FRM: new module FRM_ROTENC for rotary-encoders attached to arduino

git-svn-id: https://svn.fhem.de/fhem/trunk@5074 2b470e98-0d58-463d-a4d8-8e2adae1ed80

fhem/FHEM/10_FRM.pm

@@ -323,6 +323,8 @@ sub FRM_DoInit($) {
 					$main::defs{$name}{i2c_pins} = join(",", sort{$a<=>$b}(@$i2cpins)) if (defined $i2cpins and scalar @$i2cpins);
 					my $onewirepins = $device->{metadata}{onewire_pins};
 					$main::defs{$name}{onewire_pins} = join(",", sort{$a<=>$b}(@$onewirepins)) if (defined $onewirepins and scalar @$onewirepins);
+					my $encoderpins = $device->{metadata}{encoder_pins};
+					$main::defs{$name}{encoder_pins} = join(",", sort{$a<=>$b}(@$encoderpins)) if (defined $encoderpins and scalar @$encoderpins);
 					if (defined $device->{metadata}{analog_resolutions}) {
 						my @analog_resolutions;
 						foreach my $pin (sort{$a<=>$b}(keys %{$device->{metadata}{analog_resolutions}})) {
@@ -344,6 +346,13 @@ sub FRM_DoInit($) {
 						}
 						$main::defs{$name}{servo_resolutions} = join(",",@servo_resolutions) if (scalar @servo_resolutions);
 					}
+					if (defined $device->{metadata}{encoder_resolutions}) {
+						my @encoder_resolutions;
+						foreach my $pin (sort{$a<=>$b}(keys %{$device->{metadata}{encoder_resolutions}})) {
+							push @encoder_resolutions,$pin.":".$device->{metadata}{encoder_resolutions}{$pin};
+						}
+						$main::defs{$name}{encoder_resolutions} = join(",",@encoder_resolutions) if (scalar @encoder_resolutions);
+					}
 					$found = 1;
 				} else {
 					select (undef,undef,undef,0.01);

fhem/FHEM/20_FRM_ROTENC.pm

@@ -0,0 +1,224 @@
+#############################################
+package main;
+
+use strict;
+use warnings;
+
+#add FHEM/lib to @INC if it's not allready included. Should rather be in fhem.pl than here though...
+BEGIN {
+	if (!grep(/FHEM\/lib$/,@INC)) {
+		foreach my $inc (grep(/FHEM$/,@INC)) {
+			push @INC,$inc."/lib";
+		};
+	};
+};
+
+use Device::Firmata::Constants  qw/ :all /;
+
+#####################################
+
+my %sets = (
+  "reset" => "noArg",
+);
+
+my %gets = (
+  "position" => "noArg",
+);
+
+sub
+FRM_ROTENC_Initialize($)
+{
+  my ($hash) = @_;
+
+  $hash->{SetFn}     = "FRM_ROTENC_Set";
+  $hash->{GetFn}     = "FRM_ROTENC_Get";
+  $hash->{AttrFn}    = "FRM_ROTENC_Attr";
+  $hash->{DefFn}     = "FRM_Client_Define";
+  $hash->{InitFn}    = "FRM_ROTENC_Init";
+  $hash->{UndefFn}   = "FRM_ROTENC_Undef";
+  
+  $hash->{AttrList}  = "IODev $main::readingFnAttributes";
+  main::LoadModule("FRM");
+}
+
+sub
+FRM_ROTENC_Init($$)
+{
+	my ($hash,$args) = @_;
+
+	my $u = "wrong syntax: define <name> FRM_ROTENC pinA pinB [id]";
+  	return $u unless defined $args and int(@$args) > 1;
+ 	my $pinA = @$args[0];
+ 	my $pinB = @$args[1];
+ 	my $encoder = defined @$args[2] ? @$args[2] : 0;
+ 	
+	$hash->{PINA} = $pinA;
+	$hash->{PINB} = $pinB;
+	
+	$hash->{ENCODERNUM} = $encoder;
+	
+	eval {
+		FRM_Client_AssignIOPort($hash);
+		my $firmata = FRM_Client_FirmataDevice($hash);
+		$firmata->encoder_attach($encoder,$pinA,$pinB);
+		$firmata->observe_encoder($encoder, \&FRM_ROTENC_observer, $hash );
+	};
+	if ($@) {
+		$@ =~ /^(.*)( at.*FHEM.*)$/;
+		$hash->{STATE} = "error initializing: ".$1;
+		return "error initializing '".$hash->{NAME}."': ".$1;
+	}
+
+	if (! (defined AttrVal($hash->{NAME},"stateFormat",undef))) {
+		$main::attr{$hash->{NAME}}{"stateFormat"} = "position";
+	}
+	main::readingsSingleUpdate($hash,"state","Initialized",1);
+	return undef;
+}
+
+sub
+FRM_ROTENC_observer
+{
+	my ( $data, $hash ) = @_;
+	my $name = $hash->{NAME};
+	Log3 $name,5,"onEncoderMessage for pins ".$hash->{PINA}.",".$hash->{PINB}." encoder: ".$data->{encoderNum}." position: ".$data->{value}."\n";
+	main::readingsBeginUpdate($hash);
+	main::readingsBulkUpdate($hash,"position",$data->{value}, 1);
+	main::readingsEndUpdate($hash,1);
+}
+
+sub
+FRM_ROTENC_Set
+{
+  my ($hash, @a) = @_;
+  return "Need at least one parameters" if(@a < 2);
+  my $command = $a[1];
+  my $value = $a[2];
+  if(!defined($sets{$command})) {
+  	my @commands = ();
+    foreach my $key (sort keys %sets) {
+      push @commands, $sets{$key} ? $key.":".join(",",$sets{$key}) : $key;
+    }
+    return "Unknown argument $a[1], choose one of " . join(" ", @commands);
+  }
+  COMMAND_HANDLER: {
+    $command eq "reset" and do {
+      eval {
+        FRM_Client_FirmataDevice($hash)->encoder_reset_position($hash->{ENCODERNUM});
+      };
+      last;
+    };
+  }
+}
+
+sub
+FRM_ROTENC_Get($)
+{
+  my ($hash, @a) = @_;
+  return "Need at least one parameters" if(@a < 2);
+  my $command = $a[1];
+  my $value = $a[2];
+  if(!defined($gets{$command})) {
+  	my @commands = ();
+    foreach my $key (sort keys %gets) {
+      push @commands, $gets{$key} ? $key.":".join(",",$gets{$key}) : $key;
+    }
+    return "Unknown argument $a[1], choose one of " . join(" ", @commands);
+  }
+  my $name = shift @a;
+  my $cmd = shift @a;
+  ARGUMENT_HANDLER: {
+    $cmd eq "position" and do {
+      return ReadingsVal($hash->{NAME},"position","0");
+    };
+  }
+  return undef;
+}
+
+sub
+FRM_ROTENC_Attr($$$$) {
+  my ($command,$name,$attribute,$value) = @_;
+  my $hash = $main::defs{$name};
+  my $pin = $hash->{PIN};
+  if ($command eq "set") {
+    ARGUMENT_HANDLER: {
+      $attribute eq "IODev" and do {
+      	if (!defined ($hash->{IODev}) or $hash->{IODev}->{NAME} ne $value) {
+        	$hash->{IODev} = $defs{$value};
+      		FRM_Init_Client($hash) if (defined ($hash->{IODev}));
+      	}
+        last;
+      };
+    }
+  }
+}
+
+sub
+FRM_ROTENC_Undef($$)
+{
+  my ($hash, $name) = @_;
+  my $pinA = $hash->{PINA};
+  my $pinB = $hash->{PINB};
+  eval {
+    my $firmata = FRM_Client_FirmataDevice($hash);
+    $firmata->encoder_detach($hash->{ENCODERNUM});
+    $firmata->pin_mode($pinA,PIN_ANALOG);
+    $firmata->pin_mode($pinB,PIN_ANALOG);
+  };
+  if ($@) {
+    eval {
+      my $firmata = FRM_Client_FirmataDevice($hash);
+      $firmata->pin_mode($pinA,PIN_INPUT);
+      $firmata->digital_write($pinA,0);
+      $firmata->pin_mode($pinB,PIN_INPUT);
+      $firmata->digital_write($pinB,0);
+    };
+  }
+  return undef;
+}
+
+1;
+
+=pod
+=begin html
+
+<a name="FRM_ROTENC"></a>
+<h3>FRM_ROTENC</h3>
+<ul>
+  represents a rotary-encoder attached to two pins of an <a href="http://www.arduino.cc">Arduino</a> running <a href="http://www.firmata.org">Firmata</a><br>
+  Requires a defined <a href="#FRM">FRM</a>-device to work.<br><br> 
+  
+  <a name="FRM_ROTENCdefine"></a>
+  <b>Define</b>
+  <ul>
+  <code>define &lt;name&gt; FRM_ROTENC &lt;pinA&gt; &lt;pinB&gt; [id]</code> <br>
+  Defines the FRM_ROTENC device. &lt;pinA&gt> and &lt;pinA&gt> are the arduino-pins to use.<br>
+  [id] is the instance-id of the encoder. Must be a unique number per FRM-device (rages from 0-4 depending on Firmata being used, optional if a single encoder is attached to the arduino).<br>
+  </ul>
+  
+  <br>
+  <a name="FRM_ROTENCset"></a>
+  <b>Set</b><br>
+    <li>reset<br>
+    resets to value of 'position' to 0<br></li>
+  <a name="FRM_ROTENCget"></a>
+  <b>Get</b>
+  <ul>
+    <li>position<br>
+    returns the position of the rotary-encoder attached to pinA and pinB of the arduino<br></li>
+  </ul><br>
+  <a name="FRM_ROTENCattr"></a>
+  <b>Attributes</b><br>
+  <ul>
+      <li><a href="#IODev">IODev</a><br>
+      Specify which <a href="#FRM">FRM</a> to use. (Optional, only required if there is more
+      than one FRM-device defined.)
+      </li>
+      <li><a href="#eventMap">eventMap</a><br></li>
+      <li><a href="#readingFnAttributes">readingFnAttributes</a><br></li>
+    </ul>
+  </ul>
+<br>
+
+=end html
+=cut

fhem/FHEM/lib/Device/Firmata.pm

@@ -19,7 +19,7 @@ Version 0.50
 
 =cut
 
-our $VERSION = '0.52';
+our $VERSION = '0.53';
 our $DEBUG = 0;
 
 

fhem/FHEM/lib/Device/Firmata/Constants.pm

@@ -28,6 +28,7 @@ use constant (
     PIN_I2C     => 6,
     PIN_ONEWIRE => 7,
     PIN_STEPPER => 8,
+    PIN_ENCODER => 9,
     PIN_LOW  => 0,
     PIN_HIGH => 1,
   }
@@ -293,6 +294,65 @@ use constant (
       ],
 
     },    # /Constants for Version 2.5
+
+    V_2_06 => {
+
+      MAX_DATA_BYTES           => 64, # max number of data bytes in non-Sysex messages
+
+      # message command bytes (128-255/0x80-0xFF)
+      DIGITAL_MESSAGE          => 0x90, # send data for a digital pin
+      ANALOG_MESSAGE           => 0xE0, # send data for an analog pin (or PWM)
+      REPORT_ANALOG            => 0xC0, # enable analog input by pin #
+      REPORT_DIGITAL           => 0xD0, # enable digital input by port pair
+      SET_PIN_MODE             => 0xF4, # set a pin to INPUT/OUTPUT/PWM/etc
+      REPORT_VERSION           => 0xF9, # report protocol version
+      SYSTEM_RESET             => 0xFF, # reset from MIDI
+      START_SYSEX              => 0xF0, # start a MIDI Sysex message
+      END_SYSEX                => 0xF7, # end a MIDI Sysex message
+
+      # extended command set using sysex (0-127/0x00-0x7F)
+      RESERVED_COMMAND         => 0x00, # 2nd SysEx data byte is a chip-specific command (AVR, PIC, TI, etc).
+      ENCODER_DATA             => 0x61, # receive rotary-encoders current positions
+      ANALOG_MAPPING_QUERY     => 0x69, # ask for mapping of analog to pin numbers
+      ANALOG_MAPPING_RESPONSE  => 0x6A, # reply with mapping info
+      CAPABILITY_QUERY         => 0x6B, # ask for supported modes and resolution of all pins
+      CAPABILITY_RESPONSE      => 0x6C, # reply with supported modes and resolution
+      PIN_STATE_QUERY          => 0x6D, # ask for a pin's current mode and value
+      PIN_STATE_RESPONSE       => 0x6E, # reply with a pin's current mode and value
+      EXTENDED_ANALOG          => 0x6F, # analog write (PWM, Servo, etc) to any pin
+      SERVO_CONFIG             => 0x70, # set max angle, minPulse, maxPulse, freq
+      STRING_DATA              => 0x71, # a string message with 14-bits per char
+      STEPPER_DATA             => 0x72, # control a stepper motor
+      ONEWIRE_DATA             => 0x73, # OneWire read/write/reset/select/skip/search request + read/search reply
+      SHIFT_DATA               => 0x75, # shiftOut config/data message (34 bits)
+      I2C_REQUEST              => 0x76, # send an I2C read/write request
+      I2C_REPLY                => 0x77, # a reply to an I2C read request
+      I2C_CONFIG               => 0x78, # config I2C settings such as delay times and power pins
+      REPORT_FIRMWARE          => 0x79, # report name and version of the firmware
+      SAMPLING_INTERVAL        => 0x7A, # set the poll rate of the main loop
+      SCHEDULER_DATA           => 0x7B, # createtask/deletetask/addtotask/schedule/querytasks/querytask request and querytasks/querytask reply
+      SYSEX_NON_REALTIME       => 0x7E, # MIDI Reserved for non-realtime messages
+      SYSEX_REALTIME           => 0x7F, # MIDI Reserved for realtime messages
+
+      # pin modes
+      INPUT                    => 0x00, # digital pin in digitalOut mode
+      OUTPUT                   => 0x01, # digital pin in digitalInput mode
+      ANALOG                   => 0x02, # analog pin in analogInput mode
+      PWM                      => 0x03, # digital pin in PWM output mode
+      SERVO                    => 0x04, # digital pin in Servo output mode
+      SHIFT                    => 0x05, # shiftIn/shiftOut mode
+      I2C                      => 0x06, # pin included in I2C setup
+      ONEWIRE                  => 0x07, # pin configured for 1-Wire commuication
+      STEPPER                  => 0x08, # pin configured for stepper motor
+      ENCODER                  => 0x09, # pin configured for rotary-encoders
+      
+
+      # Deprecated entries
+      deprecated => [
+        qw( FIRMATA_STRING SYSEX_I2C_REQUEST SYSEX_I2C_REPLY SYSEX_SAMPLING_INTERVAL )
+      ],
+
+    },    # /Constants for Version 2.6
   }
 );
 

fhem/FHEM/lib/Device/Firmata/Platform.pm

@@ -31,6 +31,7 @@ use Device::Firmata::Base
   ports                       => [],
   pins                        => {},
   pin_modes                   => {},
+  encoders                    => [],
 
   # To notify on events
   digital_observer            => [],
@@ -38,6 +39,8 @@ use Device::Firmata::Base
   sysex_observer              => undef,
   i2c_observer                => undef,
   onewire_observer            => [],
+  stepper_observer            => [],
+  encoder_observer            => [],
   scheduler_observer          => undef,
   string_observer             => undef,
 
@@ -242,6 +245,9 @@ sub sysex_handle {
       my @shiftpins;
       my @i2cpins;
       my @onewirepins;
+      my @stepperpins;
+      my @encoderpins;
+      
       foreach my $pin (keys %$capabilities) {
         if (defined $capabilities->{$pin}) {
           if ($capabilities->{$pin}->{PIN_INPUT+0}) {
@@ -271,6 +277,12 @@ sub sysex_handle {
           if ($capabilities->{$pin}->{PIN_ONEWIRE+0}) {
             push @onewirepins, $pin;
           }
+          if ($capabilities->{$pin}->{PIN_STEPPER+0}) {
+          	push @stepperpins, $pin;
+          }
+          if ($capabilities->{$pin}->{PIN_ENCODER+0}) {
+          	push @encoderpins, $pin;
+          }
         }
       }
       $self->{metadata}{input_pins}   = \@inputpins;
@@ -281,6 +293,8 @@ sub sysex_handle {
       $self->{metadata}{shift_pins}   = \@shiftpins;
       $self->{metadata}{i2c_pins}     = \@i2cpins;
       $self->{metadata}{onewire_pins} = \@onewirepins;
+      $self->{metadata}{stepper_pins} = \@stepperpins;
+      $self->{metadata}{encoder_pins} = \@encoderpins;
       last;
     };
 
@@ -332,7 +346,23 @@ sub sysex_handle {
         $observer->{method}( $data->{string}, $observer->{context} );
       }
       last;
+    };
+    
+    $sysex_message->{command_str} eq 'STEPPER_DATA' and do {
+      #TODO implement handling of STEPPER_DATA and call observer.
+      last;
+    };
+    
+    $sysex_message->{command_str} eq 'ENCODER_DATA' and do {
+      foreach my $encoder_data ( @$data ) {
+        my $encoderNum = $encoder_data->{encoderNum};
+        my $observer = $self->{encoder_observer}[$encoderNum];
+        if (defined $observer) {
+          $observer->{method}( $encoder_data, $observer->{context} );
         }
+      };
+      last;
+    };
   }
 }
 
@@ -739,6 +769,38 @@ sub onewire_command_series {
   return $self->{io}->data_write($self->{protocol}->packet_onewire_request( $pin, $args ));
 }
 
+sub encoder_attach {
+  my ( $self, $encoderNum, $pinA, $pinB ) = @_;
+  die "unsupported mode 'ENCODER' for pin '".$pinA."'" unless $self->is_supported_mode($pinA,PIN_ENCODER);
+  die "unsupported mode 'ENCODER' for pin '".$pinB."'" unless $self->is_supported_mode($pinB,PIN_ENCODER);
+  return $self->{io}->data_write($self->{protocol}->packet_encoder_attach( $encoderNum, $pinA, $pinB ));
+}
+
+sub encoder_report_position {
+  my ( $self, $encoderNum ) = @_;
+  return $self->{io}->data_write($self->{protocol}->packet_encoder_report_position( $encoderNum ));
+}
+
+sub encoder_report_positions {
+  my ( $self ) = @_;
+  return $self->{io}->data_write($self->{protocol}->packet_encoder_report_positions());
+}
+
+sub encoder_reset_position {
+  my ( $self, $encoderNum ) = @_;
+  return $self->{io}->data_write($self->{protocol}->packet_encoder_reset_position( $encoderNum ));
+}
+
+sub encoder_report_auto {
+  my ( $self, $enable ) = @_;
+  return $self->{io}->data_write($self->{protocol}->packet_encoder_report_auto( $enable ));
+}
+
+sub encoder_detach {
+  my ( $self, $encoderNum ) = @_;
+  return $self->{io}->data_write($self->{protocol}->packet_encoder_detach( $encoderNum ));
+}
+
 =head2 poll
 
 Call this function every once in a while to
@@ -809,6 +871,21 @@ sub observe_onewire {
   return 1;
 }
 
+sub observe_stepper {
+  #TODO implement observe_stepper
+  return 1;
+}
+
+sub observe_encoder {
+  my ( $self, $encoderNum, $observer, $context ) = @_;
+#TODO validation?  die "unsupported mode 'ENCODER' for pin '".$pin."'" unless ($self->is_supported_mode($pin,PIN_ENCODER));
+  $self->{encoder_observer}[$encoderNum] = {
+      method  => $observer,
+      context => $context,
+    };
+  return 1;
+}
+
 sub observe_scheduler {
   my ( $self, $observer, $context ) = @_;
   $self->{scheduler_observer} = {

fhem/FHEM/lib/Device/Firmata/Protocol.pm

@@ -73,6 +73,20 @@ our $SCHEDULER_COMMANDS = {
   QUERY_TASK_REPLY            => 10,
 };
 
+our $STEPPER_COMMANDS = {
+  STEPPER_CONFIG              => 0,
+  STEPPER_STEP                => 1,
+};
+
+our $ENCODER_COMMANDS = {
+  ENCODER_ATTACH              => 0,
+  ENCODER_REPORT_POSITION     => 1,
+  ENCODER_REPORT_POSITIONS    => 2,
+  ENCODER_RESET_POSITION      => 3,
+  ENCODER_REPORT_AUTO         => 4,
+  ENCODER_DETACH              => 5,
+};
+
 our $MODENAMES = {
   0                           => 'INPUT',
   1                           => 'OUTPUT',
@@ -82,6 +96,8 @@ our $MODENAMES = {
   5                           => 'SHIFT',
   6                           => 'I2C',
   7                           => 'ONEWIRE',
+  8                           => 'STEPPER',
+  9                           => 'ENCODER',
 };
 
 =head1 DESCRIPTION
@@ -290,6 +306,16 @@ sub sysex_parse {
           last;
         };
         
+        $command == $protocol_commands->{STEPPER_DATA} and do {
+          #TODO implement and call handle_stepper_response
+          last;
+        };
+        
+        $command == $protocol_commands->{ENCODER_DATA} and do {
+          $return_data = $self->handle_encoder_response($sysex_data);
+          last;
+        };
+
         $command == $protocol_commands->{RESERVED_COMMAND} and do {
           $return_data = $sysex_data;
           last;
@@ -841,6 +867,75 @@ sub handle_scheduler_response {
   }
 }
 
+#TODO packet_stepper_config
+sub packet_stepper_config {
+  my ( $self ) = @_;
+  my $packet = $self->packet_sysex_command('STEPPER_DATA', $STEPPER_COMMANDS->{STEPPER_CONFIG});
+}
+
+#TODO packet_stepper_step
+sub packet_stepper_step {
+  my ( $self ) = @_;
+  my $packet = $self->packet_sysex_command('STEPPER_DATA', $STEPPER_COMMANDS->{STEPPER_STEP});
+}
+
+sub packet_encoder_attach {
+  my ( $self,$encoderNum, $pinA, $pinB ) = @_;
+  my $packet = $self->packet_sysex_command('ENCODER_DATA', $ENCODER_COMMANDS->{ENCODER_ATTACH}, $encoderNum, $pinA, $pinB);
+  return $packet;
+}
+
+sub packet_encoder_report_position {
+  my ( $self,$encoderNum ) = @_;
+  my $packet = $self->packet_sysex_command('ENCODER_DATA', $ENCODER_COMMANDS->{ENCODER_REPORT_POSITION}, $encoderNum);
+  return $packet;
+}
+
+sub packet_encoder_report_positions {
+  my ( $self ) = @_;
+  my $packet = $self->packet_sysex_command('ENCODER_DATA', $ENCODER_COMMANDS->{ENCODER_REPORT_POSITIONS});
+  return $packet;
+}
+
+sub packet_encoder_reset_position {
+  my ( $self,$encoderNum ) = @_;
+  my $packet = $self->packet_sysex_command('ENCODER_DATA', $ENCODER_COMMANDS->{ENCODER_RESET_POSITION}, $encoderNum);
+  return $packet;
+}
+
+sub packet_encoder_report_auto {
+  my ( $self,$arg ) = @_; #TODO clarify encoder_report_auto $arg
+  my $packet = $self->packet_sysex_command('ENCODER_DATA', $ENCODER_COMMANDS->{ENCODER_REPORT_AUTO}, $arg);
+  return $packet;
+}
+
+sub packet_encoder_detach {
+  my ( $self,$encoderNum ) = @_;
+  my $packet = $self->packet_sysex_command('ENCODER_DATA', $ENCODER_COMMANDS->{ENCODER_DETACH}, $encoderNum);
+  return $packet;
+}
+
+sub handle_encoder_response {
+  my ( $self, $sysex_data ) = @_;
+  
+  my @retval = ();
+  
+  while (@$sysex_data) {
+    
+    my $command = shift @$sysex_data;
+    my $direction = ($command & 0x40) >> 6;
+    my $encoderNum = $command & 0x3f;
+    my $value = shift14bit($sysex_data) + (shift14bit($sysex_data) << 14);
+    
+    push @retval,{
+      encoderNum => $encoderNum,
+      value => $direction ? -1 * $value : $value,
+    };
+  };
+  
+  return \@retval;
+}
+
 
 sub shift14bit {
   my $data = shift;