital signal from the specified pin" + extends OpenModelicaArduino.Internal.Icons.Block; + Modelica.Blocks.Interfaces.BooleanOutput y annotation( + Placement(visible = true, transformation(origin = {110, 1.643}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {101.75, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + parameter Integer Pin = 0 "Number of the digital pin"; + parameter Boolean InitValue = false "Initial value until the board responds" annotation( + Dialog(group = "Initialization")); + OpenModelicaArduino.Internal.Interfaces.PinConnector pinConnector annotation( + Placement(visible = true, transformation(origin = {-100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + y = OpenModelicaArduino.Internal.ExternalFunctions.readDigitalPin(Pin, InitValue, pinConnector); + annotation( + Documentation(info = "

Reads a digital signal from the specified pin. This component uses the 'digitalRead' function of Arduino.

+

Signal Range: This component accepts only Boolean signals (true/false).

", revisions = ""), + Icon(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -85}, {100, 85}}, radius = 40), Rectangle(fillColor = {0, 170, 255}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -60}, {90, 60}}, radius = 40), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "Pin %Pin"), Text(origin = {0, 10}, extent = {{-75, -15}, {75, 25}}, textString = "Digital", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Input", textStyle = {TextStyle.Bold})}), + Diagram(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -75}, {100, 75}}, radius = 40), Rectangle(fillColor = {0, 170, 255}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -50}, {90, 50}}, radius = 40), Text(origin = {0, 20}, extent = {{-75, -15}, {75, 25}}, textString = "Digital", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Input", textStyle = {TextStyle.Bold})})); + end DigitalInput; + + model DigitalOutput "Writes a digital signal to the specified pin" + extends OpenModelicaArduino.Internal.Icons.Block; + Modelica.Blocks.Interfaces.BooleanInput u annotation( + Placement(visible = true, transformation(origin = {-110, -0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + parameter Integer Pin = 0 "Number of the digital pin"; + OpenModelicaArduino.Internal.Interfaces.PinConnector pinConnector annotation( + Placement(visible = true, transformation(origin = {100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + OpenModelicaArduino.Internal.ExternalFunctions.writeDigitalPin(Pin, pinConnector, u); + annotation( + Documentation(info = "

Writes a digital signal to the specified pin. This component uses the 'digitalWrite' function of Arduino.

+

Signal Range: This component accepts only Boolean signals (true/false).

", revisions = ""), + Icon(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -85}, {100, 85}}, radius = 40), Rectangle(fillColor = {0, 170, 255}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -60}, {90, 60}}, radius = 40), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "Pin %Pin"), Text(origin = {0, 10}, extent = {{-75, -15}, {75, 25}}, textString = "Digital", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Output", textStyle = {TextStyle.Bold})}), + Diagram(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -75}, {100, 75}}, radius = 40), Rectangle(fillColor = {0, 170, 255}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -50}, {90, 50}}, radius = 40), Text(origin = {0, 20}, extent = {{-75, -15}, {75, 25}}, textString = "Digital", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Input", textStyle = {TextStyle.Bold})})); + end DigitalOutput; + + model Servo "Controls a servo motor attached to the specified pin" + extends OpenModelicaArduino.Internal.Icons.Block; + Modelica.Blocks.Interfaces.RealInput u annotation( + Placement(visible = true, transformation(origin = {-110, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-100, -0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaArduino.Internal.Interfaces.PinConnector pinConnector annotation( + Placement(visible = true, transformation(origin = {100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {100, -0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + parameter Integer Pin = 0 "Pin number of the servo"; + parameter OpenModelicaArduino.Internal.Types.ServoUnit InputUnit "if None (Default) the servo receives a signal between 0 and 1. If Degrees the control signal is from 0 to 180. If Radians the signal is from 0 to Pi."; + parameter Integer MinPulse = 544 "The pulse width, in microseconds, corresponding to the minimum (0-degree) angle on the servo. + (Ignore this parameter if using Tiva C board)" annotation( + Dialog(group = "Advanced")); + parameter Integer MaxPulse = 2400 "The pulse width, in microseconds, corresponding to the maximum (180-degree) angle on the servo. + (Ignore this parameter if using Tiva C board)" annotation( + Dialog(group = "Advanced")); + Real outputSignal; + equation + outputSignal = if InputUnit == OpenModelicaArduino.Internal.Types.ServoUnit.None then u else if InputUnit == OpenModelicaArduino.Internal.Types.ServoUnit.Degrees then u / 180 else if InputUnit == OpenModelicaArduino.Internal.Types.ServoUnit.Radians then u / Modelica.Constants.pi else u; + OpenModelicaArduino.Internal.ExternalFunctions.writeServoPin(Pin, pinConnector, u, MinPulse, MaxPulse); + annotation( + Documentation(info = "

Controls a servo motor attached to the specified pin. This component uses the 'Servo' library of Arduino.

+

Signal Range: By default, the range goes from 0 to 1, which corresponds to 0 to 180 degrees. If you want to input values in radians, you can change the parameter 'InputUnit' from 'Degrees' to 'Radians'.

+

If your servo does not work correctly with the default settings, you can set the parameters 'MinPulse' and 'MaxPulse'. To get more information on how to configure a servo, you can check the documentation of the Servo library, http://arduino.cc/en/reference/servo.

", revisions = ""), + Icon(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -85}, {100, 85}}, radius = 40), Rectangle(fillColor = {0, 255, 127}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -60}, {90, 60}}, radius = 40), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "Pin %Pin"), Text(extent = {{-75, -25}, {75, 25}}, textString = "Servo", textStyle = {TextStyle.Bold})}), + Diagram(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -75}, {100, 75}}, radius = 40), Rectangle(fillColor = {0, 255, 127}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -50}, {90, 50}}, radius = 40), Text(extent = {{-75, -25}, {75, 25}}, textString = "Servo", textStyle = {TextStyle.Bold})})); + 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; \ No newline at end of file diff --git a/Resources/Images/Blink.png b/Resources/Images/Blink.png new file mode 100644 index 0000000..b91cc80 Binary files /dev/null and b/Resources/Images/Blink.png differ diff --git a/Resources/Images/BlinkingLEDModel.png b/Resources/Images/BlinkingLEDModel.png new file mode 100644 index 0000000..90c28f5 Binary files /dev/null and b/Resources/Images/BlinkingLEDModel.png differ diff --git a/Resources/Images/CustomExample.png b/Resources/Images/CustomExample.png new file mode 100644 index 0000000..1abb907 Binary files /dev/null and b/Resources/Images/CustomExample.png differ diff --git a/Resources/Images/DefaultSynchronize.png b/Resources/Images/DefaultSynchronize.png new file mode 100644 index 0000000..8dfbc8f Binary files /dev/null and b/Resources/Images/DefaultSynchronize.png differ diff --git a/Resources/Images/Dimming.png b/Resources/Images/Dimming.png new file mode 100644 index 0000000..52ef935 Binary files /dev/null and b/Resources/Images/Dimming.png differ diff --git a/Resources/Images/FirmataLocation.png b/Resources/Images/FirmataLocation.png new file mode 100644 index 0000000..e10a08f Binary files /dev/null and b/Resources/Images/FirmataLocation.png differ diff --git a/Resources/Images/Interval.png b/Resources/Images/Interval.png new file mode 100644 index 0000000..514bff0 Binary files /dev/null and b/Resources/Images/Interval.png differ diff --git a/Resources/Images/ModelPlugDocumentation-1.png b/Resources/Images/ModelPlugDocumentation-1.png new file mode 100644 index 0000000..fcd3938 Binary files /dev/null and b/Resources/Images/ModelPlugDocumentation-1.png differ diff --git a/Resources/Images/ModelPlugDocumentation-2.png b/Resources/Images/ModelPlugDocumentation-2.png new file mode 100644 index 0000000..4c23aa2 Binary files /dev/null and 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Binary files /dev/null and b/Resources/Images/servo.png differ diff --git a/Resources/Images/standard.png b/Resources/Images/standard.png new file mode 100644 index 0000000..229067e Binary files /dev/null and b/Resources/Images/standard.png differ diff --git a/Resources/Include/modelPlugFirmata.h b/Resources/Include/modelPlugFirmata.h new file mode 100755 index 0000000..8fd513b --- /dev/null +++ b/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/Resources/Include/modelPlugFirmata.h~ b/Resources/Include/modelPlugFirmata.h~ new file mode 100755 index 0000000..8fd513b --- /dev/null +++ b/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/Resources/Library/linux64/libmodelPlugFirmata.so b/Resources/Library/linux64/libmodelPlugFirmata.so new file mode 100755 index 0000000..22d3c01 Binary files /dev/null and b/Resources/Library/linux64/libmodelPlugFirmata.so differ diff --git a/Source/CMakeCache.txt b/Source/CMakeCache.txt new file mode 100755 index 0000000..6fd94a2 --- /dev/null +++ b/Source/CMakeCache.txt @@ -0,0 +1,307 @@ +# This is the CMakeCache file. +# For build in directory: /home/sumeet/OpenModelicaArduino/Source +# It was generated by CMake: /usr/bin/cmake +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If you do want to change a value, simply edit, save, and exit the editor. +# The syntax for the file is as follows: +# KEY:TYPE=VALUE +# KEY is the name of a variable in the cache. +# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. +# VALUE is the current value for the KEY. + +######################## +# EXTERNAL cache entries +######################## + +//Path to a program. +CMAKE_AR:FILEPATH=/usr/bin/ar + +//Choose the type of build, options are: None(CMAKE_CXX_FLAGS or +// CMAKE_C_FLAGS used) Debug Release RelWithDebInfo MinSizeRel. +CMAKE_BUILD_TYPE:STRING= + +//Enable/Disable color output during build. +CMAKE_COLOR_MAKEFILE:BOOL=ON + +//CXX compiler +CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++ + +//Flags used by the compiler during all build types. +CMAKE_CXX_FLAGS:STRING= + +//Flags used by the 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.SILENT directive, and all commands will be echoed to the console +// during the make. 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+#elif defined(__SUNPRO_C) +# define COMPILER_ID "SunPro" +# if __SUNPRO_C >= 0x5100 + /* __SUNPRO_C = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# endif + +#elif defined(__HP_cc) +# define COMPILER_ID "HP" + /* __HP_cc = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_cc % 100) + +#elif defined(__DECC) +# define COMPILER_ID "Compaq" + /* __DECC_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECC_VER % 10000) + +#elif defined(__IBMC__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800 +# define COMPILER_ID "XL" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__TINYC__) +# define COMPILER_ID "TinyCC" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" + +#elif defined(__ARMCC_VERSION) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(SDCC) +# define COMPILER_ID "SDCC" + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) + +#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION) +# define COMPILER_ID "MIPSpro" +# if defined(_SGI_COMPILER_VERSION) + /* _SGI_COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10) +# else + /* _COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__sgi) +# define COMPILER_ID "MIPSpro" + +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__sgi) || defined(__sgi__) || defined(_SGI) +# define PLATFORM_ID "IRIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID "" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID "" + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID "" +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +const char* info_language_dialect_default = "INFO" ":" "dialect_default[" +#if !defined(__STDC_VERSION__) + "90" +#elif __STDC_VERSION__ >= 201000L + "11" +#elif __STDC_VERSION__ >= 199901L + "99" +#else +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/Source/CMakeFiles/3.5.1/CompilerIdC/a.out b/Source/CMakeFiles/3.5.1/CompilerIdC/a.out new file mode 100755 index 0000000..ec0b632 Binary files /dev/null and b/Source/CMakeFiles/3.5.1/CompilerIdC/a.out differ diff --git a/Source/CMakeFiles/3.5.1/CompilerIdCXX/CMakeCXXCompilerId.cpp b/Source/CMakeFiles/3.5.1/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100755 index 0000000..e6d8536 --- /dev/null +++ b/Source/CMakeFiles/3.5.1/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,533 @@ +/* This source file must have a .cpp extension so that all C++ compilers + recognize the extension without flags. Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__COMO__) +# define COMPILER_ID "Comeau" + /* __COMO_VERSION__ = VRR */ +# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) +# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) + +#elif defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif + /* __INTEL_COMPILER = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define 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define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" + +#elif defined(__ARMCC_VERSION) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION) +# define COMPILER_ID "MIPSpro" +# if defined(_SGI_COMPILER_VERSION) + /* _SGI_COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10) +# else + /* _COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__sgi) +# define COMPILER_ID "MIPSpro" + +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__sgi) || defined(__sgi__) || defined(_SGI) +# define PLATFORM_ID "IRIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID "" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID "" + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID "" +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +const char* info_language_dialect_default = "INFO" ":" "dialect_default[" +#if __cplusplus >= 201402L + "14" +#elif __cplusplus >= 201103L + "11" +#else + "98" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + 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b/Source/CMakeFiles/modelPlugFirmata.dir/serial.cpp.o differ diff --git a/Source/CMakeFiles/progress.marks b/Source/CMakeFiles/progress.marks new file mode 100755 index 0000000..00750ed --- /dev/null +++ b/Source/CMakeFiles/progress.marks @@ -0,0 +1 @@ +3 diff --git a/Source/CMakeLists.txt b/Source/CMakeLists.txt new file mode 100755 index 0000000..6f2a222 --- /dev/null +++ b/Source/CMakeLists.txt @@ -0,0 +1,20 @@ +set(CMAKE_BUILD_TYPE Release) + +cmake_minimum_required(VERSION 2.8) + +if(WIN32) + add_definitions(-DWINDOWS) +elseif(UNIX AND NOT APPLE) + add_definitions(-DLINUX) +elseif(APPLE) + add_definitions(-DMACOSX) + SET( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -framework CoreFoundation -framework IOKit" ) +else() + message(SEND_ERROR "Undefined platform") +endif() + + + +set(SRC modelPlugFirmata.cpp modelPlugFirmata.h serial.cpp serial.h) + +add_library(modelPlugFirmata SHARED ${SRC}) diff --git a/Source/COPYING b/Source/COPYING new file mode 100755 index 0000000..94a9ed0 --- /dev/null +++ b/Source/COPYING @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +if(CMAKE_INSTALL_COMPONENT) + set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt") +else() + set(CMAKE_INSTALL_MANIFEST "install_manifest.txt") +endif() + +string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT + "${CMAKE_INSTALL_MANIFEST_FILES}") +file(WRITE "/home/user/Downloads/libs/Source/${CMAKE_INSTALL_MANIFEST}" + "${CMAKE_INSTALL_MANIFEST_CONTENT}") diff --git a/Source/libmodelPlugFirmata.so b/Source/libmodelPlugFirmata.so new file mode 100755 index 0000000..22d3c01 Binary files /dev/null and b/Source/libmodelPlugFirmata.so differ diff --git a/Source/modelPlugFirmata.cpp b/Source/modelPlugFirmata.cpp new file mode 100755 index 0000000..cd4441e --- /dev/null +++ b/Source/modelPlugFirmata.cpp @@ -0,0 +1,680 @@ + +/* ModelPlug: Modelica connection to Firmata + * Author: Leonardo Laguna Ruiz + * Based on Firmata GUI-friendly queries test by Paul Stoffregen (paul@pjrc.com) + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#include +#include +#include +#include + +#include "serial.h" +#include "modelPlugFirmata.h" + + +typedef struct { + uint8_t mode; + uint8_t analog_channel; + uint64_t supported_modes; + uint32_t value; + uint32_t next_value; + uint8_t ready; +} pin_t; + +#define MODE_INPUT 0x00 +#define MODE_OUTPUT 0x01 +#define MODE_ANALOG 0x02 +#define MODE_PWM 0x03 +#define MODE_SERVO 0x04 +#define MODE_SHIFT 0x05 +#define MODE_I2C 0x06 + +#define START_SYSEX 0xF0 // start a MIDI Sysex message +#define END_SYSEX 0xF7 // end a MIDI Sysex message +#define PIN_MODE_QUERY 0x72 // ask for current and supported pin modes +#define PIN_MODE_RESPONSE 0x73 // reply with current and supported pin modes + +#define RESERVED_COMMAND 0x00 // 2nd SysEx data byte is a chip-specific command (AVR, PIC, TI, etc). +#define ANALOG_MAPPING_QUERY 0x69 // ask for mapping of analog to pin numbers +#define ANALOG_MAPPING_RESPONSE 0x6A // reply with mapping info +#define CAPABILITY_QUERY 0x6B // ask for supported modes and resolution of all pins +#define CAPABILITY_RESPONSE 0x6C // reply with supported modes and resolution +#define PIN_STATE_QUERY 0x6D // ask for a pin's current mode and value +#define PIN_STATE_RESPONSE 0x6E // reply with a pin's current mode and value +#define EXTENDED_ANALOG 0x6F // analog write (PWM, Servo, etc) to any pin +#define SERVO_CONFIG 0x70 // set max angle, minPulse, maxPulse, freq +#define STRING_DATA 0x71 // a string message with 14-bits per char +#define SHIFT_DATA 0x75 // shiftOut config/data message (34 bits) +#define I2C_REQUEST 0x76 // I2C request messages from a host to an I/O board +#define I2C_REPLY 0x77 // I2C reply messages from an I/O board to a host +#define I2C_CONFIG 0x78 // Configure special I2C settings such as power pins and delay times +#define REPORT_FIRMWARE 0x79 // report name and version of the firmware +#define SAMPLING_INTERVAL 0x7A // sampling interval +#define SYSEX_NON_REALTIME 0x7E // MIDI Reserved for non-realtime messages +#define SYSEX_REALTIME 0x7F // MIDI Reserved for realtime messages + +class firmataBoard +{ +public: + firmataBoard(std::string port = "dummy",bool showCapabilitites=false,int samplingMs=10,int baudRate=57600,bool fake=true); + ~firmataBoard(){}; + + std::string getPortName(); + int openPort(); + void closePort(); + std::vector getPortList(); + void setPinMode(uint32_t pin, uint32_t mode); + void writeDigitalPin(uint32_t pin,uint32_t value); + void writeAnalogPin(uint32_t pin, uint32_t value); + void writeServoPin(uint32_t pin, uint32_t value, int min, int max); + double readAnalogPin(uint32_t pin, double min, double max, double init); + uint32_t readDigitalPin(uint32_t pin, int init); + void setServoConfig(uint32_t pin,uint32_t min,uint32_t max); + +public: + void initialize(bool dtr); + void updateBoard(int timeout); + void reportFirmware(); + void showPinCapabilities(); + void setSamplingInterval(); + void setAsFakePort(); +private: + + int write(const void *ptr, int len); + int read(void *ptr, int count,int timeout); + void Parse(const uint8_t *buf, int len); + void DoMessage(void); + + pin_t pin_info[128]; + std::string port_name; + bool show_capabilitites; + int sampling; + int baudrate; + Serial serial_port; + bool ready; + bool is_fake_port; + + + std::string firmata_name; + int parse_count; + int parse_command_len; + uint8_t parse_buf[4096]; +}; + +// This is an external object that we want to use in our modelica code. +class firmataBoardHandler { + firmataBoardHandler(){ + try + { + std::vector available_ports = dummyPort.getPortList(); + printf("[ModelPlug.Firmata]: Available ports:\n"); fflush(stdout); + for (std::vector::iterator it = available_ports.begin() ; it != available_ports.end(); ++it){ + printf("- %s\n",(*it).c_str());fflush(stdout); + } + } + catch(std::exception&) + { + printf("[ModelPlug.Firmata]: Failed to show the port names\n");fflush(stdout); + } + } + +public: + static firmataBoardHandler *instance() + { + if (!s_instance) + s_instance = new firmataBoardHandler; + return s_instance; + } + firmataBoard* registerBoard(char* port,bool showCapabilitites,int samplingMs,int baudRate,bool dtr); + int getPortIndex(firmataBoard* elem); + + firmataBoard* getBoard(uint32_t id); + +private: + std::vector ports; + + firmataBoard dummyPort; + + static firmataBoardHandler *s_instance; + +}; + +firmataBoardHandler *firmataBoardHandler::s_instance = 0; + +int firmataBoard::write(const void *ptr, int len){ + if(!is_fake_port) return serial_port.Write(ptr,len); + return 0; +} + +int firmataBoard::read(void *ptr, int count, int timeout){ + if(!is_fake_port){ + if (serial_port.Is_open() && (serial_port.Input_wait(timeout)>0)) + return serial_port.Read(ptr, count); + return 0; + } + return 0; +} + +void firmataBoard::setAsFakePort(){ + is_fake_port = true; +} + +firmataBoard::firmataBoard(std::string port, bool showCapabilitites, int samplingMs, int baudRate, bool fake) + :port_name(port),show_capabilitites(showCapabilitites),sampling(samplingMs),baudrate(baudRate),is_fake_port(fake){ + // Initialize the pin information + for (int i=0; i < 128; i++) { + pin_info[i].mode = 255; + pin_info[i].analog_channel = 127; + pin_info[i].supported_modes = 0; + pin_info[i].value = 0; + pin_info[i].next_value = 0; + pin_info[i].ready = 0; + } + ready = false; +} + +void firmataBoard::setPinMode(uint32_t pin, uint32_t mode){ + + if (mode != pin_info[pin].mode && ready) { + // send the mode change message + uint8_t buf[4]; + buf[0] = 0xF4; + buf[1] = pin; + buf[2] = mode; + write(buf, 3); + pin_info[pin].mode = mode; + pin_info[pin].value = 0; + pin_info[pin].next_value = 0; + printf("[ModelPlug.Firmata]: %s setting pin %i to mode %i\n",port_name.c_str(),pin,mode); + } +} + +void firmataBoard::setServoConfig(uint32_t pin,uint32_t min,uint32_t max){ + if(ready){ + uint8_t buf[8]; + buf[0] = START_SYSEX; + buf[1] = SERVO_CONFIG; + buf[2] = pin; + buf[3] = min & 0x7F; + buf[4] = (min >> 7) & 0x7F; + buf[5] = max & 0x7F; + buf[6] = (max >> 7) & 0x7F; + buf[7] = END_SYSEX; + write(buf, 8); + } +} + +void firmataBoard::writeDigitalPin(uint32_t pin,uint32_t value){ + if(ready){ + if(pin_info[pin].mode!=MODE_OUTPUT) + setPinMode(pin,MODE_OUTPUT); + pin_info[pin].next_value = value; + } +} + +void firmataBoard::writeAnalogPin(uint32_t pin, uint32_t value){ + if(ready){ + if(pin_info[pin].mode!=MODE_PWM) + setPinMode(pin,MODE_PWM); + pin_info[pin].next_value = value; + } +} + +void firmataBoard::writeServoPin(uint32_t pin, uint32_t value, int min, int max){ + if(ready){ + if(pin_info[pin].mode!=MODE_SERVO){ + setPinMode(pin,MODE_SERVO); + setServoConfig(pin,min,max); + } + pin_info[pin].next_value = value; + } +} + +double firmataBoard::readAnalogPin(uint32_t pin,double min, double max, double init){ + if(ready){ + if(pin_info[pin].mode!=MODE_ANALOG) + setPinMode(pin,MODE_ANALOG); + if(pin_info[pin].ready) + return min+((pin_info[pin].value/1023.0)*(max-min)); + else + return init; + } + return init; +} + +uint32_t firmataBoard::readDigitalPin(uint32_t pin, int init){ + if(ready){ + if(pin_info[pin].mode!=MODE_INPUT) + setPinMode(pin,MODE_INPUT); + if(pin_info[pin].ready) + return pin_info[pin].value; + else + return init; + } + return init; +} + +void firmataBoard::reportFirmware(){ + uint8_t buf[3]; + buf[0] = START_SYSEX; + buf[1] = REPORT_FIRMWARE; // read firmata name & version + buf[2] = END_SYSEX; + write(buf, 3); +} + +void firmataBoard::setSamplingInterval(){ + uint8_t buf[5]; + buf[0] = START_SYSEX; + buf[1] = SAMPLING_INTERVAL; // read firmata name & version + buf[2] = sampling & 0x7F; + buf[3] = (sampling >> 7) & 0x7F; + buf[4] = END_SYSEX; + write(buf, 5); + printf("[ModelPlug.Firmata]: Setting sampling interval to %i ms for board %s\n",sampling,port_name.c_str()); fflush(stdout); +} + +void firmataBoard::showPinCapabilities(){ + printf("[ModelPlug.Firmata]: Board %s capabilities\n", port_name.c_str()); + for (int pin=0; pin<128; pin++) { + if(pin_info[pin].supported_modes!=0){ + printf("- Pin %i supports: ",pin); + if (pin_info[pin].supported_modes & (1<> 7) & 0x7F; + write(buf, 3); + } + // Analog output or servo + if(pin_info[pin].mode==MODE_PWM || pin_info[pin].mode==MODE_SERVO){ + uint32_t value = pin_info[pin].value; + + if (pin <= 15 && value <= 16383) { + uint8_t buf[3]; + buf[0] = 0xE0 | pin; + buf[1] = value & 0x7F; + buf[2] = (value >> 7) & 0x7F; + write(buf, 3); + } else { + uint8_t buf[12]; + int len=4; + buf[0] = 0xF0; + buf[1] = 0x6F; + buf[2] = pin; + buf[3] = value & 0x7F; + if (value > 0x00000080) buf[len++] = (value >> 7) & 0x7F; + if (value > 0x00004000) buf[len++] = (value >> 14) & 0x7F; + if (value > 0x00200000) buf[len++] = (value >> 21) & 0x7F; + if (value > 0x10000000) buf[len++] = (value >> 28) & 0x7F; + buf[len++] = 0xF7; + write(buf, len); + } + } + } + } + // receieve bytes from the serial port + r = read(buf, sizeof(buf),timeout); + if (r) { + Parse(buf, r); + } +} + +void firmataBoard::Parse(const uint8_t *buf, int len) +{ + const uint8_t *p, *end; + + p = buf; + end = p + len; + for (p = buf; p < end; p++) { + uint8_t msn = *p & 0xF0; + if (msn == 0xE0 || msn == 0x90 || *p == 0xF9) { + parse_command_len = 3; + parse_count = 0; + } else if (msn == 0xC0 || msn == 0xD0) { + parse_command_len = 2; + parse_count = 0; + } else if (*p == START_SYSEX) { + parse_count = 0; + parse_command_len = sizeof(parse_buf); + } else if (*p == END_SYSEX) { + parse_command_len = parse_count + 1; + } else if (*p & 0x80) { + parse_command_len = 1; + parse_count = 0; + } + if (parse_count < (int)sizeof(parse_buf)) { + parse_buf[parse_count++] = *p; + } + if (parse_count == parse_command_len) { + DoMessage(); + parse_count = parse_command_len = 0; + } + } +} + +void firmataBoard::DoMessage(void) +{ + uint8_t cmd = (parse_buf[0] & 0xF0); + + if (cmd == 0xE0 && parse_count == 3) { + int analog_ch = (parse_buf[0] & 0x0F); + int analog_val = parse_buf[1] | (parse_buf[2] << 7); + for (int pin=0; pin<128; pin++) { + if (pin_info[pin].analog_channel == analog_ch) { + pin_info[pin].value = analog_val; + pin_info[pin].ready = 1; + return; + } + } + return; + } + if (cmd == 0x90 && parse_count == 3) { + int port_num = (parse_buf[0] & 0x0F); + int port_val = parse_buf[1] | (parse_buf[2] << 7); + int pin = port_num * 8; + //printf("port_num = %d, port_val = %d\n", port_num, port_val); + for (int mask=1; mask & 0xFF; mask <<= 1, pin++) { + if (pin_info[pin].mode == MODE_INPUT) { + uint32_t val = (port_val & mask) ? 1 : 0; + if (pin_info[pin].value != val) { + pin_info[pin].value = val; + pin_info[pin].ready = 1; + } + } + } + return; + } + + + if (parse_buf[0] == START_SYSEX && parse_buf[parse_count-1] == END_SYSEX) { + // Sysex message + if (parse_buf[1] == REPORT_FIRMWARE) { + char name[140]; + int len=0; + for (int i=4; i < parse_count-2; i+=2) { + name[len++] = (parse_buf[i] & 0x7F) + | ((parse_buf[i+1] & 0x7F) << 7); + } + name[len++] = '-'; + name[len++] = parse_buf[2] + '0'; + name[len++] = '.'; + name[len++] = parse_buf[3] + '0'; + name[len++] = 0; + firmata_name = name; + printf("[ModelPlug.Firmata]: %s %s\n",port_name.c_str(),name); + ready = true; + // query the board's capabilities only after hearing the + // REPORT_FIRMWARE message. For boards that reset when + // the port open (eg, Arduino with reset=DTR), they are + // not ready to communicate for some time, so the only + // way to reliably query their capabilities is to wait + // until the REPORT_FIRMWARE message is heard. + uint8_t buf[80]; + len=0; + buf[len++] = START_SYSEX; + buf[len++] = ANALOG_MAPPING_QUERY; // read analog to pin # info + buf[len++] = END_SYSEX; + buf[len++] = START_SYSEX; + buf[len++] = CAPABILITY_QUERY; // read capabilities + buf[len++] = END_SYSEX; + for (int i=0; i<16; i++) { + buf[len++] = 0xC0 | i; // report analog + buf[len++] = 1; + buf[len++] = 0xD0 | i; // report digital + buf[len++] = 1; + } + write(buf, len); + setSamplingInterval(); + } else if (parse_buf[1] == CAPABILITY_RESPONSE) { + int pin, i, n; + for (pin=0; pin < 128; pin++) { + pin_info[pin].supported_modes = 0; + } + for (i=2, n=0, pin=0; i= 6) { + int pin = parse_buf[2]; + pin_info[pin].mode = parse_buf[3]; + pin_info[pin].value = parse_buf[4]; + if (parse_count > 6) pin_info[pin].value |= (parse_buf[5] << 7); + if (parse_count > 7) pin_info[pin].value |= (parse_buf[6] << 14); + //add_pin(pin); + } + return; + } +} + +std::vector firmataBoard::getPortList(){ + return serial_port.port_list(); +} + +firmataBoard* firmataBoardHandler::getBoard(uint32_t id){ + if(id<0) + return &dummyPort; + else + return ports[id]; +} + +firmataBoard* firmataBoardHandler::registerBoard(char* port,bool showCapabilitites,int samplingMs,int baudRate,bool dtr){ + + // Check if the port exists + bool port_exists = false; + bool fake_port = false; + std::string port_name(port); + std::vector available_ports = dummyPort.getPortList(); + for (std::vector::iterator it = available_ports.begin() ; it != available_ports.end(); ++it){ + if((*it).compare(port_name)==0){ + port_exists = true; + break; + } + } + + if(!port_exists) { + printf("[ModelPlug.Firmata]: ERROR The port %s does not exist\n",port); fflush(stdout); + fake_port |= true; + } + + // Check if the port is already used + for (std::vector::iterator it = ports.begin() ; it != ports.end(); ++it){ + if ((*it)->getPortName().compare(port_name)==0) + { + // Print duplicated port, report error + printf("[ModelPlug.Firmata]: ERROR: Trying to use two boards with the port %s\n",port);fflush(stdout); + fake_port |= true; + } + } + + firmataBoard* new_port = new firmataBoard(port_name,showCapabilitites,samplingMs,baudRate,fake_port); + + if(new_port->openPort()==0){ + ports.push_back(new_port); + new_port->initialize(dtr); + return new_port; + } + else{ + // Could not open the port return error + printf("[ModelPlug.Firmata]: ERROR Failed to open the port %s\n",port); fflush(stdout); + new_port->setAsFakePort(); + return new_port; + } + return new_port; +} + +int firmataBoardHandler::getPortIndex(firmataBoard* elem) { + unsigned pos = std::find(ports.begin(), ports.end(), elem) - ports.begin(); + if(pos >= ports.size()){ // not found + return -1; + } + return pos; +} + +std::string firmataBoard::getPortName(){ + return port_name; +} + +int firmataBoard::openPort(){ + if(is_fake_port){ + return 0; + } else { + serial_port.Open(port_name); + serial_port.Set_baud(baudrate); + if(serial_port.Is_open()){ + printf("[ModelPlug.Firmata]: Using port %s with baud rate %i\n",port_name.c_str(),baudrate); fflush(stdout); + return 0; + } + else + return -1; + } + return -1; +} + +void firmataBoard::initialize(bool dtr){ + serial_port.Set_control(dtr?1:0,-1); + updateBoard(5); + reportFirmware(); + updateBoard(5); +} + +void firmataBoard::closePort(){ + if(is_fake_port) return; + else + if(serial_port.Is_open()) + serial_port.Close(); +} + +extern "C" + +{ + + +EXPORT void* boardConstructor(char* port,bool showCapabilitites,int samplingMs,int baudRate,bool dtr){ + firmataBoardHandler* boards = firmataBoardHandler::instance(); + void* object = (void*)boards->registerBoard(port,showCapabilitites,samplingMs,baudRate,dtr); + return object; +} +EXPORT void boardDestructor(void* object){ + if(object!=NULL){ + firmataBoard* board = (firmataBoard*)object; + board->closePort(); + delete board; + } +} + +EXPORT void updateBoard(int id){ + firmataBoard* board = firmataBoardHandler::instance()->getBoard(id); + board->updateBoard(0); +} + +EXPORT int getBoardId(void* object){ + if(object!=NULL){ + return firmataBoardHandler::instance()->getPortIndex((firmataBoard*)object); + } + else + return -1; +} + +EXPORT double readAnalogPin(int pin, double min, double max, double init, int id){ + firmataBoard* board = firmataBoardHandler::instance()->getBoard(id); + double value = board->readAnalogPin(pin,min,max,init); + return value; +} +EXPORT int readDigitalPin(int pin, int init, int id){ + firmataBoard* board = firmataBoardHandler::instance()->getBoard(id); + int value = board->readDigitalPin(pin,init); + return value; +} +EXPORT void writeAnalogPin(int pin, int id,double value){ + double croped = value>1.0?1.0:(value<0.0?0.0:value); + firmataBoard* board = firmataBoardHandler::instance()->getBoard(id); + board->writeAnalogPin(pin,(uint32_t)(croped*1023)); +} +EXPORT void writeDigitalPin(int pin, int id,int value){ + firmataBoard* board = firmataBoardHandler::instance()->getBoard(id); + board->writeDigitalPin(pin,value); +} +EXPORT void writeServoPin(int pin, int id,double value,int min,int max){ + double croped = value>1.0?1.0:(value<0.0?0.0:value); + firmataBoard* board = firmataBoardHandler::instance()->getBoard(id); + board->writeServoPin(pin,(int)(croped*180),min,max); +} + +} // end extern "C" diff --git a/Source/modelPlugFirmata.h b/Source/modelPlugFirmata.h new file mode 100755 index 0000000..3aa1034 --- /dev/null +++ b/Source/modelPlugFirmata.h @@ -0,0 +1,30 @@ +#ifndef MODELPLUG_H +#define MODELPLUG_H + + +#if defined(_MSC_VER) + // Microsoft VC++ + #define EXPORT __declspec(dllexport) +#else + // GCC + #define EXPORT __attribute__((visibility("default"))) +#endif + +extern "C" { + +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); + +} + +#endif \ No newline at end of file diff --git a/Source/serial.cpp b/Source/serial.cpp new file mode 100755 index 0000000..67e9be3 --- /dev/null +++ b/Source/serial.cpp @@ -0,0 +1,905 @@ +/* Serial port object for use with wxWidgets + * Copyright 2010, Paul Stoffregen (paul@pjrc.com) + * Modified by: Leonardo Laguna Ruiz + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + + +#include "serial.h" + + +#if defined(LINUX) + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include +#elif defined(MACOSX) + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include +#elif defined(WINDOWS) + #include + #define win32_err(s) FormatMessage(FORMAT_MESSAGE_FROM_SYSTEM, NULL, \ + GetLastError(), 0, (s), sizeof(s), NULL) + #define QUERYDOSDEVICE_BUFFER_SIZE 262144 + #if _MSC_VER + #define snprintf _snprintf_s + #endif +#else + #error "This platform is unsupported, sorry" +#endif + + + + +Serial::Serial() +{ + port_is_open = 0; + baud_rate = 38400; // default baud rate +} + +Serial::~Serial() +{ + Close(); +} + + + +// Open a port, by name. Return 0 on success, non-zero for error +int Serial::Open(const string& name) +{ + Close(); +#if defined(LINUX) + struct serial_struct kernel_serial_settings; + int bits; + port_fd = open(name.c_str(), O_RDWR | O_NOCTTY | O_NONBLOCK); + if (port_fd < 0) { + if (errno == EACCES) { + error_msg = "Unable to access " + name + ", insufficient permission"; + // TODO: we could look at the permission bits and owner + // to make a better message here + } else if (errno == EISDIR) { + error_msg = "Unable to open " + name + + ", Object is a directory, not a serial port"; + } else if (errno == ENODEV || errno == ENXIO) { + error_msg = "Unable to open " + name + + ", Serial port hardware not installed"; + } else if (errno == ENOENT) { + error_msg = "Unable to open " + name + + ", Device name does not exist"; + } else { + error_msg = "Unable to open " + name + + ", " + strerror(errno); + } + return -1; + } + if (ioctl(port_fd, TIOCMGET, &bits) < 0) { + close(port_fd); + error_msg = "Unable to query serial port signals"; + return -1; + } + bits &= ~(TIOCM_DTR | TIOCM_RTS); + if (ioctl(port_fd, TIOCMSET, &bits) < 0) { + close(port_fd); + error_msg = "Unable to control serial port signals"; + return -1; + } + if (tcgetattr(port_fd, &settings_orig) != 0) { + close(port_fd); + error_msg = "Unable to query serial port settings (perhaps not a serial port)"; + return -1; + } + memset(&settings, 0, sizeof(settings)); + settings.c_iflag = IGNBRK | IGNPAR; + settings.c_cflag = CS8 | CREAD | HUPCL | CLOCAL; + Set_baud(baud_rate); + if (ioctl(port_fd, TIOCGSERIAL, &kernel_serial_settings) == 0) { + kernel_serial_settings.flags |= ASYNC_LOW_LATENCY; + ioctl(port_fd, TIOCSSERIAL, &kernel_serial_settings); + } + tcflush(port_fd, TCIFLUSH); +#elif defined(MACOSX) + int bits; + port_fd = open(name.c_str(), O_RDWR | O_NOCTTY | O_NONBLOCK); + if (port_fd < 0) { + error_msg = "Unable to open " + name + ", " + strerror(errno); + return -1; + } + if (ioctl(port_fd, TIOCEXCL) == -1) { + close(port_fd); + error_msg = "Unable to get exclussive access to port " + name; + return -1; + } + if (ioctl(port_fd, TIOCMGET, &bits) < 0) { + close(port_fd); + error_msg = "Unable to query serial port signals on " + name; + return -1; + } + bits &= ~(TIOCM_DTR | TIOCM_RTS); + if (ioctl(port_fd, TIOCMSET, &bits) < 0) { + close(port_fd); + error_msg = "Unable to control serial port signals on " + name; + return -1; + } + if (tcgetattr(port_fd, &settings_orig) < 0) { + close(port_fd); + error_msg = "Unable to access baud rate on port " + name; + return -1; + } + memset(&settings, 0, sizeof(settings)); + settings.c_cflag = CS8 | CLOCAL | CREAD | HUPCL; + settings.c_iflag = IGNBRK | IGNPAR; + Set_baud(baud_rate); + tcflush(port_fd, TCIFLUSH); +#elif defined(WINDOWS) + COMMCONFIG cfg; + COMMTIMEOUTS timeouts; + int got_default_cfg=0, port_num; + char buf[1024], name_createfile[64], name_commconfig[64], *p; + DWORD len; + + snprintf(buf, sizeof(buf), "%s", name.c_str()); + p = strstr(buf, "COM"); + if (p && sscanf(p + 3, "%d", &port_num) == 1) { + //printf("port_num = %d\n", port_num); + snprintf(name_createfile, sizeof(name_createfile), "\\\\.\\COM%d", port_num); + snprintf(name_commconfig, sizeof(name_commconfig), "COM%d", port_num); + } else { + snprintf(name_createfile, sizeof(name_createfile), "%s", name.c_str()); + snprintf(name_commconfig, sizeof(name_commconfig), "%s", name.c_str()); + } + len = sizeof(COMMCONFIG); + if (GetDefaultCommConfig(name_commconfig, &cfg, &len)) { + // this prevents unintentionally raising DTR when opening + // might only work on COM1 to COM9 + got_default_cfg = 1; + memcpy(&port_cfg_orig, &cfg, sizeof(COMMCONFIG)); + cfg.dcb.fDtrControl = DTR_CONTROL_DISABLE; + cfg.dcb.fRtsControl = RTS_CONTROL_DISABLE; + SetDefaultCommConfig(name_commconfig, &cfg, sizeof(COMMCONFIG)); + } else { + printf("error with GetDefaultCommConfig\n"); + } + port_handle = CreateFile(name_createfile, GENERIC_READ | GENERIC_WRITE, + 0, 0, OPEN_EXISTING, FILE_FLAG_OVERLAPPED, NULL); + if (port_handle == INVALID_HANDLE_VALUE) { + win32_err(buf); + error_msg = "Unable to open " + name + ", " + buf; + return -1; + } + len = sizeof(COMMCONFIG); + if (!GetCommConfig(port_handle, &port_cfg, &len)) { + CloseHandle(port_handle); + win32_err(buf); + error_msg = "Unable to read communication config on " + name + ", " + buf; + return -1; + } + if (!got_default_cfg) { + memcpy(&port_cfg_orig, &port_cfg, sizeof(COMMCONFIG)); + } + // http://msdn2.microsoft.com/en-us/library/aa363188(VS.85).aspx + port_cfg.dcb.BaudRate = baud_rate; + port_cfg.dcb.fBinary = TRUE; + port_cfg.dcb.fParity = FALSE; + port_cfg.dcb.fOutxCtsFlow = FALSE; + port_cfg.dcb.fOutxDsrFlow = FALSE; + port_cfg.dcb.fDtrControl = DTR_CONTROL_ENABLE; + port_cfg.dcb.fDsrSensitivity = FALSE; + port_cfg.dcb.fTXContinueOnXoff = TRUE; // ??? + port_cfg.dcb.fOutX = FALSE; + port_cfg.dcb.fInX = FALSE; + port_cfg.dcb.fErrorChar = FALSE; + port_cfg.dcb.fNull = FALSE; + port_cfg.dcb.fRtsControl = RTS_CONTROL_DISABLE; + port_cfg.dcb.fAbortOnError = FALSE; + port_cfg.dcb.ByteSize = 8; + port_cfg.dcb.Parity = NOPARITY; + port_cfg.dcb.StopBits = ONESTOPBIT; + if (!SetCommConfig(port_handle, &port_cfg, sizeof(COMMCONFIG))) { + CloseHandle(port_handle); + win32_err(buf); + error_msg = "Unable to write communication config to " + name + ", " + buf; + return -1; + } + if (!EscapeCommFunction(port_handle, CLRDTR | CLRRTS)) { + CloseHandle(port_handle); + win32_err(buf); + error_msg = "Unable to control serial port signals on " + name + ", " + buf; + return -1; + } + // http://msdn2.microsoft.com/en-us/library/aa363190(VS.85).aspx + // setting to all zeros means timeouts are not used + //timeouts.ReadIntervalTimeout = 0; + timeouts.ReadIntervalTimeout = MAXDWORD; + timeouts.ReadTotalTimeoutMultiplier = 0; + timeouts.ReadTotalTimeoutConstant = 0; + timeouts.WriteTotalTimeoutMultiplier = 0; + timeouts.WriteTotalTimeoutConstant = 0; + if (!SetCommTimeouts(port_handle, &timeouts)) { + CloseHandle(port_handle); + win32_err(buf); + error_msg = "Unable to write timeout settings to " + name + ", " + buf; + return -1; + } +#endif + port_name = name; + port_is_open = 1; + return 0; +} + +string Serial::get_name(void) +{ + if (!port_is_open) return ""; + return port_name; +} + + + +// Return the last error message in a (hopefully) user friendly format +string Serial::error_message(void) +{ + return error_msg; +} + +int Serial::Is_open(void) +{ + return port_is_open; +} + +// Close the port +void Serial::Close(void) +{ + if (!port_is_open) return; + Output_flush(); + Input_discard(); + port_is_open = 0; + port_name = ""; +#if defined(LINUX) || defined(MACOSX) + tcsetattr(port_fd, TCSANOW, &settings_orig); + close(port_fd); +#elif defined(WINDOWS) + //SetCommConfig(port_handle, &port_cfg_orig, sizeof(COMMCONFIG)); + CloseHandle(port_handle); +#endif +} + + + + + + +// set the baud rate +int Serial::Set_baud(int baud) +{ + if (baud <= 0) return -1; + //printf("set_baud: %d\n", baud); + baud_rate = baud; + if (!port_is_open) return -1; +#if defined(LINUX) + speed_t spd; + switch (baud) { + case 230400: spd = B230400; break; + case 115200: spd = B115200; break; + case 57600: spd = B57600; break; + case 38400: spd = B38400; break; + case 19200: spd = B19200; break; + case 9600: spd = B9600; break; + case 4800: spd = B4800; break; + case 2400: spd = B2400; break; + case 1800: spd = B1800; break; + case 1200: spd = B1200; break; + case 600: spd = B600; break; + case 300: spd = B300; break; + case 200: spd = B200; break; + case 150: spd = B150; break; + case 134: spd = B134; break; + case 110: spd = B110; break; + case 75: spd = B75; break; + case 50: spd = B50; break; + #ifdef B460800 + case 460800: spd = B460800; break; + #endif + #ifdef B500000 + case 500000: spd = B500000; break; + #endif + #ifdef B576000 + case 576000: spd = B576000; break; + #endif + #ifdef B921600 + case 921600: spd = B921600; break; + #endif + #ifdef B1000000 + case 1000000: spd = B1000000; break; + #endif + #ifdef B1152000 + case 1152000: spd = B1152000; break; + #endif + #ifdef B1500000 + case 1500000: spd = B1500000; break; + #endif + #ifdef B2000000 + case 2000000: spd = B2000000; break; + #endif + #ifdef B2500000 + case 2500000: spd = B2500000; break; + #endif + #ifdef B3000000 + case 3000000: spd = B3000000; break; + #endif + #ifdef B3500000 + case 3500000: spd = B3500000; break; + #endif + #ifdef B4000000 + case 4000000: spd = B4000000; break; + #endif + #ifdef B7200 + case 7200: spd = B7200; break; + #endif + #ifdef B14400 + case 14400: spd = B14400; break; + #endif + #ifdef B28800 + case 28800: spd = B28800; break; + #endif + #ifdef B76800 + case 76800: spd = B76800; break; + #endif + default: { + return -1; + } + } + cfsetospeed(&settings, spd); + cfsetispeed(&settings, spd); + if (tcsetattr(port_fd, TCSANOW, &settings) < 0) return -1; +#elif defined(MACOSX) + cfsetospeed(&settings, (speed_t)baud); + cfsetispeed(&settings, (speed_t)baud); + if (tcsetattr(port_fd, TCSANOW, &settings) < 0) return -1; +#elif defined(WINDOWS) + DWORD len = sizeof(COMMCONFIG); + port_cfg.dcb.BaudRate = baud; + SetCommConfig(port_handle, &port_cfg, len); +#endif + return 0; +} + +int Serial::Set_baud(const string& baud_str) +{ + unsigned long b; + b = atoi(baud_str.c_str()); + if (!b) return -1; + return Set_baud((int)b); +} + + +// Read from the serial port. Returns only the bytes that are +// already received, up to count. This always returns without delay, +// returning 0 if nothing has been received +int Serial::Read(void *ptr, int count) +{ + if (!port_is_open) return -1; + if (count <= 0) return 0; +#if defined(LINUX) + int n, bits; + n = read(port_fd, ptr, count); + if (n < 0 && (errno == EAGAIN || errno == EINTR)) return 0; + if (n == 0 && ioctl(port_fd, TIOCMGET, &bits) < 0) return -99; + return n; +#elif defined(MACOSX) + int n; + n = read(port_fd, ptr, count); + if (n < 0 && (errno == EAGAIN || errno == EINTR)) return 0; + return n; +#elif defined(WINDOWS) + // first, we'll find out how many bytes have been received + // and are currently waiting for us in the receive buffer. + // http://msdn.microsoft.com/en-us/library/ms885167.aspx + // http://msdn.microsoft.com/en-us/library/ms885173.aspx + // http://source.winehq.org/WineAPI/ClearCommError.html + COMSTAT st; + DWORD errmask=0, num_read, num_request; + OVERLAPPED ov; + int r; + if (!ClearCommError(port_handle, &errmask, &st)) return -1; + //printf("Read, %d requested, %lu buffered\n", count, st.cbInQue); + if (st.cbInQue <= 0) return 0; + // now do a ReadFile, now that we know how much we can read + // a blocking (non-overlapped) read would be simple, but win32 + // is all-or-nothing on async I/O and we must have it enabled + // because it's the only way to get a timeout for WaitCommEvent + num_request = ((DWORD)count < st.cbInQue) ? (DWORD)count : st.cbInQue; + ov.hEvent = CreateEvent(NULL, TRUE, FALSE, NULL); + if (ov.hEvent == NULL) return -1; + ov.Internal = ov.InternalHigh = 0; + ov.Offset = ov.OffsetHigh = 0; + if (ReadFile(port_handle, ptr, num_request, &num_read, &ov)) { + // this should usually be the result, since we asked for + // data we knew was already buffered + //printf("Read, immediate complete, num_read=%lu\n", num_read); + r = num_read; + } else { + if (GetLastError() == ERROR_IO_PENDING) { + if (GetOverlappedResult(port_handle, &ov, &num_read, TRUE)) { + //printf("Read, delayed, num_read=%lu\n", num_read); + r = num_read; + } else { + //printf("Read, delayed error\n"); + r = -1; + } + } else { + //printf("Read, error\n"); + r = -1; + } + } + CloseHandle(ov.hEvent); + // TODO: how much overhead does creating new event objects on + // every I/O request really cost? Would it be better to create + // just 3 when we open the port, and reset/reuse them every time? + // Would mutexes or critical sections be needed to protect them? + return r; +#endif +} + +// Write to the serial port. This blocks until the data is +// sent (or in a buffer to be sent). All bytes are written, +// unless there is some sort of error. +int Serial::Write(const void *ptr, int len) +{ + //printf("Write %d\n", len); + if (!port_is_open) return -1; +#if defined(LINUX) || defined(MACOSX) + int n, written=0; + fd_set wfds; + struct timeval tv; + while (written < len) { + n = write(port_fd, (const char *)ptr + written, len - written); + if (n < 0 && (errno == EAGAIN || errno == EINTR)) n = 0; + //printf("Write, n = %d\n", n); + if (n < 0) return -1; + if (n > 0) { + written += n; + } else { + tv.tv_sec = 10; + tv.tv_usec = 0; + FD_ZERO(&wfds); + FD_SET(port_fd, &wfds); + n = select(port_fd+1, NULL, &wfds, NULL, &tv); + if (n < 0 && errno == EINTR) n = 1; + if (n <= 0) return -1; + } + } + return written; +#elif defined(WINDOWS) + DWORD num_written; + OVERLAPPED ov; + int r; + ov.hEvent = CreateEvent(NULL, TRUE, FALSE, NULL); + if (ov.hEvent == NULL) return -1; + ov.Internal = ov.InternalHigh = 0; + ov.Offset = ov.OffsetHigh = 0; + if (WriteFile(port_handle, ptr, len, &num_written, &ov)) { + //printf("Write, immediate complete, num_written=%lu\n", num_written); + r = num_written; + } else { + if (GetLastError() == ERROR_IO_PENDING) { + if (GetOverlappedResult(port_handle, &ov, &num_written, TRUE)) { + //printf("Write, delayed, num_written=%lu\n", num_written); + r = num_written; + } else { + //printf("Write, delayed error\n"); + r = -1; + } + } else { + //printf("Write, error\n"); + r = -1; + } + }; + CloseHandle(ov.hEvent); + return r; +#endif +} + +// Wait up to msec for data to become available for reading. +// return 0 if timeout, or non-zero if one or more bytes are +// received and can be read. -1 if an error occurs +int Serial::Input_wait(int msec) +{ + if (!port_is_open) return -1; +#if defined(LINUX) || defined(MACOSX) + fd_set rfds; + struct timeval tv; + tv.tv_sec = msec / 1000; + tv.tv_usec = (msec % 1000) * 1000; + FD_ZERO(&rfds); + FD_SET(port_fd, &rfds); + return select(port_fd+1, &rfds, NULL, NULL, &tv); +#elif defined(WINDOWS) + // http://msdn2.microsoft.com/en-us/library/aa363479(VS.85).aspx + // http://msdn2.microsoft.com/en-us/library/aa363424(VS.85).aspx + // http://source.winehq.org/WineAPI/WaitCommEvent.html + COMSTAT st; + DWORD errmask=0, eventmask=EV_RXCHAR, ret; + OVERLAPPED ov; + int r; + // first, request comm event when characters arrive + if (!SetCommMask(port_handle, EV_RXCHAR)) return -1; + // look if there are characters in the buffer already + if (!ClearCommError(port_handle, &errmask, &st)) return -1; + //printf("Input_wait, %lu buffered, timeout = %d ms\n", st.cbInQue, msec); + if (st.cbInQue > 0) return 1; + + ov.hEvent = CreateEvent(NULL, TRUE, FALSE, NULL); + if (ov.hEvent == NULL) return -1; + ov.Internal = ov.InternalHigh = 0; + ov.Offset = ov.OffsetHigh = 0; + if (WaitCommEvent(port_handle, &eventmask, &ov)) { + //printf("Input_wait, WaitCommEvent, immediate success\n"); + r = 1; + } else { + if (GetLastError() == ERROR_IO_PENDING) { + ret = WaitForSingleObject(ov.hEvent, msec); + if (ret == WAIT_OBJECT_0) { + //printf("Input_wait, WaitCommEvent, delayed success\n"); + r = 1; + } else if (ret == WAIT_TIMEOUT) { + //printf("Input_wait, WaitCommEvent, timeout\n"); + GetCommMask(port_handle, &eventmask); + r = 0; + } else { // WAIT_FAILED or WAIT_ABANDONED + //printf("Input_wait, WaitCommEvent, delayed error\n"); + r = -1; + } + } else { + //printf("Input_wait, WaitCommEvent, immediate error\n"); + r = -1; + } + } + SetCommMask(port_handle, 0); + CloseHandle(ov.hEvent); + return r; +#endif +} + +// Discard all received data that hasn't been read +void Serial::Input_discard(void) +{ + if (!port_is_open) return; +#if defined(LINUX) || defined(MACOSX) + // does this really work properly (and is it thread safe) on Linux?? + tcflush(port_fd, TCIFLUSH); +#elif defined(WINDOWS) + PurgeComm(port_handle, PURGE_RXCLEAR); +#endif +} + +// Wait for all transmitted data with Write to actually leave the serial port +void Serial::Output_flush(void) +{ + if (!port_is_open) return; +#if defined(LINUX) || defined(MACOSX) + tcdrain(port_fd); +#elif defined(WINDOWS) + FlushFileBuffers(port_handle); +#endif +} + + +// set DTR and RTS, 0 = low, 1=high, -1=unchanged +int Serial::Set_control(int dtr, int rts) +{ + if (!port_is_open) return -1; +#if defined(LINUX) || defined(MACOSX) + // on Mac OS X, "man 4 tty" + // on Linux, where is this actually documented? + int bits; + if (ioctl(port_fd, TIOCMGET, &bits) < 0) return -1; + if (dtr == 1) { + bits |= TIOCM_DTR; + } else if (dtr == 0) { + bits &= ~TIOCM_DTR; + } + if (rts == 1) { + bits |= TIOCM_RTS; + } else if (rts == 0) { + bits &= ~TIOCM_RTS; + } + if (ioctl(port_fd, TIOCMSET, &bits) < 0) return -1;; +#elif defined(WINDOWS) + // http://msdn.microsoft.com/en-us/library/aa363254(VS.85).aspx + if (dtr == 1) { + if (!EscapeCommFunction(port_handle, SETDTR)) return -1; + } else if (dtr == 0) { + if (!EscapeCommFunction(port_handle, CLRDTR)) return -1; + } + if (rts == 1) { + if (!EscapeCommFunction(port_handle, SETRTS)) return -1; + } else if (rts == 0) { + if (!EscapeCommFunction(port_handle, CLRRTS)) return -1; + } +#endif + return 0; +} + + + +#if defined(LINUX) +// All linux serial port device names. Hopefully all of them anyway. This +// is a long list, but each entry takes only a few bytes and a quick strcmp() +static const char *devnames[] = { +"S", // "normal" Serial Ports - MANY drivers using this +"USB", // USB to serial converters +"ACM", // USB serial modem, CDC class, Abstract Control Model +"MI", // MOXA Smartio/Industio family multiport serial... nice card, I have one :-) +"MX", // MOXA Intellio family multiport serial +"C", // Cyclades async multiport, no longer available, but I have an old ISA one! :-) +"D", // Digiboard (still in 2.6 but no longer supported), new Moschip MCS9901 +"P", // Hayes ESP serial cards (obsolete) +"M", // PAM Software's multimodem & Multitech ISI-Cards +"E", // Stallion intelligent multiport (no longer made) +"L", // RISCom/8 multiport serial +"W", // specialix IO8+ multiport serial +"X", // Specialix SX series cards, also SI & XIO series +"SR", // Specialix RIO serial card 257+ +"n", // Digi International Neo (yes lowercase 'n', drivers/serial/jsm/jsm_driver.c) +"FB", // serial port on the 21285 StrongArm-110 core logic chip +"AM", // ARM AMBA-type serial ports (no DTR/RTS) +"AMA", // ARM AMBA-type serial ports (no DTR/RTS) +"AT", // Atmel AT91 / AT32 Serial ports +"BF", // Blackfin 5xx serial ports (Analog Devices embedded DSP chips) +"CL", // CLPS711x serial ports (ARM processor) +"A", // ICOM Serial +"SMX", // Motorola IMX serial ports +"SOIC", // ioc3 serial +"IOC", // ioc4 serial +"PSC", // Freescale MPC52xx PSCs configured as UARTs +"MM", // MPSC (UART mode) on Marvell GT64240, GT64260, MV64340... +"B", // Mux console found in some PA-RISC servers +"NX", // NetX serial port +"PZ", // PowerMac Z85c30 based ESCC cell found in the "macio" ASIC +"SAC", // Samsung S3C24XX onboard UARTs +"SA", // SA11x0 serial ports +"AM", // KS8695 serial ports & Sharp LH7A40X embedded serial ports +"TX", // TX3927/TX4927/TX4925/TX4938 internal SIO controller +"SC", // Hitachi SuperH on-chip serial module +"SG", // C-Brick Serial Port (and console) SGI Altix machines +"HV", // SUN4V hypervisor console +"UL", // Xilinx uartlite serial controller +"VR", // NEC VR4100 series Serial Interface Unit +"CPM", // CPM (SCC/SMC) serial ports; core driver +"Y", // Amiga A2232 board +"SL", // Microgate SyncLink ISA and PCI high speed multiprotocol serial +"SLG", // Microgate SyncLink GT (might be sync HDLC only?) +"SLM", // Microgate SyncLink Multiport high speed multiprotocol serial +"CH", // Chase Research AT/PCI-Fast serial card +"F", // Computone IntelliPort serial card +"H", // Chase serial card +"I", // virtual modems +"R", // Comtrol RocketPort +"SI", // SmartIO serial card +"T", // Technology Concepts serial card +"V" // Comtrol VS-1000 serial controller +}; +#define NUM_DEVNAMES (sizeof(devnames) / sizeof(const char *)) +#endif + + + +#if defined(MACOSX) +static void macos_ports(io_iterator_t * PortIterator, vector& list) +{ + io_object_t modemService; + CFTypeRef nameCFstring; + char s[MAXPATHLEN]; + + while ((modemService = IOIteratorNext(*PortIterator))) { + nameCFstring = IORegistryEntryCreateCFProperty(modemService, + CFSTR(kIOCalloutDeviceKey), kCFAllocatorDefault, 0); + if (nameCFstring) { + if (CFStringGetCString((const __CFString *)nameCFstring, + s, sizeof(s), kCFStringEncodingASCII)) { + list.push_back(s); + } + CFRelease(nameCFstring); + } + IOObjectRelease(modemService); + } +} +#endif + + +// Return a list of all serial ports +vector Serial::port_list() +{ + vector list; +#if defined(LINUX) + // This is ugly guessing, but Linux doesn't seem to provide anything else. + // If there really is an API to discover serial devices on Linux, please + // email paul@pjrc.com with the info. Please? + // The really BAD aspect is all ports get DTR raised briefly, because linux + // has no way to open the port without raising DTR, and there isn't any way + // to tell if the device file really represents hardware without opening it. + // maybe sysfs or udev provides a useful API?? + DIR *dir; + struct dirent *f; + struct stat st; + unsigned int i, len[NUM_DEVNAMES]; + char s[512]; + int fd, bits; + termios mytios; + + dir = opendir("/dev/"); + if (dir == NULL) return list; + for (i=0; id_name, "tty", 3)) continue; + // ignore anything that's not a known serial device name + for (i=0; id_name + 3, devnames[i], len[i])) break; + } + if (i >= NUM_DEVNAMES) continue; + snprintf(s, sizeof(s), "/dev/%s", f->d_name); + // check if it's a character type device (almost certainly is) + if (stat(s, &st) != 0 || !(st.st_mode & S_IFCHR)) continue; + // now see if we can open the file - if the device file is + // populating /dev but doesn't actually represent a loaded + // driver, this is where we will detect it. + fd = open(s, O_RDONLY | O_NOCTTY | O_NONBLOCK); + if (fd < 0) { + // if permission denied, give benefit of the doubt + // (otherwise the port will be invisible to the user + // and we won't have a to alert them to the permssion + // problem) + if (errno == EACCES) list.push_back(s); + // any other error, assume it's not a real device + continue; + } + // does it respond to termios requests? (probably will since + // the name began with tty). Some devices where a single + // driver exports multiple names will open but this is where + // we can really tell if they work with real hardare. + if (tcgetattr(fd, &mytios) != 0) { + close(fd); + continue; + } + // does it respond to reading the control signals? If it's + // some sort of non-serial terminal (eg, pseudo terminals) + // this is where we will detect it's not really a serial port + if (ioctl(fd, TIOCMGET, &bits) < 0) { + close(fd); + continue; + } + // it passed all the tests, it's a serial port, or some sort + // of "terminal" that looks exactly like a real serial port! + close(fd); + // unfortunately, Linux always raises DTR when open is called. + // not nice! Every serial port is going to get DTR raised + // and then lowered. I wish there were a way to prevent this, + // but it seems impossible. + list.push_back(s); + } + closedir(dir); +#elif defined(MACOSX) + // adapted from SerialPortSample.c, by Apple + // http://developer.apple.com/samplecode/SerialPortSample/listing2.html + // and also testserial.c, by Keyspan + // http://www.keyspan.com/downloads-files/developer/macosx/KesypanTestSerial.c + // www.rxtx.org, src/SerialImp.c seems to be based on Keyspan's testserial.c + // neither keyspan nor rxtx properly release memory allocated. + // more documentation at: + // http://developer.apple.com/documentation/DeviceDrivers/Conceptual/WorkingWSerial/WWSerial_SerialDevs/chapter_2_section_6.html + mach_port_t masterPort; + CFMutableDictionaryRef classesToMatch; + io_iterator_t serialPortIterator; + if (IOMasterPort(NULL, &masterPort) != KERN_SUCCESS) return list; + // a usb-serial adaptor is usually considered a "modem", + // especially when it implements the CDC class spec + classesToMatch = IOServiceMatching(kIOSerialBSDServiceValue); + if (!classesToMatch) return list; + CFDictionarySetValue(classesToMatch, CFSTR(kIOSerialBSDTypeKey), + CFSTR(kIOSerialBSDModemType)); + if (IOServiceGetMatchingServices(masterPort, classesToMatch, + &serialPortIterator) != KERN_SUCCESS) return list; + macos_ports(&serialPortIterator, list); + IOObjectRelease(serialPortIterator); + // but it might be considered a "rs232 port", so repeat this + // search for rs232 ports + classesToMatch = IOServiceMatching(kIOSerialBSDServiceValue); + if (!classesToMatch) return list; + CFDictionarySetValue(classesToMatch, CFSTR(kIOSerialBSDTypeKey), + CFSTR(kIOSerialBSDRS232Type)); + if (IOServiceGetMatchingServices(masterPort, classesToMatch, + &serialPortIterator) != KERN_SUCCESS) return list; + macos_ports(&serialPortIterator, list); + IOObjectRelease(serialPortIterator); +#elif defined(WINDOWS) + // http://msdn.microsoft.com/en-us/library/aa365461(VS.85).aspx + // page with 7 ways - not all of them work! + // http://www.naughter.com/enumser.html + // may be possible to just query the windows registary + // http://it.gps678.com/2/ca9c8631868fdd65.html + // search in HKEY_LOCAL_MACHINE\HARDWARE\DEVICEMAP\SERIALCOMM + // Vista has some special new way, vista-only + // http://msdn2.microsoft.com/en-us/library/aa814070(VS.85).aspx + char *buffer, *p; + //DWORD size = QUERYDOSDEVICE_BUFFER_SIZE; + DWORD ret; + + buffer = (char *)malloc(QUERYDOSDEVICE_BUFFER_SIZE); + if (buffer == NULL) return list; + memset(buffer, 0, QUERYDOSDEVICE_BUFFER_SIZE); + ret = QueryDosDeviceA(NULL, buffer, QUERYDOSDEVICE_BUFFER_SIZE); + if (ret) { + //printf("Detect Serial using QueryDosDeviceA: "); + for (p = buffer; *p; p += strlen(p) + 1) { + if (strncmp(p, "COM", 3)) continue; + list.push_back(string(p) ); + //printf(": %s\n", p); + } + } else { + char buf[1024]; + win32_err(buf); + printf("QueryDosDeviceA failed, error \"%s\"\n", buf); + printf("Detect Serial using brute force GetDefaultCommConfig probing: "); + for (int i=1; i<=32; i++) { + printf("try %s", buf); + COMMCONFIG cfg; + DWORD len; + snprintf(buf, sizeof(buf), "COM%d", i); + if (GetDefaultCommConfig(buf, &cfg, &len)) { + std::ostringstream name; + name << "COM" << i << ":"; + list.push_back(name.str()); + printf(": %s", buf); + } + } + } + free(buffer); +#endif + std::sort (list.begin(), list.end()); + return list; +} + + + + + + + + diff --git a/Source/serial.h b/Source/serial.h new file mode 100755 index 0000000..e49b4a7 --- /dev/null +++ b/Source/serial.h @@ -0,0 +1,57 @@ +#ifndef __serial_h__ +#define __serial_h__ + +#include + +#if defined(LINUX) +#include +#elif defined(MACOSX) +#include +#elif defined(WINDOWS) +#include +#endif + +#include +#include +#include +#include + +using namespace std; + +class Serial +{ +public: + Serial(); + ~Serial(); + vector port_list(); + int Open(const string& name); + string error_message(); + int Set_baud(int baud); + int Set_baud(const string& baud_str); + int Read(void *ptr, int count); + int Write(const void *ptr, int len); + int Input_wait(int msec); + void Input_discard(void); + int Set_control(int dtr, int rts); + void Output_flush(); + void Close(void); + int Is_open(void); + string get_name(void); +private: + int port_is_open; + string port_name; + int baud_rate; + string error_msg; +private: +#if defined(LINUX) || defined(MACOSX) + int port_fd; + struct termios settings_orig; + struct termios settings; +#elif defined(WINDOWS) + HANDLE port_handle; + COMMCONFIG port_cfg_orig; + COMMCONFIG port_cfg; +#endif +}; + +#endif // __serial_h__ diff --git a/package.mo b/package.mo new file mode 100644 index 0000000..a84f3f2 --- /dev/null +++ b/package.mo @@ -0,0 +1,1475 @@ +package OpenModelicaEmbedded "Connecting OpenModelica with Arduino" + package GettingStarted "Procedure to run first model using OpenModelicaArduino" + extends Modelica.Icons.Information; + annotation( + preferredView = "info", + Documentation(info = "

.

+

Preparing Your Board

+

.

+

The first thing you need to do is upload the Firmware code to your board .

+

\"\"

+

Figure 1. Location of the Firmware sketch.

+

If you wish to use PID(Proportional-integral-derivative) then use another firmware provided with the package. To open an firmware through Arduino IDE click on “Open“ and Browse to the location where you extracted the package. Insdie the package folder look for folder named “Firmware“ which contains a file named “pidmata3.ino“. Select that file and click open to load firmware in Arduino IDE.
+ Important instructions for using above mentioned firmware “pidmata3.ino“: +

    +
  • To use PID uncomment the macro “#define PID“ in firmware and follow further instructions in firmware.
    • +
  • If you are not using PID then comment the above mentioned macro.
    • +
+

+

Once the the Firmware code is in the board, you need to write down the serial port that it is using. This is important because you need to give the port name to OpenModelicaArduino in order to communicate with the board. You can find the serial port in Tools->Serial Port or in the bottom-right corner of the Arduino software window (see Figure 2). In Windows the serial port name is something like “COM5”, while in OS X and Linux the name will be something like “/dev/ttyACM0”. Now you are ready to make your first model.

+

\"\"

+

Figure 2. Finding the serial port being used. 

+

Blinking LED

+

As a first exercise, you are going to reproduce with OpenModelicaArduino the blinking LED example. You can either open the prebuilt example (OpenModelicaArduino.Examples.BlinkLed) or build it by yourself. To build the model, locate the components:

+
    +
  • OpenModelicaArduino.Pins.DigitalOutput
    • +
  • OpenModelicaArduino.Boards.Arduino
    • +
  • Modelica.Blocks.Sources.BooleanPulse
    • +
+

Connect the components as in Figure 3. One thing to notice is that the DigitalOutput model is connected to the Arduino component to specify that the pin belongs to that board. This connection is necessary because OpenModelicaArduino can use multiple boards with multiple pins at the same time.

+

\"\"

+

Figure 3. Diagram of the blinking LED.

+

Next you need to specify the serial port that the board is using. This is done by selecting the Arduino component and showing its parameters. In the parameter view, you can find the Port parameter. Write the port name that you got in the section “Preparing your board”. Important: the name must be have quotation marks as shown in Figure 4.

+

\"\"

+

Figure 4. Specifying the serial port name. 

+

Now you need to set the pin number that you are going to use in the DigitalOutput component. Usually, the Arduino boards have an LED attached to pin 13. Set that number in the Pin parameter as shown in Figure 5.

+

\"\"

+

Figure 5. Specifying the pin to use.

+

For the BooleanPulse component, set the 'period' parameter to 1. The model is ready to simulate. Press the simulate button and wait to see the results.

+

The first time you run the model, it is probably simulated so fast that you do not have time to react. The reason is that OpenModelica simulates the model as fast as possible. In order to interact with your models using OpenModelicaArduino, it is necessary to synchronize the simulation time with real time. This is done in by using Synchronisation block in ModelicaDeviceDriver library. After simulating the model one time, you need to check in the checkbox “Synchronize with real-time” as shown in Figure 6.

+ //

 \"\"

+ //

Figure 6. Synchronizing your simulation with real time. 

+ //

If you are building many models with the OpenModelicaArduino library, you should set the “Synchronize with real-time” option as a default simulation setting in SimulationCenter under the menu Tools->Options in the section SimulationCenter->Default Experiment (see Figure 7). 

+ //

\"\" 

+ //

Figure 7. Setting \"Synchronize with real-time\" as default.

+ //

Now run the simulation again and you should see the LED blinking until the simulation reaches the stop time. If you want to keep the simulation running continuously, you need to change the stop time to “infinite” as shown in Figure 8.

+ //

\"\"

+ //

Figure 8.  Setting the stop time to infinite.

+ //

If you run the simulation again, you should see the LED blinking continuously.

+

One thing that you may have noticed is that OpenModelicaArduino prints status messages in the simulation log (see Figure 9). The first thing it prints is a list of the available ports. In that list, you should see your current port (A). After that, it prints the current port and the speed used (B). Once the port is opened, you receive a notification that the board is initialized (C). Usually the boards report the version of Firmata that you are running. Then you set the sampling interval that the board uses (D). In this example, you can see that you are setting pin 13 to be an output because you have used the DigitalOutput component (E). Finally you will see that the board will send you a list of all the pins available and thier capabilities (F). This list contains the number of the pin and the modes in which it can be used, for example: DigitalInput, DigitalOutput, AnalogInput, AnalogOutput, and Servo.

+

\"\"

+

Figure 9. Messages shown by OpenModelicaArduino.

+

Troubleshooting

+

This is a checklist that you can follow in order to solve most of the problems that can occur when using the ModelPlug library:

+
    +
  1. Verify that you can upload any Arduino example to your board.
    2. +
  2. Verify that you have uploaded a StandardFirmata example to your board.
    3. +
  3. Verify that the port name in the board component matches the port where you have your board connected.
    4. +
  4. Verify that the port name has quotation marks.
    5. +
  5. ModelPlug will not connect to the board if there is another application using the port. Verify you do not have other applications using the port.
    6. +
  6. If the simulation log does not show the board capabilities, try uploading the Firmata to your board again.
    7. +
  7. When using multiple boards, your operating system may have changed the port names. Verify that the port names in the components correspond to each hardware board.
    8. +
  8. Some boards like the Arduino Leonardo and compatible require the parameter UseDTR set to true. Change the parameter and test your board.
    9. +
+

If you are still having problems, you can go to http://community.wolfram.com and ask a question.

+

What Next?

+

OpenModelicaArduino contains a series of basic examples showing the functionality of the components. You can check the Examples under ModelPlug.Examples. Once you have learned how to use the basic components of OpenModelicaArduino, you can check the Arduino Playground to learn how to connect other sensors and actuators (http://playground.arduino.cc).

", revisions = ""), + Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5}))); + end GettingStarted; + + package Pins "Components to access the board I/O" + extends Internal.Icons.Block; + + model AnalogInput "Reads an analog signal from the specified pin" + extends OpenModelicaEmbedded.Internal.Icons.Block; + Modelica.Blocks.Interfaces.RealOutput y annotation( + Placement(visible = true, transformation(origin = {110, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + parameter Integer Pin = 0 "Number of the analog pin"; + OpenModelicaEmbedded.Internal.Interfaces.PinConnector pinConnector annotation( + Placement(visible = true, transformation(origin = {-100, -0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-100, -0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + parameter Real InitValue = 0 "Initial value until the board responds" annotation( + Dialog(group = "Initialization")); + parameter Real MinValue = 0 "Minimum value of ADC" annotation( + Dialog(group = "Scaling")); + parameter Real MaxValue = 1 "Maximum value of ADC" annotation( + Dialog(group = "Scaling")); + parameter Integer adcResolution = 10 "Resolution of the ADC in your microcontroller" annotation( + Dialog(group = "Scaling")); + equation + y = OpenModelicaEmbedded.Internal.ExternalFunctions.readAnalogPin(Pin, MinValue, MaxValue, InitValue, pinConnector, adcResolution); + annotation( + Documentation(info = "

Reads an analog signal from the specified pin. This component uses the 'analogRead' function of Arduino.

+

Signal Range: 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.

+

Not all pins support analog input. Check the documentation of your board to find the pin capabilities.

+

 

", revisions = ""), + Icon(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -85}, {100, 85}}, radius = 40), Rectangle(fillColor = {243, 134, 48}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -60}, {90, 60}}, radius = 40), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "Pin %Pin"), Text(origin = {0, 10}, extent = {{-75, -15}, {75, 25}}, textString = "Analog", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Input", textStyle = {TextStyle.Bold})}), + Diagram(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -75}, {100, 75}}, radius = 40), Rectangle(fillColor = {243, 134, 48}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -50}, {90, 50}}, radius = 40), Text(origin = {0, 20}, extent = {{-75, -15}, {75, 25}}, textString = "Analog", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Input", textStyle = {TextStyle.Bold})})); + end AnalogInput; + + model AnalogOutput "Writes an analog signal to the specified pin" + extends OpenModelicaEmbedded.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))); + parameter Integer Pin = 0 "Number of the PWM/DAC pin"; + OpenModelicaEmbedded.Internal.Interfaces.PinConnector pinConnector annotation( + Placement(visible = true, transformation(origin = {100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + parameter Real MinValue = 0 "Value considered as minimum by the PWM/DAC" annotation( + Dialog(group = "Scaling")); + parameter Real MaxValue = 1 "Value considered as maximum by the PWM/DAC" annotation( + Dialog(group = "Scaling")); + protected + Real scaled_u = (u - MinValue) / (MaxValue - MinValue); + equation + OpenModelicaEmbedded.Internal.ExternalFunctions.writeAnalogPin(Pin, pinConnector, scaled_u); + annotation( + Documentation(info = "

Writes an analog signal to the specified pin. This component uses the 'analogWrite' function of Arduino.

+

Signal Range: By default, the signal goes from 0 to 1, where 0 represents no voltage and 1 the maximum voltage that PWM/DAC of your board can provide. This signal can be scaled by setting the 'MinValue' and 'MaxValue' parameters.

+

Analog outputs use the PWM capabilities of the pins, therefore, they do not provide a continuous signal. If you want to get a continuous signal, you need to add a lowpass filter. Check the Arduino Playground (http://playground.arduino.cc) for more information on PWM.

+

Not all pins support analog output. Check the documentation of your board to find the pin capabilities.

+

 

", revisions = ""), + Icon(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -85}, {100, 85}}, radius = 40), Rectangle(fillColor = {243, 134, 48}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -60}, {90, 60}}, radius = 40), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "Pin %Pin"), Text(origin = {0, 10}, extent = {{-75, -15}, {75, 25}}, textString = "Analog", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Output", textStyle = {TextStyle.Bold})}), + Diagram(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -75}, {100, 75}}, radius = 40), Rectangle(fillColor = {243, 134, 48}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -50}, {90, 50}}, radius = 40), Text(origin = {0, 20}, extent = {{-75, -15}, {75, 25}}, textString = "Analog", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Output", textStyle = {TextStyle.Bold})})); + end AnalogOutput; + + model DigitalInput "Reads a digital signal from the specified pin" + extends OpenModelicaEmbedded.Internal.Icons.Block; + Modelica.Blocks.Interfaces.BooleanOutput y annotation( + Placement(visible = true, transformation(origin = {110, 1.643}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {101.75, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + parameter Integer Pin = 0 "Number of the digital pin"; + parameter Boolean InitValue = false "Initial value until the board responds" annotation( + Dialog(group = "Initialization")); + OpenModelicaEmbedded.Internal.Interfaces.PinConnector pinConnector annotation( + Placement(visible = true, transformation(origin = {-100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + y = OpenModelicaEmbedded.Internal.ExternalFunctions.readDigitalPin(Pin, InitValue, pinConnector); + annotation( + Documentation(info = "

Reads a digital signal from the specified pin. This component uses the 'digitalRead' function of Arduino.

+

Signal Range: This component accepts only Boolean signals (true/false).

", revisions = ""), + Icon(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -85}, {100, 85}}, radius = 40), Rectangle(fillColor = {0, 170, 255}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -60}, {90, 60}}, radius = 40), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "Pin %Pin"), Text(origin = {0, 10}, extent = {{-75, -15}, {75, 25}}, textString = "Digital", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Input", textStyle = {TextStyle.Bold})}), + Diagram(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -75}, {100, 75}}, radius = 40), Rectangle(fillColor = {0, 170, 255}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -50}, {90, 50}}, radius = 40), Text(origin = {0, 20}, extent = {{-75, -15}, {75, 25}}, textString = "Digital", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Input", textStyle = {TextStyle.Bold})})); + end DigitalInput; + + model DigitalOutput "Writes a digital signal to the specified pin" + extends OpenModelicaEmbedded.Internal.Icons.Block; + Modelica.Blocks.Interfaces.BooleanInput u annotation( + Placement(visible = true, transformation(origin = {-110, -0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + parameter Integer Pin = 0 "Number of the digital pin"; + OpenModelicaEmbedded.Internal.Interfaces.PinConnector pinConnector annotation( + Placement(visible = true, transformation(origin = {100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + OpenModelicaEmbedded.Internal.ExternalFunctions.writeDigitalPin(Pin, pinConnector, u); + annotation( + Documentation(info = "

Writes a digital signal to the specified pin. This component uses the 'digitalWrite' function of Arduino.

+

Signal Range: This component accepts only Boolean signals (true/false).

", revisions = ""), + Icon(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -85}, {100, 85}}, radius = 40), Rectangle(fillColor = {0, 170, 255}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -60}, {90, 60}}, radius = 40), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "Pin %Pin"), Text(origin = {0, 10}, extent = {{-75, -15}, {75, 25}}, textString = "Digital", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Output", textStyle = {TextStyle.Bold})}), + Diagram(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -75}, {100, 75}}, radius = 40), Rectangle(fillColor = {0, 170, 255}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -50}, {90, 50}}, radius = 40), Text(origin = {0, 20}, extent = {{-75, -15}, {75, 25}}, textString = "Digital", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Input", textStyle = {TextStyle.Bold})})); + end DigitalOutput; + + model Servo "Controls a servo motor attached to the specified pin" + extends OpenModelicaEmbedded.Internal.Icons.Block; + Modelica.Blocks.Interfaces.RealInput u annotation( + Placement(visible = true, transformation(origin = {-110, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-100, -0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaEmbedded.Internal.Interfaces.PinConnector pinConnector annotation( + Placement(visible = true, transformation(origin = {100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {100, -0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + parameter Integer Pin = 0 "Pin number of the servo"; + parameter OpenModelicaEmbedded.Internal.Types.ServoUnit InputUnit "if None (Default) the servo receives a signal between 0 and 1. If Degrees the control signal is from 0 to 180. If Radians the signal is from 0 to Pi."; + parameter Integer MinPulse = 544 "The pulse width, in microseconds, corresponding to the minimum (0-degree) angle on the servo. + (Ignore this parameter if using Tiva C board)" annotation( + Dialog(group = "Advanced")); + parameter Integer MaxPulse = 2400 "The pulse width, in microseconds, corresponding to the maximum (180-degree) angle on the servo. + (Ignore this parameter if using Tiva C board)" annotation( + Dialog(group = "Advanced")); + Real outputSignal; + equation + outputSignal = if InputUnit == OpenModelicaEmbedded.Internal.Types.ServoUnit.None then u else if InputUnit == OpenModelicaEmbedded.Internal.Types.ServoUnit.Degrees then u / 180 else if InputUnit == OpenModelicaEmbedded.Internal.Types.ServoUnit.Radians then u / Modelica.Constants.pi else u; + OpenModelicaEmbedded.Internal.ExternalFunctions.writeServoPin(Pin, pinConnector, u, MinPulse, MaxPulse); + annotation( + Documentation(info = "

Controls a servo motor attached to the specified pin. This component uses the 'Servo' library of Arduino.

+

Signal Range: By default, the range goes from 0 to 1, which corresponds to 0 to 180 degrees. If you want to input values in radians, you can change the parameter 'InputUnit' from 'Degrees' to 'Radians'.

+

If your servo does not work correctly with the default settings, you can set the parameters 'MinPulse' and 'MaxPulse'. To get more information on how to configure a servo, you can check the documentation of the Servo library, http://arduino.cc/en/reference/servo.

", revisions = ""), + Icon(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -85}, {100, 85}}, radius = 40), Rectangle(fillColor = {0, 255, 127}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -60}, {90, 60}}, radius = 40), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "Pin %Pin"), Text(extent = {{-75, -25}, {75, 25}}, textString = "Servo", textStyle = {TextStyle.Bold})}), + Diagram(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -75}, {100, 75}}, radius = 40), Rectangle(fillColor = {0, 255, 127}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -50}, {90, 50}}, radius = 40), Text(extent = {{-75, -25}, {75, 25}}, textString = "Servo", textStyle = {TextStyle.Bold})})); + 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; + + + + package Boards "Components to connect to the Firmata boards" + model Arduino "Component with default configuration for Arduino boards" + parameter Internal.Types.SerialPort Port = "COM1" "Name of the serial port"; + parameter Boolean ShowPinCapabilities = true "Set to true if you want to see the capabilities of the pins in your board"; + parameter Boolean UseDTR = false "Some boards like Arduino Leonardo require UseDTR=true"; + OpenModelicaEmbedded.Internal.ExternalFunctions.FirmataBoardObject board = Internal.ExternalFunctions.FirmataBoardObject.constructor(Port, ShowPinCapabilities, integer(UpdatePeriod * 1000), BaudRate, UseDTR); + OpenModelicaEmbedded.Internal.Interfaces.BoardConnector boardConnector annotation( + Placement(visible = true, transformation(origin = {-90, -12.256}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {0, 0}, extent = {{-100, -100}, {100, 100}}, rotation = 0))); + protected + discrete Integer BoardId(start = -1) "Board Identifier. Initialized automatically keep as -1."; + constant Modelica.SIunits.Time UpdatePeriod = 0.01 "Sampling interval. The standard Firmata has a maximum samplig period of 10 ms (0.01 s)"; + constant Integer BaudRate = 57600 "Baud rate used to comunicate with the board"; + equation + when initial() then + BoardId = Internal.ExternalFunctions.getBoardId(board); + end when; + when sample(0, UpdatePeriod) then + OpenModelicaEmbedded.Internal.ExternalFunctions.updateBoard(BoardId); + end when; + boardConnector = BoardId; + annotation( + Documentation(info = "

This component provides a ready-to-use configuration for the Arduino board. This component has been tested with Arduino Uno, Arduino Mega 2560, and Arduino Mini, but it should work with any Arduino board.

+

When running the simulation, you will get a list of the capabilities of every pin. If you want to stop showing the capabilities every time you simulate, you need to set the property 'ShowCapabilities' to false. If you are not sure about the location of a specific pin in your board, you should check the documentation for your board.

", revisions = ""), + Icon(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(origin = {10.562, 9.352}, fillColor = {42, 85, 94}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-85.751, 70.648}, {-102.737, 66.761}, {-105.751, 50.648}, {-105.751, -69.352}, {-99.475, -85.465}, {-85.751, -89.352}, {74.249, -89.352}, {81.746, -83.29}, {84.249, -76.041}, {84.249, 34.141}, {79.249, 43.202}, {54.249, 43.202}, {52.314, 67.486}, {31.729, 70.648}, {-85.751, 70.648}}, smooth = Smooth.Bezier), Rectangle(origin = {-71.211, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(origin = {-79.366, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "%Port"), Text(origin = {5, -30}, lineColor = {255, 255, 255}, extent = {{-75, 30}, {75, -30}}, textString = "Arduino")}), + Diagram(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(origin = {10.562, 9.352}, fillColor = {42, 85, 94}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-85.751, 70.648}, {-102.737, 66.761}, {-105.751, 50.648}, {-105.751, -69.352}, {-99.475, -85.465}, {-85.751, -89.352}, {74.249, -89.352}, {81.746, -83.29}, {84.249, -76.041}, {84.249, 34.141}, {79.249, 43.202}, {54.249, 43.202}, {52.314, 67.486}, {31.729, 70.648}, {-85.751, 70.648}}, smooth = Smooth.Bezier), Rectangle(origin = {-71.211, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(origin = {-79.366, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Ellipse(origin = {-8.451, 32.225}, lineColor = {255, 255, 255}, fillColor = {42, 85, 94}, fillPattern = FillPattern.Solid, lineThickness = 5, extent = {{-15, -12.225}, {15, 12.225}}, endAngle = 360), Ellipse(origin = {21.55, 32.22}, lineColor = {255, 255, 255}, fillColor = {42, 85, 94}, fillPattern = FillPattern.Solid, lineThickness = 5, extent = {{-15, -12.23}, {15, 12.23}}, endAngle = 360), Text(origin = {-5, -15}, lineColor = {255, 255, 255}, extent = {{-75, 25}, {95, -35}}, textString = "Arduino", textStyle = {TextStyle.Bold})})); + end Arduino; + + model StandardFirmata "Component with default configuration for any board with the standard Firmata" + parameter Internal.Types.SerialPort Port = "COM1" "Name of the serial port"; + parameter Boolean ShowPinCapabilities = true "Set to true if you want to see the capabilities of the pins in your board"; + parameter Boolean UseDTR = false "Set to true if your board requires DTR"; + OpenModelicaEmbedded.Internal.Interfaces.BoardConnector boardConnector annotation( + Placement(visible = true, transformation(origin = {-90, -14.401}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {0, 0}, extent = {{-100, -100}, {100, 100}}, rotation = 0))); + OpenModelicaEmbedded.Internal.ExternalFunctions.FirmataBoardObject board = Internal.ExternalFunctions.FirmataBoardObject.constructor(Port, ShowPinCapabilities, integer(UpdatePeriod * 1000), BaudRate, UseDTR); + protected + discrete Integer BoardId(start = -1) "Board Identifier. Initialized automatically keep as -1."; + constant Modelica.SIunits.Time UpdatePeriod = 0.01 "Sampling interval. The standard Firmata has a maximum samplig period of 10 ms (0.01 s)"; + constant Integer BaudRate = 57600 "Baud rate used to comunicate with the board"; + equation + when initial() then + BoardId = Internal.ExternalFunctions.getBoardId(board); + end when; + when sample(0, UpdatePeriod) then + OpenModelicaEmbedded.Internal.ExternalFunctions.updateBoard(BoardId); + end when; + boardConnector = BoardId; + annotation( + Documentation(info = "

This component provides a ready-to-use configuration for boards flashed with the StandardFirmata. This component has been tested with chipKIT UNO and Teensy 3.1, but it should work with any board supporting the StandardFirmata.

+

When running the simulation, you will get a list of the capabilities of every pin. If you want to stop showing the capabilities every time you simulate, you need to set the property 'ShowCapabilities' to False. If you are not sure about the location of an specific pin in your board, you should check the documentation for your board.

+

 

", revisions = ""), + Icon(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(origin = {10.56, 9.35}, fillColor = {0, 170, 0}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-85.751, 70.648}, {-102.737, 66.761}, {-105.751, 50.648}, {-105.751, -69.352}, {-99.475, -85.465}, {-85.751, -89.352}, {74.249, -89.352}, {81.746, -83.29}, {84.249, -76.041}, {84.249, 34.141}, {79.249, 43.202}, {54.249, 43.202}, {52.314, 67.486}, {31.729, 70.648}, {-85.751, 70.648}}, smooth = Smooth.Bezier), Rectangle(origin = {-71.211, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(origin = {-79.366, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "%Port"), Text(origin = {5, -10}, lineColor = {255, 255, 255}, extent = {{-75, 30}, {75, -30}}, textString = "Standard")}), + Diagram(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(origin = {10.56, 9.35}, fillColor = {0, 170, 0}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-85.751, 70.648}, {-102.737, 66.761}, {-105.751, 50.648}, {-105.751, -69.352}, {-99.475, -85.465}, {-85.751, -89.352}, {74.249, -89.352}, {81.746, -83.29}, {84.249, -76.041}, {84.249, 34.141}, {79.249, 43.202}, {54.249, 43.202}, {52.314, 67.486}, {31.729, 70.648}, {-85.751, 70.648}}, smooth = Smooth.Bezier), Rectangle(origin = {-71.211, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(origin = {-79.366, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Text(origin = {-5, -15}, lineColor = {255, 255, 255}, extent = {{-75, 25}, {95, -35}}, textString = "Standard", textStyle = {TextStyle.Bold})})); + end StandardFirmata; + + model CustomFirmata "Component that allows custom configuration of the Firmata" + parameter Internal.Types.SerialPort Port = "COM1" "Name of the serial port"; + parameter Boolean ShowPinCapabilities = true "Set to true if you want to see the capabilities of the pins in your board"; + parameter Boolean UseDTR = false "Some boards like Arduino Leonardo require UseDTR=true"; + OpenModelicaEmbedded.Internal.Interfaces.BoardConnector boardConnector annotation( + Placement(visible = true, transformation(origin = {-90, -14.401}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {0, 0}, extent = {{-100, -100}, {100, 100}}, rotation = 0))); + OpenModelicaEmbedded.Internal.ExternalFunctions.FirmataBoardObject board = Internal.ExternalFunctions.FirmataBoardObject.constructor(Port, ShowPinCapabilities, integer(UpdatePeriod * 1000), BaudRate, UseDTR); + parameter Modelica.SIunits.Time UpdatePeriod = 0.01 "Sampling interval. The standard Firmata has a maximum samplig period of 10 ms (0.01 s)"; + parameter Integer BaudRate = 57600 "Baud rate used to communicate with the board"; + protected + discrete Integer BoardId(start = -1) "Board Identifier. Initialized automatically keep as -1."; + equation + when initial() then + BoardId = Internal.ExternalFunctions.getBoardId(board); + end when; + when sample(0, UpdatePeriod) then + OpenModelicaEmbedded.Internal.ExternalFunctions.updateBoard(BoardId); + end when; + boardConnector = BoardId; + annotation( + Documentation(info = "

This component is for advanced users who can modify the Firmata source code or have a non-Arduino board running Firmata. This component allows you to specify your preferred baud rate and sampling interval. 

+

The baud rate is specified with the 'BaudRate' property. You have to consider that standard serial ports do not support arbitrary baud rates.

+

When setting the 'UpdatePeriod' property, it is necessary to change the \"Interval length\" in the simulation settings, to match the update period.

", revisions = ""), + Icon(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(origin = {10.56, 9.35}, fillColor = {170, 0, 127}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-85.751, 70.648}, {-102.737, 66.761}, {-105.751, 50.648}, {-105.751, -69.352}, {-99.475, -85.465}, {-85.751, -89.352}, {74.249, -89.352}, {81.746, -83.29}, {84.249, -76.041}, {84.249, 34.141}, {79.249, 43.202}, {54.249, 43.202}, {52.314, 67.486}, {31.729, 70.648}, {-85.751, 70.648}}, smooth = Smooth.Bezier), Rectangle(origin = {-71.211, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(origin = {-79.366, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "%Port"), Text(origin = {5, -10}, lineColor = {255, 255, 255}, extent = {{-75, 30}, {75, -30}}, textString = "Custom")}), + Diagram(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(origin = {10.56, 9.35}, fillColor = {170, 0, 127}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-85.751, 70.648}, {-102.737, 66.761}, {-105.751, 50.648}, {-105.751, -69.352}, {-99.475, -85.465}, {-85.751, -89.352}, {74.249, -89.352}, {81.746, -83.29}, {84.249, -76.041}, {84.249, 34.141}, {79.249, 43.202}, {54.249, 43.202}, {52.314, 67.486}, {31.729, 70.648}, {-85.751, 70.648}}, smooth = Smooth.Bezier), Rectangle(origin = {-71.211, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(origin = {-79.366, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Text(origin = {-5, -15}, lineColor = {255, 255, 255}, extent = {{-75, 25}, {95, -35}}, textString = "Custom", textStyle = {TextStyle.Bold})})); + end CustomFirmata; + + model ArduinoLeonardo "Component with configuration for Arduino Leonardo boards" + parameter Internal.Types.SerialPort Port = "COM1" "Name of the serial port"; + parameter Boolean ShowPinCapabilities = true "Set to true if you want to see the capabilities of the pins in your board"; + parameter Boolean UseDTR = true "Some boards like Arduino Leonardo require UseDTR=true"; + OpenModelicaEmbedded.Internal.ExternalFunctions.FirmataBoardObject board = Internal.ExternalFunctions.FirmataBoardObject.constructor(Port, ShowPinCapabilities, integer(UpdatePeriod * 1000), BaudRate, UseDTR); + OpenModelicaEmbedded.Internal.Interfaces.BoardConnector boardConnector annotation( + Placement(visible = true, transformation(origin = {-90, -12.256}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {0, 0}, extent = {{-100, -100}, {100, 100}}, rotation = 0))); + protected + discrete Integer BoardId(start = -1) "Board Identifier. Initialized automatically keep as -1."; + constant Modelica.SIunits.Time UpdatePeriod = 0.01 "Sampling interval. The standard Firmata has a maximum samplig period of 10 ms (0.01 s)"; + constant Integer BaudRate = 57600 "Baud rate used to comunicate with the board"; + equation + when initial() then + BoardId = Internal.ExternalFunctions.getBoardId(board); + end when; + when sample(0, UpdatePeriod) then + OpenModelicaEmbedded.Internal.ExternalFunctions.updateBoard(BoardId); + end when; + boardConnector = BoardId; + annotation( + Documentation(info = "

This component provides a ready-to-use configuration for the Arduino Leonardo board. This component works for any board using native USB communication, like the Arduino Esplora.

+

When running the simulation, you will get a list of the capabilities of every pin. If you want to stop showing the capabilities every time you simulate, you need to set the property "ShowCapabilities" to false.

", revisions = ""), + Icon(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(origin = {10.562, 9.352}, fillColor = {42, 85, 94}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-85.751, 70.648}, {-102.737, 66.761}, {-105.751, 50.648}, {-105.751, -69.352}, {-99.475, -85.465}, {-85.751, -89.352}, {74.249, -89.352}, {81.746, -83.29}, {84.249, -76.041}, {84.249, 34.141}, {79.249, 43.202}, {54.249, 43.202}, {52.314, 67.486}, {31.729, 70.648}, {-85.751, 70.648}}, smooth = Smooth.Bezier), Rectangle(origin = {-71.211, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(origin = {-79.366, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "%Port"), Text(origin = {5, -30}, lineColor = {255, 255, 255}, extent = {{-75, 30}, {75, -30}}, textString = "Leonardo")}), + Diagram(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(origin = {10.562, 9.352}, fillColor = {42, 85, 94}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-85.751, 70.648}, {-102.737, 66.761}, {-105.751, 50.648}, {-105.751, -69.352}, {-99.475, -85.465}, {-85.751, -89.352}, {74.249, -89.352}, {81.746, -83.29}, {84.249, -76.041}, {84.249, 34.141}, {79.249, 43.202}, {54.249, 43.202}, {52.314, 67.486}, {31.729, 70.648}, {-85.751, 70.648}}, smooth = Smooth.Bezier), Rectangle(origin = {-71.211, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(origin = {-79.366, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Ellipse(origin = {-8.451, 32.225}, lineColor = {255, 255, 255}, fillColor = {42, 85, 94}, fillPattern = FillPattern.Solid, 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Rectangle(visible = true, origin = {-71.211, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(visible = true, origin = {-79.366, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Rectangle(visible = true, origin = {0.725, 70}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-54.177, -6.186}, {54.177, 6.186}}, radius = 10), Rectangle(visible = true, origin = {22.372, -63.814}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-64.177, -6.186}, {64.177, 6.186}}, radius = 10), Rectangle(visible = true, origin = {25.52, -30}, fillPattern = FillPattern.Solid, extent = {{-51.029, -13.424}, {51.029, 13.424}}, radius = 10), Rectangle(visible = true, origin = {76.549, -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 = {66.549, -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 = {56.549, -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 = {46.549, -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 = {36.549, -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 = {26.549, -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 = {46.549, 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 = {36.549, 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 = {26.549, 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 = {16.549, 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 = {6.549, 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 = {-3.451, 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 = {-13.451, 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 = {-23.451, 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 = {-33.451, 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 = {-43.451, 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 = {-33.451, -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 = {-23.451, -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 = {-13.451, -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 = {-3.451, -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), Ellipse(visible = true, origin = {-8.451, 43.801}, lineColor = {255, 255, 255}, fillColor = {42, 85, 94}, fillPattern = FillPattern.Solid, lineThickness = 5, extent = {{-15, -12.225}, {15, 12.225}}), Ellipse(visible = true, origin = {21.549, 43.801}, lineColor = {255, 255, 255}, fillColor = {42, 85, 94}, fillPattern = FillPattern.Solid, lineThickness = 5, extent = {{-15, -12.225}, {15, 12.225}}), Text(visible = true, origin = {10, 23.151}, extent = {{-40, -10}, {40, 10}}, textString = "Leonardo")})); + end ArduinoLeonardo; + + model customBoard + parameter Internal.Types.SerialPort Port = "COM1" "Name of the serial port"; + parameter Boolean ShowPinCapabilities = true "Set to true if you want to see the capabilities of the pins in your board"; + parameter Boolean UseDTR = false "Some boards like Arduino Leonardo require UseDTR=true"; + parameter String BoardName = "[Board Name]" "Name of the development board/Microcontroller you are using"; + OpenModelicaEmbedded.Internal.ExternalFunctions.FirmataBoardObject board = Internal.ExternalFunctions.FirmataBoardObject.constructor(Port, ShowPinCapabilities, integer(UpdatePeriod * 1000), BaudRate, UseDTR); + OpenModelicaEmbedded.Internal.Interfaces.BoardConnector boardConnector annotation( + Placement(visible = true, transformation(origin = {-90, -12.256}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {0, 0}, extent = {{-100, -100}, {100, 100}}, rotation = 0))); + protected + discrete Integer BoardId(start = -1) "Board Identifier. Initialized automatically keep as -1."; + constant Modelica.SIunits.Time UpdatePeriod = 0.01 "Sampling interval. The standard Firmata has a maximum sampling period of 10 ms (0.01 s)"; + constant Integer BaudRate = 57600 "Baud rate used to communicate with the board"; + equation + when initial() then + BoardId = Internal.ExternalFunctions.getBoardId(board); + end when; + when sample(0, UpdatePeriod) then + OpenModelicaEmbedded.Internal.ExternalFunctions.updateBoard(BoardId); + end when; + boardConnector = BoardId; + annotation( + Icon(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(fillColor = {0, 85, 0}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-95, 90}, {95, -70}}, radius = 10), Text(origin = {0, 20}, lineColor = {255, 255, 255}, extent = {{-85, 40}, {85, -40}}, textString = "%BoardName"), Text(origin = {0, -80}, extent = {{-50, 20}, {50, -20}}, textString = "Port: %Port")}), + Diagram(coordinateSystem(initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(fillColor = {0, 85, 0}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-95, 80}, {95, -80}}, radius = 10), Text(lineColor = {255, 255, 255}, extent = {{-85, 35}, {85, -35}}, textString = "%BoardName")})); + 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; + + + package Examples "A collection of examples to help you get started" + extends Modelica.Icons.ExamplesPackage; + + model BlinkLed "Basic example of blinking an LED" + extends Modelica.Icons.Example; + replaceable OpenModelicaEmbedded.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))); + OpenModelicaEmbedded.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( + Placement(visible = true, transformation(origin = {-30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + equation + connect(digitalOutput.pinConnector, arduino.boardConnector) annotation( + Line(points = {{10, -10}, {30, -10}}, color = {72, 73, 79})); + connect(booleanPulse.y, digitalOutput.u) annotation( + Line(points = {{-19, -10}, {-10, -10}}, color = {255, 0, 255})); + annotation( + experiment(StopTime = 10, Interval = 0.001), + Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = false, initialScale = 0.1, grid = {10, 10})), + preferredView = "diagram", + Documentation(info = "

Hardware Components Used 

+
    +
  • 1 Arduino board
    • +
  • 1 LED (optional)
    • +
  • 1 resistor 680 ohms (optional)
    • +
+

Description

+

This example uses the DigitalOutput component to control the LED attached to the Arduino board on pin 13. It uses a BooleanPulse from the Modelica library to produce an On/Off signal that is fed into the DigitalOutput component. This will make the LED attached to the pin blink.

+

You can go ahead and add more LEDs to the board as shown in the following figure. This will require you to add one more DigitalOutput component to control the LED on pin 9.

+

\"\"/

", revisions = ""), + Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); + end BlinkLed; + + model DimmingLed "Changing the intensity of an LED" + extends Modelica.Icons.Example; + OpenModelicaEmbedded.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(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, 25}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaEmbedded.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(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 = "

Hardware Components Used

+
    +
  • 1 Arduino board
    • +
  • 1 LED
    • +
  • 1 resistor 680 ohms
    • +
+


Description

+

This example uses the AnalogOutput component to change the light intensity of an LED. AnalogOutput uses the Arduino function 'analogWrite', which produces a PWM (Pulse-Width Modulated) signal. This type of signal can be used to directly control the LED intensity. The following figure shows the connections.

+

\"\"

+

You can check the Arduino Playground to know more about PWM outputs. 

", revisions = ""), + Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); + end DimmingLed; + + model ReadSensor "Reading analog signals" + extends Modelica.Icons.Example; + OpenModelicaEmbedded.Boards.Arduino arduino(Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {0, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput(Pin = 10) annotation( + Placement(visible = true, transformation(origin = {-30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaEmbedded.Pins.AnalogInput analogInput1(Pin = 16) annotation( + Placement(visible = true, transformation(origin = {30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Logical.Greater greater1 annotation( + Placement(visible = true, transformation(origin = {-10, -15}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.Constant Reference(k = 0.5) annotation( + Placement(visible = true, transformation(origin = {30, -30}, extent = {{-10, -10}, {10, 10}}, rotation = -180))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-30, -40}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + equation + connect(greater1.y, digitalOutput.u) annotation( + Line(visible = true, origin = {-38.744, -2.5}, points = {{17.744, -12.5}, {-6.256, -12.5}, {-6.256, 17.5}, {-1.256, 17.5}}, color = {255, 0, 255})); + connect(analogInput1.y, greater1.u1) annotation( + Line(visible = true, origin = {33.994, -5}, points = {{6.006, 20}, {11.006, 20}, {11.006, 0}, {-23.994, 0}, {-23.994, -10}, {-31.994, -10}}, color = {0, 0, 127})); + connect(analogInput1.pinConnector, arduino.boardConnector) annotation( + Line(visible = true, origin = {10, 15}, points = {{10, 0}, {-10, 0}}, color = {72, 73, 79})); + connect(digitalOutput.pinConnector, arduino.boardConnector) annotation( + Line(visible = true, origin = {-10, 15}, points = {{-10, 0}, {10, 0}}, color = {72, 73, 79})); + connect(Reference.y, greater1.u2) annotation( + Line(visible = true, origin = {12.75, -29}, points = {{6.25, -1}, {-2.75, -1}, {-2.75, 6}, {-10.75, 6}}, color = {0, 0, 127})); + annotation( + experiment(StartTime = 0.0, StopTime = 10.0, Interval = 0.001, __Wolfram_Algorithm = "dassl", Tolerance = 1e-006, __Wolfram_SynchronizeWithRealTime = true), + Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = false, initialScale = 0.1, grid = {10, 10})), + preferredView = "diagram", + Documentation(info = "

Hardware Components Used

+
    +
  • 1 Arduino board
    • +
  • 1 LED
    • +
  • 1 resistor 680 ohms
    • +
  • 1 potentiometer 100 K
    • +
+

Description

+

This example shows how to read an analog voltage using the AnalogInput component. The analog signal is then compared to a reference, and if the signal is above the reference, it will turn on an LED. You can see in the following figure how to build this example.

+

\"\"

+

You can see that pin A0 for the Arduino corresponds to pin number 14 for the Firmata. For other boards, the pin numbering may vary.

+

Run the simulation and move the potentiometer. You should see that when the position of the shaft is near the middle, the LED changes state.

+

The AnalogInput component returns a signal between 0 and 1. This value represents the voltage between 0 and the reference voltage. If you prefer to get the signal directly in volts, you need to change the 'MaxValue' property to the reference voltage, but generally it is either 5 V or 3.3 V.

", revisions = ""), + Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); + end ReadSensor; + + model MoveServo "Using servos" + extends Modelica.Icons.Example; + Boards.Arduino arduino(Port = "COM1") annotation( + Placement(visible = true, transformation(origin = {30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Pins.Servo servo(Pin = 10) annotation( + Placement(visible = true, transformation(origin = {0, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.ExpSine expSine(offset = 0.5, amplitude = 0.5, freqHz = 0.4, damping = 0.1) annotation( + Placement(visible = true, transformation(origin = {-30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-25, 35}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + equation + connect(expSine.y, servo.u) annotation( + Line(visible = true, origin = {-14.5, -10}, points = {{-4.5, -0}, {4.5, 0}}, color = {0, 0, 127})); + connect(servo.pinConnector, arduino.boardConnector) annotation( + Line(visible = true, origin = {20, -10}, points = {{-10, 0}, {10, -0}}, color = {72, 73, 79})); + 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 = "

Hardware Components Used

+
    +
  • 1 Arduino
    • +
  • 1 5 V servo
    • +
  • 1 external 5 V power source
    • +
+

Description

+

This example shows how to control a servo by using the Servo component. You can find the diagram in the following figure.

+

For this example, it is recommended to use an external power source to provide voltage for the servo. This is because the power from the Arduino may not be enough to supply the servo. If you are not sure how to connect your servo, take a look at the reference in the Arduino Playground (http://playground.arduino.cc).

+

\"\"

+

Servos are controlled with a signal in the range of 0 to 1, where 0 corresponds to 0 degrees of rotation and 1 to 180 degrees. This example makes the servo bounce from 0 to 180 degrees until it gets stable around 90 degrees.

", revisions = ""), + Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); + end MoveServo; + + model SimpleONOFF "A simple On/Off controller" + extends Modelica.Icons.Example; + OpenModelicaEmbedded.Boards.Arduino arduino(Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {0, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaEmbedded.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 = 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))); + equation + connect(hysteresis.u, add1.y) annotation( + Line(visible = true, origin = {-14.5, -25}, points = {{-3.5, -0}, {3.5, 0}}, color = {0, 0, 127})); + connect(digitalOutput.u, hysteresis.y) annotation( + Line(visible = true, origin = {-43.25, 5}, points = {{3.25, 10}, {-1.75, 10}, {-1.75, -30}, {2.25, -30}}, color = {255, 0, 255})); + connect(digitalOutput.pinConnector, arduino.boardConnector) annotation( + Line(visible = true, origin = {-10, 15}, points = {{-10, 0}, {10, 0}})); + connect(add1.u2, Reference.y) annotation( + Line(visible = true, origin = {18.5, -23}, points = {{-6.5, -8}, {1.5, -8}, {1.5, -2}, {5.5, -2}}, color = {0, 0, 127})); + connect(analogInput1.y, add1.u1) annotation( + Line(visible = true, origin = {33.506, 12}, points = {{6.494, 3}, {11.494, 3}, {11.494, -17}, {-13.506, -17}, {-13.506, -31}, {-21.506, -31}}, color = {0, 0, 127})); + connect(arduino.boardConnector, analogInput1.pinConnector) annotation( + Line(visible = true, origin = {10, 15}, 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 = "

Hardware Components Used

+
    +
  • 1 Arduino
    • +
  • 1 LM35 temperature sensor
    • +
  • 1 2N2222 transistor
    • +
  • 1 1N4001 diode
    • +
  • 1 resistor 1 kOhm
    • +
  • 1 relay 5 V
    • +
  • 1 external 5 V power source
    • +
  • 1 heater or fan
    • +
+

Description

+

This example is a simple ON/OFF controller and can be used for either heating or cooling. It uses an LM35 to read the temperature, and based on that temperature, the controller switches a relay on or off. You can attach a fan or a heater to the relay, depending on the operation you want to perform. You can find the diagram in the following figure.
Note: You need to be careful when using relays that control electrical equipment using AC voltage, because an incorrect connection may damage your board.

+

\"\"

+

The target temperature is set by a constant component. The measured temperature is subtracted from the reference in order to obtain the error. The error signal is fed into the hysteresis component, which will send a Boolean signal to control the relay. If you want cooling instead of heating, you need to invert the logic of this signal.

"), + Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); + end SimpleONOFF; + + model UsingArduinoLeonardo "Basic example of blinking an LED" + extends OpenModelicaEmbedded.Examples.BlinkLed(redeclare OpenModelicaEmbedded.Boards.ArduinoLeonardo arduino); + annotation( + experiment(StopTime = 10, Interval = 0.001, __Wolfram_SynchronizeWithRealTime = true), + Documentation(info = "

Hardware Components Used 

+
    +
  • 1 Arduino Leonardo board
    • +
  • 1 LED (optional)
    • +
  • 1 resistor 680 ohms (optional)
    • +
+

Description

+

This example shows how the + Blink Led can be used with an Arduino Leonardo.

", revisions = "")); + end UsingArduinoLeonardo; + + + + + model UsingCustomBoard "Using a Firmata-compatible board" + extends Modelica.Icons.Example; + Modelica.Blocks.Sources.BooleanPulse booleanPulse(period = 1) annotation( + Placement(visible = true, transformation(origin = {-30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Pins.DigitalOutput digitalOutput(Pin = 13) annotation( + Placement(visible = true, transformation(origin = {-0, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Boards.CustomFirmata customFirmata(Port = "COM1", BaudRate = 115200, UpdatePeriod = 0.001) annotation( + Placement(visible = true, transformation(origin = {30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-30, 30}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + equation + connect(digitalOutput.pinConnector, customFirmata.boardConnector) annotation( + Line(visible = true, origin = {20, -10}, points = {{-10, 0}, {10, -0}})); + connect(booleanPulse.y, digitalOutput.u) annotation( + Line(visible = true, origin = {-14.5, -10}, points = {{-4.5, 0}, {4.5, 0}}, color = {255, 0, 255})); + 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 = "

Hardware Components Used

+

- 1 Teensy 3.1 board

+

Description

+

This example shows how to use a board with a custom version of Firmata. The Teensy board works perfectly with the StandardFirmata, but in this example it is modified in order get a faster data transfer speed.

+

\"\"

+


The main difference of the CustomFirmata component is that it allows you to set the baud rate to the sampling interval that you want to use. In this case the oce of the StandardFirmata is modified to use a baud rate of 115200. You can perform this modification in the source code. Search for the line:

+

Firmata.Begin(57600);

+

and changing it to

+

Firmata.Begin(115200);

+

This initializes the serial port at the given speed. The next change that you can make is reducing the minimum sampling interval. You can find this tweak by searching in the code the text:

+

#define MINIMUM_SAMPLING_INTERVAL 10

+

and changing it to

+

#define MINIMUM_SAMPLING_INTERVAL 1

+

This changes the sampling interval limit from 10 ms to 1ms. You have to consider that this change is possible because the Teensy board can run up to 96 MHz. If you change the sampling interval, it is necessary to change the simulation setting in SimulationCenter to 1 ms, as shown in the following figure.

+

\"\"

", revisions = ""), + Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); + end UsingCustomBoard; + + model UsingStandardFirmata "Using a standard Firmata board" + extends Modelica.Icons.Example; + Boards.StandardFirmata standardFirmata(Port = "COM1", ShowPinCapabilities = true) annotation( + Placement(visible = true, transformation(origin = {30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput(Pin = 13) annotation( + Placement(visible = true, transformation(origin = {-0, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.BooleanPulse booleanPulse(period = 1) annotation( + Placement(visible = true, transformation(origin = {-30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-35, 40}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + equation + connect(digitalOutput.pinConnector, standardFirmata.boardConnector) annotation( + Line(visible = true, origin = {20, -10}, points = {{-10, 0}, {10, 0}}, color = {72, 73, 79})); + connect(booleanPulse.y, digitalOutput.u) annotation( + Line(visible = true, origin = {-14.5, -10}, points = {{-4.5, 0}, {4.5, 0}}, color = {255, 0, 255})); + annotation( + experiment(StopTime = 10, 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 = "

Hardware Components Used

+
    +
  • Any board with standard Firmata (this example uses the Teensy board)
    • +
  • 1 LED (optional)
    • +
  • 1 resistor 680 ohms (optional)
    • +
+

Description

+

This example uses the DigitalOutput component to control the LED attached to a standard Firmata board on pin 13. It uses a BooleanPulse from the Modelica library to produce an On/Off signal that is fed into the DigitalOutput component. This will make the LED attached to the pin blink.

+

You can go ahead and add more LEDs to the board as shown in the following figure. This will require you to add one more DigitalOutput component to control the LED on pin 9.

+

\"\"

", revisions = ""), + Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); + end UsingStandardFirmata; + + model DCMotorWithPWM + extends Modelica.Icons.Example; + OpenModelicaEmbedded.Boards.customBoard customBoard1(BoardName = "Arduino UNO", Port = "/dev/ttyACM0") annotation( + 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))); + OpenModelicaEmbedded.Pins.AnalogOutput analogOutput1(MaxValue = 255, Pin = 30) annotation( + Placement(visible = true, transformation(origin = {-57, 29}, extent = {{-15, -15}, {15, 15}}, rotation = 0))); + OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput1(Pin = 8) annotation( + Placement(visible = true, transformation(origin = {-45, -23}, extent = {{-13, -13}, {13, 13}}, rotation = 90))); + OpenModelicaEmbedded.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))); + OpenModelicaEmbedded.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( + Line(points = {{-42, 74}, {-20, 74}, {-20, 52}, {-90, 52}, {-90, 28}, {-72, 28}, {-72, 30}}, color = {0, 0, 127})); + connect(analogInput1.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{-70, 74}, {-88, 74}, {-88, 92}, {12, 92}, {12, 30}, {14, 30}})); + connect(digitalOutput1.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{-45, -10}, {-44.75, -10}, {-44.75, -2}, {14, -2}, {14, 30}})); + connect(booleanConstant1.y, digitalOutput1.u) annotation( + Line(points = {{-58, -70}, {-46, -70}, {-46, -36}, {-45, -36}}, color = {255, 0, 255})); + connect(booleanConstant2.y, digitalOutput2.u) annotation( + Line(points = {{26, -74}, {50, -74}, {50, -40}, {49, -40}, {49, -38}, {50, -38}}, color = {255, 0, 255})); + connect(digitalOutput2.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{50, -18}, {50, 30}, {14, 30}})); + connect(analogOutput1.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{-42, 30}, {13, 30}, {13, 29}})); + annotation( + uses(OpenModelicaEmbedded(version = "1.2"), Modelica(version = "3.2.2"), Modelica_DeviceDrivers(version = "1.5.0"))); + end DCMotorWithPWM; + + model DCMotorWithPID + extends Modelica.Icons.Example; + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1(priority = "High", setPriority = true) annotation( + Placement(visible = true, transformation(origin = {92, 88}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Mechanics.Rotational.Components.Inertia inertia1(J = 1, a(start = 0), phi(start = 0), w(start = 0)) annotation( + Placement(visible = true, transformation(origin = {-22, -86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Mechanics.Rotational.Components.Inertia inertia2(J = 1, a(start = 0), phi(start = 0), w(start = 0)) annotation( + Placement(visible = true, transformation(origin = {56, -86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Mechanics.Rotational.Components.SpringDamper springDamper1(c = 20, d = 10, phi_rel0 = 0) annotation( + Placement(visible = true, transformation(origin = {16, -86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Mechanics.Rotational.Sources.Torque torque1 annotation( + Placement(visible = true, transformation(origin = {-64, -86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Mechanics.Rotational.Sources.ConstantTorque constantTorque1(tau_constant = 10) annotation( + Placement(visible = true, transformation(origin = {98, -86}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Mechanics.Rotational.Sensors.SpeedSensor speedSensor1 annotation( + Placement(visible = true, transformation(origin = {88, -36}, extent = {{-10, -10}, {10, 10}}, rotation = 90))); + OpenModelicaEmbedded.Boards.CustomFirmata customFirmata1(BaudRate = 57600, Port = "/dev/ttyACM0", ShowPinCapabilities = true, UpdatePeriod = 0.02, UseDTR = true) annotation( + Placement(visible = true, transformation(origin = {-10, 4}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaEmbedded.Pins.AnalogOutput analogOutput1(MaxValue = 512, MinValue = -512, Pin = 5) annotation( + Placement(visible = true, transformation(origin = {46, 2}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + OpenModelicaEmbedded.Pins.AnalogInput analogInput1(InitValue = 0, MaxValue = 512, MinValue = -512, Pin = 15) annotation( + Placement(visible = true, transformation(origin = {-64, 2}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + OpenModelicaEmbedded.Pins.AnalogOutput analogOutput2(MaxValue = 512, MinValue = -512, Pin = 6) annotation( + Placement(visible = true, transformation(origin = {-54, 58}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.Sine sine1(amplitude = 512, freqHz = 0.5) annotation( + Placement(visible = true, transformation(origin = {-122, 58}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + equation + connect(sine1.y, analogOutput2.u) annotation( + Line(points = {{-110, 58}, {-64, 58}, {-64, 58}, {-64, 58}}, color = {0, 0, 127})); + connect(analogOutput2.pinConnector, customFirmata1.boardConnector) annotation( + Line(points = {{-44, 58}, {-10, 58}, {-10, 4}})); + connect(analogInput1.y, torque1.tau) annotation( + Line(points = {{-74, 2}, {-84, 2}, {-84, 2}, {-94, 2}, {-94, -86}, {-76, -86}}, color = {0, 0, 127})); + connect(analogInput1.pinConnector, customFirmata1.boardConnector) annotation( + Line(points = {{-54, 2}, {-10, 2}, {-10, 4}})); + connect(speedSensor1.w, analogOutput1.u) annotation( + Line(points = {{88, -25}, {89, -25}, {89, -23}, {88, -23}, {88, 3}, {56, 3}, {56, 1}}, color = {0, 0, 127})); + connect(analogOutput1.pinConnector, customFirmata1.boardConnector) annotation( + Line(points = {{36, 2}, {35.5, 2}, {35.5, 2}, {35, 2}, {35, 4}, {-10, 4}})); + connect(speedSensor1.flange, constantTorque1.flange) annotation( + Line(points = {{88, -46}, {88, -86}})); + connect(inertia2.flange_b, constantTorque1.flange) annotation( + Line(points = {{66, -86}, {88, -86}, {88, -86}, {88, -86}, {88, -86}, {88, -86}})); + connect(torque1.flange, inertia1.flange_a) annotation( + Line(points = {{-54, -86}, {-37, -86}, {-37, -86}, {-32, -86}, {-32, -86}, {-31, -86}, {-31, -86}, {-32, -86}})); + connect(springDamper1.flange_b, inertia2.flange_a) annotation( + Line(points = {{26, -86}, {36, -86}, {36, -86}, {46, -86}, {46, -86}, {46, -86}})); + connect(inertia1.flange_b, springDamper1.flange_a) annotation( + Line(points = {{-12, -86}, {-3, -86}, {-3, -86}, {6, -86}, {6, -86}, {6, -86}})); + annotation( + uses(OpenModelicaEmbedded(version = "1.2"), Modelica(version = "3.2.2"), Modelica_DeviceDrivers(version = "1.5.0"))); + end DCMotorWithPID; + annotation( + Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5}))); + end Examples; + + + package Internal "Internal classes that should not be used directly by the user" + extends Modelica.Icons.Package; + + package Icons "Icons used in ModelPlug" + extends Modelica.Icons.IconsPackage; + + partial model Block "Icon for blocks" + annotation( + experiment(NumberOfIntervals = -1), + preferredView = "icon", + Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(visible = true, fillColor = {128, 128, 128}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -80}, {100, 80}}, radius = 40), Rectangle(visible = true, origin = {5, -5}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-95, -75}, {95, 75}}, radius = 40), Rectangle(visible = true, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -70}, {90, 70}}, radius = 30)}), + Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5}))); + end Block; + annotation( + Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5}))); + end Icons; + + package ExternalFunctions "External functions used to communicate with the boards" + extends Modelica.Icons.Package; + + function readAnalogPin + input Integer pin; + input Real min; + input Real max; + input Real init; + input Integer board; + input Integer adcResolution; + output Real value; + + external "C" value = readAnalogPin(pin, min, max, init, board, adcResolution) annotation( + Include = "#include \"modelPlugFirmata.h\"", + Library = "modelPlugFirmata", + IncludeDirectory = "modelica://OpenModelicaEmbedded/Resources/Include", + LibraryDirectory = "modelica://OpenModelicaEmbedded/Resources/Library"); + end readAnalogPin; + + class FirmataBoardObject + extends ExternalObject; + + function constructor "Function that call the external constructor" + input String port; + input Boolean showCapabilities; + input Integer samplingMs; + input Integer BaudRate; + input Boolean UseDTR; + output FirmataBoardObject board; + + external "C" board = boardConstructor(port, showCapabilities, samplingMs, BaudRate, UseDTR) annotation( + Include = "#include \"modelPlugFirmata.h\"", + Library = "modelPlugFirmata", + IncludeDirectory = "modelica://OpenModelicaEmbedded/Resources/Include", + LibraryDirectory = "modelica://OpenModelicaEmbedded/Resources/Library"); + end constructor; + + function destructor "Function to destroy the object" + input FirmataBoardObject board; + + external "C" boardDestructor(board) annotation( + Include = "#include \"modelPlugFirmata.h\"", + Library = "modelPlugFirmata", + IncludeDirectory = "modelica://OpenModelicaEmbedded/Resources/Include", + LibraryDirectory = "modelica://OpenModelicaEmbedded/Resources/Library"); + end destructor; + end FirmataBoardObject; + + function getBoardId + input FirmataBoardObject board; + output Integer id; + + external "C" id = getBoardId(board) annotation( + Include = "#include \"modelPlugFirmata.h\"", + Library = "modelPlugFirmata", + IncludeDirectory = "modelica://OpenModelicaEmbedded/Resources/Include", + LibraryDirectory = "modelica://OpenModelicaEmbedded/Resources/Library"); + end getBoardId; + + function readDigitalPin + input Integer pin; + input Boolean init; + input Integer board; + output Boolean value; + + external "C" value = readDigitalPin(pin, init, board) annotation( + Include = "#include \"modelPlugFirmata.h\"", + Library = "modelPlugFirmata", + IncludeDirectory = "modelica://OpenModelicaEmbedded/Resources/Include", + LibraryDirectory = "modelica://OpenModelicaEmbedded/Resources/Library"); + end readDigitalPin; + + function writeAnalogPin + input Integer pin; + input Integer board; + input Real value; + + external "C" writeAnalogPin(pin, board, value) annotation( + Include = "#include \"modelPlugFirmata.h\"", + Library = "modelPlugFirmata", + IncludeDirectory = "modelica://OpenModelicaEmbedded/Resources/Include", + LibraryDirectory = "modelica://OpenModelicaEmbedded/Resources/Library"); + end writeAnalogPin; + + function writeDigitalPin + input Integer pin; + input Integer board; + input Boolean value; + + external "C" writeDigitalPin(pin, board, value) annotation( + Include = "#include \"modelPlugFirmata.h\"", + Library = "modelPlugFirmata", + IncludeDirectory = "modelica://OpenModelicaEmbedded/Resources/Include", + LibraryDirectory = "modelica://OpenModelicaEmbedded/Resources/Library"); + end writeDigitalPin; + + function updateBoard + input Integer board; + + external "C" updateBoard(board) annotation( + Include = "#include \"modelPlugFirmata.h\"", + Library = "modelPlugFirmata", + IncludeDirectory = "modelica://OpenModelicaEmbedded/Resources/Include", + LibraryDirectory = "modelica://OpenModelicaEmbedded/Resources/Library"); + end updateBoard; + + function writeServoPin + input Integer pin; + input Integer board; + input Real value; + input Integer MinPulse; + input Integer MaxPulse; + + external "C" writeServoPin(pin, board, value, MinPulse, MaxPulse) annotation( + Include = "#include \"modelPlugFirmata.h\"", + Library = "modelPlugFirmata", + IncludeDirectory = "modelica://OpenModelicaEmbedded/Resources/Include", + LibraryDirectory = "modelica://OpenModelicaEmbedded/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; + + package Types "Type and unit definitions" + extends Modelica.Icons.TypesPackage; + type ServoUnit = enumeration(None, Degrees, Radians); + type SerialPort = String annotation( + Dialog(__Wolfram_serialPortSelector = true)); + annotation( + Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5}))); + end Types; + + package Interfaces "Package with connectors and partial models" + extends Modelica.Icons.InterfacesPackage; + connector BoardConnector = output Integer annotation( + Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Ellipse(visible = true, origin = {-0, 0.74}, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-10, -9.26}, {10, 9.26}})}), + Diagram(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Ellipse(visible = true, origin = {-0, 0.74}, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-10, -9.26}, {10, 9.26}})})); + connector PinConnector = input Integer annotation( + Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Ellipse(visible = true, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -100}, {100, 100}}), Ellipse(visible = true, fillColor = {128, 128, 128}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-70, -70}, {70, 70}})}), + Diagram(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Ellipse(visible = true, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -100}, {100, 100}}), Ellipse(visible = true, fillColor = {128, 128, 128}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-70, -70}, {70, 70}})})); + end Interfaces; + annotation( + Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(visible = true, origin = {1.383, -4.142}, rotation = 45, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-15, 93.333}, {-15, 68.333}, {0, 58.333}, {15, 68.333}, {15, 93.333}, {20, 93.333}, {25, 83.333}, {25, 58.333}, {10, 43.333}, {10, -41.667}, {25, -56.667}, {25, -76.667}, {10, -91.667}, {0, -91.667}, {0, -81.667}, {5, -81.667}, {15, -71.667}, {15, -61.667}, {5, -51.667}, {-5, -51.667}, {-15, -61.667}, {-15, -71.667}, {-5, -81.667}, {0, -81.667}, {0, -91.667}, {-10, -91.667}, {-25, -76.667}, {-25, -56.667}, {-10, -41.667}, {-10, 43.333}, {-25, 58.333}, {-25, 83.333}, {-20, 93.333}}), Polygon(visible = true, origin = {10.102, 5.218}, rotation = -45, fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, points = {{-15, 87.273}, {15, 87.273}, {20, 82.273}, {20, 27.273}, {10, 17.273}, {10, 7.273}, {20, 2.273}, {20, -2.727}, {5, -2.727}, {5, -77.727}, {10, -87.727}, {5, -112.727}, {-5, -112.727}, {-10, -87.727}, {-5, -77.727}, {-5, -2.727}, {-20, -2.727}, {-20, 2.273}, {-10, 7.273}, {-10, 17.273}, {-20, 27.273}, {-20, 82.273}})})); + end Internal; + + + + package ArduinoExamples + extends Modelica.Icons.ExamplesPackage; + + package Led + extends Modelica.Icons.ExamplesPackage; + + model ex1_led_blue + extends Modelica.Icons.Example; + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-60, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput1(Pin = 9) annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica.Blocks.Sources.BooleanConstant booleanConstant1(k = true) annotation( + Placement(visible = true, transformation(origin = {-60, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Boards.customBoard customBoard1(BoardName = "Arduino UNO", Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {61, -21}, extent = {{-21, -21}, {21, 21}}, rotation = 0))); + equation + connect(digitalOutput1.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{20, -20}, {60, -20}, {60, -20}, {62, -20}})); + connect(booleanConstant1.y, digitalOutput1.u) annotation( + Line(points = {{-38, -20}, {-20, -20}, {-20, -20}, {-20, -20}}, color = {255, 0, 255})); + end ex1_led_blue; + + + + + + + + model ex2_led_blue_delay + extends Modelica.Icons.Example; + OpenModelicaEmbedded.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {60, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput1(Pin = 9) annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1(enableRealTimeScaling = false) annotation( + Placement(visible = true, transformation(origin = {-60, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica.Blocks.Sources.BooleanPulse booleanPulse1(period = 20, startTime = 5, width = 10) annotation( + Placement(visible = true, transformation(origin = {-60, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + connect(booleanPulse1.y, digitalOutput1.u) annotation( + Line(points = {{-38, -20}, {-20, -20}, {-20, -20}, {-20, -20}}, color = {255, 0, 255})); + connect(digitalOutput1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{20, -20}, {60, -20}, {60, -20}, {60, -20}})); + end ex2_led_blue_delay; + + model ex3_led_blue_red + extends Modelica.Icons.Example; + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-60, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput1(Pin = 9) annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput2(Pin = 11) annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, -60}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica.Blocks.Sources.BooleanPulse booleanPulse1(period = 20, startTime = 5, width = 25) annotation( + Placement(visible = true, transformation(origin = {-60, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica.Blocks.Sources.BooleanPulse booleanPulse2(period = 20, startTime = 5, width = 40) annotation( + Placement(visible = true, transformation(origin = {-60, -60}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaEmbedded.Boards.customBoard customBoard1(BoardName = "Arduino UNO", Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {60, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + connect(digitalOutput1.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{20, 0}, {60, 0}, {60, -20}, {60, -20}})); + connect(digitalOutput2.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{20, -60}, {60, -60}, {60, -20}, {60, -20}})); + connect(booleanPulse2.y, digitalOutput2.u) annotation( + Line(points = {{-38, -60}, {-20, -60}, {-20, -60}, {-20, -60}}, color = {255, 0, 255})); + connect(booleanPulse1.y, digitalOutput1.u) annotation( + Line(points = {{-38, 0}, {-20, 0}, {-20, 0}, {-20, 0}}, color = {255, 0, 255})); + end ex3_led_blue_red; + + model ex4_led_blink + extends Modelica.Icons.Example; + OpenModelicaEmbedded.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {42, -6}, extent = {{-14, -14}, {14, 14}}, rotation = 0))); + OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput1(Pin = 10) annotation( + Placement(visible = true, transformation(origin = {-9, -7}, extent = {{-13, -13}, {13, 13}}, rotation = 0))); + Modelica.Blocks.Sources.BooleanPulse booleanPulse1(period = 2, startTime = 4, width = 50) annotation( + Placement(visible = true, transformation(origin = {-68, -12}, extent = {{-14, -14}, {14, 14}}, rotation = 0))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-19, 51}, extent = {{-13, -13}, {13, 13}}, rotation = 0))); + equation + connect(booleanPulse1.y, digitalOutput1.u) annotation( + Line(points = {{-53, -12}, {-24, -12}, {-24, -7}, {-22, -7}}, color = {255, 0, 255})); + connect(digitalOutput1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{4, -7}, {22, -7}, {22, -6}, {42, -6}})); + annotation( + uses(OpenModelicaEmbedded(version = "1.2"), Modelica(version = "3.2.2"), Modelica_DeviceDrivers(version = "1.5.0"))); + end ex4_led_blink; + end Led; + + package Push_button + extends Modelica.Icons.ExamplesPackage; + + model ex1_push_button_status + 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))); + OpenModelicaEmbedded.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {-60, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaEmbedded.Pins.DigitalInput digitalInput1(Pin = 12) annotation( + Placement(visible = true, transformation(origin = {0, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica.Blocks.Interaction.Show.BooleanValue booleanValue1 annotation( + Placement(visible = true, transformation(origin = {80, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + connect(digitalInput1.y, booleanValue1.activePort) annotation( + Line(points = {{20, 0}, {54, 0}, {54, 0}, {58, 0}}, color = {255, 0, 255})); + connect(arduino1.boardConnector, digitalInput1.pinConnector) annotation( + Line(points = {{-60, 0}, {-20, 0}})); + Modelica.Utilities.Streams.print(String(booleanValue1.activePort)); + end ex1_push_button_status; + + model ex2_led_push_button + extends Modelica.Icons.Example; + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-60, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput1(Pin = 9) annotation( + Placement(visible = true, transformation(origin = {-60, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaEmbedded.Pins.DigitalInput digitalInput1(Pin = 12) annotation( + Placement(visible = true, transformation(origin = {62, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaEmbedded.Boards.customBoard customBoard1(BoardName = "Arduino UNO", Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + connect(customBoard1.boardConnector, digitalInput1.pinConnector) annotation( + Line(points = {{0, 0}, {44, 0}, {44, 0}, {42, 0}})); + connect(digitalOutput1.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{-40, 0}, {0, 0}, {0, 0}, {0, 0}})); + connect(digitalInput1.y, digitalOutput1.u) annotation( + Line(points = {{82, 0}, {94, 0}, {94, -40}, {-92, -40}, {-92, 0}, {-80, 0}, {-80, 0}}, color = {255, 0, 255})); + end ex2_led_push_button; + end Push_button; + + package Ldr + extends Modelica.Icons.ExamplesPackage; + + model ex1_ldr_read + extends Modelica.Icons.Example; + OpenModelicaEmbedded.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {-60, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaEmbedded.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))); + Modelica.Blocks.Interaction.Show.RealValue realValue1(use_numberPort = true) annotation( + Placement(visible = true, transformation(origin = {60, -8.88178e-16}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + connect(analogInput1.y, realValue1.numberPort) annotation( + Line(points = {{20, 0}, {37, 0}}, color = {0, 0, 127})); + connect(arduino1.boardConnector, analogInput1.pinConnector) annotation( + Line(points = {{-60, 0}, {-20, 0}, {-20, 0}, {-20, 0}})); + Modelica.Utilities.Streams.print(String(realValue1.numberPort)); + annotation( + uses(Modelica(version = "3.2.2"))); + end ex1_ldr_read; + + model ex2_ldr_led + extends Modelica.Icons.Example; + OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput1(Pin = 9) annotation( + Placement(visible = true, transformation(origin = {-60, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaEmbedded.Pins.AnalogInput analogInput1(MaxValue = 1023, MinValue = 0, Pin = 19) annotation( + Placement(visible = true, transformation(origin = {60, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-70, 68}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.Constant const(k = 300) annotation( + Placement(visible = true, transformation(origin = {60, -70}, extent = {{20, -20}, {-20, 20}}, rotation = 0))); + Modelica.Blocks.Logical.Less less1 annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, -40}, extent = {{20, -20}, {-20, 20}}, rotation = 0))); + OpenModelicaEmbedded.Boards.customBoard customBoard1(BoardName = "Arduino UNO", Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + connect(customBoard1.boardConnector, analogInput1.pinConnector) annotation( + Line(points = {{0, 20}, {40, 20}, {40, 20}, {40, 20}})); + connect(digitalOutput1.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{-40, 20}, {0, 20}, {0, 20}, {0, 20}})); + connect(const.y, less1.u2) annotation( + Line(points = {{38, -70}, {32, -70}, {32, -56}, {24, -56}}, color = {0, 0, 127})); + connect(less1.y, digitalOutput1.u) annotation( + Line(points = {{-22, -40}, {-92, -40}, {-92, 20}, {-80, 20}}, color = {255, 0, 255})); + connect(analogInput1.y, less1.u1) annotation( + Line(points = {{80, 20}, {90, 20}, {90, -40}, {24, -40}}, color = {0, 0, 127})); + end ex2_ldr_led; + end Ldr; + + package DC_motor + extends Modelica.Icons.ExamplesPackage; + + model ex1_dcmotor_clock + extends Modelica.Icons.Example; + OpenModelicaEmbedded.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {60, 4.21885e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaEmbedded.Pins.AnalogOutput analogOutput1(MaxValue = 255, MinValue = 0, Pin = 9) annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaEmbedded.Pins.AnalogOutput analogOutput2(MaxValue = 255, MinValue = 0, Pin = 10) annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, -40}, 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))); + Modelica.Blocks.Sources.Constant const(k = 0) annotation( + Placement(visible = true, transformation(origin = {-60, -40}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica.Blocks.Sources.Pulse pulse1(amplitude = 255, period = 20, startTime = 5, width = 15) annotation( + Placement(visible = true, transformation(origin = {-60, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + connect(analogOutput2.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{20, -40}, {60, -40}, {60, 0}, {60, 0}})); + connect(analogOutput1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{20, 20}, {60, 20}, {60, 0}, {60, 0}, {60, 0}})); + connect(const.y, analogOutput2.u) annotation( + Line(points = {{-38, -40}, {-22, -40}, {-22, -40}, {-20, -40}}, color = {0, 0, 127})); + connect(pulse1.y, analogOutput1.u) annotation( + Line(points = {{-38, 20}, {-22, 20}, {-22, 20}, {-20, 20}}, color = {0, 0, 127})); + end ex1_dcmotor_clock; + + model ex2_dcmotor_both + extends Modelica.Icons.Example; + OpenModelicaEmbedded.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {60, 4.21885e-15}, 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))); + OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput1(Pin = 8) annotation( + Placement(visible = true, transformation(origin = {1.33227e-15, 26}, extent = {{-14, -14}, {14, 14}}, rotation = 0))); + OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput2(Pin = 9) annotation( + Placement(visible = true, transformation(origin = {4, -40}, extent = {{-14, -14}, {14, 14}}, rotation = 0))); + Modelica.Blocks.Sources.BooleanPulse booleanPulse1(period = 20) annotation( + Placement(visible = true, transformation(origin = {-65, 25}, extent = {{-13, -13}, {13, 13}}, rotation = 0))); + Modelica.Blocks.Sources.BooleanPulse booleanPulse2(period = 20, startTime = 10) annotation( + Placement(visible = true, transformation(origin = {-60, -40}, extent = {{-14, -14}, {14, 14}}, rotation = 0))); + equation + connect(booleanPulse1.y, digitalOutput1.u) annotation( + Line(points = {{-50, 26}, {-14, 26}}, color = {255, 0, 255})); + connect(digitalOutput1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{14, 26}, {60, 26}, {60, 0}})); + connect(booleanPulse2.y, digitalOutput2.u) annotation( + Line(points = {{-44, -40}, {-10, -40}}, color = {255, 0, 255})); + connect(digitalOutput2.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{18, -40}, {60, -40}, {60, 0}})); + end ex2_dcmotor_both; + + model ex3_dcmotor_loop + extends Modelica.Icons.Example; + OpenModelicaEmbedded.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {60, 4.21885e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaEmbedded.Pins.AnalogOutput analogOutput1(MaxValue = 255, MinValue = 0, Pin = 9) annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, 18}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaEmbedded.Pins.AnalogOutput analogOutput2(MaxValue = 255, MinValue = 0, Pin = 10) annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, -40}, 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))); + Modelica.Blocks.Sources.Pulse pulse1(amplitude = 255, period = 10, startTime = 5, width = 30) annotation( + Placement(visible = true, transformation(origin = {-60, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica.Blocks.Sources.Pulse pulse2(amplitude = 255, period = 10, startTime = 10, width = 20) annotation( + Placement(visible = true, transformation(origin = {-60, -40}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + connect(pulse1.y, analogOutput1.u) annotation( + Line(points = {{-38, 20}, {-20, 20}, {-20, 18}}, color = {0, 0, 127})); + connect(analogOutput1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{20, 18}, {20, 39}, {60, 39}, {60, 0}})); + connect(pulse2.y, analogOutput2.u) annotation( + Line(points = {{-38, -40}, {-20, -40}, {-20, -40}, {-20, -40}}, color = {0, 0, 127})); + connect(analogOutput2.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{20, -40}, {60, -40}, {60, 0}, {60, 0}})); + end ex3_dcmotor_loop; + end DC_motor; + + package Potentiometer + extends Modelica.Icons.ExamplesPackage; + + model ex1_pot_threshold + extends Modelica.Icons.Example; + OpenModelicaEmbedded.Pins.AnalogInput analogInput1(MaxValue = 1023, MinValue = 0, Pin = 23, adcResolution = 12) annotation( + Placement(visible = true, transformation(origin = {28, 50}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput1(Pin = 9) annotation( + Placement(visible = true, transformation(origin = {-50, 90}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {70, 70}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput2(Pin = 10) annotation( + Placement(visible = true, transformation(origin = {-50, 50}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Logical.GreaterEqualThreshold greaterEqualThreshold1(threshold = 0) annotation( + Placement(visible = true, transformation(origin = {70, 10}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Logical.GreaterEqualThreshold greaterEqualThreshold2(threshold = 320) annotation( + Placement(visible = true, transformation(origin = {70, -30}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Logical.GreaterEqualThreshold greaterEqualThreshold3(threshold = 900) annotation( + Placement(visible = true, transformation(origin = {70, -70}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Logical.Xor xor1 annotation( + Placement(visible = true, transformation(origin = {30, -10}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Logical.Xor xor2 annotation( + Placement(visible = true, transformation(origin = {30, -50}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput3(Pin = 11) annotation( + Placement(visible = true, transformation(origin = {-50, 10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaEmbedded.Boards.customBoard customBoard1(BoardName = "Arduino UNO", Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {-10, 50}, extent = {{-14, -14}, {14, 14}}, rotation = 0))); + equation + connect(analogInput1.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{18, 50}, {-10, 50}})); + connect(digitalOutput1.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{-40, 90}, {-10, 90}, {-10, 50}})); + connect(digitalOutput2.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{-40, 50}, {-10, 50}})); + connect(digitalOutput3.pinConnector, customBoard1.boardConnector) annotation( + Line(points = {{-40, 10}, {-10, 10}, {-10, 50}})); + connect(xor1.y, digitalOutput3.u) annotation( + Line(points = {{20, -10}, {-72, -10}, {-72, 10}, {-60, 10}, {-60, 10}}, color = {255, 0, 255})); + connect(xor2.y, digitalOutput2.u) annotation( + Line(points = {{20, -50}, {-80, -50}, {-80, 50}, {-60, 50}, {-60, 50}}, color = {255, 0, 255})); + connect(greaterEqualThreshold3.y, digitalOutput1.u) annotation( + Line(points = {{60, -70}, {-90, -70}, {-90, 90}, {-60, 90}, {-60, 90}}, color = {255, 0, 255})); + connect(greaterEqualThreshold3.y, xor2.u2) annotation( + Line(points = {{60, -70}, {52, -70}, {52, -58}, {42, -58}, {42, -58}, {42, -58}}, color = {255, 0, 255})); + connect(greaterEqualThreshold2.y, xor2.u1) annotation( + Line(points = {{60, -30}, {52, -30}, {52, -50}, {42, -50}, {42, -50}}, color = {255, 0, 255})); + connect(greaterEqualThreshold2.y, xor1.u2) annotation( + Line(points = {{60, -30}, {52, -30}, {52, -18}, {42, -18}, {42, -18}}, color = {255, 0, 255})); + connect(greaterEqualThreshold1.y, xor1.u1) annotation( + Line(points = {{60, 10}, {50, 10}, {50, -10}, {42, -10}, {42, -10}}, color = {255, 0, 255})); + connect(analogInput1.y, greaterEqualThreshold1.u) annotation( + Line(points = {{38, 50}, {94, 50}, {94, 10}, {82, 10}, {82, 10}}, color = {0, 0, 127})); + connect(analogInput1.y, greaterEqualThreshold2.u) annotation( + Line(points = {{38, 50}, {94, 50}, {94, -30}, {82, -30}, {82, -30}, {82, -30}}, color = {0, 0, 127})); + connect(analogInput1.y, greaterEqualThreshold3.u) annotation( + Line(points = {{38, 50}, {94, 50}, {94, -70}, {82, -70}, {82, -70}}, color = {0, 0, 127})); + annotation( + uses(OpenModelicaEmbedded(version = "1.2"))); + end ex1_pot_threshold; + end Potentiometer; + + package Thermistor + extends Modelica.Icons.ExamplesPackage; + + model ex1_therm_read + extends Modelica.Icons.Example; + OpenModelicaEmbedded.Pins.AnalogInput analogInput1(MaxValue = 1023, MinValue = 0, Pin = 18) 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))); + OpenModelicaEmbedded.Boards.customBoard customBoard1(BoardName = "Arduino UNO", Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {-59, -1}, extent = {{-21, -21}, {21, 21}}, rotation = 0))); + equation + connect(customBoard1.boardConnector, analogInput1.pinConnector) annotation( + Line(points = {{-58, 0}, {-20, 0}, {-20, 0}, {-20, 0}})); + Modelica.Utilities.Streams.print(String(analogInput1.y)); + end ex1_therm_read; + + model ex2_therm_buzzer + extends Modelica.Icons.Example; + OpenModelicaEmbedded.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput1(Pin = 3) annotation( + Placement(visible = true, transformation(origin = {-60, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaEmbedded.Pins.AnalogInput analogInput1(MaxValue = 1023, MinValue = 0, Pin = 18) annotation( + Placement(visible = true, transformation(origin = {60, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {-70, 68}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.Constant const(k = 500) annotation( + Placement(visible = true, transformation(origin = {60, -70}, extent = {{20, -20}, {-20, 20}}, rotation = 0))); + Modelica.Blocks.Logical.Greater greater1 annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, -40}, extent = {{20, -20}, {-20, 20}}, rotation = 0))); + Modelica.Blocks.Interaction.Show.RealValue realValue1 annotation( + Placement(visible = true, transformation(origin = {40, 60}, extent = {{20, -20}, {-20, 20}}, rotation = 0))); + equation + connect(analogInput1.y, realValue1.numberPort) annotation( + Line(points = {{80, 20}, {90, 20}, {90, 60}, {64, 60}, {64, 60}}, color = {0, 0, 127})); + connect(greater1.y, digitalOutput1.u) annotation( + Line(points = {{-22, -40}, {-94, -40}, {-94, 20}, {-80, 20}, {-80, 20}}, color = {255, 0, 255})); + connect(analogInput1.y, greater1.u1) annotation( + Line(points = {{80, 20}, {92, 20}, {92, -40}, {24, -40}, {24, -40}}, color = {0, 0, 127})); + connect(greater1.u2, const.y) annotation( + Line(points = {{24, -56}, {32, -56}, {32, -70}, {38, -70}, {38, -70}}, color = {0, 0, 127})); + connect(arduino1.boardConnector, analogInput1.pinConnector) annotation( + Line(points = {{0, 20}, {40, 20}})); + connect(digitalOutput1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{-40, 20}, {0, 20}})); + Modelica.Utilities.Streams.print(String(realValue1.numberPort)); + annotation( + uses(Modelica(version = "3.2.2"))); + end ex2_therm_buzzer; + end Thermistor; + + package Servo_motor + extends Modelica.Icons.ExamplesPackage; + + model ex1_servo_init + 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))); + OpenModelicaEmbedded.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {78, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaEmbedded.Pins.Servo servo1(InputUnit = OpenModelicaEmbedded.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))); + equation + connect(const.y, servo1.u) annotation( + Line(points = {{-18, 20}, {-4, 20}, {-4, 20}, {0, 20}}, color = {0, 0, 127})); + connect(servo1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{40, 20}, {76, 20}, {76, 18}, {78, 18}, {78, 20}})); + annotation( + uses(Modelica_DeviceDrivers(version = "1.5.0"), OpenModelicaEmbedded(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))); + OpenModelicaEmbedded.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {78, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaEmbedded.Pins.Servo servo1(InputUnit = OpenModelicaEmbedded.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))); + Modelica.Blocks.Math.Product product1 annotation( + Placement(visible = true, transformation(origin = {-40, 1.77636e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica.Blocks.Sources.Constant const(k = 0.5) annotation( + Placement(visible = true, transformation(origin = {-80, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + equation + connect(const.y, product1.u1) annotation( + Line(points = {{-58, 60}, {-36, 60}, {-36, 24}, {-80, 24}, {-80, 10}, {-64, 10}, {-64, 12}}, color = {0, 0, 127})); + connect(pulse2.y, product1.u2) annotation( + Line(points = {{-58, -60}, {-48, -60}, {-48, -24}, {-80, -24}, {-80, -12}, {-64, -12}, {-64, -12}}, color = {0, 0, 127})); + connect(product1.y, servo1.u) annotation( + Line(points = {{-18, 0}, {0, 0}, {0, 0}, {0, 0}}, color = {0, 0, 127})); + connect(servo1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{40, 0}, {78, 0}})); + annotation( + uses(Modelica_DeviceDrivers(version = "1.5.0"), OpenModelicaEmbedded(version = "1.2"), Modelica(version = "3.2.2"))); + end ex2_servo_reverse; + + model ex3_servo_loop + 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))); + OpenModelicaEmbedded.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {78, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaEmbedded.Pins.Servo servo1(InputUnit = OpenModelicaEmbedded.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))); + Modelica.Blocks.Math.RealToInteger realToInteger1 annotation( + Placement(visible = true, transformation(origin = {-50, -70}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.Constant const(k = 0.11) annotation( + Placement(visible = true, transformation(origin = {-70, 68}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Product product1 annotation( + Placement(visible = true, transformation(origin = {-28, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.IntegerToReal integerToReal1 annotation( + Placement(visible = true, transformation(origin = {-10, -70}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + equation + connect(integerToReal1.y, product1.u2) annotation( + Line(points = {{2, -70}, {14, -70}, {14, -36}, {-56, -36}, {-56, -6}, {-40, -6}, {-40, -6}}, color = {0, 0, 127})); + connect(realToInteger1.y, integerToReal1.u) annotation( + Line(points = {{-38, -70}, {-22, -70}, {-22, -70}, {-22, -70}}, color = {255, 127, 0})); + connect(ramp1.y, realToInteger1.u) annotation( + Line(points = {{-78, -70}, {-62, -70}}, color = {0, 0, 127})); + connect(const.y, product1.u1) annotation( + Line(points = {{-58, 68}, {-52, 68}, {-52, 6}, {-40, 6}, {-40, 6}}, color = {0, 0, 127})); + connect(product1.y, servo1.u) annotation( + Line(points = {{-16, 0}, {0, 0}, {0, 0}, {0, 0}}, color = {0, 0, 127})); + connect(servo1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{40, 0}, {78, 0}})); + annotation( + uses(Modelica_DeviceDrivers(version = "1.5.0"), OpenModelicaEmbedded(version = "1.2"), Modelica(version = "3.2.2"))); + end ex3_servo_loop; + + model ex4_servo_pot + extends Modelica.Icons.Example; + OpenModelicaEmbedded.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( + Placement(visible = true, transformation(origin = {60, 3.10862e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaEmbedded.Pins.Servo servo1(InputUnit = OpenModelicaEmbedded.Internal.Types.ServoUnit.None, MaxPulse = 1000000, MinPulse = 500000, Pin = 9) annotation( + Placement(visible = true, transformation(origin = {-3.55271e-15, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + OpenModelicaEmbedded.Pins.AnalogInput analogInput1(MaxValue = 1, MinValue = 0, Pin = 16) annotation( + Placement(visible = true, transformation(origin = {-60, 3.55271e-15}, 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))); + equation + connect(analogInput1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{-80, 0}, {-92, 0}, {-92, -52}, {60, -52}, {60, 0}, {60, 0}})); + connect(servo1.pinConnector, arduino1.boardConnector) annotation( + Line(points = {{20, 0}, {62, 0}, {62, 0}, {60, 0}, {60, 0}})); + connect(analogInput1.y, servo1.u) annotation( + Line(points = {{-40, 0}, {-16, 0}, {-16, 0}, {-20, 0}}, color = {0, 0, 127})); + annotation( + uses(OpenModelicaEmbedded(version = "1.2"), Modelica_DeviceDrivers(version = "1.5.0"))); + end ex4_servo_pot; + end Servo_motor; + end ArduinoExamples; + + + annotation( + preferredView = "info", + Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5})), + Documentation(info = "

What Is ModelPlug?

+

ModelPlug is a library that allows you to connect your simulations with the real world. It uses an Arduino board (or compatible) to send analog and digital signals to physical devices and receive signals from them.

+

\"\"

+

What Can You Do with It?

+
    +
  • Interact with your model by using buttons, switches, knobs, etc.
    • +
  • Input sensor information, for example, about light, temperature, position, pressure, etc.
    • +
  • Use actuators like motors, servos, and relays.
    • +
  • Quickly prototype your system by using SystemModeler blocks.
    • +
+

 

+

With ModelPlug, you can combine simulation models and real hardware. For example, you can get data from your hardware, design a control, and test it in real time.

+

 

+

\"\"

+

 You can build a real control panel and use it to control your simulation models. 

+

\"\"

+

Overview of the Components

+

ModelPlug provides the following components:

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
  Inputs 
Analog inputReads analog values from the pins\"\" 
Digital inputReads digital values from the pins \"\"
  Output 
Analog outputWrites analog values to the pins \"\"
Digital outputWrites digital values to the pins \"\"
Servo controlWrites the angle to servo motors \"\"
  Board Handlers 
ArduinoConnects to Arduino boards like Arduino Uno, Arduino Mega 2560 \"\"
Arduino LeonardoConnects to Arduino Leonardo boards and boards using native USB \"\"
StandardFirmataConnects to Arduino-compatible boards \"\"
CustomFirmataConnects to any board supporting Firmata \"\"
+

How Does It Work?

+

ModelPlug connects with the boards using USB serial communication. In order to configure, read, and write to the board, ModelPlug uses the Firmata protocol v2.3 (http://www.firmata.org). This protocol allows you to connect not only to Arduinos, but also to many boards compatible with Arduino. Examples of other boards supporting the Firmata protocol are:

+
    +
  • Teensy Development Board: Using AVR or ARM processors
    • +
  • chipKIT: Using PIC32 processors
    • +
+

ModelPlug wraps the functionality of Firmata by providing easy-to-use Modelica models that you can connect in your simulations.

+

New in Version 1.2

+
    +
  • Allows defining initial values in AnalogInput and DigitalInput Pins
    • +
  • Improved support for Windows 10
    • +
+

Limitations

+

ModelPlug requires a board with Firmata Version 2.3 or higher.

+

Currently ModelPlug does not support sensors that communicate through I2C or SPI with the board.

+

The minimum synchronization interval is 1 ms; therefore, ModelPlug cannot have a sampling interval smaller than that. The standard Firmata allows a minimum sampling interval of 10 ms.

ModelPlug uses a serial protocol; therefore, the transfer speed is constrained by the serial port speed. This can be problematic when reading or writing too many inputs/outputs with a small sampling interval.

+

Links

+

Ask questions about SystemModeler and ModelPlug

+

http://community.wolfram.com

+

Find out how to connect sensors and actuators to the Arduino

+

http://playground.arduino.cc

+

Get details about the Firmata protocol

+

http://www.firmata.org

+

The breadboard diagrams were created using Fritzing

+

http://fritzing.org

+

 

+

 

+

 

", 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 OpenModelicaEmbedded; diff --git a/package.order b/package.order new file mode 100644 index 0000000..5c5caaf --- /dev/null +++ b/package.order @@ -0,0 +1,6 @@ +GettingStarted +Pins +Boards +Examples +Internal +ArduinoExamples -- cgit