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Arduino/Firmata device support (dotnet#1039)
* Basic firmata features Works with currently released version of ConfigurableFirmata. Should work with StandardFirmata as well. * Add analog controller base classes again Rewrote to new suggested concept with AnalogInputPin class instead of "int pinNumber" everywhere. * Sample depends on other binding Will re-add once the OpenHardwareMonitor PR is merged * Support non-continuous analog pin numbers * Remove obsolete solution configurations * Provide overload that takes a serial port name * Remove dead code * Add documentation * Update DHT protocol format. Now closer to the proposed standard at firmata/protocol@9389c89 * These should not be enabled by default * Extend Readme * Add missing copyright headers * Revert "Sample depends on other binding" This reverts commit 0f17a6c. * Merge changes from dev branch * Not yet part of project * Nullability and other fixes * Remove unused project from solution - causes weird conflicts * Ignore tests instead of failing them if no hardware is available * Documentation update * Remove stuff not yet supported from template * Fix indentation * 2-line license headers * Prevent Enable/Disable count mismatch * Change return type to immutable ReadOnlyCollection<> * Add missing headers * Simplify statement Co-authored-by: Krzysztof Wicher <[email protected]> * Add comment * Improve documentation * Add drawings of example hardware * More documentation updates * Review comments addressed * Analog interface improved (add properties, use UnitsNet, etc) * Use automatic properties * Simplify close/dispose * Add internal check * Change event type to existing type * Use correct argument * Review comments all over the place * Remove class only used for very specific testing * Update src/devices/Arduino/samples/Arduino.sample.cs Co-authored-by: Krzysztof Wicher <[email protected]> * More feedback addressed * Add a few tests * Remove overloads not currently meaningful * Automatically initialize device if it isn't yet. * Automatically call Initialize() whenever needed ... but make it protected. * Use a lock to make sure Initialize is thread safe * Use a common method for lock handling and low-level transport Except for a few special commands, a single SendCommand or SendCommandAndWait now handles the low-level communication. * Remove unused variable, fix spelling * Fix build problem with NotNullWhen attribute * Really make that Initialize call protected * Some documentation update from feedback * Update src/devices/Arduino/ArduinoGpioControllerDriver.cs Co-authored-by: Krzysztof Wicher <[email protected]> * Address review comments * A few more comments * Minor doc cleanup * Simplify init logic Co-authored-by: Krzysztof Wicher <[email protected]>
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‎src/devices/Arduino/Arduino.csproj

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<Project Sdk="Microsoft.NET.Sdk">
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‎src/devices/Arduino/Arduino.sln

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‎src/devices/Arduino/ArduinoAnalogController.cs

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// Licensed to the .NET Foundation under one or more agreements.
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// The .NET Foundation licenses this file to you under the MIT license.
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using System;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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using System.Device.Analog;
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using System.Device.Gpio;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using UnitsNet;
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namespace Iot.Device.Arduino
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{
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internal class ArduinoAnalogController : AnalogController
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{
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private readonly ArduinoBoard _board;
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private readonly IReadOnlyList<SupportedPinConfiguration> _supportedPinConfigurations;
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public ArduinoAnalogController(ArduinoBoard board,
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IReadOnlyList<SupportedPinConfiguration> supportedPinConfigurations, PinNumberingScheme scheme)
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: base(scheme)
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{
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_board = board ?? throw new ArgumentNullException(nameof(board));
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_supportedPinConfigurations = supportedPinConfigurations ?? throw new ArgumentNullException(nameof(supportedPinConfigurations));
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PinCount = _supportedPinConfigurations.Count;
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// Note: While the Arduino does have an external analog input reference pin, Firmata doesn't allow configuring it.
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VoltageReference = ElectricPotential.FromVolts(5.0);
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}
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public override int PinCount
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{
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get;
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}
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public override int ConvertPinNumberToLogicalNumberingScheme(int pinNumber)
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{
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int numberAnalogPinsFound = 0;
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for (int i = 0; i < _supportedPinConfigurations.Count; i++)
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{
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if (_supportedPinConfigurations[i].PinModes.Contains(SupportedMode.AnalogInput))
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{
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numberAnalogPinsFound++;
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if (pinNumber == i)
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{
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return numberAnalogPinsFound - 1;
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}
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}
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}
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throw new InvalidOperationException($"Pin {pinNumber} is not a valid analog input pin.");
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}
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public override int ConvertLogicalNumberingSchemeToPinNumber(int logicalPinNumber)
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{
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int numberAnalogPinsFound = 0;
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for (int i = 0; i < _supportedPinConfigurations.Count; i++)
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{
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if (_supportedPinConfigurations[i].PinModes.Contains(SupportedMode.AnalogInput))
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{
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numberAnalogPinsFound++;
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if (logicalPinNumber == numberAnalogPinsFound - 1)
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{
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return i;
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}
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}
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}
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throw new InvalidOperationException($"Pin A{logicalPinNumber} does not exist");
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}
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public override bool SupportsAnalogInput(int pinNumber)
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{
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return _supportedPinConfigurations[pinNumber].PinModes.Contains(SupportedMode.AnalogInput);
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}
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protected override AnalogInputPin OpenPinCore(int pinNumber)
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{
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// This method is called with the logical pin numbering (input pin A0 is 0, A1 is 1, etc)
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// but the SetPinMode method operates on the global numbers
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int fullNumber = ConvertLogicalNumberingSchemeToPinNumber(pinNumber);
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_board.Firmata.SetPinMode(fullNumber, SupportedMode.AnalogInput);
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_board.Firmata.EnableAnalogReporting(pinNumber);
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return new ArduinoAnalogInputPin(_board, this, _supportedPinConfigurations[fullNumber], pinNumber, VoltageReference);
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}
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public override void ClosePin(AnalogInputPin pin)
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{
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_board.Firmata.DisableAnalogReporting(pin.PinNumber);
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}
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}
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}

‎src/devices/Arduino/ArduinoAnalogInputPin.cs

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// Licensed to the .NET Foundation under one or more agreements.
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// The .NET Foundation licenses this file to you under the MIT license.
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using System;
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using System.Collections.Generic;
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using System.Device.Analog;
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using System.Device.Gpio;
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using System.Text;
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using UnitsNet;
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namespace Iot.Device.Arduino
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{
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internal class ArduinoAnalogInputPin : AnalogInputPin
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{
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private readonly SupportedPinConfiguration _configuration;
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private int _autoReportingReferenceCount;
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private ArduinoBoard _board;
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public ArduinoAnalogInputPin(ArduinoBoard board, AnalogController controller, SupportedPinConfiguration configuration,
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int pinNumber, ElectricPotential voltageReference)
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: base(controller, pinNumber, voltageReference)
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{
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_board = board;
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_configuration = configuration;
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}
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public override void EnableAnalogValueChangedEvent(GpioController? masterController, int masterPin)
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{
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// The pin is already open, so analog reporting is enabled, we just need to forward it.
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if (_autoReportingReferenceCount == 0)
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{
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_board.Firmata.AnalogPinValueUpdated += FirmataOnAnalogPinValueUpdated;
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}
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_autoReportingReferenceCount += 1;
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}
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public override void DisableAnalogValueChangedEvent()
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{
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if (_autoReportingReferenceCount == 0)
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{
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throw new InvalidOperationException("Attempt to disable event when no events are connected");
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}
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_autoReportingReferenceCount -= 1;
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if (_autoReportingReferenceCount == 0)
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{
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_board.Firmata.AnalogPinValueUpdated -= FirmataOnAnalogPinValueUpdated;
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}
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}
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private void FirmataOnAnalogPinValueUpdated(int pin, uint rawvalue)
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{
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if (_autoReportingReferenceCount > 0)
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{
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int physicalPin = Controller.ConvertLogicalNumberingSchemeToPinNumber(pin);
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var voltage = ConvertToVoltage(rawvalue);
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var message = new ValueChangedEventArgs(rawvalue, voltage, physicalPin, TriggerReason.Timed);
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FireValueChanged(message);
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}
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}
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public override ElectricPotential MinVoltage => ElectricPotential.Zero;
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/// <summary>
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/// The arduino would theoretically allow for an external analog reference, but firmata currently doesn't support that.
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/// </summary>
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public override ElectricPotential MaxVoltage => ElectricPotential.FromVolts(5);
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/// <summary>
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/// Similar here: Some boards support more than 10 bit resolution, but we'd have to extend the firmware for that.
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/// </summary>
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public override int AdcResolutionBits => 10;
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public override uint ReadRaw()
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{
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return _board.Firmata.GetAnalogRawValue(PinNumber);
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}
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}
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}

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