[WIP] Add support for PWM resolutions other than 8-bit

lib/board.js

@@ -291,6 +291,7 @@ function Board(opts) {
     this.transport = this.io.transport || null;
     this.port = this.io.name;
     this.pins = Board.Pins(this);
+    this.RESOLUTION = this.io.RESOLUTION || { ADC: 1023, DAC: null, PWM: 255 };
   } else {
 
     if (this.port && opts.port) {
@@ -459,6 +460,11 @@ function finalizeAndBroadcast(data, type, io) {
         }.bind(this), 1);
       }.bind(this));
     }
+
+    // Older versions of Firmata and some IO plugins
+    // may not have set RESOLUTION.
+    this.RESOLUTION = io.RESOLUTION || { ADC: 1023, DAC: null, PWM: 255 };
+
   }
 
   // If there is a REPL...

lib/led/led.js

@@ -83,6 +83,7 @@ var Controllers = {
         var state = priv.get(this);
         var output = typeof input !== "undefined" ? input : state.value;
         var value = state.isAnode ? 255 - Board.constrain(output, 0, 255) : output;
+        value = Fn.map(value, 0, 255, 0, this.board.RESOLUTION.PWM);
 
         // If pin is not a PWM pin and brightness is not HIGH or LOW, emit an error
         if (value !== this.io.LOW && value !== this.io.HIGH && this.mode !== this.io.MODES.PWM) {

lib/led/rgb.js

@@ -38,6 +38,7 @@ var Controllers = {
           if (state.isAnode) {
             value = 255 - Board.constrain(value, 0, 255);
           }
+          value = Fn.map(value, 0, 255, 0, this.board.RESOLUTION.PWM);
 
           this.io.analogWrite(pin, value);
         }, this);

lib/motor.js

@@ -646,7 +646,7 @@ Motor.prototype.setPin = function(pin, value) {
 };
 
 Motor.prototype.setPWM = function(pin, value) {
-  this.io.analogWrite(pin, value);
+  this.io.analogWrite(pin, __.map(value, 0, 255, 0, this.board.RESOLUTION.PWM));
 };
 
 Motor.prototype.speed = function(opts) {
@@ -663,7 +663,7 @@ Motor.prototype.speed = function(opts) {
     }
 
     opts.speed = Board.constrain(opts.speed, 0, 255);
-
+    
     opts.saveSpeed = typeof opts.saveSpeed !== "undefined" ?
       opts.saveSpeed : true;
 

lib/pin.js

@@ -273,7 +273,7 @@ Pin.prototype.query = function(callback) {
  */
 
 Pin.prototype.high = function() {
-  var value = this.type === "analog" ? 255 : 1;
+  var value = this.type === "analog" ? this.board.RESOLUTION.PWM : 1;
   Pin.write(this, value);
   this.emit("high");
   return this;

test/board.js

@@ -47,6 +47,12 @@ exports["Board"] = {
     new Board();
   },
 
+  defaultResolution: function(test) {
+    test.expect(1);
+    test.deepEqual(this.board.RESOLUTION, {PWM: 255, DAC: null, ADC: 1023});
+    test.done();
+  },
+
   explicitTransport: function(test) {
     test.expect(1);
 

test/extended/servo.js

@@ -217,7 +217,7 @@ exports["Servo"] = {
 
     this.servo.on("move:complete", function() {
       test.equal(this.servo.value, 80);
-      test.equal(this.servoWrite.lastCall.args[1], 70);
+      test.equal(this.servoWrite.lastCall.args[1], 1300);
       test.done();
     }.bind(this));
 
@@ -237,7 +237,7 @@ exports["Servo"] = {
 
     this.servo.on("move:complete", function() {
       test.equal(this.servo.value, 80);
-      test.equal(this.servoWrite.lastCall.args[1], 110);
+      test.equal(this.servoWrite.lastCall.args[1], 1700);
       test.done();
     }.bind(this));
 

test/led.js

@@ -584,6 +584,151 @@ exports["Led - PWM"] = {
   },
 };
 
+exports["Led - 10-bit PWM"] = {
+  setUp: function(done) {
+    this.board = newBoard();
+    this.sandbox = sinon.sandbox.create();
+    this.clock = this.sandbox.useFakeTimers();
+    this.analogWrite = this.sandbox.spy(MockFirmata.prototype, "analogWrite");
+    this.pinMode = this.sandbox.spy(MockFirmata.prototype, "pinMode");
+    this.enqueue = this.sandbox.stub(Animation.prototype, "enqueue");
+
+    // Override PWM Resolution
+    this.board.RESOLUTION.PWM = 1023;
+
+    this.led = new Led({
+      pin: 11,
+      board: this.board
+    });
+
+    done();
+  },
+
+  tearDown: function(done) {
+    Board.purge();
+    this.sandbox.restore();
+    done();
+  },
+
+  shape: testLedShape,
+
+  on: function(test) {
+    test.expect(2);
+
+    this.led.on();
+    test.ok(this.analogWrite.firstCall.calledWith(11, 1023));
+    test.equal(this.analogWrite.callCount, 1);
+    test.done();
+  },
+
+  onFromNull: function(test) {
+    test.expect(4);
+
+    this.mapget = this.sandbox.spy(Map.prototype, "get");
+
+    this.led = new Led({
+      pin: 11,
+      board: this.board
+    });
+
+    var state = this.mapget.lastCall.returnValue;
+
+    test.equal(state.value, null);
+
+    this.led.on();
+
+    test.equal(state.value, 255);
+    test.equal(this.analogWrite.callCount, 1);
+    test.ok(this.analogWrite.firstCall.calledWith(11, 1023));
+    test.done();
+  },
+
+  off: function(test) {
+    test.expect(2);
+
+    this.led.off();
+    test.ok(this.analogWrite.firstCall.calledWith(11, 0));
+    test.equal(this.analogWrite.callCount, 1);
+
+    test.done();
+  },
+
+  blink: function(test) {
+    test.expect(4);
+    /*
+      This test is incredibly important!
+
+      What this is asserting is that blinking PWM LED will
+      analogWrite the correct value of 255 when there is an
+      ACTIVE interval and the last value was 0.
+    */
+    this.mapget = this.sandbox.spy(Map.prototype, "get");
+
+    this.led.off();
+    test.equal(this.led.isOn, false);
+
+    this.led.blink(1);
+
+    var state = this.mapget.lastCall.returnValue;
+
+    test.equal(state.value, 0);
+
+    this.clock.tick(1);
+    test.equal(this.led.isOn, true);
+    test.ok(this.analogWrite.lastCall.calledWith(11, 1023));
+
+    test.done();
+  },
+
+  toggle: function(test) {
+    test.expect(5);
+
+    this.led.off();
+    this.analogWrite.reset();
+
+    this.led.toggle();
+    test.ok(this.analogWrite.lastCall.calledWith(11, 1023));
+    test.ok(this.led.isOn);
+
+    this.led.toggle();
+    test.ok(this.analogWrite.lastCall.calledWith(11, 0));
+    test.ok(!this.led.isOn);
+
+    test.equal(this.analogWrite.callCount, 2);
+
+    test.done();
+  },
+
+  brightness: function(test) {
+    test.expect(4);
+
+    this.led.off();
+    this.analogWrite.reset();
+
+    this.led.brightness(255);
+    test.ok(this.analogWrite.lastCall.calledWith(11, 1023));
+
+    this.led.brightness(100);
+    test.ok(this.analogWrite.lastCall.calledWith(11, 401));
+
+    this.led.brightness(0);
+    test.ok(this.analogWrite.lastCall.calledWith(11, 0));
+
+    test.equal(this.analogWrite.callCount, 3);
+
+    test.done();
+  },
+
+  pulse: function(test) {
+    test.expect(1);
+
+    this.led.pulse();
+
+    test.equal(this.enqueue.callCount, 1);
+    test.done();
+  }
+};
+
 exports["Led - PCA9685 (I2C)"] = {
   setUp: function(done) {
     this.board = newBoard();