Initial pass at ESP32 support

examples/ConfigurableFirmataWiFi/ConfigurableFirmataWiFi.ino

@@ -14,7 +14,7 @@
   Copyright (C) 2013 Norbert Truchsess. All rights reserved.
   Copyright (C) 2014 Nicolas Panel. All rights reserved.
   Copyright (C) 2015-2016 Jesse Frush. All rights reserved.
-  Copyright (C) 2009-2016 Jeff Hoefs.  All rights reserved.
+  Copyright (C) 2009-2017 Jeff Hoefs.  All rights reserved.
   Copyright (C) 2016 Jens B. All rights reserved.
 
   This library is free software; you can redistribute it and/or
@@ -24,7 +24,7 @@
 
   See file LICENSE.txt for further informations on licensing terms.
 
-  Last updated by Jeff Hoefs: August 14th, 2016
+  Last updated by Jeff Hoefs: May 28th, 2017
 */
 
 /*
@@ -43,6 +43,7 @@
   - ESP8266 WiFi board compatible with ESP8266 Arduino core
   - Arduino WiFi Shield 101
   - Arduino WiFi Shield (or clone)
+  - ESP32 board compatible with ESP32 Arduino core
 
   Follow the instructions in the wifiConfig.h file (wifiConfig.h tab in Arduino IDE) to
   configure your particular hardware.
@@ -53,6 +54,7 @@
     https://github.com/arduino-libraries/WiFi101)
   - ESP8266 requires the Arduino ESP8266 core v2.1.0 or higher which can be obtained here:
     https://github.com/esp8266/Arduino
+  - ESP32 requires the Arduino ESP32 core: https://github.com/espressif/arduino-esp32
 
   In order to use the WiFi Shield 101 with Firmata you will need a board with at least 35k of Flash
   memory. This means you cannot use the WiFi Shield 101 with an Arduino Uno or any other
@@ -85,7 +87,7 @@
  * connection that may help in the event of connection issues. If defined, some boards may not begin
  * executing this sketch until the Serial console is opened.
  */
-//#define SERIAL_DEBUG
+#define SERIAL_DEBUG
 #include "utility/firmataDebug.h"
 
 #define MAX_CONN_ATTEMPTS 20  // [500 ms] -> 10 s
@@ -100,8 +102,8 @@
  *============================================================================*/
 
 // STEP 1 [REQUIRED]
-// Uncomment / comment the appropriate set of includes for your hardware (OPTION A, B or C)
-// Arduino MKR1000 or ESP8266 are enabled by default if compiling for either of those boards.
+// Uncomment / comment the appropriate set of includes for your hardware (OPTION A, B, C, or D).
+// Arduino MKR1000, ESP8266 and ESP32 boards are enabled by default if compiling for any of those boards.
 
 /*
  * OPTION A: Configure for Arduino MKR1000 or Arduino WiFi Shield 101
@@ -186,6 +188,30 @@
   #endif
 #endif
 
+/*
+ * OPTION D: Configure for ESP32
+ *
+ * This will configure ConfigurableFirmataWiFi to use the ESP32 WiFi library for boards
+ * with an ESP32 chip. It is compatible with 802.11 B/G/N networks.
+ *
+ * The appropriate libraries are included automatically when compiling for the ESP32 so
+ * continue on to STEP 2.
+ *
+ * IMPORTANT: You must have the esp32 board support installed. To easily install this board see
+ * the instructions here: https://github.com/espressif/arduino-esp32#installation-instructions.
+ */
+#ifdef ESP32
+#define ESP32_WIFI
+#include <WiFi.h>
+#include "utility/WiFiClientStream.h"
+#include "utility/WiFiServerStream.h"
+  #ifdef WIFI_LIB_INCLUDED
+  #define MULTIPLE_WIFI_LIB_INCLUDES
+  #else
+  #define WIFI_LIB_INCLUDED
+  #endif
+#endif
+
 
 // STEP 2 [OPTIONAL for all boards and shields]
 // By default the board/shield is configured as a TCP server.
@@ -282,7 +308,7 @@ char wep_key[] = "your_wep_key";
 #error "you must define a wifi security type in wifiConfig.h."
 #endif  //WIFI_* security define check
 
-#if (defined(ESP8266_WIFI) && !(defined(WIFI_NO_SECURITY) || (defined(WIFI_WPA_SECURITY))))
+#if ((defined(ESP8266_WIFI) || defined(ESP32_WIFI)) && !(defined(WIFI_NO_SECURITY) || (defined(WIFI_WPA_SECURITY))))
 #error "you must choose between WIFI_NO_SECURITY and WIFI_WPA_SECURITY"
 #endif
 
@@ -317,6 +343,9 @@ char wep_key[] = "your_wep_key";
 #elif defined(ESP8266_WIFI) && defined(SERIAL_DEBUG)
 #define IS_IGNORE_PIN(p)  ((p) == 1)
 
+#elif defined(ESP32_WIFI) && defined(SERIAL_DEBUG)
+#define IS_IGNORE_PIN(p)  ((p) == 1 || (p) == 3)
+
 #endif
 
 /*==============================================================================
@@ -339,12 +368,18 @@ DigitalOutputFirmata digitalOutput;
 #include <AnalogInputFirmata.h>
 AnalogInputFirmata analogInput;
 
+// analogWrite not supported for ESP32 boards
+#ifndef ESP32
 #include <AnalogOutputFirmata.h>
 AnalogOutputFirmata analogOutput;
+#endif
 
+// servo not supported for ESP32 boards
+#ifndef ESP32
 #include <Servo.h>
 #include <ServoFirmata.h>
 ServoFirmata servo;
+#endif
 // ServoFirmata depends on AnalogOutputFirmata
 #if defined ServoFirmata_h && ! defined AnalogOutputFirmata_h
 #error AnalogOutputFirmata must be included to use ServoFirmata
@@ -514,6 +549,8 @@ void initTransport()
   DEBUG_PRINTLN( "using the legacy WiFi library." );
 #elif defined(ESP8266_WIFI)
   DEBUG_PRINTLN( "using the ESP8266 WiFi library." );
+#elif defined(ESP32_WIFI)
+  DEBUG_PRINTLN( "using the ESP32 WiFi library." );
   //else should never happen here as error-checking in wifiConfig.h will catch this
 #endif  //defined(WIFI_101)
 

src/AnalogInputFirmata.cpp

@@ -52,7 +52,8 @@ void AnalogInputFirmata::reportAnalog(byte analogPin, int value)
         // 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));
+        // Firmata.sendAnalog(analogPin, analogRead(analogPin));
+        Firmata.sendAnalog(analogPin, analogRead(analogInputToDigitalPin(analogPin)));
       }
     }
   }
@@ -79,7 +80,11 @@ void AnalogInputFirmata::handleCapability(byte pin)
 {
   if (IS_PIN_ANALOG(pin)) {
     Firmata.write(PIN_MODE_ANALOG);
+#ifdef DEFAULT_ADC_RESOLUTION
+    Firmata.write(DEFAULT_ADC_RESOLUTION);
+#elif
     Firmata.write(10); // 10 = 10-bit resolution
+#endif
   }
 }
 
@@ -102,7 +107,8 @@ void AnalogInputFirmata::report()
     if (IS_PIN_ANALOG(pin) && Firmata.getPinMode(pin) == PIN_MODE_ANALOG) {
       analogPin = PIN_TO_ANALOG(pin);
       if (analogInputsToReport & (1 << analogPin)) {
-        Firmata.sendAnalog(analogPin, analogRead(analogPin));
+        // Firmata.sendAnalog(analogPin, analogRead(analogPin));
+        Firmata.sendAnalog(analogPin, analogRead(analogInputToDigitalPin(analogPin)));
       }
     }
   }

src/AnalogOutputFirmata.cpp

@@ -20,6 +20,11 @@
 #include "AnalogFirmata.h"
 #include "AnalogOutputFirmata.h"
 
+// Hack to compile for ESP32 boards until arduino-esp32 supports analogWrite
+#ifdef ESP32
+void analogWrite(byte pin, int value);
+#endif
+
 AnalogOutputFirmata::AnalogOutputFirmata()
 {
   Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);

src/ConfigurableFirmata.h

@@ -100,8 +100,8 @@
 #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
+#define PIN_MODE_INPUT          0x00 // pin connfigured for digital input
+#define PIN_MODE_OUTPUT         0x01 // pin configured for digital output
 #define PIN_MODE_ANALOG         0x02 // analog pin in analogInput mode
 #define PIN_MODE_PWM            0x03 // digital pin in PWM output mode
 #define PIN_MODE_SERVO          0x04 // digital pin in Servo output mode
@@ -115,7 +115,9 @@
 #define PIN_MODE_IGNORE         0x7F // pin configured to be ignored by digitalWrite and capabilityResponse
 #define TOTAL_PIN_MODES         13
 // DEPRECATED as of Firmata v2.5
-#define ANALOG                  0x02 // same as PIN_MODE_ANALOG
+// #undef ANALOG
+// #define ANALOG                  0x02 // same as PIN_MODE_ANALOG
+#undef PWM
 #define PWM                     0x03 // same as PIN_MODE_PWM
 #define SERVO                   0x04 // same as PIN_MODE_SERVO
 #define SHIFT                   0x05 // same as PIN_MODE_SHIFT

src/DigitalInputFirmata.cpp

@@ -91,9 +91,9 @@ void DigitalInputFirmata::reportDigital(byte port, int value)
 boolean DigitalInputFirmata::handlePinMode(byte pin, int mode)
 {
   if (IS_PIN_DIGITAL(pin)) {
-    if (mode == INPUT || mode == PIN_MODE_PULLUP) {
+    if (mode == PIN_MODE_INPUT || mode == PIN_MODE_PULLUP) {
       portConfigInputs[pin / 8] |= (1 << (pin & 7));
-      if (mode == INPUT) {
+      if (mode == PIN_MODE_INPUT) {
         pinMode(PIN_TO_DIGITAL(pin), INPUT);
       } else {
         pinMode(PIN_TO_DIGITAL(pin), INPUT_PULLUP);
@@ -110,7 +110,7 @@ boolean DigitalInputFirmata::handlePinMode(byte pin, int mode)
 void DigitalInputFirmata::handleCapability(byte pin)
 {
   if (IS_PIN_DIGITAL(pin)) {
-    Firmata.write((byte)INPUT);
+    Firmata.write((byte)PIN_MODE_INPUT);
     Firmata.write(1);
     Firmata.write((byte)PIN_MODE_PULLUP);
     Firmata.write(1);

src/DigitalOutputFirmata.cpp

@@ -35,7 +35,7 @@ void digitalOutputWriteCallback(byte port, int value)
 void handleSetPinValueCallback(byte pin, int value)
 {
   if (pin < TOTAL_PINS && IS_PIN_DIGITAL(pin)) {
-    if (Firmata.getPinMode(pin) == OUTPUT) {
+    if (Firmata.getPinMode(pin) == PIN_MODE_OUTPUT) {
       digitalWrite(pin, value);
       Firmata.setPinState(pin, value);
     }
@@ -71,11 +71,11 @@ void DigitalOutputFirmata::digitalWritePort(byte port, int value)
       // 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) {
+        if (Firmata.getPinMode(pin) == PIN_MODE_OUTPUT || Firmata.getPinMode(pin) == PIN_MODE_INPUT) {
           pinValue = ((byte)value & mask) ? 1 : 0;
-          if (Firmata.getPinMode(pin) == OUTPUT) {
+          if (Firmata.getPinMode(pin) == PIN_MODE_OUTPUT) {
             pinWriteMask |= mask;
-          } else if (Firmata.getPinMode(pin) == INPUT && pinValue == 1 && Firmata.getPinState(pin) != 1) {
+          } else if (Firmata.getPinMode(pin) == PIN_MODE_INPUT && pinValue == 1 && Firmata.getPinState(pin) != 1) {
             pinMode(pin, INPUT_PULLUP);
           }
           Firmata.setPinState(pin, pinValue);
@@ -89,7 +89,7 @@ void DigitalOutputFirmata::digitalWritePort(byte port, int value)
 
 boolean DigitalOutputFirmata::handlePinMode(byte pin, int mode)
 {
-  if (IS_PIN_DIGITAL(pin) && mode == OUTPUT && Firmata.getPinMode(pin) != PIN_MODE_IGNORE) {
+  if (IS_PIN_DIGITAL(pin) && mode == PIN_MODE_OUTPUT && Firmata.getPinMode(pin) != PIN_MODE_IGNORE) {
     digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable PWM
     pinMode(PIN_TO_DIGITAL(pin), OUTPUT);
     return true;
@@ -100,7 +100,7 @@ boolean DigitalOutputFirmata::handlePinMode(byte pin, int mode)
 void DigitalOutputFirmata::handleCapability(byte pin)
 {
   if (IS_PIN_DIGITAL(pin)) {
-    Firmata.write((byte)OUTPUT);
+    Firmata.write((byte)PIN_MODE_OUTPUT);
     Firmata.write(1);
   }
 }

src/utility/Boards.h

@@ -596,6 +596,33 @@ writePort(port, value, bitmask):  Write an 8 bit port.
 #define PIN_TO_SERVO(p)         (p)
 #define DEFAULT_PWM_RESOLUTION  10
 
+// ESP32
+// Tested on Sparkfun ESP32 Thing, may work with other ESP32 boards, but not verified.
+// Pins D34 - D39 Digital Input only
+// TODO: validate if Serial2 maps to rx = 16, tx = 17
+// ESP32 boards currently only work with Firmata over Wi-Fi.
+// Supply > 500mA to the board (laptop USB current is typically not enough, use a powered USB hub).
+#elif defined(ESP32)
+#define TOTAL_ANALOG_PINS       NUM_ANALOG_INPUTS
+#define TOTAL_PINS              NUM_DIGITAL_PINS
+#define VERSION_BLINK_PIN       LED_BUILTIN
+// Serial0 not supported
+// #define PIN_SERIAL_RX           3
+// #define PIN_SERIAL_TX           1
+#define IS_PIN_DIGITAL(p)       ((p) < 6 || ((p) >= 12 && (p) < 24) || ((p) >= 25 && (p) < 28) || ((p) >= 32 && (p) <= 39))
+#define IS_PIN_ANALOG(p)        ((p) == 0 || (p) == 2 || (p) == 4 || ((p) >= 12 && (p) < 16) || ((p >= 25 && (p) < 28) || ((p) >= 32 && (p) < 37) || (p) == 39))
+#define IS_PIN_PWM(p)           (0) // analogWrite is not yet supported
+#define IS_PIN_SERVO(p)         (IS_PIN_DIGITAL(p) && (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 IS_PIN_INTERRUPT(p)     (digitalPinToInterrupt(p) > NOT_AN_INTERRUPT)
+// #define IS_PIN_SERIAL(p)        ((p) == PIN_SERIAL_RX || (p) == PIN_SERIAL_TX)
+#define PIN_TO_DIGITAL(p)       (p)
+#define PIN_TO_ANALOG(p)        digitalPinToAnalogChannel(p) // defined in esp32-hal-gpio.h
+#define PIN_TO_PWM(p)           PIN_TO_DIGITAL(p)
+#define PIN_TO_SERVO(p)         (p)
+#define DEFAULT_ADC_RESOLUTION  12
+
 
 // anything else
 #else
@@ -604,7 +631,7 @@ writePort(port, value, bitmask):  Write an 8 bit port.
 
 // as long this is not defined for all boards:
 #ifndef IS_PIN_SPI
-#define IS_PIN_SPI(p)           (0)
+#define IS_PIN_SPI(p)           0
 #endif
 
 #ifndef IS_PIN_SERIAL
@@ -615,6 +642,10 @@ writePort(port, value, bitmask):  Write an 8 bit port.
 #define DEFAULT_PWM_RESOLUTION  8
 #endif
 
+#ifndef DEFAULT_ADC_RESOLUTION
+#define DEFAULT_ADC_RESOLUTION  10
+#endif
+
 /*==============================================================================
  * readPort() - Read an 8 bit port
  *============================================================================*/

src/utility/WiFiStream.h

@@ -69,7 +69,7 @@ class WiFiStream : public Stream
  *           network configuration
  ******************************************************************************/
 
-#ifndef ESP8266
+#if !defined(ESP8266) && !defined(ESP32)
   /**
    * configure a static local IP address without defining the local network
    * DHCP will be used as long as local IP address is not defined
@@ -90,7 +90,7 @@ class WiFiStream : public Stream
     _local_ip = local_ip;
     _subnet = subnet;
     _gateway = gateway;
-#ifndef ESP8266
+#if !defined(ESP8266)
     WiFi.config( local_ip, IPAddress(0, 0, 0, 0), gateway, subnet );
 #else
     WiFi.config( local_ip, gateway, subnet );
@@ -115,7 +115,7 @@ class WiFiStream : public Stream
    */
   virtual bool maintain() = 0;
 
-#ifdef ESP8266
+#if defined(ESP8266)
   /**
    * get status of TCP connection
    * @return status of TCP connection
@@ -160,7 +160,7 @@ class WiFiStream : public Stream
     return WiFi.status();
   }
 
-#ifndef ESP8266
+#if !defined(ESP8266) && !defined(ESP32)
   /**
    * initialize WiFi with WEP security and initiate client connection
    * if WiFi connection is already established