Merge pull request #395 from resin-os/teensy-3.6-uart

Fully support Teensy 3.5 & 3.6 UARTs
firmata · Apr 15, 2018 · f863f17 · f863f17
2 parents 3028ba8 + c669cc3
commit f863f17
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Showing 3 changed files with 57 additions and 5 deletions.
diff --git a/Boards.h b/Boards.h
@@ -434,17 +434,18 @@ writePort(port, value, bitmask):  Write an 8 bit port.
 #define PIN_SERIAL2_TX          10
 #define PIN_SERIAL3_RX          7
 #define PIN_SERIAL3_TX          8
-// The following 2 UARTs are not yet available via SerialFirmata
 #define PIN_SERIAL4_RX          31
-#define PIN_SERIAL5_TX          32
-#define PIN_SERIAL6_RX          34
-#define PIN_SERIAL6_TX          33
+#define PIN_SERIAL4_TX          32
+#define PIN_SERIAL5_RX          34
+#define PIN_SERIAL5_TX          33
+#define PIN_SERIAL6_RX          47
+#define PIN_SERIAL6_TX          48
 #define IS_PIN_DIGITAL(p)       ((p) >= 0 && (p) <= 63)
 #define IS_PIN_ANALOG(p)        (((p) >= 14 && (p) <= 23) || ((p) >= 31 && (p) <= 39) || ((p) >= 49 && (p) <= 50) || ((p) >= 64 && (p) <= 69))
 #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 IS_PIN_SERIAL(p)        (((p) > 6 && (p) < 11) || ((p) == 0 || (p) == 1))
+#define IS_PIN_SERIAL(p)        (((p) > 6 && (p) < 11) || ((p) == 0 || (p) == 1) || ((p) > 30 && (p) < 35) || ((p) == 47 || (p) == 48))
 #define PIN_TO_DIGITAL(p)       (p)
 // A0-A9 = D14-D23; A12-A20 = D31-D39; A23-A24 = D49-D50; A10-A11 = D64-D65; A21-A22 = D66-D67; A25-A26 = D68-D69
 #define PIN_TO_ANALOG(p)        (((p) <= 23) ? (p) - 14 : (((p) <= 39) ? (p) - 19 : (((p) <= 50) ? (p) - 26 : (((p) <= 65) ? (p) - 55 : (((p) <= 67) ? (p) - 45 : (p) - 43)))))

diff --git a/utility/SerialFirmata.cpp b/utility/SerialFirmata.cpp
@@ -252,6 +252,18 @@ Stream* SerialFirmata::getPortFromId(byte portId)
     case HW_SERIAL3:
       return &Serial3;
 #endif
+#if defined(PIN_SERIAL4_RX)
+    case HW_SERIAL4:
+      return &Serial4;
+#endif
+#if defined(PIN_SERIAL5_RX)
+    case HW_SERIAL5:
+      return &Serial5;
+#endif
+#if defined(PIN_SERIAL6_RX)
+    case HW_SERIAL6:
+      return &Serial6;
+#endif
 #if defined(SoftwareSerial_h)
     case SW_SERIAL0:
       if (swSerial0 != NULL) {

diff --git a/utility/SerialFirmata.h b/utility/SerialFirmata.h
@@ -37,6 +37,9 @@
 #define HW_SERIAL1                  0x01
 #define HW_SERIAL2                  0x02
 #define HW_SERIAL3                  0x03
+#define HW_SERIAL4                  0x04
+#define HW_SERIAL5                  0x05
+#define HW_SERIAL6                  0x06
 // extensible up to 0x07
 
 #define SW_SERIAL0                  0x08
@@ -56,6 +59,12 @@
 #define RES_TX2                     0x05
 #define RES_RX3                     0x06
 #define RES_TX3                     0x07
+#define RES_RX4                     0x08
+#define RES_TX4                     0x09
+#define RES_RX5                     0x0a
+#define RES_TX5                     0x0b
+#define RES_RX6                     0x0c
+#define RES_TX6                     0x0d
 
 // Serial command bytes
 #define SERIAL_CONFIG               0x10
@@ -96,6 +105,18 @@ namespace {
   #if defined(PIN_SERIAL3_RX)
     if (pin == PIN_SERIAL3_RX) return RES_RX3;
     if (pin == PIN_SERIAL3_TX) return RES_TX3;
+  #endif
+  #if defined(PIN_SERIAL4_RX)
+    if (pin == PIN_SERIAL4_RX) return RES_RX4;
+    if (pin == PIN_SERIAL4_TX) return RES_TX4;
+  #endif
+  #if defined(PIN_SERIAL5_RX)
+    if (pin == PIN_SERIAL5_RX) return RES_RX5;
+    if (pin == PIN_SERIAL5_TX) return RES_TX5;
+  #endif
+  #if defined(PIN_SERIAL6_RX)
+    if (pin == PIN_SERIAL6_RX) return RES_RX6;
+    if (pin == PIN_SERIAL6_TX) return RES_TX6;
   #endif
     return 0;
   }
@@ -128,6 +149,24 @@ namespace {
         pins.rx = PIN_SERIAL3_RX;
         pins.tx = PIN_SERIAL3_TX;
         break;
+  #endif
+  #if defined(PIN_SERIAL4_RX)
+      case HW_SERIAL4:
+        pins.rx = PIN_SERIAL4_RX;
+        pins.tx = PIN_SERIAL4_TX;
+        break;
+  #endif
+  #if defined(PIN_SERIAL5_RX)
+      case HW_SERIAL5:
+        pins.rx = PIN_SERIAL5_RX;
+        pins.tx = PIN_SERIAL5_TX;
+        break;
+  #endif
+  #if defined(PIN_SERIAL6_RX)
+      case HW_SERIAL6:
+        pins.rx = PIN_SERIAL6_RX;
+        pins.tx = PIN_SERIAL6_TX;
+        break;
   #endif
       default:
         pins.rx = 0;