diff options
| author | Cristian Maglie <c.maglie@bug.st> | 2013-06-01 23:16:02 +0200 |
|---|---|---|
| committer | Cristian Maglie <c.maglie@bug.st> | 2013-06-01 23:16:02 +0200 |
| commit | 177ad96f866714a4962be57f69cd3d5a6334cde1 (patch) | |
| tree | 1072239986340d6a239adac924eddf2e1d1ca566 | |
| parent | 6cff36ac5e85c74bcb45cc53491ad69d64520b36 (diff) | |
| parent | d90fcca5839d13d57ed527d4009b78d22dafbde7 (diff) | |
Merge branch 'merge-1.0.5' into ide-1.5.x-discovery
164 files changed, 26174 insertions, 12 deletions
@@ -635,3 +635,61 @@ atmegang.menu.cpu.atmega8.bootloader.file=atmega8/ATmegaBOOT-prod-firmware-2009- atmegang.menu.cpu.atmega8.build.mcu=atmega8 +############################################################## + +robotControl.name=Arduino Robot Control +robotControl.upload.tool=avrdude +robotControl.upload.protocol=avr109 +robotControl.upload.maximum_size=28672 +robotControl.upload.data_size=2560 +robotControl.upload.speed=57600 +robotControl.upload.disable_flushing=true +robotControl.upload.use_1200bps_touch=true +robotControl.upload.wait_for_upload_port=true + +robotControl.bootloader.tool=avrdude +robotControl.bootloader.low_fuses=0xff +robotControl.bootloader.high_fuses=0xd8 +robotControl.bootloader.extended_fuses=0xcb +robotControl.bootloader.file=caterina-Arduino_Robot/Caterina-Robot-Control.hex +robotControl.bootloader.unlock_bits=0x3F +robotControl.bootloader.lock_bits=0x2F + +robotControl.build.mcu=atmega32u4 +robotControl.build.f_cpu=16000000L +robotControl.build.vid=0x2341 +robotControl.build.pid=0x8038 +robotControl.build.board=AVR_ROBOT_CONTROL +robotControl.build.core=robot +robotControl.build.variant=robot_control +robotControl.build.extra_flags=-DUSB_VID={build.vid} -DUSB_PID={build.pid} + +############################################################## + +robotMotor.name=Arduino Robot Motor +robotMotor.upload.tool=avrdude +robotMotor.upload.protocol=avr109 +robotMotor.upload.maximum_size=28672 +robotMotor.upload.data_size=2560 +robotMotor.upload.speed=57600 +robotMotor.upload.disable_flushing=true +robotMotor.upload.use_1200bps_touch=true +robotMotor.upload.wait_for_upload_port=true + +robotMotor.bootloader.tool=avrdude +robotMotor.bootloader.low_fuses=0xff +robotMotor.bootloader.high_fuses=0xd8 +robotMotor.bootloader.extended_fuses=0xcb +robotMotor.bootloader.file=caterina-Arduino_Robot/Caterina-Robot-Motor.hex +robotMotor.bootloader.unlock_bits=0x3F +robotMotor.bootloader.lock_bits=0x2F + +robotMotor.build.mcu=atmega32u4 +robotMotor.build.f_cpu=16000000L +robotMotor.build.vid=0x2341 +robotMotor.build.pid=0x8039 +robotMotor.build.board=AVR_ROBOT_MOTOR +robotMotor.build.core=robot +robotMotor.build.variant=robot_motor +robotMotor.build.extra_flags=-DUSB_VID={build.vid} -DUSB_PID={build.pid} + diff --git a/bootloaders/caterina-Arduino_Robot/Caterina-Robot-Control.hex b/bootloaders/caterina-Arduino_Robot/Caterina-Robot-Control.hex new file mode 100644 index 0000000..bc13bbb --- /dev/null +++ b/bootloaders/caterina-Arduino_Robot/Caterina-Robot-Control.hex @@ -0,0 +1,258 @@ +:1070000055C000006EC000006CC000006AC00000E7
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diff --git a/bootloaders/caterina-Arduino_Robot/Caterina-Robot-Motor.hex b/bootloaders/caterina-Arduino_Robot/Caterina-Robot-Motor.hex new file mode 100644 index 0000000..b5560ba --- /dev/null +++ b/bootloaders/caterina-Arduino_Robot/Caterina-Robot-Motor.hex @@ -0,0 +1,258 @@ +:1070000055C000006EC000006CC000006AC00000E7
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diff --git a/bootloaders/caterina-Arduino_Robot/Caterina-Robot.txt b/bootloaders/caterina-Arduino_Robot/Caterina-Robot.txt new file mode 100644 index 0000000..5beb659 --- /dev/null +++ b/bootloaders/caterina-Arduino_Robot/Caterina-Robot.txt @@ -0,0 +1,11 @@ +Builds against LUFA version 111009 +make version 3.81 +avrdude version 5.11 + +All AVR tools except avrdude were installed by CrossPack 20100115: +avr-gcc version 4.3.3 (GCC) +Thread model: single +Configured with: ../configure —prefix=/usr/local/CrossPack-AVR-20100115 —disable-dependency-tracking —disable-nls —disable-werror —target=avr —enable-languages=c,c++ —disable-nls —disable-libssp —with-dwarf2 +avr-libc version 1.6.7 +binutils version 2.19 + diff --git a/bootloaders/caterina-Arduino_Robot/Caterina.c b/bootloaders/caterina-Arduino_Robot/Caterina.c new file mode 100644 index 0000000..c462420 --- /dev/null +++ b/bootloaders/caterina-Arduino_Robot/Caterina.c @@ -0,0 +1,780 @@ +/*
+ LUFA Library
+ Copyright (C) Dean Camera, 2011.
+
+ dean [at] fourwalledcubicle [dot] com
+ www.lufa-lib.org
+*/
+
+/*
+ Copyright 2011 Dean Camera (dean [at] fourwalledcubicle [dot] com)
+
+ Permission to use, copy, modify, distribute, and sell this
+ software and its documentation for any purpose is hereby granted
+ without fee, provided that the above copyright notice appear in
+ all copies and that both that the copyright notice and this
+ permission notice and warranty disclaimer appear in supporting
+ documentation, and that the name of the author not be used in
+ advertising or publicity pertaining to distribution of the
+ software without specific, written prior permission.
+
+ The author disclaim all warranties with regard to this
+ software, including all implied warranties of merchantability
+ and fitness. In no event shall the author be liable for any
+ special, indirect or consequential damages or any damages
+ whatsoever resulting from loss of use, data or profits, whether
+ in an action of contract, negligence or other tortious action,
+ arising out of or in connection with the use or performance of
+ this software.
+*/
+
+/** \file
+ *
+ * Main source file for the CDC class bootloader. This file contains the complete bootloader logic.
+ */
+
+#define INCLUDE_FROM_CATERINA_C
+#include "Caterina.h"
+
+/** Contains the current baud rate and other settings of the first virtual serial port. This must be retained as some
+ * operating systems will not open the port unless the settings can be set successfully.
+ */
+static CDC_LineEncoding_t LineEncoding = { .BaudRateBPS = 0,
+ .CharFormat = CDC_LINEENCODING_OneStopBit,
+ .ParityType = CDC_PARITY_None,
+ .DataBits = 8 };
+
+/** Current address counter. This stores the current address of the FLASH or EEPROM as set by the host,
+ * and is used when reading or writing to the AVRs memory (either FLASH or EEPROM depending on the issued
+ * command.)
+ */
+static uint32_t CurrAddress;
+
+/** Flag to indicate if the bootloader should be running, or should exit and allow the application code to run
+ * via a watchdog reset. When cleared the bootloader will exit, starting the watchdog and entering an infinite
+ * loop until the AVR restarts and the application runs.
+ */
+static bool RunBootloader = true;
+
+/* Pulse generation counters to keep track of the time remaining for each pulse type */
+#define TX_RX_LED_PULSE_PERIOD 100
+uint16_t TxLEDPulse = 0; // time remaining for Tx LED pulse
+uint16_t RxLEDPulse = 0; // time remaining for Rx LED pulse
+
+/* Bootloader timeout timer */
+// MAH 8/15/12- change so timeouts work properly when the chip is running at 8MHz instead of 16.
+#define TIMEOUT_PERIOD 8000
+#define EXT_RESET_TIMEOUT_PERIOD 750
+
+
+/*********************************************************************************************************
+LilyPadUSB bootloader code
+The LilyPadUSB bootloader has been changed to remove the 8-second delay after external reset which is in
+the Leonardo. To enter the bootloader, the user should execute TWO external resets within 750 ms; that is,
+press the reset button twice, quickly.\
+
+Some other changes were made to allow this code to compile tightly enough to fit in the alloted 4k of
+bootloader space.
+*/
+// MAH 8/15/12- added this flag to replace the bulky program memory reads to check for the presence of a sketch
+// at the top of the memory space.
+static bool sketchPresent = false;
+
+// MAH 8/15/12- make this volatile, since we modify it in one place and read it in another, we want to make
+// sure we're always working on the copy in memory and not an erroneous value stored in a cache somewhere.
+// This variable stores the length of time we've been in the bootloader when waiting for the 8 second delay.
+volatile uint16_t Timeout = 0;
+// MAH 8/15/12- added this for delay during startup. Did not use existing Timeout value b/c it only increments
+// when there's a sketch at the top of the memory.
+volatile uint16_t resetTimeout = 0;
+
+// MAH 8/15/12- let's make this an 8-bit value instead of 16- that saves on memory because 16-bit addition and
+// comparison compiles to bulkier code. Note that this does *not* require a change to the Arduino core- we're
+// just sort of ignoring the extra byte that the Arduino core puts at the next location.
+uint8_t bootKey = 0x77;
+volatile uint8_t *const bootKeyPtr = (volatile uint8_t *)0x0800;
+
+// StartSketch() is called to clean up our mess before passing execution to the sketch.
+void StartSketch(void)
+{
+ cli();
+
+ /* Undo TIMER1 setup and clear the count before running the sketch */
+ TIMSK1 = 0;
+ TCCR1B = 0;
+
+ /* Relocate the interrupt vector table to the application section */
+ MCUCR = (1 << IVCE);
+ MCUCR = 0;
+
+ L_LED_OFF();
+ TX_LED_OFF();
+ RX_LED_OFF();
+
+ /* jump to beginning of application space */
+ __asm__ volatile("jmp 0x0000");
+
+}
+
+uint16_t LLEDPulse;
+
+/** Main program entry point. This routine configures the hardware required by the bootloader, then continuously
+ * runs the bootloader processing routine until it times out or is instructed to exit.
+ */
+int main(void)
+{
+ /* Save the value of the boot key memory before it is overwritten */
+ uint8_t bootKeyPtrVal = *bootKeyPtr;
+ *bootKeyPtr = 0;
+
+ /* Check the reason for the reset so we can act accordingly */
+ uint8_t mcusr_state = MCUSR; // store the initial state of the Status register
+ MCUSR = 0; // clear all reset flags
+
+ /* Watchdog may be configured with a 15 ms period so must disable it before going any further */
+ // MAH 8/15/12- I removed this because wdt_disable() is the first thing SetupHardware() does- why
+ // do it twice right in a row?
+ //wdt_disable();
+
+ /* Setup hardware required for the bootloader */
+ // MAH 8/15/12- Moved this up to before the bootloader go/no-go decision tree so I could use the
+ // timer in that decision tree. Removed the USBInit() call from it; if I'm not going to stay in
+ // the bootloader, there's no point spending the time initializing the USB.
+ // SetupHardware();
+ wdt_disable();
+
+ // Disable clock division
+ clock_prescale_set(clock_div_1);
+
+ // Relocate the interrupt vector table to the bootloader section
+ MCUCR = (1 << IVCE);
+ MCUCR = (1 << IVSEL);
+
+ LED_SETUP();
+ CPU_PRESCALE(0);
+ L_LED_OFF();
+ TX_LED_OFF();
+ RX_LED_OFF();
+
+ // Initialize TIMER1 to handle bootloader timeout and LED tasks.
+ // With 16 MHz clock and 1/64 prescaler, timer 1 is clocked at 250 kHz
+ // Our chosen compare match generates an interrupt every 1 ms.
+ // This interrupt is disabled selectively when doing memory reading, erasing,
+ // or writing since SPM has tight timing requirements.
+
+ OCR1AH = 0;
+ OCR1AL = 250;
+ TIMSK1 = (1 << OCIE1A); // enable timer 1 output compare A match interrupt
+ TCCR1B = ((1 << CS11) | (1 << CS10)); // 1/64 prescaler on timer 1 input
+
+
+ // MAH 8/15/12- this replaces bulky pgm_read_word(0) calls later on, to save memory.
+ if (pgm_read_word(0) != 0xFFFF) sketchPresent = true;
+
+// MAH 26 Oct 2012- The "bootload or not?" section has been modified since the code released
+// with Arduino 1.0.1. The simplest modification is the replacement of equivalence checks on
+// the reset bits with masked checks, so if more than one reset occurs before the register is
+// checked, the check doesn't fail and fall through to the bootloader unnecessarily.
+
+// The second, more in depth modification addresses behavior after an external reset (i.e.,
+// user pushes the reset button). The Leonardo treats all external resets as requests to
+// re-enter the bootloader and wait for code to be loaded. It remains in bootloader mode for
+// 8 seconds before continuing on to the sketch (if one is present). By defining RESET_DELAY
+// equal to 1, this behavior will persist.
+
+// However, if RESET_DELAY is defined to 0, the reset timeout before loading the sketch drops
+// to 750ms. If, during that 750ms, another external reset occurs, THEN an 8-second delay
+// in the bootloader will occur.
+
+ // This is the "no-8-second-delay" code. If this is the first time through the loop, we
+ // don't expect to see the bootKey in memory.
+ if ( (mcusr_state & (1<<EXTRF)) && (bootKeyPtrVal != bootKey) ) {
+ *bootKeyPtr = bootKey; // Put the bootKey in memory so if we get back to this
+ // point again, we know to jump into the bootloader
+ sei(); // Enable interrupts, so we can use timer1 to track our time in the bootloader
+ while (RunBootloader)
+ {
+ if (resetTimeout > EXT_RESET_TIMEOUT_PERIOD) // resetTimeout is getting incremeted
+ RunBootloader = false; // in the timer1 ISR.
+ }
+ // If we make it past that while loop, it's sketch loading time!
+ *bootKeyPtr = 0; // clear out the bootKey; from now on, we want to treat a reset like
+ // a normal reset.
+ cli(); // Disable interrupts, in case no sketch is present.
+ RunBootloader = true; // We want to hang out in the bootloader if no sketch is present.
+ if (sketchPresent) StartSketch(); // If a sketch is present, go! Otherwise, wait around
+ // in the bootloader until one is uploaded.
+ }
+ // On a power-on reset, we ALWAYS want to go to the sketch. If there is one.
+ // This is a place where the old code had an equivalence and now there is a mask.
+ else if ( (mcusr_state & (1<<PORF)) && sketchPresent) {
+ StartSketch();
+ }
+ // On a watchdog reset, if the bootKey isn't set, and there's a sketch, we should just
+ // go straight to the sketch.
+ // This is a place where the old code had an equivalence and now there is a mask.
+ else if ( (mcusr_state & (1<<WDRF) ) && (bootKeyPtrVal != bootKey) && sketchPresent) {
+ // If it looks like an "accidental" watchdog reset then start the sketch.
+ StartSketch();
+ }
+
+ /* Initialize USB Subsystem */
+ USB_Init();
+
+ /* Enable global interrupts so that the USB stack can function */
+ sei();
+
+ Timeout = 0;
+
+ while (RunBootloader)
+ {
+ CDC_Task();
+ USB_USBTask();
+ /* Time out and start the sketch if one is present */
+ if (Timeout > TIMEOUT_PERIOD)
+ RunBootloader = false;
+
+ // MAH 8/15/12- This used to be a function call- inlining it saves a few bytes.
+ LLEDPulse++;
+ uint8_t p = LLEDPulse >> 8;
+ if (p > 127)
+ p = 254-p;
+ p += p;
+ if (((uint8_t)LLEDPulse) > p)
+ L_LED_OFF();
+ else
+ L_LED_ON();
+ }
+
+ /* Disconnect from the host - USB interface will be reset later along with the AVR */
+ USB_Detach();
+
+ /* Jump to beginning of application space to run the sketch - do not reset */
+ StartSketch();
+}
+
+// Timer1 is set up to provide periodic interrupts. This is used to flicker the LEDs during
+// programming as well as to generate the clock counts which determine how long the board should
+// remain in bootloading mode.
+
+ISR(TIMER1_COMPA_vect, ISR_BLOCK)
+{
+ /* Reset counter */
+ TCNT1H = 0;
+ TCNT1L = 0;
+
+ /* Check whether the TX or RX LED one-shot period has elapsed. if so, turn off the LED */
+ if (TxLEDPulse && !(--TxLEDPulse))
+ TX_LED_OFF();
+ if (RxLEDPulse && !(--RxLEDPulse))
+ RX_LED_OFF();
+ resetTimeout++; // Needed for the "short reset delay" mode- governs the time the board waits
+ // for a second reset before loading the sketch.
+ if (pgm_read_word(0) != 0xFFFF)
+ Timeout++;
+}
+
+// MAH 29 Oct 2012 Nothing below this point has to change for the LilyPadUSB support
+
+/** Event handler for the USB_ConfigurationChanged event. This configures the device's endpoints ready
+ * to relay data to and from the attached USB host.
+ */
+void EVENT_USB_Device_ConfigurationChanged(void)
+{
+ /* Setup CDC Notification, Rx and Tx Endpoints */
+ Endpoint_ConfigureEndpoint(CDC_NOTIFICATION_EPNUM, EP_TYPE_INTERRUPT,
+ ENDPOINT_DIR_IN, CDC_NOTIFICATION_EPSIZE,
+ ENDPOINT_BANK_SINGLE);
+
+ Endpoint_ConfigureEndpoint(CDC_TX_EPNUM, EP_TYPE_BULK,
+ ENDPOINT_DIR_IN, CDC_TXRX_EPSIZE,
+ ENDPOINT_BANK_SINGLE);
+
+ Endpoint_ConfigureEndpoint(CDC_RX_EPNUM, EP_TYPE_BULK,
+ ENDPOINT_DIR_OUT, CDC_TXRX_EPSIZE,
+ ENDPOINT_BANK_SINGLE);
+}
+
+/** Event handler for the USB_ControlRequest event. This is used to catch and process control requests sent to
+ * the device from the USB host before passing along unhandled control requests to the library for processing
+ * internally.
+ */
+void EVENT_USB_Device_ControlRequest(void)
+{
+ /* Ignore any requests that aren't directed to the CDC interface */
+ if ((USB_ControlRequest.bmRequestType & (CONTROL_REQTYPE_TYPE | CONTROL_REQTYPE_RECIPIENT)) !=
+ (REQTYPE_CLASS | REQREC_INTERFACE))
+ {
+ return;
+ }
+
+ /* Process CDC specific control requests */
+ switch (USB_ControlRequest.bRequest)
+ {
+ case CDC_REQ_GetLineEncoding:
+ if (USB_ControlRequest.bmRequestType == (REQDIR_DEVICETOHOST | REQTYPE_CLASS | REQREC_INTERFACE))
+ {
+ Endpoint_ClearSETUP();
+
+ /* Write the line coding data to the control endpoint */
+ Endpoint_Write_Control_Stream_LE(&LineEncoding, sizeof(CDC_LineEncoding_t));
+ Endpoint_ClearOUT();
+ }
+
+ break;
+ case CDC_REQ_SetLineEncoding:
+ if (USB_ControlRequest.bmRequestType == (REQDIR_HOSTTODEVICE | REQTYPE_CLASS | REQREC_INTERFACE))
+ {
+ Endpoint_ClearSETUP();
+
+ /* Read the line coding data in from the host into the global struct */
+ Endpoint_Read_Control_Stream_LE(&LineEncoding, sizeof(CDC_LineEncoding_t));
+ Endpoint_ClearIN();
+ }
+
+ break;
+ }
+}
+
+#if !defined(NO_BLOCK_SUPPORT)
+/** Reads or writes a block of EEPROM or FLASH memory to or from the appropriate CDC data endpoint, depending
+ * on the AVR910 protocol command issued.
+ *
+ * \param[in] Command Single character AVR910 protocol command indicating what memory operation to perform
+ */
+static void ReadWriteMemoryBlock(const uint8_t Command)
+{
+ uint16_t BlockSize;
+ char MemoryType;
+
+ bool HighByte = false;
+ uint8_t LowByte = 0;
+
+ BlockSize = (FetchNextCommandByte() << 8);
+ BlockSize |= FetchNextCommandByte();
+
+ MemoryType = FetchNextCommandByte();
+
+ if ((MemoryType != 'E') && (MemoryType != 'F'))
+ {
+ /* Send error byte back to the host */
+ WriteNextResponseByte('?');
+
+ return;
+ }
+
+ /* Disable timer 1 interrupt - can't afford to process nonessential interrupts
+ * while doing SPM tasks */
+ TIMSK1 = 0;
+
+ /* Check if command is to read memory */
+ if (Command == 'g')
+ {
+ /* Re-enable RWW section */
+ boot_rww_enable();
+
+ while (BlockSize--)
+ {
+ if (MemoryType == 'F')
+ {
+ /* Read the next FLASH byte from the current FLASH page */
+ #if (FLASHEND > 0xFFFF)
+ WriteNextResponseByte(pgm_read_byte_far(CurrAddress | HighByte));
+ #else
+ WriteNextResponseByte(pgm_read_byte(CurrAddress | HighByte));
+ #endif
+
+ /* If both bytes in current word have been read, increment the address counter */
+ if (HighByte)
+ CurrAddress += 2;
+
+ HighByte = !HighByte;
+ }
+ else
+ {
+ /* Read the next EEPROM byte into the endpoint */
+ WriteNextResponseByte(eeprom_read_byte((uint8_t*)(intptr_t)(CurrAddress >> 1)));
+
+ /* Increment the address counter after use */
+ CurrAddress += 2;
+ }
+ }
+ }
+ else
+ {
+ uint32_t PageStartAddress = CurrAddress;
+
+ if (MemoryType == 'F')
+ {
+ boot_page_erase(PageStartAddress);
+ boot_spm_busy_wait();
+ }
+
+ while (BlockSize--)
+ {
+ if (MemoryType == 'F')
+ {
+ /* If both bytes in current word have been written, increment the address counter */
+ if (HighByte)
+ {
+ /* Write the next FLASH word to the current FLASH page */
+ boot_page_fill(CurrAddress, ((FetchNextCommandByte() << 8) | LowByte));
+
+ /* Increment the address counter after use */
+ CurrAddress += 2;
+ }
+ else
+ {
+ LowByte = FetchNextCommandByte();
+ }
+
+ HighByte = !HighByte;
+ }
+ else
+ {
+ /* Write the next EEPROM byte from the endpoint */
+ eeprom_write_byte((uint8_t*)((intptr_t)(CurrAddress >> 1)), FetchNextCommandByte());
+
+ /* Increment the address counter after use */
+ CurrAddress += 2;
+ }
+ }
+
+ /* If in FLASH programming mode, commit the page after writing */
+ if (MemoryType == 'F')
+ {
+ /* Commit the flash page to memory */
+ boot_page_write(PageStartAddress);
+
+ /* Wait until write operation has completed */
+ boot_spm_busy_wait();
+ }
+
+ /* Send response byte back to the host */
+ WriteNextResponseByte('\r');
+ }
+
+ /* Re-enable timer 1 interrupt disabled earlier in this routine */
+ TIMSK1 = (1 << OCIE1A);
+}
+#endif
+
+/** Retrieves the next byte from the host in the CDC data OUT endpoint, and clears the endpoint bank if needed
+ * to allow reception of the next data packet from the host.
+ *
+ * \return Next received byte from the host in the CDC data OUT endpoint
+ */
+static uint8_t FetchNextCommandByte(void)
+{
+ /* Select the OUT endpoint so that the next data byte can be read */
+ Endpoint_SelectEndpoint(CDC_RX_EPNUM);
+
+ /* If OUT endpoint empty, clear it and wait for the next packet from the host */
+ while (!(Endpoint_IsReadWriteAllowed()))
+ {
+ Endpoint_ClearOUT();
+
+ while (!(Endpoint_IsOUTReceived()))
+ {
+ if (USB_DeviceState == DEVICE_STATE_Unattached)
+ return 0;
+ }
+ }
+
+ /* Fetch the next byte from the OUT endpoint */
+ return Endpoint_Read_8();
+}
+
+/** Writes the next response byte to the CDC data IN endpoint, and sends the endpoint back if needed to free up the
+ * bank when full ready for the next byte in the packet to the host.
+ *
+ * \param[in] Response Next response byte to send to the host
+ */
+static void WriteNextResponseByte(const uint8_t Response)
+{
+ /* Select the IN endpoint so that the next data byte can be written */
+ Endpoint_SelectEndpoint(CDC_TX_EPNUM);
+
+ /* If IN endpoint full, clear it and wait until ready for the next packet to the host */
+ if (!(Endpoint_IsReadWriteAllowed()))
+ {
+ Endpoint_ClearIN();
+
+ while (!(Endpoint_IsINReady()))
+ {
+ if (USB_DeviceState == DEVICE_STATE_Unattached)
+ return;
+ }
+ }
+
+ /* Write the next byte to the IN endpoint */
+ Endpoint_Write_8(Response);
+
+ TX_LED_ON();
+ TxLEDPulse = TX_RX_LED_PULSE_PERIOD;
+}
+
+#define STK_OK 0x10
+#define STK_INSYNC 0x14 // ' '
+#define CRC_EOP 0x20 // 'SPACE'
+#define STK_GET_SYNC 0x30 // '0'
+
+#define STK_GET_PARAMETER 0x41 // 'A'
+#define STK_SET_DEVICE 0x42 // 'B'
+#define STK_SET_DEVICE_EXT 0x45 // 'E'
+#define STK_LOAD_ADDRESS 0x55 // 'U'
+#define STK_UNIVERSAL 0x56 // 'V'
+#define STK_PROG_PAGE 0x64 // 'd'
+#define STK_READ_PAGE 0x74 // 't'
+#define STK_READ_SIGN 0x75 // 'u'
+
+/** Task to read in AVR910 commands from the CDC data OUT endpoint, process them, perform the required actions
+ * and send the appropriate response back to the host.
+ */
+void CDC_Task(void)
+{
+ /* Select the OUT endpoint */
+ Endpoint_SelectEndpoint(CDC_RX_EPNUM);
+
+ /* Check if endpoint has a command in it sent from the host */
+ if (!(Endpoint_IsOUTReceived()))
+ return;
+
+ RX_LED_ON();
+ RxLEDPulse = TX_RX_LED_PULSE_PERIOD;
+
+ /* Read in the bootloader command (first byte sent from host) */
+ uint8_t Command = FetchNextCommandByte();
+
+ if (Command == 'E')
+ {
+ /* We nearly run out the bootloader timeout clock,
+ * leaving just a few hundred milliseconds so the
+ * bootloder has time to respond and service any
+ * subsequent requests */
+ Timeout = TIMEOUT_PERIOD - 500;
+
+ /* Re-enable RWW section - must be done here in case
+ * user has disabled verification on upload. */
+ boot_rww_enable_safe();
+
+ // Send confirmation byte back to the host
+ WriteNextResponseByte('\r');
+ }
+ else if (Command == 'T')
+ {
+ FetchNextCommandByte();
+
+ // Send confirmation byte back to the host
+ WriteNextResponseByte('\r');
+ }
+ else if ((Command == 'L') || (Command == 'P'))
+ {
+ // Send confirmation byte back to the host
+ WriteNextResponseByte('\r');
+ }
+ else if (Command == 't')
+ {
+ // Return ATMEGA128 part code - this is only to allow AVRProg to use the bootloader
+ WriteNextResponseByte(0x44);
+ WriteNextResponseByte(0x00);
+ }
+ else if (Command == 'a')
+ {
+ // Indicate auto-address increment is supported
+ WriteNextResponseByte('Y');
+ }
+ else if (Command == 'A')
+ {
+ // Set the current address to that given by the host
+ CurrAddress = (FetchNextCommandByte() << 9);
+ CurrAddress |= (FetchNextCommandByte() << 1);
+
+ // Send confirmation byte back to the host
+ WriteNextResponseByte('\r');
+ }
+ else if (Command == 'p')
+ {
+ // Indicate serial programmer back to the host
+ WriteNextResponseByte('S');
+ }
+ else if (Command == 'S')
+ {
+ // Write the 7-byte software identifier to the endpoint
+ for (uint8_t CurrByte = 0; CurrByte < 7; CurrByte++)
+ WriteNextResponseByte(SOFTWARE_IDENTIFIER[CurrByte]);
+ }
+ else if (Command == 'V')
+ {
+ WriteNextResponseByte('0' + BOOTLOADER_VERSION_MAJOR);
+ WriteNextResponseByte('0' + BOOTLOADER_VERSION_MINOR);
+ }
+ else if (Command == 's')
+ {
+ WriteNextResponseByte(AVR_SIGNATURE_3);
+ WriteNextResponseByte(AVR_SIGNATURE_2);
+ WriteNextResponseByte(AVR_SIGNATURE_1);
+ }
+ else if (Command == 'e')
+ {
+ // Clear the application section of flash
+ for (uint32_t CurrFlashAddress = 0; CurrFlashAddress < BOOT_START_ADDR; CurrFlashAddress += SPM_PAGESIZE)
+ {
+ boot_page_erase(CurrFlashAddress);
+ boot_spm_busy_wait();
+ boot_page_write(CurrFlashAddress);
+ boot_spm_busy_wait();
+ }
+
+ // Send confirmation byte back to the host
+ WriteNextResponseByte('\r');
+ }
+ #if !defined(NO_LOCK_BYTE_WRITE_SUPPORT)
+ else if (Command == 'l')
+ {
+ // Set the lock bits to those given by the host
+ boot_lock_bits_set(FetchNextCommandByte());
+
+ // Send confirmation byte back to the host
+ WriteNextResponseByte('\r');
+ }
+ #endif
+ else if (Command == 'r')
+ {
+ WriteNextResponseByte(boot_lock_fuse_bits_get(GET_LOCK_BITS));
+ }
+ else if (Command == 'F')
+ {
+ WriteNextResponseByte(boot_lock_fuse_bits_get(GET_LOW_FUSE_BITS));
+ }
+ else if (Command == 'N')
+ {
+ WriteNextResponseByte(boot_lock_fuse_bits_get(GET_HIGH_FUSE_BITS));
+ }
+ else if (Command == 'Q')
+ {
+ WriteNextResponseByte(boot_lock_fuse_bits_get(GET_EXTENDED_FUSE_BITS));
+ }
+ #if !defined(NO_BLOCK_SUPPORT)
+ else if (Command == 'b')
+ {
+ WriteNextResponseByte('Y');
+
+ // Send block size to the host
+ WriteNextResponseByte(SPM_PAGESIZE >> 8);
+ WriteNextResponseByte(SPM_PAGESIZE & 0xFF);
+ }
+ else if ((Command == 'B') || (Command == 'g'))
+ {
+ // Keep resetting the timeout counter if we're receiving self-programming instructions
+ Timeout = 0;
+ // Delegate the block write/read to a separate function for clarity
+ ReadWriteMemoryBlock(Command);
+ }
+ #endif
+ #if !defined(NO_FLASH_BYTE_SUPPORT)
+ else if (Command == 'C')
+ {
+ // Write the high byte to the current flash page
+ boot_page_fill(CurrAddress, FetchNextCommandByte());
+
+ // Send confirmation byte back to the host
+ WriteNextResponseByte('\r');
+ }
+ else if (Command == 'c')
+ {
+ // Write the low byte to the current flash page
+ boot_page_fill(CurrAddress | 0x01, FetchNextCommandByte());
+
+ // Increment the address
+ CurrAddress += 2;
+
+ // Send confirmation byte back to the host
+ WriteNextResponseByte('\r');
+ }
+ else if (Command == 'm')
+ {
+ // Commit the flash page to memory
+ boot_page_write(CurrAddress);
+
+ // Wait until write operation has completed
+ boot_spm_busy_wait();
+
+ // Send confirmation byte back to the host
+ WriteNextResponseByte('\r');
+ }
+ else if (Command == 'R')
+ {
+ #if (FLASHEND > 0xFFFF)
+ uint16_t ProgramWord = pgm_read_word_far(CurrAddress);
+ #else
+ uint16_t ProgramWord = pgm_read_word(CurrAddress);
+ #endif
+
+ WriteNextResponseByte(ProgramWord >> 8);
+ WriteNextResponseByte(ProgramWord & 0xFF);
+ }
+ #endif
+ #if !defined(NO_EEPROM_BYTE_SUPPORT)
+ else if (Command == 'D')
+ {
+ // Read the byte from the endpoint and write it to the EEPROM
+ eeprom_write_byte((uint8_t*)((intptr_t)(CurrAddress >> 1)), FetchNextCommandByte());
+
+ // Increment the address after use
+ CurrAddress += 2;
+
+ // Send confirmation byte back to the host
+ WriteNextResponseByte('\r');
+ }
+ else if (Command == 'd')
+ {
+ // Read the EEPROM byte and write it to the endpoint
+ WriteNextResponseByte(eeprom_read_byte((uint8_t*)((intptr_t)(CurrAddress >> 1))));
+
+ // Increment the address after use
+ CurrAddress += 2;
+ }
+ #endif
+ else if (Command != 27)
+ {
+ // Unknown (non-sync) command, return fail code
+ WriteNextResponseByte('?');
+ }
+
+
+ /* Select the IN endpoint */
+ Endpoint_SelectEndpoint(CDC_TX_EPNUM);
+
+ /* Remember if the endpoint is completely full before clearing it */
+ bool IsEndpointFull = !(Endpoint_IsReadWriteAllowed());
+
+ /* Send the endpoint data to the host */
+ Endpoint_ClearIN();
+
+ /* If a full endpoint's worth of data was sent, we need to send an empty packet afterwards to signal end of transfer */
+ if (IsEndpointFull)
+ {
+ while (!(Endpoint_IsINReady()))
+ {
+ if (USB_DeviceState == DEVICE_STATE_Unattached)
+ return;
+ }
+
+ Endpoint_ClearIN();
+ }
+
+ /* Wait until the data has been sent to the host */
+ while (!(Endpoint_IsINReady()))
+ {
+ if (USB_DeviceState == DEVICE_STATE_Unattached)
+ return;
+ }
+
+ /* Select the OUT endpoint */
+ Endpoint_SelectEndpoint(CDC_RX_EPNUM);
+
+ /* Acknowledge the command from the host */
+ Endpoint_ClearOUT();
+}
+
diff --git a/bootloaders/caterina-Arduino_Robot/Caterina.h b/bootloaders/caterina-Arduino_Robot/Caterina.h new file mode 100644 index 0000000..5ce80fa --- /dev/null +++ b/bootloaders/caterina-Arduino_Robot/Caterina.h @@ -0,0 +1,106 @@ +/*
+ LUFA Library
+ Copyright (C) Dean Camera, 2011.
+
+ dean [at] fourwalledcubicle [dot] com
+ www.lufa-lib.org
+*/
+
+/*
+ Copyright 2011 Dean Camera (dean [at] fourwalledcubicle [dot] com)
+
+ Permission to use, copy, modify, distribute, and sell this
+ software and its documentation for any purpose is hereby granted
+ without fee, provided that the above copyright notice appear in
+ all copies and that both that the copyright notice and this
+ permission notice and warranty disclaimer appear in supporting
+ documentation, and that the name of the author not be used in
+ advertising or publicity pertaining to distribution of the
+ software without specific, written prior permission.
+
+ The author disclaim all warranties with regard to this
+ software, including all implied warranties of merchantability
+ and fitness. In no event shall the author be liable for any
+ special, indirect or consequential damages or any damages
+ whatsoever resulting from loss of use, data or profits, whether
+ in an action of contract, negligence or other tortious action,
+ arising out of or in connection with the use or performance of
+ this software.
+*/
+
+/** \file
+ *
+ * Header file for BootloaderCDC.c.
+ */
+
+#ifndef _CDC_H_
+#define _CDC_H_
+
+ /* Includes: */
+ #include <avr/io.h>
+ #include <avr/wdt.h>
+ #include <avr/boot.h>
+ #include <avr/eeprom.h>
+ #include <avr/power.h>
+ #include <avr/interrupt.h>
+ #include <stdbool.h>
+
+ #include "Descriptors.h"
+
+ #include <LUFA/Drivers/USB/USB.h>
+ /* Macros: */
+ /** Version major of the CDC bootloader. */
+ #define BOOTLOADER_VERSION_MAJOR 0x01
+
+ /** Version minor of the CDC bootloader. */
+ #define BOOTLOADER_VERSION_MINOR 0x00
+
+ /** Hardware version major of the CDC bootloader. */
+ #define BOOTLOADER_HWVERSION_MAJOR 0x01
+
+ /** Hardware version minor of the CDC bootloader. */
+ #define BOOTLOADER_HWVERSION_MINOR 0x00
+
+ /** Eight character bootloader firmware identifier reported to the host when requested */
+ #define SOFTWARE_IDENTIFIER "CATERINA"
+
+ #define CPU_PRESCALE(n) (CLKPR = 0x80, CLKPR = (n))
+ #define LED_SETUP() DDRC |= (1<<7); DDRB |= (1<<0); DDRD |= (1<<5);
+ #define L_LED_OFF() PORTC &= ~(1<<7)
+ #define L_LED_ON() PORTC |= (1<<7)
+ #define L_LED_TOGGLE() PORTC ^= (1<<7)
+ #if DEVICE_PID == 0x0037 // polarity of the RX and TX LEDs is reversed on the Micro
+ #define TX_LED_OFF() PORTD &= ~(1<<5)
+ #define TX_LED_ON() PORTD |= (1<<5)
+ #define RX_LED_OFF() PORTB &= ~(1<<0)
+ #define RX_LED_ON() PORTB |= (1<<0)
+ #else
+ #define TX_LED_OFF() PORTD |= (1<<5)
+ #define TX_LED_ON() PORTD &= ~(1<<5)
+ #define RX_LED_OFF() PORTB |= (1<<0)
+ #define RX_LED_ON() PORTB &= ~(1<<0)
+ #endif
+
+ /* Type Defines: */
+ /** Type define for a non-returning pointer to the start of the loaded application in flash memory. */
+ typedef void (*AppPtr_t)(void) ATTR_NO_RETURN;
+
+ /* Function Prototypes: */
+ void StartSketch(void);
+ void LEDPulse(void);
+
+ void CDC_Task(void);
+ void SetupHardware(void);
+
+ void EVENT_USB_Device_ConfigurationChanged(void);
+
+ #if defined(INCLUDE_FROM_CATERINA_C) || defined(__DOXYGEN__)
+ #if !defined(NO_BLOCK_SUPPORT)
+ static void ReadWriteMemoryBlock(const uint8_t Command);
+ #endif
+ static uint8_t FetchNextCommandByte(void);
+ static void WriteNextResponseByte(const uint8_t Response);
+ #endif
+
+#endif
+
diff --git a/bootloaders/caterina-Arduino_Robot/Descriptors.c b/bootloaders/caterina-Arduino_Robot/Descriptors.c new file mode 100644 index 0000000..57f39d9 --- /dev/null +++ b/bootloaders/caterina-Arduino_Robot/Descriptors.c @@ -0,0 +1,270 @@ +/*
+ LUFA Library
+ Copyright (C) Dean Camera, 2011.
+
+ dean [at] fourwalledcubicle [dot] com
+ www.lufa-lib.org
+*/
+
+/*
+ Copyright 2011 Dean Camera (dean [at] fourwalledcubicle [dot] com)
+
+ Permission to use, copy, modify, distribute, and sell this
+ software and its documentation for any purpose is hereby granted
+ without fee, provided that the above copyright notice appear in
+ all copies and that both that the copyright notice and this
+ permission notice and warranty disclaimer appear in supporting
+ documentation, and that the name of the author not be used in
+ advertising or publicity pertaining to distribution of the
+ software without specific, written prior permission.
+
+ The author disclaim all warranties with regard to this
+ software, including all implied warranties of merchantability
+ and fitness. In no event shall the author be liable for any
+ special, indirect or consequential damages or any damages
+ whatsoever resulting from loss of use, data or profits, whether
+ in an action of contract, negligence or other tortious action,
+ arising out of or in connection with the use or performance of
+ this software.
+*/
+
+/** \file
+ *
+ * USB Device Descriptors, for library use when in USB device mode. Descriptors are special
+ * computer-readable structures which the host requests upon device enumeration, to determine
+ * the device's capabilities and functions.
+ */
+
+#include "Descriptors.h"
+
+/** Device descriptor structure. This descriptor, located in SRAM memory, describes the overall
+ * device characteristics, including the supported USB version, control endpoint size and the
+ * number of device configurations. The descriptor is read out by the USB host when the enumeration
+ * process begins.
+ */
+const USB_Descriptor_Device_t DeviceDescriptor =
+{
+ .Header = {.Size = sizeof(USB_Descriptor_Device_t), .Type = DTYPE_Device},
+
+ .USBSpecification = VERSION_BCD(01.10),
+ .Class = CDC_CSCP_CDCClass,
+ .SubClass = CDC_CSCP_NoSpecificSubclass,
+ .Protocol = CDC_CSCP_NoSpecificProtocol,
+
+ .Endpoint0Size = FIXED_CONTROL_ENDPOINT_SIZE,
+
+ .VendorID = DEVICE_VID,
+ .ProductID = DEVICE_PID,
+ .ReleaseNumber = VERSION_BCD(00.01),
+
+ .ManufacturerStrIndex = 0x02,
+ .ProductStrIndex = 0x01,
+ .SerialNumStrIndex = NO_DESCRIPTOR,
+
+ .NumberOfConfigurations = FIXED_NUM_CONFIGURATIONS
+};
+
+/** Configuration descriptor structure. This descriptor, located in SRAM memory, describes the usage
+ * of the device in one of its supported configurations, including information about any device interfaces
+ * and endpoints. The descriptor is read out by the USB host during the enumeration process when selecting
+ * a configuration so that the host may correctly communicate with the USB device.
+ */
+const USB_Descriptor_Configuration_t ConfigurationDescriptor =
+{
+ .Config =
+ {
+ .Header = {.Size = sizeof(USB_Descriptor_Configuration_Header_t), .Type = DTYPE_Configuration},
+
+ .TotalConfigurationSize = sizeof(USB_Descriptor_Configuration_t),
+ .TotalInterfaces = 2,
+
+ .ConfigurationNumber = 1,
+ .ConfigurationStrIndex = NO_DESCRIPTOR,
+
+ .ConfigAttributes = USB_CONFIG_ATTR_BUSPOWERED,
+
+ .MaxPowerConsumption = USB_CONFIG_POWER_MA(100)
+ },
+
+ .CDC_CCI_Interface =
+ {
+ .Header = {.Size = sizeof(USB_Descriptor_Interface_t), .Type = DTYPE_Interface},
+
+ .InterfaceNumber = 0,
+ .AlternateSetting = 0,
+
+ .TotalEndpoints = 1,
+
+ .Class = CDC_CSCP_CDCClass,
+ .SubClass = CDC_CSCP_ACMSubclass,
+ .Protocol = CDC_CSCP_ATCommandProtocol,
+
+ .InterfaceStrIndex = NO_DESCRIPTOR
+ },
+
+ .CDC_Functional_Header =
+ {
+ .Header = {.Size = sizeof(USB_CDC_Descriptor_FunctionalHeader_t), .Type = DTYPE_CSInterface},
+ .Subtype = 0x00,
+
+ .CDCSpecification = VERSION_BCD(01.10),
+ },
+
+ .CDC_Functional_ACM =
+ {
+ .Header = {.Size = sizeof(USB_CDC_Descriptor_FunctionalACM_t), .Type = DTYPE_CSInterface},
+ .Subtype = 0x02,
+
+ .Capabilities = 0x04,
+ },
+
+ .CDC_Functional_Union =
+ {
+ .Header = {.Size = sizeof(USB_CDC_Descriptor_FunctionalUnion_t), .Type = DTYPE_CSInterface},
+ .Subtype = 0x06,
+
+ .MasterInterfaceNumber = 0,
+ .SlaveInterfaceNumber = 1,
+ },
+
+ .CDC_NotificationEndpoint =
+ {
+ .Header = {.Size = sizeof(USB_Descriptor_Endpoint_t), .Type = DTYPE_Endpoint},
+
+ .EndpointAddress = (ENDPOINT_DIR_IN | CDC_NOTIFICATION_EPNUM),
+ .Attributes = (EP_TYPE_INTERRUPT | ENDPOINT_ATTR_NO_SYNC | ENDPOINT_USAGE_DATA),
+ .EndpointSize = CDC_NOTIFICATION_EPSIZE,
+ .PollingIntervalMS = 0xFF
+ },
+
+ .CDC_DCI_Interface =
+ {
+ .Header = {.Size = sizeof(USB_Descriptor_Interface_t), .Type = DTYPE_Interface},
+
+ .InterfaceNumber = 1,
+ .AlternateSetting = 0,
+
+ .TotalEndpoints = 2,
+
+ .Class = CDC_CSCP_CDCDataClass,
+ .SubClass = CDC_CSCP_NoDataSubclass,
+ .Protocol = CDC_CSCP_NoDataProtocol,
+
+ .InterfaceStrIndex = NO_DESCRIPTOR
+ },
+
+ .CDC_DataOutEndpoint =
+ {
+ .Header = {.Size = sizeof(USB_Descriptor_Endpoint_t), .Type = DTYPE_Endpoint},
+
+ .EndpointAddress = (ENDPOINT_DIR_OUT | CDC_RX_EPNUM),
+ .Attributes = (EP_TYPE_BULK | ENDPOINT_ATTR_NO_SYNC | ENDPOINT_USAGE_DATA),
+ .EndpointSize = CDC_TXRX_EPSIZE,
+ .PollingIntervalMS = 0x01
+ },
+
+ .CDC_DataInEndpoint =
+ {
+ .Header = {.Size = sizeof(USB_Descriptor_Endpoint_t), .Type = DTYPE_Endpoint},
+
+ .EndpointAddress = (ENDPOINT_DIR_IN | CDC_TX_EPNUM),
+ .Attributes = (EP_TYPE_BULK | ENDPOINT_ATTR_NO_SYNC | ENDPOINT_USAGE_DATA),
+ .EndpointSize = CDC_TXRX_EPSIZE,
+ .PollingIntervalMS = 0x01
+ }
+};
+
+/** Language descriptor structure. This descriptor, located in SRAM memory, is returned when the host requests
+ * the string descriptor with index 0 (the first index). It is actually an array of 16-bit integers, which indicate
+ * via the language ID table available at USB.org what languages the device supports for its string descriptors.
+ */
+const USB_Descriptor_String_t LanguageString =
+{
+ .Header = {.Size = USB_STRING_LEN(1), .Type = DTYPE_String},
+
+ .UnicodeString = {LANGUAGE_ID_ENG}
+};
+
+/** Product descriptor string. This is a Unicode string containing the product's details in human readable form,
+ * and is read out upon request by the host when the appropriate string ID is requested, listed in the Device
+ * Descriptor.
+ */
+const USB_Descriptor_String_t ProductString =
+{
+ .Header = {.Size = USB_STRING_LEN(19), .Type = DTYPE_String},
+
+ #if DEVICE_PID == 0x0036
+ .UnicodeString = L"Arduino Leonardo"
+ #elif DEVICE_PID == 0x0037
+ .UnicodeString = L"Arduino Micro "
+ #elif DEVICE_PID == 0x0038
+ .UnicodeString = L"Robot Control Board"
+ #elif DEVICE_PID == 0x0039
+ .UnicodeString = L"Robot Motor Board "
+ #elif DEVICE_PID == 0x003C
+ .UnicodeString = L"Arduino Esplora "
+ #else
+ .UnicodeString = L"USB IO board "
+ #endif
+};
+
+const USB_Descriptor_String_t ManufacturerString =
+{
+ .Header = {.Size = USB_STRING_LEN(11), .Type = DTYPE_String},
+
+ #if DEVICE_VID == 0x2341
+ .UnicodeString = L"Arduino LLC"
+ #else
+ .UnicodeString = L"Unknown "
+ #endif
+};
+
+/** This function is called by the library when in device mode, and must be overridden (see LUFA library "USB Descriptors"
+ * documentation) by the application code so that the address and size of a requested descriptor can be given
+ * to the USB library. When the device receives a Get Descriptor request on the control endpoint, this function
+ * is called so that the descriptor details can be passed back and the appropriate descriptor sent back to the
+ * USB host.
+ */
+uint16_t CALLBACK_USB_GetDescriptor(const uint16_t wValue,
+ const uint8_t wIndex,
+ const void** const DescriptorAddress)
+{
+ const uint8_t DescriptorType = (wValue >> 8);
+ const uint8_t DescriptorNumber = (wValue & 0xFF);
+
+ const void* Address = NULL;
+ uint16_t Size = NO_DESCRIPTOR;
+
+ switch (DescriptorType)
+ {
+ case DTYPE_Device:
+ Address = &DeviceDescriptor;
+ Size = sizeof(USB_Descriptor_Device_t);
+ break;
+ case DTYPE_Configuration:
+ Address = &ConfigurationDescriptor;
+ Size = sizeof(USB_Descriptor_Configuration_t);
+ break;
+ case DTYPE_String:
+ if (!(DescriptorNumber))
+ {
+ Address = &LanguageString;
+ Size = LanguageString.Header.Size;
+ }
+ else if (DescriptorNumber == DeviceDescriptor.ProductStrIndex)
+ {
+ Address = &ProductString;
+ Size = ProductString.Header.Size;
+ } else if (DescriptorNumber == DeviceDescriptor.ManufacturerStrIndex)
+ {
+ Address = &ManufacturerString;
+ Size = ManufacturerString.Header.Size;
+ }
+
+ break;
+ }
+
+ *DescriptorAddress = Address;
+ return Size;
+}
+
diff --git a/bootloaders/caterina-Arduino_Robot/Descriptors.h b/bootloaders/caterina-Arduino_Robot/Descriptors.h new file mode 100644 index 0000000..94091ae --- /dev/null +++ b/bootloaders/caterina-Arduino_Robot/Descriptors.h @@ -0,0 +1,139 @@ +/*
+ LUFA Library
+ Copyright (C) Dean Camera, 2011.
+
+ dean [at] fourwalledcubicle [dot] com
+ www.lufa-lib.org
+*/
+
+/*
+ Copyright 2011 Dean Camera (dean [at] fourwalledcubicle [dot] com)
+
+ Permission to use, copy, modify, distribute, and sell this
+ software and its documentation for any purpose is hereby granted
+ without fee, provided that the above copyright notice appear in
+ all copies and that both that the copyright notice and this
+ permission notice and warranty disclaimer appear in supporting
+ documentation, and that the name of the author not be used in
+ advertising or publicity pertaining to distribution of the
+ software without specific, written prior permission.
+
+ The author disclaim all warranties with regard to this
+ software, including all implied warranties of merchantability
+ and fitness. In no event shall the author be liable for any
+ special, indirect or consequential damages or any damages
+ whatsoever resulting from loss of use, data or profits, whether
+ in an action of contract, negligence or other tortious action,
+ arising out of or in connection with the use or performance of
+ this software.
+*/
+
+/** \file
+ *
+ * Header file for Descriptors.c.
+ */
+
+#ifndef _DESCRIPTORS_H_
+#define _DESCRIPTORS_H_
+
+ /* Includes: */
+ #include <LUFA/Drivers/USB/USB.h>
+
+ /* Macros: */
+ #if defined(__AVR_AT90USB1287__)
+ #define AVR_SIGNATURE_1 0x1E
+ #define AVR_SIGNATURE_2 0x97
+ #define AVR_SIGNATURE_3 0x82
+ #elif defined(__AVR_AT90USB647__)
+ #define AVR_SIGNATURE_1 0x1E
+ #define AVR_SIGNATURE_2 0x96
+ #define AVR_SIGNATURE_3 0x82
+ #elif defined(__AVR_AT90USB1286__)
+ #define AVR_SIGNATURE_1 0x1E
+ #define AVR_SIGNATURE_2 0x97
+ #define AVR_SIGNATURE_3 0x82
+ #elif defined(__AVR_AT90USB646__)
+ #define AVR_SIGNATURE_1 0x1E
+ #define AVR_SIGNATURE_2 0x96
+ #define AVR_SIGNATURE_3 0x82
+ #elif defined(__AVR_ATmega32U6__)
+ #define AVR_SIGNATURE_1 0x1E
+ #define AVR_SIGNATURE_2 0x95
+ #define AVR_SIGNATURE_3 0x88
+ #elif defined(__AVR_ATmega32U4__)
+ #define AVR_SIGNATURE_1 0x1E
+ #define AVR_SIGNATURE_2 0x95
+ #define AVR_SIGNATURE_3 0x87
+ #elif defined(__AVR_ATmega16U4__)
+ #define AVR_SIGNATURE_1 0x1E
+ #define AVR_SIGNATURE_2 0x94
+ #define AVR_SIGNATURE_3 0x88
+ #elif defined(__AVR_ATmega32U2__)
+ #define AVR_SIGNATURE_1 0x1E
+ #define AVR_SIGNATURE_2 0x95
+ #define AVR_SIGNATURE_3 0x8A
+ #elif defined(__AVR_ATmega16U2__)
+ #define AVR_SIGNATURE_1 0x1E
+ #define AVR_SIGNATURE_2 0x94
+ #define AVR_SIGNATURE_3 0x89
+ #elif defined(__AVR_AT90USB162__)
+ #define AVR_SIGNATURE_1 0x1E
+ #define AVR_SIGNATURE_2 0x94
+ #define AVR_SIGNATURE_3 0x82
+ #elif defined(__AVR_ATmega8U2__)
+ #define AVR_SIGNATURE_1 0x1E
+ #define AVR_SIGNATURE_2 0x93
+ #define AVR_SIGNATURE_3 0x89
+ #elif defined(__AVR_AT90USB82__)
+ #define AVR_SIGNATURE_1 0x1E
+ #define AVR_SIGNATURE_2 0x94
+ #define AVR_SIGNATURE_3 0x82
+ #else
+ #error The selected AVR part is not currently supported by this bootloader.
+ #endif
+
+ /** Endpoint number for the CDC control interface event notification endpoint. */
+ #define CDC_NOTIFICATION_EPNUM 2
+
+ /** Endpoint number for the CDC data interface TX (data IN) endpoint. */
+ #define CDC_TX_EPNUM 3
+
+ /** Endpoint number for the CDC data interface RX (data OUT) endpoint. */
+ #define CDC_RX_EPNUM 4
+
+ /** Size of the CDC data interface TX and RX data endpoint banks, in bytes. */
+ #define CDC_TXRX_EPSIZE 16
+
+ /** Size of the CDC control interface notification endpoint bank, in bytes. */
+ #define CDC_NOTIFICATION_EPSIZE 8
+
+ /* Type Defines: */
+ /** Type define for the device configuration descriptor structure. This must be defined in the
+ * application code, as the configuration descriptor contains several sub-descriptors which
+ * vary between devices, and which describe the device's usage to the host.
+ */
+ typedef struct
+ {
+ USB_Descriptor_Configuration_Header_t Config;
+
+ // CDC Control Interface
+ USB_Descriptor_Interface_t CDC_CCI_Interface;
+ USB_CDC_Descriptor_FunctionalHeader_t CDC_Functional_Header;
+ USB_CDC_Descriptor_FunctionalACM_t CDC_Functional_ACM;
+ USB_CDC_Descriptor_FunctionalUnion_t CDC_Functional_Union;
+ USB_Descriptor_Endpoint_t CDC_NotificationEndpoint;
+
+ // CDC Data Interface
+ USB_Descriptor_Interface_t CDC_DCI_Interface;
+ USB_Descriptor_Endpoint_t CDC_DataOutEndpoint;
+ USB_Descriptor_Endpoint_t CDC_DataInEndpoint;
+ } USB_Descriptor_Configuration_t;
+
+ /* Function Prototypes: */
+ uint16_t CALLBACK_USB_GetDescriptor(const uint16_t wValue,
+ const uint8_t wIndex,
+ const void** const DescriptorAddress)
+ ATTR_WARN_UNUSED_RESULT ATTR_NON_NULL_PTR_ARG(3);
+
+#endif
+
diff --git a/bootloaders/caterina-Arduino_Robot/Makefile b/bootloaders/caterina-Arduino_Robot/Makefile new file mode 100644 index 0000000..af9990e --- /dev/null +++ b/bootloaders/caterina-Arduino_Robot/Makefile @@ -0,0 +1,738 @@ +# Hey Emacs, this is a -*- makefile -*-
+#----------------------------------------------------------------------------
+# WinAVR Makefile Template written by Eric B. Weddington, Jörg Wunsch, et al.
+# >> Modified for use with the LUFA project. <<
+#
+# Released to the Public Domain
+#
+# Additional material for this makefile was written by:
+# Peter Fleury
+# Tim Henigan
+# Colin O'Flynn
+# Reiner Patommel
+# Markus Pfaff
+# Sander Pool
+# Frederik Rouleau
+# Carlos Lamas
+# Dean Camera
+# Opendous Inc.
+# Denver Gingerich
+#
+#----------------------------------------------------------------------------
+# On command line:
+#
+# make all = Make software.
+#
+# make clean = Clean out built project files.
+#
+# make coff = Convert ELF to AVR COFF.
+#
+# make extcoff = Convert ELF to AVR Extended COFF.
+#
+# make program = Download the hex file to the device, using avrdude.
+# Please customize the avrdude settings below first!
+#
+# make doxygen = Generate DoxyGen documentation for the project (must have
+# DoxyGen installed)
+#
+# make debug = Start either simulavr or avarice as specified for debugging,
+# with avr-gdb or avr-insight as the front end for debugging.
+#
+# make filename.s = Just compile filename.c into the assembler code only.
+#
+# make filename.i = Create a preprocessed source file for use in submitting
+# bug reports to the GCC project.
+#
+# To rebuild project do "make clean" then "make all".
+#----------------------------------------------------------------------------
+
+# USB vendor ID (VID)
+# reuse of this VID by others is forbidden by USB-IF
+# official Arduino LLC VID
+VID = 0x2341
+
+
+# USB product ID (PID)
+# official Leonardo PID
+# PID = 0x0036
+# official Micro PID
+# PID = 0x0037
+# official Arduino Robot Control Board PID
+PID = 0x0038
+# official Arduino Robot Motor Board PID
+# PID = 0x0039
+# official Esplora PID
+# PID = 0x003C
+
+# MCU name
+MCU = atmega32u4
+
+
+# Target architecture (see library "Board Types" documentation).
+ARCH = AVR8
+
+
+# Target board (see library "Board Types" documentation, NONE for projects not requiring
+# LUFA board drivers). If USER is selected, put custom board drivers in a directory called
+# "Board" inside the application directory.
+BOARD = USER
+
+
+# Processor frequency.
+# This will define a symbol, F_CPU, in all source code files equal to the
+# processor frequency in Hz. You can then use this symbol in your source code to
+# calculate timings. Do NOT tack on a 'UL' at the end, this will be done
+# automatically to create a 32-bit value in your source code.
+#
+# This will be an integer division of F_USB below, as it is sourced by
+# F_USB after it has run through any CPU prescalers. Note that this value
+# does not *change* the processor frequency - it should merely be updated to
+# reflect the processor speed set externally so that the code can use accurate
+# software delays.
+F_CPU = 16000000
+
+
+# Input clock frequency.
+# This will define a symbol, F_USB, in all source code files equal to the
+# input clock frequency (before any prescaling is performed) in Hz. This value may
+# differ from F_CPU if prescaling is used on the latter, and is required as the
+# raw input clock is fed directly to the PLL sections of the AVR for high speed
+# clock generation for the USB and other AVR subsections. Do NOT tack on a 'UL'
+# at the end, this will be done automatically to create a 32-bit value in your
+# source code.
+#
+# If no clock division is performed on the input clock inside the AVR (via the
+# CPU clock adjust registers or the clock division fuses), this will be equal to F_CPU.
+F_USB = $(F_CPU)
+
+
+# Starting byte address of the bootloader, as a byte address - computed via the formula
+# BOOT_START = ((FLASH_SIZE_KB - BOOT_SECTION_SIZE_KB) * 1024)
+#
+# Note that the bootloader size and start address given in AVRStudio is in words and not
+# bytes, and so will need to be doubled to obtain the byte address needed by AVR-GCC.
+FLASH_SIZE_KB = 32
+BOOT_SECTION_SIZE_KB = 4
+BOOT_START = 0x$(shell echo "obase=16; ($(FLASH_SIZE_KB) - $(BOOT_SECTION_SIZE_KB)) * 1024" | bc)
+
+
+# Output format. (can be srec, ihex, binary)
+FORMAT = ihex
+
+
+# Target file name (without extension).
+TARGET = Caterina
+
+
+# Object files directory
+# To put object files in current directory, use a dot (.), do NOT make
+# this an empty or blank macro!
+OBJDIR = .
+
+
+# Path to the LUFA library
+LUFA_PATH = LUFA-111009
+
+
+# LUFA library compile-time options and predefined tokens
+LUFA_OPTS = -D USB_DEVICE_ONLY
+LUFA_OPTS += -D DEVICE_STATE_AS_GPIOR=0
+LUFA_OPTS += -D ORDERED_EP_CONFIG
+LUFA_OPTS += -D FIXED_CONTROL_ENDPOINT_SIZE=8
+LUFA_OPTS += -D FIXED_NUM_CONFIGURATIONS=1
+LUFA_OPTS += -D USE_RAM_DESCRIPTORS
+LUFA_OPTS += -D USE_STATIC_OPTIONS="(USB_DEVICE_OPT_FULLSPEED | USB_OPT_REG_ENABLED | USB_OPT_AUTO_PLL)"
+LUFA_OPTS += -D NO_INTERNAL_SERIAL
+LUFA_OPTS += -D NO_DEVICE_SELF_POWER
+LUFA_OPTS += -D NO_DEVICE_REMOTE_WAKEUP
+LUFA_OPTS += -D NO_SOF_EVENTS
+
+#LUFA_OPTS += -D NO_BLOCK_SUPPORT
+#LUFA_OPTS += -D NO_EEPROM_BYTE_SUPPORT
+#LUFA_OPTS += -D NO_FLASH_BYTE_SUPPORT
+LUFA_OPTS += -D NO_LOCK_BYTE_WRITE_SUPPORT
+
+
+# Create the LUFA source path variables by including the LUFA root makefile
+include $(LUFA_PATH)/LUFA/makefile
+
+
+# List C source files here. (C dependencies are automatically generated.)
+SRC = $(TARGET).c \
+ Descriptors.c \
+ $(LUFA_SRC_USB) \
+
+
+# List C++ source files here. (C dependencies are automatically generated.)
+CPPSRC =
+
+
+# List Assembler source files here.
+# Make them always end in a capital .S. Files ending in a lowercase .s
+# will not be considered source files but generated files (assembler
+# output from the compiler), and will be deleted upon "make clean"!
+# Even though the DOS/Win* filesystem matches both .s and .S the same,
+# it will preserve the spelling of the filenames, and gcc itself does
+# care about how the name is spelled on its command-line.
+ASRC =
+
+
+# Optimization level, can be [0, 1, 2, 3, s].
+# 0 = turn off optimization. s = optimize for size.
+# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
+OPT = s
+
+
+# Debugging format.
+# Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.
+# AVR Studio 4.10 requires dwarf-2.
+# AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.
+DEBUG = dwarf-2
+
+
+# List any extra directories to look for include files here.
+# Each directory must be seperated by a space.
+# Use forward slashes for directory separators.
+# For a directory that has spaces, enclose it in quotes.
+EXTRAINCDIRS = $(LUFA_PATH)/
+
+
+# Compiler flag to set the C Standard level.
+# c89 = "ANSI" C
+# gnu89 = c89 plus GCC extensions
+# c99 = ISO C99 standard (not yet fully implemented)
+# gnu99 = c99 plus GCC extensions
+CSTANDARD = -std=c99
+
+
+# Place -D or -U options here for C sources
+CDEFS = -DF_CPU=$(F_CPU)UL
+CDEFS += -DF_USB=$(F_USB)UL
+CDEFS += -DBOARD=BOARD_$(BOARD) -DARCH=ARCH_$(ARCH)
+CDEFS += -DBOOT_START_ADDR=$(BOOT_START)UL
+CDEFS += -DDEVICE_VID=$(VID)UL
+CDEFS += -DDEVICE_PID=$(PID)UL
+CDEFS += $(LUFA_OPTS)
+
+
+# Place -D or -U options here for ASM sources
+ADEFS = -DF_CPU=$(F_CPU)
+ADEFS += -DF_USB=$(F_USB)UL
+ADEFS += -DBOARD=BOARD_$(BOARD)
+ADEFS += -DBOOT_START_ADDR=$(BOOT_START)UL
+ADEFS += $(LUFA_OPTS)
+
+
+# Place -D or -U options here for C++ sources
+CPPDEFS = -DF_CPU=$(F_CPU)UL
+CPPDEFS += -DF_USB=$(F_USB)UL
+CPPDEFS += -DBOARD=BOARD_$(BOARD)
+CPPDEFS += -DBOOT_START_ADDR=$(BOOT_START)UL
+CPPDEFS += $(LUFA_OPTS)
+#CPPDEFS += -D__STDC_LIMIT_MACROS
+#CPPDEFS += -D__STDC_CONSTANT_MACROS
+
+
+
+#---------------- Compiler Options C ----------------
+# -g*: generate debugging information
+# -O*: optimization level
+# -f...: tuning, see GCC manual and avr-libc documentation
+# -Wall...: warning level
+# -Wa,...: tell GCC to pass this to the assembler.
+# -adhlns...: create assembler listing
+CFLAGS = -g$(DEBUG)
+CFLAGS += $(CDEFS)
+CFLAGS += -O$(OPT)
+CFLAGS += -funsigned-char
+CFLAGS += -funsigned-bitfields
+CFLAGS += -ffunction-sections
+CFLAGS += -fno-inline-small-functions
+CFLAGS += -fpack-struct
+CFLAGS += -fshort-enums
+CFLAGS += -fno-strict-aliasing
+CFLAGS += -Wall
+CFLAGS += -Wstrict-prototypes
+#CFLAGS += -mshort-calls
+#CFLAGS += -fno-unit-at-a-time
+#CFLAGS += -Wundef
+#CFLAGS += -Wunreachable-code
+#CFLAGS += -Wsign-compare
+CFLAGS += -Wa,-adhlns=$(<:%.c=$(OBJDIR)/%.lst)
+CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
+CFLAGS += $(CSTANDARD)
+
+
+#---------------- Compiler Options C++ ----------------
+# -g*: generate debugging information
+# -O*: optimization level
+# -f...: tuning, see GCC manual and avr-libc documentation
+# -Wall...: warning level
+# -Wa,...: tell GCC to pass this to the assembler.
+# -adhlns...: create assembler listing
+CPPFLAGS = -g$(DEBUG)
+CPPFLAGS += $(CPPDEFS)
+CPPFLAGS += -O$(OPT)
+CPPFLAGS += -funsigned-char
+CPPFLAGS += -funsigned-bitfields
+CPPFLAGS += -fpack-struct
+CPPFLAGS += -fshort-enums
+CPPFLAGS += -fno-exceptions
+CPPFLAGS += -Wall
+CPPFLAGS += -Wundef
+#CPPFLAGS += -mshort-calls
+#CPPFLAGS += -fno-unit-at-a-time
+#CPPFLAGS += -Wstrict-prototypes
+#CPPFLAGS += -Wunreachable-code
+#CPPFLAGS += -Wsign-compare
+CPPFLAGS += -Wa,-adhlns=$(<:%.cpp=$(OBJDIR)/%.lst)
+CPPFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
+#CPPFLAGS += $(CSTANDARD)
+
+
+#---------------- Assembler Options ----------------
+# -Wa,...: tell GCC to pass this to the assembler.
+# -adhlns: create listing
+# -gstabs: have the assembler create line number information; note that
+# for use in COFF files, additional information about filenames
+# and function names needs to be present in the assembler source
+# files -- see avr-libc docs [FIXME: not yet described there]
+# -listing-cont-lines: Sets the maximum number of continuation lines of hex
+# dump that will be displayed for a given single line of source input.
+ASFLAGS = $(ADEFS) -Wa,-adhlns=$(<:%.S=$(OBJDIR)/%.lst),-gstabs,--listing-cont-lines=100
+
+
+#---------------- Library Options ----------------
+# Minimalistic printf version
+PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min
+
+# Floating point printf version (requires MATH_LIB = -lm below)
+PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt
+
+# If this is left blank, then it will use the Standard printf version.
+PRINTF_LIB =
+#PRINTF_LIB = $(PRINTF_LIB_MIN)
+#PRINTF_LIB = $(PRINTF_LIB_FLOAT)
+
+
+# Minimalistic scanf version
+SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min
+
+# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
+SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt
+
+# If this is left blank, then it will use the Standard scanf version.
+SCANF_LIB =
+#SCANF_LIB = $(SCANF_LIB_MIN)
+#SCANF_LIB = $(SCANF_LIB_FLOAT)
+
+
+MATH_LIB = -lm
+
+
+# List any extra directories to look for libraries here.
+# Each directory must be seperated by a space.
+# Use forward slashes for directory separators.
+# For a directory that has spaces, enclose it in quotes.
+EXTRALIBDIRS =
+
+
+
+#---------------- External Memory Options ----------------
+
+# 64 KB of external RAM, starting after internal RAM (ATmega128!),
+# used for variables (.data/.bss) and heap (malloc()).
+#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff
+
+# 64 KB of external RAM, starting after internal RAM (ATmega128!),
+# only used for heap (malloc()).
+#EXTMEMOPTS = -Wl,--section-start,.data=0x801100,--defsym=__heap_end=0x80ffff
+
+EXTMEMOPTS =
+
+
+
+#---------------- Linker Options ----------------
+# -Wl,...: tell GCC to pass this to linker.
+# -Map: create map file
+# --cref: add cross reference to map file
+LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
+LDFLAGS += -Wl,--section-start=.text=$(BOOT_START)
+LDFLAGS += -Wl,--relax
+LDFLAGS += -Wl,--gc-sections
+LDFLAGS += $(EXTMEMOPTS)
+LDFLAGS += $(patsubst %,-L%,$(EXTRALIBDIRS))
+LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
+#LDFLAGS += -T linker_script.x
+
+
+
+#---------------- Programming Options (avrdude) ----------------
+
+# Programming hardware
+# Type: avrdude -c ?
+# to get a full listing.
+#
+#AVRDUDE_PROGRAMMER = avrispmkII
+AVRDUDE_PROGRAMMER = usbtiny
+
+# com1 = serial port. Use lpt1 to connect to parallel port.
+AVRDUDE_PORT = usb
+
+AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex
+#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
+
+
+# Uncomment the following if you want avrdude's erase cycle counter.
+# Note that this counter needs to be initialized first using -Yn,
+# see avrdude manual.
+#AVRDUDE_ERASE_COUNTER = -y
+
+# Uncomment the following if you do /not/ wish a verification to be
+# performed after programming the device.
+#AVRDUDE_NO_VERIFY = -V
+
+# Increase verbosity level. Please use this when submitting bug
+# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
+# to submit bug reports.
+#AVRDUDE_VERBOSE = -v -v
+
+AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
+AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
+AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
+AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)
+
+
+
+#---------------- Debugging Options ----------------
+
+# For simulavr only - target MCU frequency.
+DEBUG_MFREQ = $(F_CPU)
+
+# Set the DEBUG_UI to either gdb or insight.
+# DEBUG_UI = gdb
+DEBUG_UI = insight
+
+# Set the debugging back-end to either avarice, simulavr.
+DEBUG_BACKEND = avarice
+#DEBUG_BACKEND = simulavr
+
+# GDB Init Filename.
+GDBINIT_FILE = __avr_gdbinit
+
+# When using avarice settings for the JTAG
+JTAG_DEV = /dev/com1
+
+# Debugging port used to communicate between GDB / avarice / simulavr.
+DEBUG_PORT = 4242
+
+# Debugging host used to communicate between GDB / avarice / simulavr, normally
+# just set to localhost unless doing some sort of crazy debugging when
+# avarice is running on a different computer.
+DEBUG_HOST = localhost
+
+
+
+#============================================================================
+
+
+# Define programs and commands.
+SHELL = sh
+CC = avr-gcc
+OBJCOPY = avr-objcopy
+OBJDUMP = avr-objdump
+SIZE = avr-size
+AR = avr-ar rcs
+NM = avr-nm
+#AVRDUDE = /Applications/avrdude -C /Applications/avrdude.conf -B 1
+AVRDUDE = /home/david/tmp/Arduino-master/build/linux/dist/tools/avrdude -B 1 -C /home/david/tmp/Arduino-master/build/linux/dist/tools/avrdude.conf
+REMOVE = rm -f
+REMOVEDIR = rm -rf
+COPY = cp
+WINSHELL = cmd
+
+
+# Define Messages
+# English
+MSG_ERRORS_NONE = Errors: none
+MSG_BEGIN = -------- begin --------
+MSG_END = -------- end --------
+MSG_SIZE_BEFORE = Size before:
+MSG_SIZE_AFTER = Size after:
+MSG_COFF = Converting to AVR COFF:
+MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
+MSG_FLASH = Creating load file for Flash:
+MSG_EEPROM = Creating load file for EEPROM:
+MSG_EXTENDED_LISTING = Creating Extended Listing:
+MSG_SYMBOL_TABLE = Creating Symbol Table:
+MSG_LINKING = Linking:
+MSG_COMPILING = Compiling C:
+MSG_COMPILING_CPP = Compiling C++:
+MSG_ASSEMBLING = Assembling:
+MSG_CLEANING = Cleaning project:
+MSG_CREATING_LIBRARY = Creating library:
+
+
+
+
+# Define all object files.
+OBJ = $(SRC:%.c=$(OBJDIR)/%.o) $(CPPSRC:%.cpp=$(OBJDIR)/%.o) $(ASRC:%.S=$(OBJDIR)/%.o)
+
+# Define all listing files.
+LST = $(SRC:%.c=$(OBJDIR)/%.lst) $(CPPSRC:%.cpp=$(OBJDIR)/%.lst) $(ASRC:%.S=$(OBJDIR)/%.lst)
+
+
+# Compiler flags to generate dependency files.
+GENDEPFLAGS = -MMD -MP -MF .dep/$(@F).d
+
+
+# Combine all necessary flags and optional flags.
+# Add target processor to flags.
+ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
+ALL_CPPFLAGS = -mmcu=$(MCU) -I. -x c++ $(CPPFLAGS) $(GENDEPFLAGS)
+ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
+
+
+
+
+
+# Default target.
+all: begin gccversion sizebefore build sizeafter end
+
+# Change the build target to build a HEX file or a library.
+build: elf hex eep lss sym
+#build: lib
+
+
+elf: $(TARGET).elf
+hex: $(TARGET).hex
+eep: $(TARGET).eep
+lss: $(TARGET).lss
+sym: $(TARGET).sym
+LIBNAME=lib$(TARGET).a
+lib: $(LIBNAME)
+
+
+
+# Eye candy.
+# AVR Studio 3.x does not check make's exit code but relies on
+# the following magic strings to be generated by the compile job.
+begin:
+ @echo
+ @echo $(MSG_BEGIN)
+
+end:
+ @echo $(MSG_END)
+ @echo
+
+
+# Display size of file.
+HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
+ELFSIZE = $(SIZE) $(MCU_FLAG) $(FORMAT_FLAG) $(TARGET).elf
+MCU_FLAG = $(shell $(SIZE) --help | grep -- --mcu > /dev/null && echo --mcu=$(MCU) )
+FORMAT_FLAG = $(shell $(SIZE) --help | grep -- --format=.*avr > /dev/null && echo --format=avr )
+
+
+sizebefore:
+ @if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \
+ 2>/dev/null; echo; fi
+
+sizeafter:
+ @if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \
+ 2>/dev/null; echo; fi
+
+
+
+# Display compiler version information.
+gccversion :
+ @$(CC) --version
+
+
+# Program the device.
+program: $(TARGET).hex $(TARGET).eep
+ $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
+
+
+# Generate avr-gdb config/init file which does the following:
+# define the reset signal, load the target file, connect to target, and set
+# a breakpoint at main().
+gdb-config:
+ @$(REMOVE) $(GDBINIT_FILE)
+ @echo define reset >> $(GDBINIT_FILE)
+ @echo SIGNAL SIGHUP >> $(GDBINIT_FILE)
+ @echo end >> $(GDBINIT_FILE)
+ @echo file $(TARGET).elf >> $(GDBINIT_FILE)
+ @echo target remote $(DEBUG_HOST):$(DEBUG_PORT) >> $(GDBINIT_FILE)
+ifeq ($(DEBUG_BACKEND),simulavr)
+ @echo load >> $(GDBINIT_FILE)
+endif
+ @echo break main >> $(GDBINIT_FILE)
+
+debug: gdb-config $(TARGET).elf
+ifeq ($(DEBUG_BACKEND), avarice)
+ @echo Starting AVaRICE - Press enter when "waiting to connect" message displays.
+ @$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \
+ $(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)
+ @$(WINSHELL) /c pause
+
+else
+ @$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \
+ $(DEBUG_MFREQ) --port $(DEBUG_PORT)
+endif
+ @$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)
+
+
+
+
+# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
+COFFCONVERT = $(OBJCOPY) --debugging
+COFFCONVERT += --change-section-address .data-0x800000
+COFFCONVERT += --change-section-address .bss-0x800000
+COFFCONVERT += --change-section-address .noinit-0x800000
+COFFCONVERT += --change-section-address .eeprom-0x810000
+
+
+
+coff: $(TARGET).elf
+ @echo
+ @echo $(MSG_COFF) $(TARGET).cof
+ $(COFFCONVERT) -O coff-avr $< $(TARGET).cof
+
+
+extcoff: $(TARGET).elf
+ @echo
+ @echo $(MSG_EXTENDED_COFF) $(TARGET).cof
+ $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
+
+
+
+# Create final output files (.hex, .eep) from ELF output file.
+%.hex: %.elf
+ @echo
+ @echo $(MSG_FLASH) $@
+ $(OBJCOPY) -O $(FORMAT) -R .eeprom -R .fuse -R .lock $< $@
+
+%.eep: %.elf
+ @echo
+ @echo $(MSG_EEPROM) $@
+ -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
+ --change-section-lma .eeprom=0 --no-change-warnings -O $(FORMAT) $< $@ || exit 0
+
+# Create extended listing file from ELF output file.
+%.lss: %.elf
+ @echo
+ @echo $(MSG_EXTENDED_LISTING) $@
+ $(OBJDUMP) -h -S -z $< > $@
+
+# Create a symbol table from ELF output file.
+%.sym: %.elf
+ @echo
+ @echo $(MSG_SYMBOL_TABLE) $@
+ $(NM) -n $< > $@
+
+
+
+# Create library from object files.
+.SECONDARY : $(TARGET).a
+.PRECIOUS : $(OBJ)
+%.a: $(OBJ)
+ @echo
+ @echo $(MSG_CREATING_LIBRARY) $@
+ $(AR) $@ $(OBJ)
+
+
+# Link: create ELF output file from object files.
+.SECONDARY : $(TARGET).elf
+.PRECIOUS : $(OBJ)
+%.elf: $(OBJ)
+ @echo
+ @echo $(MSG_LINKING) $@
+ $(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)
+
+
+# Compile: create object files from C source files.
+$(OBJDIR)/%.o : %.c
+ @echo
+ @echo $(MSG_COMPILING) $<
+ $(CC) -c $(ALL_CFLAGS) $< -o $@
+
+
+# Compile: create object files from C++ source files.
+$(OBJDIR)/%.o : %.cpp
+ @echo
+ @echo $(MSG_COMPILING_CPP) $<
+ $(CC) -c $(ALL_CPPFLAGS) $< -o $@
+
+
+# Compile: create assembler files from C source files.
+%.s : %.c
+ $(CC) -S $(ALL_CFLAGS) $< -o $@
+
+
+# Compile: create assembler files from C++ source files.
+%.s : %.cpp
+ $(CC) -S $(ALL_CPPFLAGS) $< -o $@
+
+
+# Assemble: create object files from assembler source files.
+$(OBJDIR)/%.o : %.S
+ @echo
+ @echo $(MSG_ASSEMBLING) $<
+ $(CC) -c $(ALL_ASFLAGS) $< -o $@
+
+
+# Create preprocessed source for use in sending a bug report.
+%.i : %.c
+ $(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@
+
+
+# Target: clean project.
+clean: begin clean_list end
+
+clean_list :
+ @echo
+ @echo $(MSG_CLEANING)
+ $(REMOVE) $(TARGET).hex
+ $(REMOVE) $(TARGET).eep
+ $(REMOVE) $(TARGET).cof
+ $(REMOVE) $(TARGET).elf
+ $(REMOVE) $(TARGET).map
+ $(REMOVE) $(TARGET).sym
+ $(REMOVE) $(TARGET).lss
+ $(REMOVE) $(SRC:%.c=$(OBJDIR)/%.o) $(CPPSRC:%.cpp=$(OBJDIR)/%.o) $(ASRC:%.S=$(OBJDIR)/%.o)
+ $(REMOVE) $(SRC:%.c=$(OBJDIR)/%.lst) $(CPPSRC:%.cpp=$(OBJDIR)/%.lst) $(ASRC:%.S=$(OBJDIR)/%.lst)
+ $(REMOVE) $(SRC:.c=.s)
+ $(REMOVE) $(SRC:.c=.d)
+ $(REMOVE) $(SRC:.c=.i)
+ $(REMOVEDIR) .dep
+
+doxygen:
+ @echo Generating Project Documentation \($(TARGET)\)...
+ @doxygen Doxygen.conf
+ @echo Documentation Generation Complete.
+
+clean_doxygen:
+ rm -rf Documentation
+
+checksource:
+ @for f in $(SRC) $(CPPSRC) $(ASRC); do \
+ if [ -f $$f ]; then \
+ echo "Found Source File: $$f" ; \
+ else \
+ echo "Source File Not Found: $$f" ; \
+ fi; done
+
+
+# Create object files directory
+$(shell mkdir $(OBJDIR) 2>/dev/null)
+
+
+# Include the dependency files.
+-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
+
+
+# Listing of phony targets.
+.PHONY : all begin finish end sizebefore sizeafter gccversion \
+build elf hex eep lss sym coff extcoff doxygen clean \
+clean_list clean_doxygen program debug gdb-config checksource
+
diff --git a/bootloaders/caterina-Arduino_Robot/README.md b/bootloaders/caterina-Arduino_Robot/README.md new file mode 100644 index 0000000..08235e0 --- /dev/null +++ b/bootloaders/caterina-Arduino_Robot/README.md @@ -0,0 +1,27 @@ +Building the bootloader for the Arduino Robot +============================================= + +The Arduino Robot has two boards featuring the atmega32U4 processor from Atmel. Each one of them is identified as a different board at the USB level and has a different bootloader. + +The Arduino Robot Control board has the USB identifier 0x0038. This is the value configured by default in the Makefile. + +The Arduino Robot Motor board has the USB identifier 0x0039. If you want to compile/upload this version of the bootloader, you will have to edit the Makefile, comment away the like dedicated to the PID and uncomment the one that configures such variable accordingly. + +The general conditions for using these bootloaders require downloading a specific version of LUFA as explained here: + +1. Download the LUFA-111009 file (http://fourwalledcubicle.com/blog/2011/10/lufa-111009-released/). +2. Extract that file directly to the Caterina-Arduino_Robot bootloader directory. +3. Open a command prompt in the Caterina-Arduino_Robot bootloader directory. +4. Type 'make'. +5. Enjoy! + +Programming the bootloader for one of the Arduino Robot boards +1. Open a command prompt in the Caterina-Arduino_Robot folder. +2. Connect your programmer- use a 2x3 .1" header, pressed against the programming vias. +3. Edit the make file for it to include the right programmer (e.g. in my lab I have AVRMKII and USBTINY ISP) +4. Type 'make program' into the command prompt. + +Differences between this bootoloader and the standard one for Leonardo boards +============================================================================= + +This bootloader is different from the one on the standard Leonardo boards. To enter the bootloader, you need to double click the reset button. You need to click twice in less that 3/4 of a second (easy uh?). This bootloader, designed in the first place for the LilypadUSB, seems to be optimal for situations when users are e.g. using their robots in soccer competitions where they make direct manipulation of the board as it runs. diff --git a/cores/arduino/WInterrupts.c b/cores/arduino/WInterrupts.c index de49cd1..d3fbf10 100644 --- a/cores/arduino/WInterrupts.c +++ b/cores/arduino/WInterrupts.c @@ -51,14 +51,14 @@ void attachInterrupt(uint8_t interruptNum, void (*userFunc)(void), int mode) { // I hate doing this, but the register assignment differs between the 1280/2560 // and the 32U4. Since avrlib defines registers PCMSK1 and PCMSK2 that aren't // even present on the 32U4 this is the only way to distinguish between them. - case 0: - EICRA = (EICRA & ~((1<<ISC00) | (1<<ISC01))) | (mode << ISC00); - EIMSK |= (1<<INT0); - break; - case 1: - EICRA = (EICRA & ~((1<<ISC10) | (1<<ISC11))) | (mode << ISC10); - EIMSK |= (1<<INT1); - break; + case 0: + EICRA = (EICRA & ~((1<<ISC00) | (1<<ISC01))) | (mode << ISC00); + EIMSK |= (1<<INT0); + break; + case 1: + EICRA = (EICRA & ~((1<<ISC10) | (1<<ISC11))) | (mode << ISC10); + EIMSK |= (1<<INT1); + break; case 2: EICRA = (EICRA & ~((1<<ISC20) | (1<<ISC21))) | (mode << ISC20); EIMSK |= (1<<INT2); @@ -67,6 +67,10 @@ void attachInterrupt(uint8_t interruptNum, void (*userFunc)(void), int mode) { EICRA = (EICRA & ~((1<<ISC30) | (1<<ISC31))) | (mode << ISC30); EIMSK |= (1<<INT3); break; + case 4: + EICRB = (EICRB & ~((1<<ISC60) | (1<<ISC61))) | (mode << ISC60); + EIMSK |= (1<<INT6); + break; #elif defined(EICRA) && defined(EICRB) && defined(EIMSK) case 2: EICRA = (EICRA & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00); @@ -166,7 +170,10 @@ void detachInterrupt(uint8_t interruptNum) { break; case 3: EIMSK &= ~(1<<INT3); - break; + break; + case 4: + EIMSK &= ~(1<<INT6); + break; #elif defined(EICRA) && defined(EICRB) && defined(EIMSK) case 2: EIMSK &= ~(1 << INT0); @@ -250,6 +257,11 @@ ISR(INT3_vect) { intFunc[EXTERNAL_INT_3](); } +ISR(INT6_vect) { + if(intFunc[EXTERNAL_INT_4]) + intFunc[EXTERNAL_INT_4](); +} + #elif defined(EICRA) && defined(EICRB) ISR(INT0_vect) { diff --git a/cores/arduino/wiring_private.h b/cores/arduino/wiring_private.h index 90dbf2c..c366005 100644 --- a/cores/arduino/wiring_private.h +++ b/cores/arduino/wiring_private.h @@ -57,7 +57,7 @@ extern "C"{ #elif defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644__) || defined(__AVR_ATmega644A__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) #define EXTERNAL_NUM_INTERRUPTS 3 #elif defined(__AVR_ATmega32U4__) -#define EXTERNAL_NUM_INTERRUPTS 4 +#define EXTERNAL_NUM_INTERRUPTS 5 #else #define EXTERNAL_NUM_INTERRUPTS 2 #endif diff --git a/cores/robot/Arduino.h b/cores/robot/Arduino.h new file mode 100755 index 0000000..3b9ccca --- /dev/null +++ b/cores/robot/Arduino.h @@ -0,0 +1,215 @@ +#ifndef Arduino_h +#define Arduino_h + +#include <stdlib.h> +#include <string.h> +#include <math.h> + +#include <avr/pgmspace.h> +#include <avr/io.h> +#include <avr/interrupt.h> + +#include "binary.h" + +#ifdef __cplusplus +extern "C"{ +#endif + +#define HIGH 0x1 +#define LOW 0x0 + +#define INPUT 0x0 +#define OUTPUT 0x1 +#define INPUT_PULLUP 0x2 + +#define true 0x1 +#define false 0x0 + +#define PI 3.1415926535897932384626433832795 +#define HALF_PI 1.5707963267948966192313216916398 +#define TWO_PI 6.283185307179586476925286766559 +#define DEG_TO_RAD 0.017453292519943295769236907684886 +#define RAD_TO_DEG 57.295779513082320876798154814105 + +#define SERIAL 0x0 +#define DISPLAY 0x1 + +#define LSBFIRST 0 +#define MSBFIRST 1 + +#define CHANGE 1 +#define FALLING 2 +#define RISING 3 + +#if defined(__AVR_ATtiny24__) || defined(__AVR_ATtiny44__) || defined(__AVR_ATtiny84__) || defined(__AVR_ATtiny25__) || defined(__AVR_ATtiny45__) || defined(__AVR_ATtiny85__) +#define DEFAULT 0 +#define EXTERNAL 1 +#define INTERNAL 2 +#else +#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) || defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644__) || defined(__AVR_ATmega644A__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) +#define INTERNAL1V1 2 +#define INTERNAL2V56 3 +#else +#define INTERNAL 3 +#endif +#define DEFAULT 1 +#define EXTERNAL 0 +#endif + +// undefine stdlib's abs if encountered +#ifdef abs +#undef abs +#endif + +#define min(a,b) ((a)<(b)?(a):(b)) +#define max(a,b) ((a)>(b)?(a):(b)) +#define abs(x) ((x)>0?(x):-(x)) +#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt))) +#define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5)) +#define radians(deg) ((deg)*DEG_TO_RAD) +#define degrees(rad) ((rad)*RAD_TO_DEG) +#define sq(x) ((x)*(x)) + +#define interrupts() sei() +#define noInterrupts() cli() + +#define clockCyclesPerMicrosecond() ( F_CPU / 1000000L ) +#define clockCyclesToMicroseconds(a) ( (a) / clockCyclesPerMicrosecond() ) +#define microsecondsToClockCycles(a) ( (a) * clockCyclesPerMicrosecond() ) + +#define lowByte(w) ((uint8_t) ((w) & 0xff)) +#define highByte(w) ((uint8_t) ((w) >> 8)) + +#define bitRead(value, bit) (((value) >> (bit)) & 0x01) +#define bitSet(value, bit) ((value) |= (1UL << (bit))) +#define bitClear(value, bit) ((value) &= ~(1UL << (bit))) +#define bitWrite(value, bit, bitvalue) (bitvalue ? bitSet(value, bit) : bitClear(value, bit)) + + +typedef unsigned int word; + +#define bit(b) (1UL << (b)) + +typedef uint8_t boolean; +typedef uint8_t byte; + +void init(void); + +void pinMode(uint8_t, uint8_t); +void digitalWrite(uint8_t, uint8_t); +int digitalRead(uint8_t); +int analogRead(uint8_t); +void analogReference(uint8_t mode); +void analogWrite(uint8_t, int); + +unsigned long millis(void); +unsigned long micros(void); +void delay(unsigned long); +void delayMicroseconds(unsigned int us); +unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout); + +void shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t val); +uint8_t shiftIn(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder); + +void attachInterrupt(uint8_t, void (*)(void), int mode); +void detachInterrupt(uint8_t); + +void setup(void); +void loop(void); + +// Get the bit location within the hardware port of the given virtual pin. +// This comes from the pins_*.c file for the active board configuration. + +#define analogInPinToBit(P) (P) + +// On the ATmega1280, the addresses of some of the port registers are +// greater than 255, so we can't store them in uint8_t's. +extern const uint16_t PROGMEM port_to_mode_PGM[]; +extern const uint16_t PROGMEM port_to_input_PGM[]; +extern const uint16_t PROGMEM port_to_output_PGM[]; + +extern const uint8_t PROGMEM digital_pin_to_port_PGM[]; +// extern const uint8_t PROGMEM digital_pin_to_bit_PGM[]; +extern const uint8_t PROGMEM digital_pin_to_bit_mask_PGM[]; +extern const uint8_t PROGMEM digital_pin_to_timer_PGM[]; + +// Get the bit location within the hardware port of the given virtual pin. +// This comes from the pins_*.c file for the active board configuration. +// +// These perform slightly better as macros compared to inline functions +// +#define digitalPinToPort(P) ( pgm_read_byte( digital_pin_to_port_PGM + (P) ) ) +#define digitalPinToBitMask(P) ( pgm_read_byte( digital_pin_to_bit_mask_PGM + (P) ) ) +#define digitalPinToTimer(P) ( pgm_read_byte( digital_pin_to_timer_PGM + (P) ) ) +#define analogInPinToBit(P) (P) +#define portOutputRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_output_PGM + (P))) ) +#define portInputRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_input_PGM + (P))) ) +#define portModeRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_mode_PGM + (P))) ) + +#define NOT_A_PIN 0 +#define NOT_A_PORT 0 + +#ifdef ARDUINO_MAIN +#define PA 1 +#define PB 2 +#define PC 3 +#define PD 4 +#define PE 5 +#define PF 6 +#define PG 7 +#define PH 8 +#define PJ 10 +#define PK 11 +#define PL 12 +#endif + +#define NOT_ON_TIMER 0 +#define TIMER0A 1 +#define TIMER0B 2 +#define TIMER1A 3 +#define TIMER1B 4 +#define TIMER2 5 +#define TIMER2A 6 +#define TIMER2B 7 + +#define TIMER3A 8 +#define TIMER3B 9 +#define TIMER3C 10 +#define TIMER4A 11 +#define TIMER4B 12 +#define TIMER4C 13 +#define TIMER4D 14 +#define TIMER5A 15 +#define TIMER5B 16 +#define TIMER5C 17 + +#ifdef __cplusplus +} // extern "C" +#endif + +#ifdef __cplusplus +#include "WCharacter.h" +#include "WString.h" +#include "HardwareSerial.h" + +uint16_t makeWord(uint16_t w); +uint16_t makeWord(byte h, byte l); + +#define word(...) makeWord(__VA_ARGS__) + +unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout = 1000000L); + +void tone(uint8_t _pin, unsigned int frequency, unsigned long duration = 0); +void noTone(uint8_t _pin); + +// WMath prototypes +long random(long); +long random(long, long); +void randomSeed(unsigned int); +long map(long, long, long, long, long); + +#endif + +#include "pins_arduino.h" + +#endif diff --git a/cores/robot/CDC.cpp b/cores/robot/CDC.cpp new file mode 100644 index 0000000..701e483 --- /dev/null +++ b/cores/robot/CDC.cpp @@ -0,0 +1,239 @@ + + +/* Copyright (c) 2011, Peter Barrett +** +** Permission to use, copy, modify, and/or distribute this software for +** any purpose with or without fee is hereby granted, provided that the +** above copyright notice and this permission notice appear in all copies. +** +** THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL +** WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED +** WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR +** BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES +** OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, +** WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, +** ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS +** SOFTWARE. +*/ + +#include "Platform.h" +#include "USBAPI.h" +#include <avr/wdt.h> + +#if defined(USBCON) +#ifdef CDC_ENABLED + +#if (RAMEND < 1000) +#define SERIAL_BUFFER_SIZE 16 +#else +#define SERIAL_BUFFER_SIZE 64 +#endif + +struct ring_buffer +{ + unsigned char buffer[SERIAL_BUFFER_SIZE]; + volatile int head; + volatile int tail; +}; + +ring_buffer cdc_rx_buffer = { { 0 }, 0, 0}; + +typedef struct +{ + u32 dwDTERate; + u8 bCharFormat; + u8 bParityType; + u8 bDataBits; + u8 lineState; +} LineInfo; + +static volatile LineInfo _usbLineInfo = { 57600, 0x00, 0x00, 0x00, 0x00 }; + +#define WEAK __attribute__ ((weak)) + +extern const CDCDescriptor _cdcInterface PROGMEM; +const CDCDescriptor _cdcInterface = +{ + D_IAD(0,2,CDC_COMMUNICATION_INTERFACE_CLASS,CDC_ABSTRACT_CONTROL_MODEL,1), + + // CDC communication interface + D_INTERFACE(CDC_ACM_INTERFACE,1,CDC_COMMUNICATION_INTERFACE_CLASS,CDC_ABSTRACT_CONTROL_MODEL,0), + D_CDCCS(CDC_HEADER,0x10,0x01), // Header (1.10 bcd) + D_CDCCS(CDC_CALL_MANAGEMENT,1,1), // Device handles call management (not) + D_CDCCS4(CDC_ABSTRACT_CONTROL_MANAGEMENT,6), // SET_LINE_CODING, GET_LINE_CODING, SET_CONTROL_LINE_STATE supported + D_CDCCS(CDC_UNION,CDC_ACM_INTERFACE,CDC_DATA_INTERFACE), // Communication interface is master, data interface is slave 0 + D_ENDPOINT(USB_ENDPOINT_IN (CDC_ENDPOINT_ACM),USB_ENDPOINT_TYPE_INTERRUPT,0x10,0x40), + + // CDC data interface + D_INTERFACE(CDC_DATA_INTERFACE,2,CDC_DATA_INTERFACE_CLASS,0,0), + D_ENDPOINT(USB_ENDPOINT_OUT(CDC_ENDPOINT_OUT),USB_ENDPOINT_TYPE_BULK,0x40,0), + D_ENDPOINT(USB_ENDPOINT_IN (CDC_ENDPOINT_IN ),USB_ENDPOINT_TYPE_BULK,0x40,0) +}; + +int WEAK CDC_GetInterface(u8* interfaceNum) +{ + interfaceNum[0] += 2; // uses 2 + return USB_SendControl(TRANSFER_PGM,&_cdcInterface,sizeof(_cdcInterface)); +} + +bool WEAK CDC_Setup(Setup& setup) +{ + u8 r = setup.bRequest; + u8 requestType = setup.bmRequestType; + + if (REQUEST_DEVICETOHOST_CLASS_INTERFACE == requestType) + { + if (CDC_GET_LINE_CODING == r) + { + USB_SendControl(0,(void*)&_usbLineInfo,7); + return true; + } + } + + if (REQUEST_HOSTTODEVICE_CLASS_INTERFACE == requestType) + { + if (CDC_SET_LINE_CODING == r) + { + USB_RecvControl((void*)&_usbLineInfo,7); + return true; + } + + if (CDC_SET_CONTROL_LINE_STATE == r) + { + _usbLineInfo.lineState = setup.wValueL; + + // auto-reset into the bootloader is triggered when the port, already + // open at 1200 bps, is closed. this is the signal to start the watchdog + // with a relatively long period so it can finish housekeeping tasks + // like servicing endpoints before the sketch ends + if (1200 == _usbLineInfo.dwDTERate) { + // We check DTR state to determine if host port is open (bit 0 of lineState). + if ((_usbLineInfo.lineState & 0x01) == 0) { + *(uint16_t *)0x0800 = 0x7777; + wdt_enable(WDTO_120MS); + } else { + // Most OSs do some intermediate steps when configuring ports and DTR can + // twiggle more than once before stabilizing. + // To avoid spurious resets we set the watchdog to 250ms and eventually + // cancel if DTR goes back high. + + wdt_disable(); + wdt_reset(); + *(uint16_t *)0x0800 = 0x0; + } + } + return true; + } + } + return false; +} + + +int _serialPeek = -1; +void Serial_::begin(uint16_t baud_count) +{ +} + +void Serial_::end(void) +{ +} + +void Serial_::accept(void) +{ + ring_buffer *buffer = &cdc_rx_buffer; + int i = (unsigned int)(buffer->head+1) % SERIAL_BUFFER_SIZE; + + // if we should be storing the received character into the location + // just before the tail (meaning that the head would advance to the + // current location of the tail), we're about to overflow the buffer + // and so we don't write the character or advance the head. + + // while we have room to store a byte + while (i != buffer->tail) { + int c = USB_Recv(CDC_RX); + if (c == -1) + break; // no more data + buffer->buffer[buffer->head] = c; + buffer->head = i; + + i = (unsigned int)(buffer->head+1) % SERIAL_BUFFER_SIZE; + } +} + +int Serial_::available(void) +{ + ring_buffer *buffer = &cdc_rx_buffer; + return (unsigned int)(SERIAL_BUFFER_SIZE + buffer->head - buffer->tail) % SERIAL_BUFFER_SIZE; +} + +int Serial_::peek(void) +{ + ring_buffer *buffer = &cdc_rx_buffer; + if (buffer->head == buffer->tail) { + return -1; + } else { + return buffer->buffer[buffer->tail]; + } +} + +int Serial_::read(void) +{ + ring_buffer *buffer = &cdc_rx_buffer; + // if the head isn't ahead of the tail, we don't have any characters + if (buffer->head == buffer->tail) { + return -1; + } else { + unsigned char c = buffer->buffer[buffer->tail]; + buffer->tail = (unsigned int)(buffer->tail + 1) % SERIAL_BUFFER_SIZE; + return c; + } +} + +void Serial_::flush(void) +{ + USB_Flush(CDC_TX); +} + +size_t Serial_::write(uint8_t c) +{ + /* only try to send bytes if the high-level CDC connection itself + is open (not just the pipe) - the OS should set lineState when the port + is opened and clear lineState when the port is closed. + bytes sent before the user opens the connection or after + the connection is closed are lost - just like with a UART. */ + + // TODO - ZE - check behavior on different OSes and test what happens if an + // open connection isn't broken cleanly (cable is yanked out, host dies + // or locks up, or host virtual serial port hangs) + if (_usbLineInfo.lineState > 0) { + int r = USB_Send(CDC_TX,&c,1); + if (r > 0) { + return r; + } else { + setWriteError(); + return 0; + } + } + setWriteError(); + return 0; +} + +// This operator is a convenient way for a sketch to check whether the +// port has actually been configured and opened by the host (as opposed +// to just being connected to the host). It can be used, for example, in +// setup() before printing to ensure that an application on the host is +// actually ready to receive and display the data. +// We add a short delay before returning to fix a bug observed by Federico +// where the port is configured (lineState != 0) but not quite opened. +Serial_::operator bool() { + bool result = false; + if (_usbLineInfo.lineState > 0) + result = true; + delay(10); + return result; +} + +Serial_ Serial; + +#endif +#endif /* if defined(USBCON) */ diff --git a/cores/robot/Client.h b/cores/robot/Client.h new file mode 100644 index 0000000..ea13483 --- /dev/null +++ b/cores/robot/Client.h @@ -0,0 +1,26 @@ +#ifndef client_h +#define client_h +#include "Print.h" +#include "Stream.h" +#include "IPAddress.h" + +class Client : public Stream { + +public: + virtual int connect(IPAddress ip, uint16_t port) =0; + virtual int connect(const char *host, uint16_t port) =0; + virtual size_t write(uint8_t) =0; + virtual size_t write(const uint8_t *buf, size_t size) =0; + virtual int available() = 0; + virtual int read() = 0; + virtual int read(uint8_t *buf, size_t size) = 0; + virtual int peek() = 0; + virtual void flush() = 0; + virtual void stop() = 0; + virtual uint8_t connected() = 0; + virtual operator bool() = 0; +protected: + uint8_t* rawIPAddress(IPAddress& addr) { return addr.raw_address(); }; +}; + +#endif diff --git a/cores/robot/HID.cpp b/cores/robot/HID.cpp new file mode 100644 index 0000000..ac63608 --- /dev/null +++ b/cores/robot/HID.cpp @@ -0,0 +1,520 @@ + + +/* Copyright (c) 2011, Peter Barrett +** +** Permission to use, copy, modify, and/or distribute this software for +** any purpose with or without fee is hereby granted, provided that the +** above copyright notice and this permission notice appear in all copies. +** +** THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL +** WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED +** WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR +** BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES +** OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, +** WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, +** ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS +** SOFTWARE. +*/ + +#include "Platform.h" +#include "USBAPI.h" +#include "USBDesc.h" + +#if defined(USBCON) +#ifdef HID_ENABLED + +//#define RAWHID_ENABLED + +// Singletons for mouse and keyboard + +Mouse_ Mouse; +Keyboard_ Keyboard; + +//================================================================================ +//================================================================================ + +// HID report descriptor + +#define LSB(_x) ((_x) & 0xFF) +#define MSB(_x) ((_x) >> 8) + +#define RAWHID_USAGE_PAGE 0xFFC0 +#define RAWHID_USAGE 0x0C00 +#define RAWHID_TX_SIZE 64 +#define RAWHID_RX_SIZE 64 + +extern const u8 _hidReportDescriptor[] PROGMEM; +const u8 _hidReportDescriptor[] = { + + // Mouse + 0x05, 0x01, // USAGE_PAGE (Generic Desktop) // 54 + 0x09, 0x02, // USAGE (Mouse) + 0xa1, 0x01, // COLLECTION (Application) + 0x09, 0x01, // USAGE (Pointer) + 0xa1, 0x00, // COLLECTION (Physical) + 0x85, 0x01, // REPORT_ID (1) + 0x05, 0x09, // USAGE_PAGE (Button) + 0x19, 0x01, // USAGE_MINIMUM (Button 1) + 0x29, 0x03, // USAGE_MAXIMUM (Button 3) + 0x15, 0x00, // LOGICAL_MINIMUM (0) + 0x25, 0x01, // LOGICAL_MAXIMUM (1) + 0x95, 0x03, // REPORT_COUNT (3) + 0x75, 0x01, // REPORT_SIZE (1) + 0x81, 0x02, // INPUT (Data,Var,Abs) + 0x95, 0x01, // REPORT_COUNT (1) + 0x75, 0x05, // REPORT_SIZE (5) + 0x81, 0x03, // INPUT (Cnst,Var,Abs) + 0x05, 0x01, // USAGE_PAGE (Generic Desktop) + 0x09, 0x30, // USAGE (X) + 0x09, 0x31, // USAGE (Y) + 0x09, 0x38, // USAGE (Wheel) + 0x15, 0x81, // LOGICAL_MINIMUM (-127) + 0x25, 0x7f, // LOGICAL_MAXIMUM (127) + 0x75, 0x08, // REPORT_SIZE (8) + 0x95, 0x03, // REPORT_COUNT (3) + 0x81, 0x06, // INPUT (Data,Var,Rel) + 0xc0, // END_COLLECTION + 0xc0, // END_COLLECTION + + // Keyboard + 0x05, 0x01, // USAGE_PAGE (Generic Desktop) // 47 + 0x09, 0x06, // USAGE (Keyboard) + 0xa1, 0x01, // COLLECTION (Application) + 0x85, 0x02, // REPORT_ID (2) + 0x05, 0x07, // USAGE_PAGE (Keyboard) + + 0x19, 0xe0, // USAGE_MINIMUM (Keyboard LeftControl) + 0x29, 0xe7, // USAGE_MAXIMUM (Keyboard Right GUI) + 0x15, 0x00, // LOGICAL_MINIMUM (0) + 0x25, 0x01, // LOGICAL_MAXIMUM (1) + 0x75, 0x01, // REPORT_SIZE (1) + + 0x95, 0x08, // REPORT_COUNT (8) + 0x81, 0x02, // INPUT (Data,Var,Abs) + 0x95, 0x01, // REPORT_COUNT (1) + 0x75, 0x08, // REPORT_SIZE (8) + 0x81, 0x03, // INPUT (Cnst,Var,Abs) + + 0x95, 0x06, // REPORT_COUNT (6) + 0x75, 0x08, // REPORT_SIZE (8) + 0x15, 0x00, // LOGICAL_MINIMUM (0) + 0x25, 0x65, // LOGICAL_MAXIMUM (101) + 0x05, 0x07, // USAGE_PAGE (Keyboard) + + 0x19, 0x00, // USAGE_MINIMUM (Reserved (no event indicated)) + 0x29, 0x65, // USAGE_MAXIMUM (Keyboard Application) + 0x81, 0x00, // INPUT (Data,Ary,Abs) + 0xc0, // END_COLLECTION + +#if RAWHID_ENABLED + // RAW HID + 0x06, LSB(RAWHID_USAGE_PAGE), MSB(RAWHID_USAGE_PAGE), // 30 + 0x0A, LSB(RAWHID_USAGE), MSB(RAWHID_USAGE), + + 0xA1, 0x01, // Collection 0x01 + 0x85, 0x03, // REPORT_ID (3) + 0x75, 0x08, // report size = 8 bits + 0x15, 0x00, // logical minimum = 0 + 0x26, 0xFF, 0x00, // logical maximum = 255 + + 0x95, 64, // report count TX + 0x09, 0x01, // usage + 0x81, 0x02, // Input (array) + + 0x95, 64, // report count RX + 0x09, 0x02, // usage + 0x91, 0x02, // Output (array) + 0xC0 // end collection +#endif +}; + +extern const HIDDescriptor _hidInterface PROGMEM; +const HIDDescriptor _hidInterface = +{ + D_INTERFACE(HID_INTERFACE,1,3,0,0), + D_HIDREPORT(sizeof(_hidReportDescriptor)), + D_ENDPOINT(USB_ENDPOINT_IN (HID_ENDPOINT_INT),USB_ENDPOINT_TYPE_INTERRUPT,0x40,0x01) +}; + +//================================================================================ +//================================================================================ +// Driver + +u8 _hid_protocol = 1; +u8 _hid_idle = 1; + +#define WEAK __attribute__ ((weak)) + +int WEAK HID_GetInterface(u8* interfaceNum) +{ + interfaceNum[0] += 1; // uses 1 + return USB_SendControl(TRANSFER_PGM,&_hidInterface,sizeof(_hidInterface)); +} + +int WEAK HID_GetDescriptor(int i) +{ + return USB_SendControl(TRANSFER_PGM,_hidReportDescriptor,sizeof(_hidReportDescriptor)); +} + +void WEAK HID_SendReport(u8 id, const void* data, int len) +{ + USB_Send(HID_TX, &id, 1); + USB_Send(HID_TX | TRANSFER_RELEASE,data,len); +} + +bool WEAK HID_Setup(Setup& setup) +{ + u8 r = setup.bRequest; + u8 requestType = setup.bmRequestType; + if (REQUEST_DEVICETOHOST_CLASS_INTERFACE == requestType) + { + if (HID_GET_REPORT == r) + { + //HID_GetReport(); + return true; + } + if (HID_GET_PROTOCOL == r) + { + //Send8(_hid_protocol); // TODO + return true; + } + } + + if (REQUEST_HOSTTODEVICE_CLASS_INTERFACE == requestType) + { + if (HID_SET_PROTOCOL == r) + { + _hid_protocol = setup.wValueL; + return true; + } + + if (HID_SET_IDLE == r) + { + _hid_idle = setup.wValueL; + return true; + } + } + return false; +} + +//================================================================================ +//================================================================================ +// Mouse + +Mouse_::Mouse_(void) : _buttons(0) +{ +} + +void Mouse_::begin(void) +{ +} + +void Mouse_::end(void) +{ +} + +void Mouse_::click(uint8_t b) +{ + _buttons = b; + move(0,0,0); + _buttons = 0; + move(0,0,0); +} + +void Mouse_::move(signed char x, signed char y, signed char wheel) +{ + u8 m[4]; + m[0] = _buttons; + m[1] = x; + m[2] = y; + m[3] = wheel; + HID_SendReport(1,m,4); +} + +void Mouse_::buttons(uint8_t b) +{ + if (b != _buttons) + { + _buttons = b; + move(0,0,0); + } +} + +void Mouse_::press(uint8_t b) +{ + buttons(_buttons | b); +} + +void Mouse_::release(uint8_t b) +{ + buttons(_buttons & ~b); +} + +bool Mouse_::isPressed(uint8_t b) +{ + if ((b & _buttons) > 0) + return true; + return false; +} + +//================================================================================ +//================================================================================ +// Keyboard + +Keyboard_::Keyboard_(void) +{ +} + +void Keyboard_::begin(void) +{ +} + +void Keyboard_::end(void) +{ +} + +void Keyboard_::sendReport(KeyReport* keys) +{ + HID_SendReport(2,keys,sizeof(KeyReport)); +} + +extern +const uint8_t _asciimap[128] PROGMEM; + +#define SHIFT 0x80 +const uint8_t _asciimap[128] = +{ + 0x00, // NUL + 0x00, // SOH + 0x00, // STX + 0x00, // ETX + 0x00, // EOT + 0x00, // ENQ + 0x00, // ACK + 0x00, // BEL + 0x2a, // BS Backspace + 0x2b, // TAB Tab + 0x28, // LF Enter + 0x00, // VT + 0x00, // FF + 0x00, // CR + 0x00, // SO + 0x00, // SI + 0x00, // DEL + 0x00, // DC1 + 0x00, // DC2 + 0x00, // DC3 + 0x00, // DC4 + 0x00, // NAK + 0x00, // SYN + 0x00, // ETB + 0x00, // CAN + 0x00, // EM + 0x00, // SUB + 0x00, // ESC + 0x00, // FS + 0x00, // GS + 0x00, // RS + 0x00, // US + + 0x2c, // ' ' + 0x1e|SHIFT, // ! + 0x34|SHIFT, // " + 0x20|SHIFT, // # + 0x21|SHIFT, // $ + 0x22|SHIFT, // % + 0x24|SHIFT, // & + 0x34, // ' + 0x26|SHIFT, // ( + 0x27|SHIFT, // ) + 0x25|SHIFT, // * + 0x2e|SHIFT, // + + 0x36, // , + 0x2d, // - + 0x37, // . + 0x38, // / + 0x27, // 0 + 0x1e, // 1 + 0x1f, // 2 + 0x20, // 3 + 0x21, // 4 + 0x22, // 5 + 0x23, // 6 + 0x24, // 7 + 0x25, // 8 + 0x26, // 9 + 0x33|SHIFT, // : + 0x33, // ; + 0x36|SHIFT, // < + 0x2e, // = + 0x37|SHIFT, // > + 0x38|SHIFT, // ? + 0x1f|SHIFT, // @ + 0x04|SHIFT, // A + 0x05|SHIFT, // B + 0x06|SHIFT, // C + 0x07|SHIFT, // D + 0x08|SHIFT, // E + 0x09|SHIFT, // F + 0x0a|SHIFT, // G + 0x0b|SHIFT, // H + 0x0c|SHIFT, // I + 0x0d|SHIFT, // J + 0x0e|SHIFT, // K + 0x0f|SHIFT, // L + 0x10|SHIFT, // M + 0x11|SHIFT, // N + 0x12|SHIFT, // O + 0x13|SHIFT, // P + 0x14|SHIFT, // Q + 0x15|SHIFT, // R + 0x16|SHIFT, // S + 0x17|SHIFT, // T + 0x18|SHIFT, // U + 0x19|SHIFT, // V + 0x1a|SHIFT, // W + 0x1b|SHIFT, // X + 0x1c|SHIFT, // Y + 0x1d|SHIFT, // Z + 0x2f, // [ + 0x31, // bslash + 0x30, // ] + 0x23|SHIFT, // ^ + 0x2d|SHIFT, // _ + 0x35, // ` + 0x04, // a + 0x05, // b + 0x06, // c + 0x07, // d + 0x08, // e + 0x09, // f + 0x0a, // g + 0x0b, // h + 0x0c, // i + 0x0d, // j + 0x0e, // k + 0x0f, // l + 0x10, // m + 0x11, // n + 0x12, // o + 0x13, // p + 0x14, // q + 0x15, // r + 0x16, // s + 0x17, // t + 0x18, // u + 0x19, // v + 0x1a, // w + 0x1b, // x + 0x1c, // y + 0x1d, // z + 0x2f|SHIFT, // + 0x31|SHIFT, // | + 0x30|SHIFT, // } + 0x35|SHIFT, // ~ + 0 // DEL +}; + +uint8_t USBPutChar(uint8_t c); + +// press() adds the specified key (printing, non-printing, or modifier) +// to the persistent key report and sends the report. Because of the way +// USB HID works, the host acts like the key remains pressed until we +// call release(), releaseAll(), or otherwise clear the report and resend. +size_t Keyboard_::press(uint8_t k) +{ + uint8_t i; + if (k >= 136) { // it's a non-printing key (not a modifier) + k = k - 136; + } else if (k >= 128) { // it's a modifier key + _keyReport.modifiers |= (1<<(k-128)); + k = 0; + } else { // it's a printing key + k = pgm_read_byte(_asciimap + k); + if (!k) { + setWriteError(); + return 0; + } + if (k & 0x80) { // it's a capital letter or other character reached with shift + _keyReport.modifiers |= 0x02; // the left shift modifier + k &= 0x7F; + } + } + + // Add k to the key report only if it's not already present + // and if there is an empty slot. + if (_keyReport.keys[0] != k && _keyReport.keys[1] != k && + _keyReport.keys[2] != k && _keyReport.keys[3] != k && + _keyReport.keys[4] != k && _keyReport.keys[5] != k) { + + for (i=0; i<6; i++) { + if (_keyReport.keys[i] == 0x00) { + _keyReport.keys[i] = k; + break; + } + } + if (i == 6) { + setWriteError(); + return 0; + } + } + sendReport(&_keyReport); + return 1; +} + +// release() takes the specified key out of the persistent key report and +// sends the report. This tells the OS the key is no longer pressed and that +// it shouldn't be repeated any more. +size_t Keyboard_::release(uint8_t k) +{ + uint8_t i; + if (k >= 136) { // it's a non-printing key (not a modifier) + k = k - 136; + } else if (k >= 128) { // it's a modifier key + _keyReport.modifiers &= ~(1<<(k-128)); + k = 0; + } else { // it's a printing key + k = pgm_read_byte(_asciimap + k); + if (!k) { + return 0; + } + if (k & 0x80) { // it's a capital letter or other character reached with shift + _keyReport.modifiers &= ~(0x02); // the left shift modifier + k &= 0x7F; + } + } + + // Test the key report to see if k is present. Clear it if it exists. + // Check all positions in case the key is present more than once (which it shouldn't be) + for (i=0; i<6; i++) { + if (0 != k && _keyReport.keys[i] == k) { + _keyReport.keys[i] = 0x00; + } + } + + sendReport(&_keyReport); + return 1; +} + +void Keyboard_::releaseAll(void) +{ + _keyReport.keys[0] = 0; + _keyReport.keys[1] = 0; + _keyReport.keys[2] = 0; + _keyReport.keys[3] = 0; + _keyReport.keys[4] = 0; + _keyReport.keys[5] = 0; + _keyReport.modifiers = 0; + sendReport(&_keyReport); +} + +size_t Keyboard_::write(uint8_t c) +{ + uint8_t p = press(c); // Keydown + uint8_t r = release(c); // Keyup + return (p); // just return the result of press() since release() almost always returns 1 +} + +#endif + +#endif /* if defined(USBCON) */
\ No newline at end of file diff --git a/cores/robot/HardwareSerial.cpp b/cores/robot/HardwareSerial.cpp new file mode 100644 index 0000000..eb2365f --- /dev/null +++ b/cores/robot/HardwareSerial.cpp @@ -0,0 +1,508 @@ +/* + HardwareSerial.cpp - Hardware serial library for Wiring + Copyright (c) 2006 Nicholas Zambetti. All right reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + + Modified 23 November 2006 by David A. Mellis + Modified 28 September 2010 by Mark Sproul + Modified 14 August 2012 by Alarus +*/ + +#include <stdlib.h> +#include <stdio.h> +#include <string.h> +#include <inttypes.h> +#include "Arduino.h" +#include "wiring_private.h" + +// this next line disables the entire HardwareSerial.cpp, +// this is so I can support Attiny series and any other chip without a uart +#if defined(UBRRH) || defined(UBRR0H) || defined(UBRR1H) || defined(UBRR2H) || defined(UBRR3H) + +#include "HardwareSerial.h" + +/* + * on ATmega8, the uart and its bits are not numbered, so there is no "TXC0" + * definition. + */ +#if !defined(TXC0) +#if defined(TXC) +#define TXC0 TXC +#elif defined(TXC1) +// Some devices have uart1 but no uart0 +#define TXC0 TXC1 +#else +#error TXC0 not definable in HardwareSerial.h +#endif +#endif + +// Define constants and variables for buffering incoming serial data. We're +// using a ring buffer (I think), in which head is the index of the location +// to which to write the next incoming character and tail is the index of the +// location from which to read. +#if (RAMEND < 1000) + #define SERIAL_BUFFER_SIZE 16 +#else + #define SERIAL_BUFFER_SIZE 64 +#endif + +struct ring_buffer +{ + unsigned char buffer[SERIAL_BUFFER_SIZE]; + volatile unsigned int head; + volatile unsigned int tail; +}; + +#if defined(USBCON) + ring_buffer rx_buffer = { { 0 }, 0, 0}; + ring_buffer tx_buffer = { { 0 }, 0, 0}; +#endif +#if defined(UBRRH) || defined(UBRR0H) + ring_buffer rx_buffer = { { 0 }, 0, 0 }; + ring_buffer tx_buffer = { { 0 }, 0, 0 }; +#endif +#if defined(UBRR1H) + ring_buffer rx_buffer1 = { { 0 }, 0, 0 }; + ring_buffer tx_buffer1 = { { 0 }, 0, 0 }; +#endif +#if defined(UBRR2H) + ring_buffer rx_buffer2 = { { 0 }, 0, 0 }; + ring_buffer tx_buffer2 = { { 0 }, 0, 0 }; +#endif +#if defined(UBRR3H) + ring_buffer rx_buffer3 = { { 0 }, 0, 0 }; + ring_buffer tx_buffer3 = { { 0 }, 0, 0 }; +#endif + +inline void store_char(unsigned char c, ring_buffer *buffer) +{ + int i = (unsigned int)(buffer->head + 1) % SERIAL_BUFFER_SIZE; + + // if we should be storing the received character into the location + // just before the tail (meaning that the head would advance to the + // current location of the tail), we're about to overflow the buffer + // and so we don't write the character or advance the head. + if (i != buffer->tail) { + buffer->buffer[buffer->head] = c; + buffer->head = i; + } +} + +#if !defined(USART0_RX_vect) && defined(USART1_RX_vect) +// do nothing - on the 32u4 the first USART is USART1 +#else +#if !defined(USART_RX_vect) && !defined(USART0_RX_vect) && \ + !defined(USART_RXC_vect) + #error "Don't know what the Data Received vector is called for the first UART" +#else + void serialEvent() __attribute__((weak)); + void serialEvent() {} + #define serialEvent_implemented +#if defined(USART_RX_vect) + ISR(USART_RX_vect) +#elif defined(USART0_RX_vect) + ISR(USART0_RX_vect) +#elif defined(USART_RXC_vect) + ISR(USART_RXC_vect) // ATmega8 +#endif + { + #if defined(UDR0) + if (bit_is_clear(UCSR0A, UPE0)) { + unsigned char c = UDR0; + store_char(c, &rx_buffer); + } else { + unsigned char c = UDR0; + }; + #elif defined(UDR) + if (bit_is_clear(UCSRA, PE)) { + unsigned char c = UDR; + store_char(c, &rx_buffer); + } else { + unsigned char c = UDR; + }; + #else + #error UDR not defined + #endif + } +#endif +#endif + +#if defined(USART1_RX_vect) + void serialEvent1() __attribute__((weak)); + void serialEvent1() {} + #define serialEvent1_implemented + ISR(USART1_RX_vect) + { + if (bit_is_clear(UCSR1A, UPE1)) { + unsigned char c = UDR1; + store_char(c, &rx_buffer1); + } else { + unsigned char c = UDR1; + }; + } +#endif + +#if defined(USART2_RX_vect) && defined(UDR2) + void serialEvent2() __attribute__((weak)); + void serialEvent2() {} + #define serialEvent2_implemented + ISR(USART2_RX_vect) + { + if (bit_is_clear(UCSR2A, UPE2)) { + unsigned char c = UDR2; + store_char(c, &rx_buffer2); + } else { + unsigned char c = UDR2; + }; + } +#endif + +#if defined(USART3_RX_vect) && defined(UDR3) + void serialEvent3() __attribute__((weak)); + void serialEvent3() {} + #define serialEvent3_implemented + ISR(USART3_RX_vect) + { + if (bit_is_clear(UCSR3A, UPE3)) { + unsigned char c = UDR3; + store_char(c, &rx_buffer3); + } else { + unsigned char c = UDR3; + }; + } +#endif + +void serialEventRun(void) +{ +#ifdef serialEvent_implemented + if (Serial.available()) serialEvent(); +#endif +#ifdef serialEvent1_implemented + if (Serial1.available()) serialEvent1(); +#endif +#ifdef serialEvent2_implemented + if (Serial2.available()) serialEvent2(); +#endif +#ifdef serialEvent3_implemented + if (Serial3.available()) serialEvent3(); +#endif +} + + +#if !defined(USART0_UDRE_vect) && defined(USART1_UDRE_vect) +// do nothing - on the 32u4 the first USART is USART1 +#else +#if !defined(UART0_UDRE_vect) && !defined(UART_UDRE_vect) && !defined(USART0_UDRE_vect) && !defined(USART_UDRE_vect) + #error "Don't know what the Data Register Empty vector is called for the first UART" +#else +#if defined(UART0_UDRE_vect) +ISR(UART0_UDRE_vect) +#elif defined(UART_UDRE_vect) +ISR(UART_UDRE_vect) +#elif defined(USART0_UDRE_vect) +ISR(USART0_UDRE_vect) +#elif defined(USART_UDRE_vect) +ISR(USART_UDRE_vect) +#endif +{ + if (tx_buffer.head == tx_buffer.tail) { + // Buffer empty, so disable interrupts +#if defined(UCSR0B) + cbi(UCSR0B, UDRIE0); +#else + cbi(UCSRB, UDRIE); +#endif + } + else { + // There is more data in the output buffer. Send the next byte + unsigned char c = tx_buffer.buffer[tx_buffer.tail]; + tx_buffer.tail = (tx_buffer.tail + 1) % SERIAL_BUFFER_SIZE; + + #if defined(UDR0) + UDR0 = c; + #elif defined(UDR) + UDR = c; + #else + #error UDR not defined + #endif + } +} +#endif +#endif + +#ifdef USART1_UDRE_vect +ISR(USART1_UDRE_vect) +{ + if (tx_buffer1.head == tx_buffer1.tail) { + // Buffer empty, so disable interrupts + cbi(UCSR1B, UDRIE1); + } + else { + // There is more data in the output buffer. Send the next byte + unsigned char c = tx_buffer1.buffer[tx_buffer1.tail]; + tx_buffer1.tail = (tx_buffer1.tail + 1) % SERIAL_BUFFER_SIZE; + + UDR1 = c; + } +} +#endif + +#ifdef USART2_UDRE_vect +ISR(USART2_UDRE_vect) +{ + if (tx_buffer2.head == tx_buffer2.tail) { + // Buffer empty, so disable interrupts + cbi(UCSR2B, UDRIE2); + } + else { + // There is more data in the output buffer. Send the next byte + unsigned char c = tx_buffer2.buffer[tx_buffer2.tail]; + tx_buffer2.tail = (tx_buffer2.tail + 1) % SERIAL_BUFFER_SIZE; + + UDR2 = c; + } +} +#endif + +#ifdef USART3_UDRE_vect +ISR(USART3_UDRE_vect) +{ + if (tx_buffer3.head == tx_buffer3.tail) { + // Buffer empty, so disable interrupts + cbi(UCSR3B, UDRIE3); + } + else { + // There is more data in the output buffer. Send the next byte + unsigned char c = tx_buffer3.buffer[tx_buffer3.tail]; + tx_buffer3.tail = (tx_buffer3.tail + 1) % SERIAL_BUFFER_SIZE; + + UDR3 = c; + } +} +#endif + + +// Constructors //////////////////////////////////////////////////////////////// + +HardwareSerial::HardwareSerial(ring_buffer *rx_buffer, ring_buffer *tx_buffer, + volatile uint8_t *ubrrh, volatile uint8_t *ubrrl, + volatile uint8_t *ucsra, volatile uint8_t *ucsrb, + volatile uint8_t *ucsrc, volatile uint8_t *udr, + uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udrie, uint8_t u2x) +{ + _rx_buffer = rx_buffer; + _tx_buffer = tx_buffer; + _ubrrh = ubrrh; + _ubrrl = ubrrl; + _ucsra = ucsra; + _ucsrb = ucsrb; + _ucsrc = ucsrc; + _udr = udr; + _rxen = rxen; + _txen = txen; + _rxcie = rxcie; + _udrie = udrie; + _u2x = u2x; +} + +// Public Methods ////////////////////////////////////////////////////////////// + +void HardwareSerial::begin(unsigned long baud) +{ + uint16_t baud_setting; + bool use_u2x = true; + +#if F_CPU == 16000000UL + // hardcoded exception for compatibility with the bootloader shipped + // with the Duemilanove and previous boards and the firmware on the 8U2 + // on the Uno and Mega 2560. + if (baud == 57600) { + use_u2x = false; + } +#endif + +try_again: + + if (use_u2x) { + *_ucsra = 1 << _u2x; + baud_setting = (F_CPU / 4 / baud - 1) / 2; + } else { + *_ucsra = 0; + baud_setting = (F_CPU / 8 / baud - 1) / 2; + } + + if ((baud_setting > 4095) && use_u2x) + { + use_u2x = false; + goto try_again; + } + + // assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register) + *_ubrrh = baud_setting >> 8; + *_ubrrl = baud_setting; + + transmitting = false; + + sbi(*_ucsrb, _rxen); + sbi(*_ucsrb, _txen); + sbi(*_ucsrb, _rxcie); + cbi(*_ucsrb, _udrie); +} + +void HardwareSerial::begin(unsigned long baud, byte config) +{ + uint16_t baud_setting; + uint8_t current_config; + bool use_u2x = true; + +#if F_CPU == 16000000UL + // hardcoded exception for compatibility with the bootloader shipped + // with the Duemilanove and previous boards and the firmware on the 8U2 + // on the Uno and Mega 2560. + if (baud == 57600) { + use_u2x = false; + } +#endif + +try_again: + + if (use_u2x) { + *_ucsra = 1 << _u2x; + baud_setting = (F_CPU / 4 / baud - 1) / 2; + } else { + *_ucsra = 0; + baud_setting = (F_CPU / 8 / baud - 1) / 2; + } + + if ((baud_setting > 4095) && use_u2x) + { + use_u2x = false; + goto try_again; + } + + // assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register) + *_ubrrh = baud_setting >> 8; + *_ubrrl = baud_setting; + + //set the data bits, parity, and stop bits +#if defined(__AVR_ATmega8__) + config |= 0x80; // select UCSRC register (shared with UBRRH) +#endif + *_ucsrc = config; + + sbi(*_ucsrb, _rxen); + sbi(*_ucsrb, _txen); + sbi(*_ucsrb, _rxcie); + cbi(*_ucsrb, _udrie); +} + +void HardwareSerial::end() +{ + // wait for transmission of outgoing data + while (_tx_buffer->head != _tx_buffer->tail) + ; + + cbi(*_ucsrb, _rxen); + cbi(*_ucsrb, _txen); + cbi(*_ucsrb, _rxcie); + cbi(*_ucsrb, _udrie); + + // clear any received data + _rx_buffer->head = _rx_buffer->tail; +} + +int HardwareSerial::available(void) +{ + return (unsigned int)(SERIAL_BUFFER_SIZE + _rx_buffer->head - _rx_buffer->tail) % SERIAL_BUFFER_SIZE; +} + +int HardwareSerial::peek(void) +{ + if (_rx_buffer->head == _rx_buffer->tail) { + return -1; + } else { + return _rx_buffer->buffer[_rx_buffer->tail]; + } +} + +int HardwareSerial::read(void) +{ + // if the head isn't ahead of the tail, we don't have any characters + if (_rx_buffer->head == _rx_buffer->tail) { + return -1; + } else { + unsigned char c = _rx_buffer->buffer[_rx_buffer->tail]; + _rx_buffer->tail = (unsigned int)(_rx_buffer->tail + 1) % SERIAL_BUFFER_SIZE; + return c; + } +} + +void HardwareSerial::flush() +{ + // UDR is kept full while the buffer is not empty, so TXC triggers when EMPTY && SENT + while (transmitting && ! (*_ucsra & _BV(TXC0))); + transmitting = false; +} + +size_t HardwareSerial::write(uint8_t c) +{ + int i = (_tx_buffer->head + 1) % SERIAL_BUFFER_SIZE; + + // If the output buffer is full, there's nothing for it other than to + // wait for the interrupt handler to empty it a bit + // ???: return 0 here instead? + while (i == _tx_buffer->tail) + ; + + _tx_buffer->buffer[_tx_buffer->head] = c; + _tx_buffer->head = i; + + sbi(*_ucsrb, _udrie); + // clear the TXC bit -- "can be cleared by writing a one to its bit location" + transmitting = true; + sbi(*_ucsra, TXC0); + + return 1; +} + +HardwareSerial::operator bool() { + return true; +} + +// Preinstantiate Objects ////////////////////////////////////////////////////// + +#if defined(UBRRH) && defined(UBRRL) + HardwareSerial Serial(&rx_buffer, &tx_buffer, &UBRRH, &UBRRL, &UCSRA, &UCSRB, &UCSRC, &UDR, RXEN, TXEN, RXCIE, UDRIE, U2X); +#elif defined(UBRR0H) && defined(UBRR0L) + HardwareSerial Serial(&rx_buffer, &tx_buffer, &UBRR0H, &UBRR0L, &UCSR0A, &UCSR0B, &UCSR0C, &UDR0, RXEN0, TXEN0, RXCIE0, UDRIE0, U2X0); +#elif defined(USBCON) + // do nothing - Serial object and buffers are initialized in CDC code +#else + #error no serial port defined (port 0) +#endif + +#if defined(UBRR1H) + HardwareSerial Serial1(&rx_buffer1, &tx_buffer1, &UBRR1H, &UBRR1L, &UCSR1A, &UCSR1B, &UCSR1C, &UDR1, RXEN1, TXEN1, RXCIE1, UDRIE1, U2X1); +#endif +#if defined(UBRR2H) + HardwareSerial Serial2(&rx_buffer2, &tx_buffer2, &UBRR2H, &UBRR2L, &UCSR2A, &UCSR2B, &UCSR2C, &UDR2, RXEN2, TXEN2, RXCIE2, UDRIE2, U2X2); +#endif +#if defined(UBRR3H) + HardwareSerial Serial3(&rx_buffer3, &tx_buffer3, &UBRR3H, &UBRR3L, &UCSR3A, &UCSR3B, &UCSR3C, &UDR3, RXEN3, TXEN3, RXCIE3, UDRIE3, U2X3); +#endif + +#endif // whole file + diff --git a/cores/robot/HardwareSerial.h b/cores/robot/HardwareSerial.h new file mode 100644 index 0000000..a73117f --- /dev/null +++ b/cores/robot/HardwareSerial.h @@ -0,0 +1,115 @@ +/* + HardwareSerial.h - Hardware serial library for Wiring + Copyright (c) 2006 Nicholas Zambetti. All right reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + + Modified 28 September 2010 by Mark Sproul + Modified 14 August 2012 by Alarus +*/ + +#ifndef HardwareSerial_h +#define HardwareSerial_h + +#include <inttypes.h> + +#include "Stream.h" + +struct ring_buffer; + +class HardwareSerial : public Stream +{ + private: + ring_buffer *_rx_buffer; + ring_buffer *_tx_buffer; + volatile uint8_t *_ubrrh; + volatile uint8_t *_ubrrl; + volatile uint8_t *_ucsra; + volatile uint8_t *_ucsrb; + volatile uint8_t *_ucsrc; + volatile uint8_t *_udr; + uint8_t _rxen; + uint8_t _txen; + uint8_t _rxcie; + uint8_t _udrie; + uint8_t _u2x; + bool transmitting; + public: + HardwareSerial(ring_buffer *rx_buffer, ring_buffer *tx_buffer, + volatile uint8_t *ubrrh, volatile uint8_t *ubrrl, + volatile uint8_t *ucsra, volatile uint8_t *ucsrb, + volatile uint8_t *ucsrc, volatile uint8_t *udr, + uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udrie, uint8_t u2x); + void begin(unsigned long); + void begin(unsigned long, uint8_t); + void end(); + virtual int available(void); + virtual int peek(void); + virtual int read(void); + virtual void flush(void); + virtual size_t write(uint8_t); + inline size_t write(unsigned long n) { return write((uint8_t)n); } + inline size_t write(long n) { return write((uint8_t)n); } + inline size_t write(unsigned int n) { return write((uint8_t)n); } + inline size_t write(int n) { return write((uint8_t)n); } + using Print::write; // pull in write(str) and write(buf, size) from Print + operator bool(); +}; + +// Define config for Serial.begin(baud, config); +#define SERIAL_5N1 0x00 +#define SERIAL_6N1 0x02 +#define SERIAL_7N1 0x04 +#define SERIAL_8N1 0x06 +#define SERIAL_5N2 0x08 +#define SERIAL_6N2 0x0A +#define SERIAL_7N2 0x0C +#define SERIAL_8N2 0x0E +#define SERIAL_5E1 0x20 +#define SERIAL_6E1 0x22 +#define SERIAL_7E1 0x24 +#define SERIAL_8E1 0x26 +#define SERIAL_5E2 0x28 +#define SERIAL_6E2 0x2A +#define SERIAL_7E2 0x2C +#define SERIAL_8E2 0x2E +#define SERIAL_5O1 0x30 +#define SERIAL_6O1 0x32 +#define SERIAL_7O1 0x34 +#define SERIAL_8O1 0x36 +#define SERIAL_5O2 0x38 +#define SERIAL_6O2 0x3A +#define SERIAL_7O2 0x3C +#define SERIAL_8O2 0x3E + +#if defined(UBRRH) || defined(UBRR0H) + extern HardwareSerial Serial; +#elif defined(USBCON) + #include "USBAPI.h" +// extern HardwareSerial Serial_; +#endif +#if defined(UBRR1H) + extern HardwareSerial Serial1; +#endif +#if defined(UBRR2H) + extern HardwareSerial Serial2; +#endif +#if defined(UBRR3H) + extern HardwareSerial Serial3; +#endif + +extern void serialEventRun(void) __attribute__((weak)); + +#endif diff --git a/cores/robot/IPAddress.cpp b/cores/robot/IPAddress.cpp new file mode 100644 index 0000000..fe3deb7 --- /dev/null +++ b/cores/robot/IPAddress.cpp @@ -0,0 +1,56 @@ + +#include <Arduino.h> +#include <IPAddress.h> + +IPAddress::IPAddress() +{ + memset(_address, 0, sizeof(_address)); +} + +IPAddress::IPAddress(uint8_t first_octet, uint8_t second_octet, uint8_t third_octet, uint8_t fourth_octet) +{ + _address[0] = first_octet; + _address[1] = second_octet; + _address[2] = third_octet; + _address[3] = fourth_octet; +} + +IPAddress::IPAddress(uint32_t address) +{ + memcpy(_address, &address, sizeof(_address)); +} + +IPAddress::IPAddress(const uint8_t *address) +{ + memcpy(_address, address, sizeof(_address)); +} + +IPAddress& IPAddress::operator=(const uint8_t *address) +{ + memcpy(_address, address, sizeof(_address)); + return *this; +} + +IPAddress& IPAddress::operator=(uint32_t address) +{ + memcpy(_address, (const uint8_t *)&address, sizeof(_address)); + return *this; +} + +bool IPAddress::operator==(const uint8_t* addr) +{ + return memcmp(addr, _address, sizeof(_address)) == 0; +} + +size_t IPAddress::printTo(Print& p) const +{ + size_t n = 0; + for (int i =0; i < 3; i++) + { + n += p.print(_address[i], DEC); + n += p.print('.'); + } + n += p.print(_address[3], DEC); + return n; +} + diff --git a/cores/robot/IPAddress.h b/cores/robot/IPAddress.h new file mode 100644 index 0000000..2585aec --- /dev/null +++ b/cores/robot/IPAddress.h @@ -0,0 +1,76 @@ +/* + * + * MIT License: + * Copyright (c) 2011 Adrian McEwen + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + * + * adrianm@mcqn.com 1/1/2011 + */ + +#ifndef IPAddress_h +#define IPAddress_h + +#include <Printable.h> + +// A class to make it easier to handle and pass around IP addresses + +class IPAddress : public Printable { +private: + uint8_t _address[4]; // IPv4 address + // Access the raw byte array containing the address. Because this returns a pointer + // to the internal structure rather than a copy of the address this function should only + // be used when you know that the usage of the returned uint8_t* will be transient and not + // stored. + uint8_t* raw_address() { return _address; }; + +public: + // Constructors + IPAddress(); + IPAddress(uint8_t first_octet, uint8_t second_octet, uint8_t third_octet, uint8_t fourth_octet); + IPAddress(uint32_t address); + IPAddress(const uint8_t *address); + + // Overloaded cast operator to allow IPAddress objects to be used where a pointer + // to a four-byte uint8_t array is expected + operator uint32_t() { return *((uint32_t*)_address); }; + bool operator==(const IPAddress& addr) { return (*((uint32_t*)_address)) == (*((uint32_t*)addr._address)); }; + bool operator==(const uint8_t* addr); + + // Overloaded index operator to allow getting and setting individual octets of the address + uint8_t operator[](int index) const { return _address[index]; }; + uint8_t& operator[](int index) { return _address[index]; }; + + // Overloaded copy operators to allow initialisation of IPAddress objects from other types + IPAddress& operator=(const uint8_t *address); + IPAddress& operator=(uint32_t address); + + virtual size_t printTo(Print& p) const; + + friend class EthernetClass; + friend class UDP; + friend class Client; + friend class Server; + friend class DhcpClass; + friend class DNSClient; +}; + +const IPAddress INADDR_NONE(0,0,0,0); + + +#endif diff --git a/cores/robot/Platform.h b/cores/robot/Platform.h new file mode 100644 index 0000000..8b8f742 --- /dev/null +++ b/cores/robot/Platform.h @@ -0,0 +1,23 @@ + +#ifndef __PLATFORM_H__ +#define __PLATFORM_H__ + +#include <inttypes.h> +#include <avr/pgmspace.h> +#include <avr/eeprom.h> +#include <avr/interrupt.h> +#include <util/delay.h> + +typedef unsigned char u8; +typedef unsigned short u16; +typedef unsigned long u32; + +#include "Arduino.h" + +#if defined(USBCON) + #include "USBDesc.h" + #include "USBCore.h" + #include "USBAPI.h" +#endif /* if defined(USBCON) */ + +#endif diff --git a/cores/robot/Print.cpp b/cores/robot/Print.cpp new file mode 100755 index 0000000..53961ec --- /dev/null +++ b/cores/robot/Print.cpp @@ -0,0 +1,268 @@ +/* + Print.cpp - Base class that provides print() and println() + Copyright (c) 2008 David A. Mellis. All right reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + + Modified 23 November 2006 by David A. Mellis + */ + +#include <stdlib.h> +#include <stdio.h> +#include <string.h> +#include <math.h> +#include "Arduino.h" + +#include "Print.h" + +// Public Methods ////////////////////////////////////////////////////////////// + +/* default implementation: may be overridden */ +size_t Print::write(const uint8_t *buffer, size_t size) +{ + size_t n = 0; + while (size--) { + n += write(*buffer++); + } + return n; +} + +size_t Print::print(const __FlashStringHelper *ifsh) +{ + const char PROGMEM *p = (const char PROGMEM *)ifsh; + size_t n = 0; + while (1) { + unsigned char c = pgm_read_byte(p++); + if (c == 0) break; + n += write(c); + } + return n; +} + +size_t Print::print(const String &s) +{ + size_t n = 0; + for (uint16_t i = 0; i < s.length(); i++) { + n += write(s[i]); + } + return n; +} + +size_t Print::print(const char str[]) +{ + return write(str); +} + +size_t Print::print(char c) +{ + return write(c); +} + +size_t Print::print(unsigned char b, int base) +{ + return print((unsigned long) b, base); +} + +size_t Print::print(int n, int base) +{ + return print((long) n, base); +} + +size_t Print::print(unsigned int n, int base) +{ + return print((unsigned long) n, base); +} + +size_t Print::print(long n, int base) +{ + if (base == 0) { + return write(n); + } else if (base == 10) { + if (n < 0) { + int t = print('-'); + n = -n; + return printNumber(n, 10) + t; + } + return printNumber(n, 10); + } else { + return printNumber(n, base); + } +} + +size_t Print::print(unsigned long n, int base) +{ + if (base == 0) return write(n); + else return printNumber(n, base); +} + +size_t Print::print(double n, int digits) +{ + return printFloat(n, digits); +} + +size_t Print::println(const __FlashStringHelper *ifsh) +{ + size_t n = print(ifsh); + n += println(); + return n; +} + +size_t Print::print(const Printable& x) +{ + return x.printTo(*this); +} + +size_t Print::println(void) +{ + size_t n = print('\r'); + n += print('\n'); + return n; +} + +size_t Print::println(const String &s) +{ + size_t n = print(s); + n += println(); + return n; +} + +size_t Print::println(const char c[]) +{ + size_t n = print(c); + n += println(); + return n; +} + +size_t Print::println(char c) +{ + size_t n = print(c); + n += println(); + return n; +} + +size_t Print::println(unsigned char b, int base) +{ + size_t n = print(b, base); + n += println(); + return n; +} + +size_t Print::println(int num, int base) +{ + size_t n = print(num, base); + n += println(); + return n; +} + +size_t Print::println(unsigned int num, int base) +{ + size_t n = print(num, base); + n += println(); + return n; +} + +size_t Print::println(long num, int base) +{ + size_t n = print(num, base); + n += println(); + return n; +} + +size_t Print::println(unsigned long num, int base) +{ + size_t n = print(num, base); + n += println(); + return n; +} + +size_t Print::println(double num, int digits) +{ + size_t n = print(num, digits); + n += println(); + return n; +} + +size_t Print::println(const Printable& x) +{ + size_t n = print(x); + n += println(); + return n; +} + +// Private Methods ///////////////////////////////////////////////////////////// + +size_t Print::printNumber(unsigned long n, uint8_t base) { + char buf[8 * sizeof(long) + 1]; // Assumes 8-bit chars plus zero byte. + char *str = &buf[sizeof(buf) - 1]; + + *str = '\0'; + + // prevent crash if called with base == 1 + if (base < 2) base = 10; + + do { + unsigned long m = n; + n /= base; + char c = m - base * n; + *--str = c < 10 ? c + '0' : c + 'A' - 10; + } while(n); + + return write(str); +} + +size_t Print::printFloat(double number, uint8_t digits) +{ + size_t n = 0; + + if (isnan(number)) return print("nan"); + if (isinf(number)) return print("inf"); + if (number > 4294967040.0) return print ("ovf"); // constant determined empirically + if (number <-4294967040.0) return print ("ovf"); // constant determined empirically + + // Handle negative numbers + if (number < 0.0) + { + n += print('-'); + number = -number; + } + + // Round correctly so that print(1.999, 2) prints as "2.00" + double rounding = 0.5; + for (uint8_t i=0; i<digits; ++i) + rounding /= 10.0; + + number += rounding; + + // Extract the integer part of the number and print it + unsigned long int_part = (unsigned long)number; + double remainder = number - (double)int_part; + n += print(int_part); + + // Print the decimal point, but only if there are digits beyond + if (digits > 0) { + n += print("."); + } + + // Extract digits from the remainder one at a time + while (digits-- > 0) + { + remainder *= 10.0; + int toPrint = int(remainder); + n += print(toPrint); + remainder -= toPrint; + } + + return n; +} diff --git a/cores/robot/Print.h b/cores/robot/Print.h new file mode 100755 index 0000000..dc76150 --- /dev/null +++ b/cores/robot/Print.h @@ -0,0 +1,81 @@ +/* + Print.h - Base class that provides print() and println() + Copyright (c) 2008 David A. Mellis. All right reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef Print_h +#define Print_h + +#include <inttypes.h> +#include <stdio.h> // for size_t + +#include "WString.h" +#include "Printable.h" + +#define DEC 10 +#define HEX 16 +#define OCT 8 +#define BIN 2 + +class Print +{ + private: + int write_error; + size_t printNumber(unsigned long, uint8_t); + size_t printFloat(double, uint8_t); + protected: + void setWriteError(int err = 1) { write_error = err; } + public: + Print() : write_error(0) {} + + int getWriteError() { return write_error; } + void clearWriteError() { setWriteError(0); } + + virtual size_t write(uint8_t) = 0; + size_t write(const char *str) { + if (str == NULL) return 0; + return write((const uint8_t *)str, strlen(str)); + } + virtual size_t write(const uint8_t *buffer, size_t size); + + size_t print(const __FlashStringHelper *); + size_t print(const String &); + size_t print(const char[]); + size_t print(char); + size_t print(unsigned char, int = DEC); + size_t print(int, int = DEC); + size_t print(unsigned int, int = DEC); + size_t print(long, int = DEC); + size_t print(unsigned long, int = DEC); + size_t print(double, int = 2); + size_t print(const Printable&); + + size_t println(const __FlashStringHelper *); + size_t println(const String &s); + size_t println(const char[]); + size_t println(char); + size_t println(unsigned char, int = DEC); + size_t println(int, int = DEC); + size_t println(unsigned int, int = DEC); + size_t println(long, int = DEC); + size_t println(unsigned long, int = DEC); + size_t println(double, int = 2); + size_t println(const Printable&); + size_t println(void); +}; + +#endif diff --git a/cores/robot/Printable.h b/cores/robot/Printable.h new file mode 100644 index 0000000..d03c9af --- /dev/null +++ b/cores/robot/Printable.h @@ -0,0 +1,40 @@ +/* + Printable.h - Interface class that allows printing of complex types + Copyright (c) 2011 Adrian McEwen. All right reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef Printable_h +#define Printable_h + +#include <new.h> + +class Print; + +/** The Printable class provides a way for new classes to allow themselves to be printed. + By deriving from Printable and implementing the printTo method, it will then be possible + for users to print out instances of this class by passing them into the usual + Print::print and Print::println methods. +*/ + +class Printable +{ + public: + virtual size_t printTo(Print& p) const = 0; +}; + +#endif + diff --git a/cores/robot/Server.h b/cores/robot/Server.h new file mode 100644 index 0000000..9674c76 --- /dev/null +++ b/cores/robot/Server.h @@ -0,0 +1,9 @@ +#ifndef server_h +#define server_h + +class Server : public Print { +public: + virtual void begin() =0; +}; + +#endif diff --git a/cores/robot/Stream.cpp b/cores/robot/Stream.cpp new file mode 100644 index 0000000..aafb7fc --- /dev/null +++ b/cores/robot/Stream.cpp @@ -0,0 +1,270 @@ +/* + Stream.cpp - adds parsing methods to Stream class + Copyright (c) 2008 David A. Mellis. All right reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + + Created July 2011 + parsing functions based on TextFinder library by Michael Margolis + */ + +#include "Arduino.h" +#include "Stream.h" + +#define PARSE_TIMEOUT 1000 // default number of milli-seconds to wait +#define NO_SKIP_CHAR 1 // a magic char not found in a valid ASCII numeric field + +// private method to read stream with timeout +int Stream::timedRead() +{ + int c; + _startMillis = millis(); + do { + c = read(); + if (c >= 0) return c; + } while(millis() - _startMillis < _timeout); + return -1; // -1 indicates timeout +} + +// private method to peek stream with timeout +int Stream::timedPeek() +{ + int c; + _startMillis = millis(); + do { + c = peek(); + if (c >= 0) return c; + } while(millis() - _startMillis < _timeout); + return -1; // -1 indicates timeout +} + +// returns peek of the next digit in the stream or -1 if timeout +// discards non-numeric characters +int Stream::peekNextDigit() +{ + int c; + while (1) { + c = timedPeek(); + if (c < 0) return c; // timeout + if (c == '-') return c; + if (c >= '0' && c <= '9') return c; + read(); // discard non-numeric + } +} + +// Public Methods +////////////////////////////////////////////////////////////// + +void Stream::setTimeout(unsigned long timeout) // sets the maximum number of milliseconds to wait +{ + _timeout = timeout; +} + + // find returns true if the target string is found +bool Stream::find(char *target) +{ + return findUntil(target, NULL); +} + +// reads data from the stream until the target string of given length is found +// returns true if target string is found, false if timed out +bool Stream::find(char *target, size_t length) +{ + return findUntil(target, length, NULL, 0); +} + +// as find but search ends if the terminator string is found +bool Stream::findUntil(char *target, char *terminator) +{ + return findUntil(target, strlen(target), terminator, strlen(terminator)); +} + +// reads data from the stream until the target string of the given length is found +// search terminated if the terminator string is found +// returns true if target string is found, false if terminated or timed out +bool Stream::findUntil(char *target, size_t targetLen, char *terminator, size_t termLen) +{ + size_t index = 0; // maximum target string length is 64k bytes! + size_t termIndex = 0; + int c; + + if( *target == 0) + return true; // return true if target is a null string + while( (c = timedRead()) > 0){ + + if(c != target[index]) + index = 0; // reset index if any char does not match + + if( c == target[index]){ + //////Serial.print("found "); Serial.write(c); Serial.print("index now"); Serial.println(index+1); + if(++index >= targetLen){ // return true if all chars in the target match + return true; + } + } + + if(termLen > 0 && c == terminator[termIndex]){ + if(++termIndex >= termLen) + return false; // return false if terminate string found before target string + } + else + termIndex = 0; + } + return false; +} + + +// returns the first valid (long) integer value from the current position. +// initial characters that are not digits (or the minus sign) are skipped +// function is terminated by the first character that is not a digit. +long Stream::parseInt() +{ + return parseInt(NO_SKIP_CHAR); // terminate on first non-digit character (or timeout) +} + +// as above but a given skipChar is ignored +// this allows format characters (typically commas) in values to be ignored +long Stream::parseInt(char skipChar) +{ + boolean isNegative = false; + long value = 0; + int c; + + c = peekNextDigit(); + // ignore non numeric leading characters + if(c < 0) + return 0; // zero returned if timeout + + do{ + if(c == skipChar) + ; // ignore this charactor + else if(c == '-') + isNegative = true; + else if(c >= '0' && c <= '9') // is c a digit? + value = value * 10 + c - '0'; + read(); // consume the character we got with peek + c = timedPeek(); + } + while( (c >= '0' && c <= '9') || c == skipChar ); + + if(isNegative) + value = -value; + return value; +} + + +// as parseInt but returns a floating point value +float Stream::parseFloat() +{ + return parseFloat(NO_SKIP_CHAR); +} + +// as above but the given skipChar is ignored +// this allows format characters (typically commas) in values to be ignored +float Stream::parseFloat(char skipChar){ + boolean isNegative = false; + boolean isFraction = false; + long value = 0; + char c; + float fraction = 1.0; + + c = peekNextDigit(); + // ignore non numeric leading characters + if(c < 0) + return 0; // zero returned if timeout + + do{ + if(c == skipChar) + ; // ignore + else if(c == '-') + isNegative = true; + else if (c == '.') + isFraction = true; + else if(c >= '0' && c <= '9') { // is c a digit? + value = value * 10 + c - '0'; + if(isFraction) + fraction *= 0.1; + } + read(); // consume the character we got with peek + c = timedPeek(); + } + while( (c >= '0' && c <= '9') || c == '.' || c == skipChar ); + + if(isNegative) + value = -value; + if(isFraction) + return value * fraction; + else + return value; +} + +// read characters from stream into buffer +// terminates if length characters have been read, or timeout (see setTimeout) +// returns the number of characters placed in the buffer +// the buffer is NOT null terminated. +// +size_t Stream::readBytes(char *buffer, size_t length) +{ + size_t count = 0; + while (count < length) { + int c = timedRead(); + if (c < 0) break; + *buffer++ = (char)c; + count++; + } + return count; +} + + +// as readBytes with terminator character +// terminates if length characters have been read, timeout, or if the terminator character detected +// returns the number of characters placed in the buffer (0 means no valid data found) + +size_t Stream::readBytesUntil(char terminator, char *buffer, size_t length) +{ + if (length < 1) return 0; + size_t index = 0; + while (index < length) { + int c = timedRead(); + if (c < 0 || c == terminator) break; + *buffer++ = (char)c; + index++; + } + return index; // return number of characters, not including null terminator +} + +String Stream::readString() +{ + String ret; + int c = timedRead(); + while (c >= 0) + { + ret += (char)c; + c = timedRead(); + } + return ret; +} + +String Stream::readStringUntil(char terminator) +{ + String ret; + int c = timedRead(); + while (c >= 0 && c != terminator) + { + ret += (char)c; + c = timedRead(); + } + return ret; +} + diff --git a/cores/robot/Stream.h b/cores/robot/Stream.h new file mode 100644 index 0000000..007b4bc --- /dev/null +++ b/cores/robot/Stream.h @@ -0,0 +1,96 @@ +/* + Stream.h - base class for character-based streams. + Copyright (c) 2010 David A. Mellis. All right reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + + parsing functions based on TextFinder library by Michael Margolis +*/ + +#ifndef Stream_h +#define Stream_h + +#include <inttypes.h> +#include "Print.h" + +// compatability macros for testing +/* +#define getInt() parseInt() +#define getInt(skipChar) parseInt(skipchar) +#define getFloat() parseFloat() +#define getFloat(skipChar) parseFloat(skipChar) +#define getString( pre_string, post_string, buffer, length) +readBytesBetween( pre_string, terminator, buffer, length) +*/ + +class Stream : public Print +{ + protected: + unsigned long _timeout; // number of milliseconds to wait for the next char before aborting timed read + unsigned long _startMillis; // used for timeout measurement + int timedRead(); // private method to read stream with timeout + int timedPeek(); // private method to peek stream with timeout + int peekNextDigit(); // returns the next numeric digit in the stream or -1 if timeout + + public: + virtual int available() = 0; + virtual int read() = 0; + virtual int peek() = 0; + virtual void flush() = 0; + + Stream() {_timeout=1000;} + +// parsing methods + + void setTimeout(unsigned long timeout); // sets maximum milliseconds to wait for stream data, default is 1 second + + bool find(char *target); // reads data from the stream until the target string is found + // returns true if target string is found, false if timed out (see setTimeout) + + bool find(char *target, size_t length); // reads data from the stream until the target string of given length is found + // returns true if target string is found, false if timed out + + bool findUntil(char *target, char *terminator); // as find but search ends if the terminator string is found + + bool findUntil(char *target, size_t targetLen, char *terminate, size_t termLen); // as above but search ends if the terminate string is found + + + long parseInt(); // returns the first valid (long) integer value from the current position. + // initial characters that are not digits (or the minus sign) are skipped + // integer is terminated by the first character that is not a digit. + + float parseFloat(); // float version of parseInt + + size_t readBytes( char *buffer, size_t length); // read chars from stream into buffer + // terminates if length characters have been read or timeout (see setTimeout) + // returns the number of characters placed in the buffer (0 means no valid data found) + + size_t readBytesUntil( char terminator, char *buffer, size_t length); // as readBytes with terminator character + // terminates if length characters have been read, timeout, or if the terminator character detected + // returns the number of characters placed in the buffer (0 means no valid data found) + + // Arduino String functions to be added here + String readString(); + String readStringUntil(char terminator); + + protected: + long parseInt(char skipChar); // as above but the given skipChar is ignored + // as above but the given skipChar is ignored + // this allows format characters (typically commas) in values to be ignored + + float parseFloat(char skipChar); // as above but the given skipChar is ignored +}; + +#endif diff --git a/cores/robot/Tone.cpp b/cores/robot/Tone.cpp new file mode 100755 index 0000000..9bb6fe7 --- /dev/null +++ b/cores/robot/Tone.cpp @@ -0,0 +1,616 @@ +/* Tone.cpp + + A Tone Generator Library + + Written by Brett Hagman + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +Version Modified By Date Comments +------- ----------- -------- -------- +0001 B Hagman 09/08/02 Initial coding +0002 B Hagman 09/08/18 Multiple pins +0003 B Hagman 09/08/18 Moved initialization from constructor to begin() +0004 B Hagman 09/09/26 Fixed problems with ATmega8 +0005 B Hagman 09/11/23 Scanned prescalars for best fit on 8 bit timers + 09/11/25 Changed pin toggle method to XOR + 09/11/25 Fixed timer0 from being excluded +0006 D Mellis 09/12/29 Replaced objects with functions +0007 M Sproul 10/08/29 Changed #ifdefs from cpu to register +0008 S Kanemoto 12/06/22 Fixed for Leonardo by @maris_HY +*************************************************/ + +#include <avr/interrupt.h> +#include <avr/pgmspace.h> +#include "Arduino.h" +#include "pins_arduino.h" + +#if defined(__AVR_ATmega8__) || defined(__AVR_ATmega128__) +#define TCCR2A TCCR2 +#define TCCR2B TCCR2 +#define COM2A1 COM21 +#define COM2A0 COM20 +#define OCR2A OCR2 +#define TIMSK2 TIMSK +#define OCIE2A OCIE2 +#define TIMER2_COMPA_vect TIMER2_COMP_vect +#define TIMSK1 TIMSK +#endif + +// timerx_toggle_count: +// > 0 - duration specified +// = 0 - stopped +// < 0 - infinitely (until stop() method called, or new play() called) + +#if !defined(__AVR_ATmega8__) +volatile long timer0_toggle_count; +volatile uint8_t *timer0_pin_port; +volatile uint8_t timer0_pin_mask; +#endif + +volatile long timer1_toggle_count; +volatile uint8_t *timer1_pin_port; +volatile uint8_t timer1_pin_mask; +volatile long timer2_toggle_count; +volatile uint8_t *timer2_pin_port; +volatile uint8_t timer2_pin_mask; + +#if defined(TIMSK3) +volatile long timer3_toggle_count; +volatile uint8_t *timer3_pin_port; +volatile uint8_t timer3_pin_mask; +#endif + +#if defined(TIMSK4) +volatile long timer4_toggle_count; +volatile uint8_t *timer4_pin_port; +volatile uint8_t timer4_pin_mask; +#endif + +#if defined(TIMSK5) +volatile long timer5_toggle_count; +volatile uint8_t *timer5_pin_port; +volatile uint8_t timer5_pin_mask; +#endif + + +#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) + +#define AVAILABLE_TONE_PINS 1 +#define USE_TIMER2 + +const uint8_t PROGMEM tone_pin_to_timer_PGM[] = { 2 /*, 3, 4, 5, 1, 0 */ }; +static uint8_t tone_pins[AVAILABLE_TONE_PINS] = { 255 /*, 255, 255, 255, 255, 255 */ }; + +#elif defined(__AVR_ATmega8__) + +#define AVAILABLE_TONE_PINS 1 +#define USE_TIMER2 + +const uint8_t PROGMEM tone_pin_to_timer_PGM[] = { 2 /*, 1 */ }; +static uint8_t tone_pins[AVAILABLE_TONE_PINS] = { 255 /*, 255 */ }; + +#elif defined(__AVR_ATmega32U4__) + +#define AVAILABLE_TONE_PINS 1 +#define USE_TIMER3 + +const uint8_t PROGMEM tone_pin_to_timer_PGM[] = { 3 /*, 1 */ }; +static uint8_t tone_pins[AVAILABLE_TONE_PINS] = { 255 /*, 255 */ }; + +#else + +#define AVAILABLE_TONE_PINS 1 +#define USE_TIMER2 + +// Leave timer 0 to last. +const uint8_t PROGMEM tone_pin_to_timer_PGM[] = { 2 /*, 1, 0 */ }; +static uint8_t tone_pins[AVAILABLE_TONE_PINS] = { 255 /*, 255, 255 */ }; + +#endif + + + +static int8_t toneBegin(uint8_t _pin) +{ + int8_t _timer = -1; + + // if we're already using the pin, the timer should be configured. + for (int i = 0; i < AVAILABLE_TONE_PINS; i++) { + if (tone_pins[i] == _pin) { + return pgm_read_byte(tone_pin_to_timer_PGM + i); + } + } + + // search for an unused timer. + for (int i = 0; i < AVAILABLE_TONE_PINS; i++) { + if (tone_pins[i] == 255) { + tone_pins[i] = _pin; + _timer = pgm_read_byte(tone_pin_to_timer_PGM + i); + break; + } + } + + if (_timer != -1) + { + // Set timer specific stuff + // All timers in CTC mode + // 8 bit timers will require changing prescalar values, + // whereas 16 bit timers are set to either ck/1 or ck/64 prescalar + switch (_timer) + { + #if defined(TCCR0A) && defined(TCCR0B) + case 0: + // 8 bit timer + TCCR0A = 0; + TCCR0B = 0; + bitWrite(TCCR0A, WGM01, 1); + bitWrite(TCCR0B, CS00, 1); + timer0_pin_port = portOutputRegister(digitalPinToPort(_pin)); + timer0_pin_mask = digitalPinToBitMask(_pin); + break; + #endif + + #if defined(TCCR1A) && defined(TCCR1B) && defined(WGM12) + case 1: + // 16 bit timer + TCCR1A = 0; + TCCR1B = 0; + bitWrite(TCCR1B, WGM12, 1); + bitWrite(TCCR1B, CS10, 1); + timer1_pin_port = portOutputRegister(digitalPinToPort(_pin)); + timer1_pin_mask = digitalPinToBitMask(_pin); + break; + #endif + + #if defined(TCCR2A) && defined(TCCR2B) + case 2: + // 8 bit timer + TCCR2A = 0; + TCCR2B = 0; + bitWrite(TCCR2A, WGM21, 1); + bitWrite(TCCR2B, CS20, 1); + timer2_pin_port = portOutputRegister(digitalPinToPort(_pin)); + timer2_pin_mask = digitalPinToBitMask(_pin); + break; + #endif + + #if defined(TCCR3A) && defined(TCCR3B) && defined(TIMSK3) + case 3: + // 16 bit timer + TCCR3A = 0; + TCCR3B = 0; + bitWrite(TCCR3B, WGM32, 1); + bitWrite(TCCR3B, CS30, 1); + timer3_pin_port = portOutputRegister(digitalPinToPort(_pin)); + timer3_pin_mask = digitalPinToBitMask(_pin); + break; + #endif + + #if defined(TCCR4A) && defined(TCCR4B) && defined(TIMSK4) + case 4: + // 16 bit timer + TCCR4A = 0; + TCCR4B = 0; + #if defined(WGM42) + bitWrite(TCCR4B, WGM42, 1); + #elif defined(CS43) + #warning this may not be correct + // atmega32u4 + bitWrite(TCCR4B, CS43, 1); + #endif + bitWrite(TCCR4B, CS40, 1); + timer4_pin_port = portOutputRegister(digitalPinToPort(_pin)); + timer4_pin_mask = digitalPinToBitMask(_pin); + break; + #endif + + #if defined(TCCR5A) && defined(TCCR5B) && defined(TIMSK5) + case 5: + // 16 bit timer + TCCR5A = 0; + TCCR5B = 0; + bitWrite(TCCR5B, WGM52, 1); + bitWrite(TCCR5B, CS50, 1); + timer5_pin_port = portOutputRegister(digitalPinToPort(_pin)); + timer5_pin_mask = digitalPinToBitMask(_pin); + break; + #endif + } + } + + return _timer; +} + + + +// frequency (in hertz) and duration (in milliseconds). + +void tone(uint8_t _pin, unsigned int frequency, unsigned long duration) +{ + uint8_t prescalarbits = 0b001; + long toggle_count = 0; + uint32_t ocr = 0; + int8_t _timer; + + _timer = toneBegin(_pin); + + if (_timer >= 0) + { + // Set the pinMode as OUTPUT + pinMode(_pin, OUTPUT); + + // if we are using an 8 bit timer, scan through prescalars to find the best fit + if (_timer == 0 || _timer == 2) + { + ocr = F_CPU / frequency / 2 - 1; + prescalarbits = 0b001; // ck/1: same for both timers + if (ocr > 255) + { + ocr = F_CPU / frequency / 2 / 8 - 1; + prescalarbits = 0b010; // ck/8: same for both timers + + if (_timer == 2 && ocr > 255) + { + ocr = F_CPU / frequency / 2 / 32 - 1; + prescalarbits = 0b011; + } + + if (ocr > 255) + { + ocr = F_CPU / frequency / 2 / 64 - 1; + prescalarbits = _timer == 0 ? 0b011 : 0b100; + + if (_timer == 2 && ocr > 255) + { + ocr = F_CPU / frequency / 2 / 128 - 1; + prescalarbits = 0b101; + } + + if (ocr > 255) + { + ocr = F_CPU / frequency / 2 / 256 - 1; + prescalarbits = _timer == 0 ? 0b100 : 0b110; + if (ocr > 255) + { + // can't do any better than /1024 + ocr = F_CPU / frequency / 2 / 1024 - 1; + prescalarbits = _timer == 0 ? 0b101 : 0b111; + } + } + } + } + +#if defined(TCCR0B) + if (_timer == 0) + { + TCCR0B = prescalarbits; + } + else +#endif +#if defined(TCCR2B) + { + TCCR2B = prescalarbits; + } +#else + { + // dummy place holder to make the above ifdefs work + } +#endif + } + else + { + // two choices for the 16 bit timers: ck/1 or ck/64 + ocr = F_CPU / frequency / 2 - 1; + + prescalarbits = 0b001; + if (ocr > 0xffff) + { + ocr = F_CPU / frequency / 2 / 64 - 1; + prescalarbits = 0b011; + } + + if (_timer == 1) + { +#if defined(TCCR1B) + TCCR1B = (TCCR1B & 0b11111000) | prescalarbits; +#endif + } +#if defined(TCCR3B) + else if (_timer == 3) + TCCR3B = (TCCR3B & 0b11111000) | prescalarbits; +#endif +#if defined(TCCR4B) + else if (_timer == 4) + TCCR4B = (TCCR4B & 0b11111000) | prescalarbits; +#endif +#if defined(TCCR5B) + else if (_timer == 5) + TCCR5B = (TCCR5B & 0b11111000) | prescalarbits; +#endif + + } + + + // Calculate the toggle count + if (duration > 0) + { + toggle_count = 2 * frequency * duration / 1000; + } + else + { + toggle_count = -1; + } + + // Set the OCR for the given timer, + // set the toggle count, + // then turn on the interrupts + switch (_timer) + { + +#if defined(OCR0A) && defined(TIMSK0) && defined(OCIE0A) + case 0: + OCR0A = ocr; + timer0_toggle_count = toggle_count; + bitWrite(TIMSK0, OCIE0A, 1); + break; +#endif + + case 1: +#if defined(OCR1A) && defined(TIMSK1) && defined(OCIE1A) + OCR1A = ocr; + timer1_toggle_count = toggle_count; + bitWrite(TIMSK1, OCIE1A, 1); +#elif defined(OCR1A) && defined(TIMSK) && defined(OCIE1A) + // this combination is for at least the ATmega32 + OCR1A = ocr; + timer1_toggle_count = toggle_count; + bitWrite(TIMSK, OCIE1A, 1); +#endif + break; + +#if defined(OCR2A) && defined(TIMSK2) && defined(OCIE2A) + case 2: + OCR2A = ocr; + timer2_toggle_count = toggle_count; + bitWrite(TIMSK2, OCIE2A, 1); + break; +#endif + +#if defined(TIMSK3) + case 3: + OCR3A = ocr; + timer3_toggle_count = toggle_count; + bitWrite(TIMSK3, OCIE3A, 1); + break; +#endif + +#if defined(TIMSK4) + case 4: + OCR4A = ocr; + timer4_toggle_count = toggle_count; + bitWrite(TIMSK4, OCIE4A, 1); + break; +#endif + +#if defined(OCR5A) && defined(TIMSK5) && defined(OCIE5A) + case 5: + OCR5A = ocr; + timer5_toggle_count = toggle_count; + bitWrite(TIMSK5, OCIE5A, 1); + break; +#endif + + } + } +} + + +// XXX: this function only works properly for timer 2 (the only one we use +// currently). for the others, it should end the tone, but won't restore +// proper PWM functionality for the timer. +void disableTimer(uint8_t _timer) +{ + switch (_timer) + { + case 0: + #if defined(TIMSK0) + TIMSK0 = 0; + #elif defined(TIMSK) + TIMSK = 0; // atmega32 + #endif + break; + +#if defined(TIMSK1) && defined(OCIE1A) + case 1: + bitWrite(TIMSK1, OCIE1A, 0); + break; +#endif + + case 2: + #if defined(TIMSK2) && defined(OCIE2A) + bitWrite(TIMSK2, OCIE2A, 0); // disable interrupt + #endif + #if defined(TCCR2A) && defined(WGM20) + TCCR2A = (1 << WGM20); + #endif + #if defined(TCCR2B) && defined(CS22) + TCCR2B = (TCCR2B & 0b11111000) | (1 << CS22); + #endif + #if defined(OCR2A) + OCR2A = 0; + #endif + break; + +#if defined(TIMSK3) + case 3: + TIMSK3 = 0; + break; +#endif + +#if defined(TIMSK4) + case 4: + TIMSK4 = 0; + break; +#endif + +#if defined(TIMSK5) + case 5: + TIMSK5 = 0; + break; +#endif + } +} + + +void noTone(uint8_t _pin) +{ + int8_t _timer = -1; + + for (int i = 0; i < AVAILABLE_TONE_PINS; i++) { + if (tone_pins[i] == _pin) { + _timer = pgm_read_byte(tone_pin_to_timer_PGM + i); + tone_pins[i] = 255; + } + } + + disableTimer(_timer); + + digitalWrite(_pin, 0); +} + +#ifdef USE_TIMER0 +ISR(TIMER0_COMPA_vect) +{ + if (timer0_toggle_count != 0) + { + // toggle the pin + *timer0_pin_port ^= timer0_pin_mask; + + if (timer0_toggle_count > 0) + timer0_toggle_count--; + } + else + { + disableTimer(0); + *timer0_pin_port &= ~(timer0_pin_mask); // keep pin low after stop + } +} +#endif + + +#ifdef USE_TIMER1 +ISR(TIMER1_COMPA_vect) +{ + if (timer1_toggle_count != 0) + { + // toggle the pin + *timer1_pin_port ^= timer1_pin_mask; + + if (timer1_toggle_count > 0) + timer1_toggle_count--; + } + else + { + disableTimer(1); + *timer1_pin_port &= ~(timer1_pin_mask); // keep pin low after stop + } +} +#endif + + +#ifdef USE_TIMER2 +ISR(TIMER2_COMPA_vect) +{ + + if (timer2_toggle_count != 0) + { + // toggle the pin + *timer2_pin_port ^= timer2_pin_mask; + + if (timer2_toggle_count > 0) + timer2_toggle_count--; + } + else + { + // need to call noTone() so that the tone_pins[] entry is reset, so the + // timer gets initialized next time we call tone(). + // XXX: this assumes timer 2 is always the first one used. + noTone(tone_pins[0]); +// disableTimer(2); +// *timer2_pin_port &= ~(timer2_pin_mask); // keep pin low after stop + } +} +#endif + + +#ifdef USE_TIMER3 +ISR(TIMER3_COMPA_vect) +{ + if (timer3_toggle_count != 0) + { + // toggle the pin + *timer3_pin_port ^= timer3_pin_mask; + + if (timer3_toggle_count > 0) + timer3_toggle_count--; + } + else + { + disableTimer(3); + *timer3_pin_port &= ~(timer3_pin_mask); // keep pin low after stop + } +} +#endif + + +#ifdef USE_TIMER4 +ISR(TIMER4_COMPA_vect) +{ + if (timer4_toggle_count != 0) + { + // toggle the pin + *timer4_pin_port ^= timer4_pin_mask; + + if (timer4_toggle_count > 0) + timer4_toggle_count--; + } + else + { + disableTimer(4); + *timer4_pin_port &= ~(timer4_pin_mask); // keep pin low after stop + } +} +#endif + + +#ifdef USE_TIMER5 +ISR(TIMER5_COMPA_vect) +{ + if (timer5_toggle_count != 0) + { + // toggle the pin + *timer5_pin_port ^= timer5_pin_mask; + + if (timer5_toggle_count > 0) + timer5_toggle_count--; + } + else + { + disableTimer(5); + *timer5_pin_port &= ~(timer5_pin_mask); // keep pin low after stop + } +} +#endif diff --git a/cores/robot/USBAPI.h b/cores/robot/USBAPI.h new file mode 100644 index 0000000..eb2e593 --- /dev/null +++ b/cores/robot/USBAPI.h @@ -0,0 +1,196 @@ + + +#ifndef __USBAPI__ +#define __USBAPI__ + +#if defined(USBCON) + +//================================================================================ +//================================================================================ +// USB + +class USBDevice_ +{ +public: + USBDevice_(); + bool configured(); + + void attach(); + void detach(); // Serial port goes down too... + void poll(); +}; +extern USBDevice_ USBDevice; + +//================================================================================ +//================================================================================ +// Serial over CDC (Serial1 is the physical port) + +class Serial_ : public Stream +{ +private: + ring_buffer *_cdc_rx_buffer; +public: + void begin(uint16_t baud_count); + void end(void); + + virtual int available(void); + virtual void accept(void); + virtual int peek(void); + virtual int read(void); + virtual void flush(void); + virtual size_t write(uint8_t); + using Print::write; // pull in write(str) and write(buf, size) from Print + operator bool(); +}; +extern Serial_ Serial; + +//================================================================================ +//================================================================================ +// Mouse + +#define MOUSE_LEFT 1 +#define MOUSE_RIGHT 2 +#define MOUSE_MIDDLE 4 +#define MOUSE_ALL (MOUSE_LEFT | MOUSE_RIGHT | MOUSE_MIDDLE) + +class Mouse_ +{ +private: + uint8_t _buttons; + void buttons(uint8_t b); +public: + Mouse_(void); + void begin(void); + void end(void); + void click(uint8_t b = MOUSE_LEFT); + void move(signed char x, signed char y, signed char wheel = 0); + void press(uint8_t b = MOUSE_LEFT); // press LEFT by default + void release(uint8_t b = MOUSE_LEFT); // release LEFT by default + bool isPressed(uint8_t b = MOUSE_LEFT); // check LEFT by default +}; +extern Mouse_ Mouse; + +//================================================================================ +//================================================================================ +// Keyboard + +#define KEY_LEFT_CTRL 0x80 +#define KEY_LEFT_SHIFT 0x81 +#define KEY_LEFT_ALT 0x82 +#define KEY_LEFT_GUI 0x83 +#define KEY_RIGHT_CTRL 0x84 +#define KEY_RIGHT_SHIFT 0x85 +#define KEY_RIGHT_ALT 0x86 +#define KEY_RIGHT_GUI 0x87 + +#define KEY_UP_ARROW 0xDA +#define KEY_DOWN_ARROW 0xD9 +#define KEY_LEFT_ARROW 0xD8 +#define KEY_RIGHT_ARROW 0xD7 +#define KEY_BACKSPACE 0xB2 +#define KEY_TAB 0xB3 +#define KEY_RETURN 0xB0 +#define KEY_ESC 0xB1 +#define KEY_INSERT 0xD1 +#define KEY_DELETE 0xD4 +#define KEY_PAGE_UP 0xD3 +#define KEY_PAGE_DOWN 0xD6 +#define KEY_HOME 0xD2 +#define KEY_END 0xD5 +#define KEY_CAPS_LOCK 0xC1 +#define KEY_F1 0xC2 +#define KEY_F2 0xC3 +#define KEY_F3 0xC4 +#define KEY_F4 0xC5 +#define KEY_F5 0xC6 +#define KEY_F6 0xC7 +#define KEY_F7 0xC8 +#define KEY_F8 0xC9 +#define KEY_F9 0xCA +#define KEY_F10 0xCB +#define KEY_F11 0xCC +#define KEY_F12 0xCD + +// Low level key report: up to 6 keys and shift, ctrl etc at once +typedef struct +{ + uint8_t modifiers; + uint8_t reserved; + uint8_t keys[6]; +} KeyReport; + +class Keyboard_ : public Print +{ +private: + KeyReport _keyReport; + void sendReport(KeyReport* keys); +public: + Keyboard_(void); + void begin(void); + void end(void); + virtual size_t write(uint8_t k); + virtual size_t press(uint8_t k); + virtual size_t release(uint8_t k); + virtual void releaseAll(void); +}; +extern Keyboard_ Keyboard; + +//================================================================================ +//================================================================================ +// Low level API + +typedef struct +{ + uint8_t bmRequestType; + uint8_t bRequest; + uint8_t wValueL; + uint8_t wValueH; + uint16_t wIndex; + uint16_t wLength; +} Setup; + +//================================================================================ +//================================================================================ +// HID 'Driver' + +int HID_GetInterface(uint8_t* interfaceNum); +int HID_GetDescriptor(int i); +bool HID_Setup(Setup& setup); +void HID_SendReport(uint8_t id, const void* data, int len); + +//================================================================================ +//================================================================================ +// MSC 'Driver' + +int MSC_GetInterface(uint8_t* interfaceNum); +int MSC_GetDescriptor(int i); +bool MSC_Setup(Setup& setup); +bool MSC_Data(uint8_t rx,uint8_t tx); + +//================================================================================ +//================================================================================ +// CSC 'Driver' + +int CDC_GetInterface(uint8_t* interfaceNum); +int CDC_GetDescriptor(int i); +bool CDC_Setup(Setup& setup); + +//================================================================================ +//================================================================================ + +#define TRANSFER_PGM 0x80 +#define TRANSFER_RELEASE 0x40 +#define TRANSFER_ZERO 0x20 + +int USB_SendControl(uint8_t flags, const void* d, int len); +int USB_RecvControl(void* d, int len); + +uint8_t USB_Available(uint8_t ep); +int USB_Send(uint8_t ep, const void* data, int len); // blocking +int USB_Recv(uint8_t ep, void* data, int len); // non-blocking +int USB_Recv(uint8_t ep); // non-blocking +void USB_Flush(uint8_t ep); + +#endif + +#endif /* if defined(USBCON) */
\ No newline at end of file diff --git a/cores/robot/USBCore.cpp b/cores/robot/USBCore.cpp new file mode 100644 index 0000000..d3e0170 --- /dev/null +++ b/cores/robot/USBCore.cpp @@ -0,0 +1,684 @@ + + +/* Copyright (c) 2010, Peter Barrett +** +** Permission to use, copy, modify, and/or distribute this software for +** any purpose with or without fee is hereby granted, provided that the +** above copyright notice and this permission notice appear in all copies. +** +** THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL +** WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED +** WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR +** BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES +** OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, +** WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, +** ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS +** SOFTWARE. +*/ + +#include "Platform.h" +#include "USBAPI.h" +#include "USBDesc.h" + +#if defined(USBCON) + +#define EP_TYPE_CONTROL 0x00 +#define EP_TYPE_BULK_IN 0x81 +#define EP_TYPE_BULK_OUT 0x80 +#define EP_TYPE_INTERRUPT_IN 0xC1 +#define EP_TYPE_INTERRUPT_OUT 0xC0 +#define EP_TYPE_ISOCHRONOUS_IN 0x41 +#define EP_TYPE_ISOCHRONOUS_OUT 0x40 + +/** Pulse generation counters to keep track of the number of milliseconds remaining for each pulse type */ +#define TX_RX_LED_PULSE_MS 100 +volatile u8 TxLEDPulse; /**< Milliseconds remaining for data Tx LED pulse */ +volatile u8 RxLEDPulse; /**< Milliseconds remaining for data Rx LED pulse */ + +//================================================================== +//================================================================== + +extern const u16 STRING_LANGUAGE[] PROGMEM; +extern const u16 STRING_IPRODUCT[] PROGMEM; +extern const u16 STRING_IMANUFACTURER[] PROGMEM; +extern const DeviceDescriptor USB_DeviceDescriptor PROGMEM; +extern const DeviceDescriptor USB_DeviceDescriptorA PROGMEM; + +const u16 STRING_LANGUAGE[2] = { + (3<<8) | (2+2), + 0x0409 // English +}; + +const u16 STRING_IPRODUCT[17] = { + (3<<8) | (2+2*16), +#if USB_PID == 0x8036 + 'A','r','d','u','i','n','o',' ','L','e','o','n','a','r','d','o' +#elif USB_PID == 0x8037 + 'A','r','d','u','i','n','o',' ','M','i','c','r','o',' ',' ',' ' +#elif USB_PID == 0x803C + 'A','r','d','u','i','n','o',' ','E','s','p','l','o','r','a',' ' +#elif USB_PID == 0x9208 + 'L','i','l','y','P','a','d','U','S','B',' ',' ',' ',' ',' ',' ' +#else + 'U','S','B',' ','I','O',' ','B','o','a','r','d',' ',' ',' ',' ' +#endif +}; + +const u16 STRING_IMANUFACTURER[12] = { + (3<<8) | (2+2*11), +#if USB_VID == 0x2341 + 'A','r','d','u','i','n','o',' ','L','L','C' +#elif USB_VID == 0x1b4f + 'S','p','a','r','k','F','u','n',' ',' ',' ' +#else + 'U','n','k','n','o','w','n',' ',' ',' ',' ' +#endif +}; + +#ifdef CDC_ENABLED +#define DEVICE_CLASS 0x02 +#else +#define DEVICE_CLASS 0x00 +#endif + +// DEVICE DESCRIPTOR +const DeviceDescriptor USB_DeviceDescriptor = + D_DEVICE(0x00,0x00,0x00,64,USB_VID,USB_PID,0x100,IMANUFACTURER,IPRODUCT,0,1); + +const DeviceDescriptor USB_DeviceDescriptorA = + D_DEVICE(DEVICE_CLASS,0x00,0x00,64,USB_VID,USB_PID,0x100,IMANUFACTURER,IPRODUCT,0,1); + +//================================================================== +//================================================================== + +volatile u8 _usbConfiguration = 0; + +static inline void WaitIN(void) +{ + while (!(UEINTX & (1<<TXINI))); +} + +static inline void ClearIN(void) +{ + UEINTX = ~(1<<TXINI); +} + +static inline void WaitOUT(void) +{ + while (!(UEINTX & (1<<RXOUTI))) + ; +} + +static inline u8 WaitForINOrOUT() +{ + while (!(UEINTX & ((1<<TXINI)|(1<<RXOUTI)))) + ; + return (UEINTX & (1<<RXOUTI)) == 0; +} + +static inline void ClearOUT(void) +{ + UEINTX = ~(1<<RXOUTI); +} + +void Recv(volatile u8* data, u8 count) +{ + while (count--) + *data++ = UEDATX; + + RXLED1; // light the RX LED + RxLEDPulse = TX_RX_LED_PULSE_MS; +} + +static inline u8 Recv8() +{ + RXLED1; // light the RX LED + RxLEDPulse = TX_RX_LED_PULSE_MS; + + return UEDATX; +} + +static inline void Send8(u8 d) +{ + UEDATX = d; +} + +static inline void SetEP(u8 ep) +{ + UENUM = ep; +} + +static inline u8 FifoByteCount() +{ + return UEBCLX; +} + +static inline u8 ReceivedSetupInt() +{ + return UEINTX & (1<<RXSTPI); +} + +static inline void ClearSetupInt() +{ + UEINTX = ~((1<<RXSTPI) | (1<<RXOUTI) | (1<<TXINI)); +} + +static inline void Stall() +{ + UECONX = (1<<STALLRQ) | (1<<EPEN); +} + +static inline u8 ReadWriteAllowed() +{ + return UEINTX & (1<<RWAL); +} + +static inline u8 Stalled() +{ + return UEINTX & (1<<STALLEDI); +} + +static inline u8 FifoFree() +{ + return UEINTX & (1<<FIFOCON); +} + +static inline void ReleaseRX() +{ + UEINTX = 0x6B; // FIFOCON=0 NAKINI=1 RWAL=1 NAKOUTI=0 RXSTPI=1 RXOUTI=0 STALLEDI=1 TXINI=1 +} + +static inline void ReleaseTX() +{ + UEINTX = 0x3A; // FIFOCON=0 NAKINI=0 RWAL=1 NAKOUTI=1 RXSTPI=1 RXOUTI=0 STALLEDI=1 TXINI=0 +} + +static inline u8 FrameNumber() +{ + return UDFNUML; +} + +//================================================================== +//================================================================== + +u8 USBGetConfiguration(void) +{ + return _usbConfiguration; +} + +#define USB_RECV_TIMEOUT +class LockEP +{ + u8 _sreg; +public: + LockEP(u8 ep) : _sreg(SREG) + { + cli(); + SetEP(ep & 7); + } + ~LockEP() + { + SREG = _sreg; + } +}; + +// Number of bytes, assumes a rx endpoint +u8 USB_Available(u8 ep) +{ + LockEP lock(ep); + return FifoByteCount(); +} + +// Non Blocking receive +// Return number of bytes read +int USB_Recv(u8 ep, void* d, int len) +{ + if (!_usbConfiguration || len < 0) + return -1; + + LockEP lock(ep); + u8 n = FifoByteCount(); + len = min(n,len); + n = len; + u8* dst = (u8*)d; + while (n--) + *dst++ = Recv8(); + if (len && !FifoByteCount()) // release empty buffer + ReleaseRX(); + + return len; +} + +// Recv 1 byte if ready +int USB_Recv(u8 ep) +{ + u8 c; + if (USB_Recv(ep,&c,1) != 1) + return -1; + return c; +} + +// Space in send EP +u8 USB_SendSpace(u8 ep) +{ + LockEP lock(ep); + if (!ReadWriteAllowed()) + return 0; + return 64 - FifoByteCount(); +} + +// Blocking Send of data to an endpoint +int USB_Send(u8 ep, const void* d, int len) +{ + if (!_usbConfiguration) + return -1; + + int r = len; + const u8* data = (const u8*)d; + u8 zero = ep & TRANSFER_ZERO; + u8 timeout = 250; // 250ms timeout on send? TODO + while (len) + { + u8 n = USB_SendSpace(ep); + if (n == 0) + { + if (!(--timeout)) + return -1; + delay(1); + continue; + } + + if (n > len) + n = len; + len -= n; + { + LockEP lock(ep); + if (ep & TRANSFER_ZERO) + { + while (n--) + Send8(0); + } + else if (ep & TRANSFER_PGM) + { + while (n--) + Send8(pgm_read_byte(data++)); + } + else + { + while (n--) + Send8(*data++); + } + if (!ReadWriteAllowed() || ((len == 0) && (ep & TRANSFER_RELEASE))) // Release full buffer + ReleaseTX(); + } + } + TXLED1; // light the TX LED + TxLEDPulse = TX_RX_LED_PULSE_MS; + return r; +} + +extern const u8 _initEndpoints[] PROGMEM; +const u8 _initEndpoints[] = +{ + 0, + +#ifdef CDC_ENABLED + EP_TYPE_INTERRUPT_IN, // CDC_ENDPOINT_ACM + EP_TYPE_BULK_OUT, // CDC_ENDPOINT_OUT + EP_TYPE_BULK_IN, // CDC_ENDPOINT_IN +#endif + +#ifdef HID_ENABLED + EP_TYPE_INTERRUPT_IN // HID_ENDPOINT_INT +#endif +}; + +#define EP_SINGLE_64 0x32 // EP0 +#define EP_DOUBLE_64 0x36 // Other endpoints + +static +void InitEP(u8 index, u8 type, u8 size) +{ + UENUM = index; + UECONX = 1; + UECFG0X = type; + UECFG1X = size; +} + +static +void InitEndpoints() +{ + for (u8 i = 1; i < sizeof(_initEndpoints); i++) + { + UENUM = i; + UECONX = 1; + UECFG0X = pgm_read_byte(_initEndpoints+i); + UECFG1X = EP_DOUBLE_64; + } + UERST = 0x7E; // And reset them + UERST = 0; +} + +// Handle CLASS_INTERFACE requests +static +bool ClassInterfaceRequest(Setup& setup) +{ + u8 i = setup.wIndex; + +#ifdef CDC_ENABLED + if (CDC_ACM_INTERFACE == i) + return CDC_Setup(setup); +#endif + +#ifdef HID_ENABLED + if (HID_INTERFACE == i) + return HID_Setup(setup); +#endif + return false; +} + +int _cmark; +int _cend; +void InitControl(int end) +{ + SetEP(0); + _cmark = 0; + _cend = end; +} + +static +bool SendControl(u8 d) +{ + if (_cmark < _cend) + { + if (!WaitForINOrOUT()) + return false; + Send8(d); + if (!((_cmark + 1) & 0x3F)) + ClearIN(); // Fifo is full, release this packet + } + _cmark++; + return true; +}; + +// Clipped by _cmark/_cend +int USB_SendControl(u8 flags, const void* d, int len) +{ + int sent = len; + const u8* data = (const u8*)d; + bool pgm = flags & TRANSFER_PGM; + while (len--) + { + u8 c = pgm ? pgm_read_byte(data++) : *data++; + if (!SendControl(c)) + return -1; + } + return sent; +} + +// Does not timeout or cross fifo boundaries +// Will only work for transfers <= 64 bytes +// TODO +int USB_RecvControl(void* d, int len) +{ + WaitOUT(); + Recv((u8*)d,len); + ClearOUT(); + return len; +} + +int SendInterfaces() +{ + int total = 0; + u8 interfaces = 0; + +#ifdef CDC_ENABLED + total = CDC_GetInterface(&interfaces); +#endif + +#ifdef HID_ENABLED + total += HID_GetInterface(&interfaces); +#endif + + return interfaces; +} + +// Construct a dynamic configuration descriptor +// This really needs dynamic endpoint allocation etc +// TODO +static +bool SendConfiguration(int maxlen) +{ + // Count and measure interfaces + InitControl(0); + int interfaces = SendInterfaces(); + ConfigDescriptor config = D_CONFIG(_cmark + sizeof(ConfigDescriptor),interfaces); + + // Now send them + InitControl(maxlen); + USB_SendControl(0,&config,sizeof(ConfigDescriptor)); + SendInterfaces(); + return true; +} + +u8 _cdcComposite = 0; + +static +bool SendDescriptor(Setup& setup) +{ + u8 t = setup.wValueH; + if (USB_CONFIGURATION_DESCRIPTOR_TYPE == t) + return SendConfiguration(setup.wLength); + + InitControl(setup.wLength); +#ifdef HID_ENABLED + if (HID_REPORT_DESCRIPTOR_TYPE == t) + return HID_GetDescriptor(t); +#endif + + u8 desc_length = 0; + const u8* desc_addr = 0; + if (USB_DEVICE_DESCRIPTOR_TYPE == t) + { + if (setup.wLength == 8) + _cdcComposite = 1; + desc_addr = _cdcComposite ? (const u8*)&USB_DeviceDescriptorA : (const u8*)&USB_DeviceDescriptor; + } + else if (USB_STRING_DESCRIPTOR_TYPE == t) + { + if (setup.wValueL == 0) + desc_addr = (const u8*)&STRING_LANGUAGE; + else if (setup.wValueL == IPRODUCT) + desc_addr = (const u8*)&STRING_IPRODUCT; + else if (setup.wValueL == IMANUFACTURER) + desc_addr = (const u8*)&STRING_IMANUFACTURER; + else + return false; + } + + if (desc_addr == 0) + return false; + if (desc_length == 0) + desc_length = pgm_read_byte(desc_addr); + + USB_SendControl(TRANSFER_PGM,desc_addr,desc_length); + return true; +} + +// Endpoint 0 interrupt +ISR(USB_COM_vect) +{ + SetEP(0); + if (!ReceivedSetupInt()) + return; + + Setup setup; + Recv((u8*)&setup,8); + ClearSetupInt(); + + u8 requestType = setup.bmRequestType; + if (requestType & REQUEST_DEVICETOHOST) + WaitIN(); + else + ClearIN(); + + bool ok = true; + if (REQUEST_STANDARD == (requestType & REQUEST_TYPE)) + { + // Standard Requests + u8 r = setup.bRequest; + if (GET_STATUS == r) + { + Send8(0); // TODO + Send8(0); + } + else if (CLEAR_FEATURE == r) + { + } + else if (SET_FEATURE == r) + { + } + else if (SET_ADDRESS == r) + { + WaitIN(); + UDADDR = setup.wValueL | (1<<ADDEN); + } + else if (GET_DESCRIPTOR == r) + { + ok = SendDescriptor(setup); + } + else if (SET_DESCRIPTOR == r) + { + ok = false; + } + else if (GET_CONFIGURATION == r) + { + Send8(1); + } + else if (SET_CONFIGURATION == r) + { + if (REQUEST_DEVICE == (requestType & REQUEST_RECIPIENT)) + { + InitEndpoints(); + _usbConfiguration = setup.wValueL; + } else + ok = false; + } + else if (GET_INTERFACE == r) + { + } + else if (SET_INTERFACE == r) + { + } + } + else + { + InitControl(setup.wLength); // Max length of transfer + ok = ClassInterfaceRequest(setup); + } + + if (ok) + ClearIN(); + else + { + Stall(); + } +} + +void USB_Flush(u8 ep) +{ + SetEP(ep); + if (FifoByteCount()) + ReleaseTX(); +} + +// General interrupt +ISR(USB_GEN_vect) +{ + u8 udint = UDINT; + UDINT = 0; + + // End of Reset + if (udint & (1<<EORSTI)) + { + InitEP(0,EP_TYPE_CONTROL,EP_SINGLE_64); // init ep0 + _usbConfiguration = 0; // not configured yet + UEIENX = 1 << RXSTPE; // Enable interrupts for ep0 + } + + // Start of Frame - happens every millisecond so we use it for TX and RX LED one-shot timing, too + if (udint & (1<<SOFI)) + { +#ifdef CDC_ENABLED + USB_Flush(CDC_TX); // Send a tx frame if found + if (USB_Available(CDC_RX)) // Handle received bytes (if any) + Serial.accept(); +#endif + + // check whether the one-shot period has elapsed. if so, turn off the LED + if (TxLEDPulse && !(--TxLEDPulse)) + TXLED0; + if (RxLEDPulse && !(--RxLEDPulse)) + RXLED0; + } +} + +// VBUS or counting frames +// Any frame counting? +u8 USBConnected() +{ + u8 f = UDFNUML; + delay(3); + return f != UDFNUML; +} + +//======================================================================= +//======================================================================= + +USBDevice_ USBDevice; + +USBDevice_::USBDevice_() +{ +} + +void USBDevice_::attach() +{ + _usbConfiguration = 0; + UHWCON = 0x01; // power internal reg + USBCON = (1<<USBE)|(1<<FRZCLK); // clock frozen, usb enabled +#if F_CPU == 16000000UL + PLLCSR = 0x12; // Need 16 MHz xtal +#elif F_CPU == 8000000UL + PLLCSR = 0x02; // Need 8 MHz xtal +#endif + while (!(PLLCSR & (1<<PLOCK))) // wait for lock pll + ; + + // Some tests on specific versions of macosx (10.7.3), reported some + // strange behaviuors when the board is reset using the serial + // port touch at 1200 bps. This delay fixes this behaviour. + delay(1); + + USBCON = ((1<<USBE)|(1<<OTGPADE)); // start USB clock + UDIEN = (1<<EORSTE)|(1<<SOFE); // Enable interrupts for EOR (End of Reset) and SOF (start of frame) + UDCON = 0; // enable attach resistor + + TX_RX_LED_INIT; +} + +void USBDevice_::detach() +{ +} + +// Check for interrupts +// TODO: VBUS detection +bool USBDevice_::configured() +{ + return _usbConfiguration; +} + +void USBDevice_::poll() +{ +} + +#endif /* if defined(USBCON) */ diff --git a/cores/robot/USBCore.h b/cores/robot/USBCore.h new file mode 100644 index 0000000..8d13806 --- /dev/null +++ b/cores/robot/USBCore.h @@ -0,0 +1,303 @@ + +// Copyright (c) 2010, Peter Barrett +/* +** Permission to use, copy, modify, and/or distribute this software for +** any purpose with or without fee is hereby granted, provided that the +** above copyright notice and this permission notice appear in all copies. +** +** THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL +** WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED +** WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR +** BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES +** OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, +** WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, +** ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS +** SOFTWARE. +*/ + +#ifndef __USBCORE_H__ +#define __USBCORE_H__ + +// Standard requests +#define GET_STATUS 0 +#define CLEAR_FEATURE 1 +#define SET_FEATURE 3 +#define SET_ADDRESS 5 +#define GET_DESCRIPTOR 6 +#define SET_DESCRIPTOR 7 +#define GET_CONFIGURATION 8 +#define SET_CONFIGURATION 9 +#define GET_INTERFACE 10 +#define SET_INTERFACE 11 + + +// bmRequestType +#define REQUEST_HOSTTODEVICE 0x00 +#define REQUEST_DEVICETOHOST 0x80 +#define REQUEST_DIRECTION 0x80 + +#define REQUEST_STANDARD 0x00 +#define REQUEST_CLASS 0x20 +#define REQUEST_VENDOR 0x40 +#define REQUEST_TYPE 0x60 + +#define REQUEST_DEVICE 0x00 +#define REQUEST_INTERFACE 0x01 +#define REQUEST_ENDPOINT 0x02 +#define REQUEST_OTHER 0x03 +#define REQUEST_RECIPIENT 0x03 + +#define REQUEST_DEVICETOHOST_CLASS_INTERFACE (REQUEST_DEVICETOHOST + REQUEST_CLASS + REQUEST_INTERFACE) +#define REQUEST_HOSTTODEVICE_CLASS_INTERFACE (REQUEST_HOSTTODEVICE + REQUEST_CLASS + REQUEST_INTERFACE) + +// Class requests + +#define CDC_SET_LINE_CODING 0x20 +#define CDC_GET_LINE_CODING 0x21 +#define CDC_SET_CONTROL_LINE_STATE 0x22 + +#define MSC_RESET 0xFF +#define MSC_GET_MAX_LUN 0xFE + +#define HID_GET_REPORT 0x01 +#define HID_GET_IDLE 0x02 +#define HID_GET_PROTOCOL 0x03 +#define HID_SET_REPORT 0x09 +#define HID_SET_IDLE 0x0A +#define HID_SET_PROTOCOL 0x0B + +// Descriptors + +#define USB_DEVICE_DESC_SIZE 18 +#define USB_CONFIGUARTION_DESC_SIZE 9 +#define USB_INTERFACE_DESC_SIZE 9 +#define USB_ENDPOINT_DESC_SIZE 7 + +#define USB_DEVICE_DESCRIPTOR_TYPE 1 +#define USB_CONFIGURATION_DESCRIPTOR_TYPE 2 +#define USB_STRING_DESCRIPTOR_TYPE 3 +#define USB_INTERFACE_DESCRIPTOR_TYPE 4 +#define USB_ENDPOINT_DESCRIPTOR_TYPE 5 + +#define USB_DEVICE_CLASS_COMMUNICATIONS 0x02 +#define USB_DEVICE_CLASS_HUMAN_INTERFACE 0x03 +#define USB_DEVICE_CLASS_STORAGE 0x08 +#define USB_DEVICE_CLASS_VENDOR_SPECIFIC 0xFF + +#define USB_CONFIG_POWERED_MASK 0x40 +#define USB_CONFIG_BUS_POWERED 0x80 +#define USB_CONFIG_SELF_POWERED 0xC0 +#define USB_CONFIG_REMOTE_WAKEUP 0x20 + +// bMaxPower in Configuration Descriptor +#define USB_CONFIG_POWER_MA(mA) ((mA)/2) + +// bEndpointAddress in Endpoint Descriptor +#define USB_ENDPOINT_DIRECTION_MASK 0x80 +#define USB_ENDPOINT_OUT(addr) ((addr) | 0x00) +#define USB_ENDPOINT_IN(addr) ((addr) | 0x80) + +#define USB_ENDPOINT_TYPE_MASK 0x03 +#define USB_ENDPOINT_TYPE_CONTROL 0x00 +#define USB_ENDPOINT_TYPE_ISOCHRONOUS 0x01 +#define USB_ENDPOINT_TYPE_BULK 0x02 +#define USB_ENDPOINT_TYPE_INTERRUPT 0x03 + +#define TOBYTES(x) ((x) & 0xFF),(((x) >> 8) & 0xFF) + +#define CDC_V1_10 0x0110 +#define CDC_COMMUNICATION_INTERFACE_CLASS 0x02 + +#define CDC_CALL_MANAGEMENT 0x01 +#define CDC_ABSTRACT_CONTROL_MODEL 0x02 +#define CDC_HEADER 0x00 +#define CDC_ABSTRACT_CONTROL_MANAGEMENT 0x02 +#define CDC_UNION 0x06 +#define CDC_CS_INTERFACE 0x24 +#define CDC_CS_ENDPOINT 0x25 +#define CDC_DATA_INTERFACE_CLASS 0x0A + +#define MSC_SUBCLASS_SCSI 0x06 +#define MSC_PROTOCOL_BULK_ONLY 0x50 + +#define HID_HID_DESCRIPTOR_TYPE 0x21 +#define HID_REPORT_DESCRIPTOR_TYPE 0x22 +#define HID_PHYSICAL_DESCRIPTOR_TYPE 0x23 + + +// Device +typedef struct { + u8 len; // 18 + u8 dtype; // 1 USB_DEVICE_DESCRIPTOR_TYPE + u16 usbVersion; // 0x200 + u8 deviceClass; + u8 deviceSubClass; + u8 deviceProtocol; + u8 packetSize0; // Packet 0 + u16 idVendor; + u16 idProduct; + u16 deviceVersion; // 0x100 + u8 iManufacturer; + u8 iProduct; + u8 iSerialNumber; + u8 bNumConfigurations; +} DeviceDescriptor; + +// Config +typedef struct { + u8 len; // 9 + u8 dtype; // 2 + u16 clen; // total length + u8 numInterfaces; + u8 config; + u8 iconfig; + u8 attributes; + u8 maxPower; +} ConfigDescriptor; + +// String + +// Interface +typedef struct +{ + u8 len; // 9 + u8 dtype; // 4 + u8 number; + u8 alternate; + u8 numEndpoints; + u8 interfaceClass; + u8 interfaceSubClass; + u8 protocol; + u8 iInterface; +} InterfaceDescriptor; + +// Endpoint +typedef struct +{ + u8 len; // 7 + u8 dtype; // 5 + u8 addr; + u8 attr; + u16 packetSize; + u8 interval; +} EndpointDescriptor; + +// Interface Association Descriptor +// Used to bind 2 interfaces together in CDC compostite device +typedef struct +{ + u8 len; // 8 + u8 dtype; // 11 + u8 firstInterface; + u8 interfaceCount; + u8 functionClass; + u8 funtionSubClass; + u8 functionProtocol; + u8 iInterface; +} IADDescriptor; + +// CDC CS interface descriptor +typedef struct +{ + u8 len; // 5 + u8 dtype; // 0x24 + u8 subtype; + u8 d0; + u8 d1; +} CDCCSInterfaceDescriptor; + +typedef struct +{ + u8 len; // 4 + u8 dtype; // 0x24 + u8 subtype; + u8 d0; +} CDCCSInterfaceDescriptor4; + +typedef struct +{ + u8 len; + u8 dtype; // 0x24 + u8 subtype; // 1 + u8 bmCapabilities; + u8 bDataInterface; +} CMFunctionalDescriptor; + +typedef struct +{ + u8 len; + u8 dtype; // 0x24 + u8 subtype; // 1 + u8 bmCapabilities; +} ACMFunctionalDescriptor; + +typedef struct +{ + // IAD + IADDescriptor iad; // Only needed on compound device + + // Control + InterfaceDescriptor cif; // + CDCCSInterfaceDescriptor header; + CMFunctionalDescriptor callManagement; // Call Management + ACMFunctionalDescriptor controlManagement; // ACM + CDCCSInterfaceDescriptor functionalDescriptor; // CDC_UNION + EndpointDescriptor cifin; + + // Data + InterfaceDescriptor dif; + EndpointDescriptor in; + EndpointDescriptor out; +} CDCDescriptor; + +typedef struct +{ + InterfaceDescriptor msc; + EndpointDescriptor in; + EndpointDescriptor out; +} MSCDescriptor; + +typedef struct +{ + u8 len; // 9 + u8 dtype; // 0x21 + u8 addr; + u8 versionL; // 0x101 + u8 versionH; // 0x101 + u8 country; + u8 desctype; // 0x22 report + u8 descLenL; + u8 descLenH; +} HIDDescDescriptor; + +typedef struct +{ + InterfaceDescriptor hid; + HIDDescDescriptor desc; + EndpointDescriptor in; +} HIDDescriptor; + + +#define D_DEVICE(_class,_subClass,_proto,_packetSize0,_vid,_pid,_version,_im,_ip,_is,_configs) \ + { 18, 1, 0x200, _class,_subClass,_proto,_packetSize0,_vid,_pid,_version,_im,_ip,_is,_configs } + +#define D_CONFIG(_totalLength,_interfaces) \ + { 9, 2, _totalLength,_interfaces, 1, 0, USB_CONFIG_BUS_POWERED, USB_CONFIG_POWER_MA(500) } + +#define D_INTERFACE(_n,_numEndpoints,_class,_subClass,_protocol) \ + { 9, 4, _n, 0, _numEndpoints, _class,_subClass, _protocol, 0 } + +#define D_ENDPOINT(_addr,_attr,_packetSize, _interval) \ + { 7, 5, _addr,_attr,_packetSize, _interval } + +#define D_IAD(_firstInterface, _count, _class, _subClass, _protocol) \ + { 8, 11, _firstInterface, _count, _class, _subClass, _protocol, 0 } + +#define D_HIDREPORT(_descriptorLength) \ + { 9, 0x21, 0x1, 0x1, 0, 1, 0x22, _descriptorLength, 0 } + +#define D_CDCCS(_subtype,_d0,_d1) { 5, 0x24, _subtype, _d0, _d1 } +#define D_CDCCS4(_subtype,_d0) { 4, 0x24, _subtype, _d0 } + + +#endif
\ No newline at end of file diff --git a/cores/robot/USBDesc.h b/cores/robot/USBDesc.h new file mode 100644 index 0000000..900713e --- /dev/null +++ b/cores/robot/USBDesc.h @@ -0,0 +1,63 @@ + + +/* Copyright (c) 2011, Peter Barrett +** +** Permission to use, copy, modify, and/or distribute this software for +** any purpose with or without fee is hereby granted, provided that the +** above copyright notice and this permission notice appear in all copies. +** +** THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL +** WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED +** WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR +** BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES +** OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, +** WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, +** ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS +** SOFTWARE. +*/ + +#define CDC_ENABLED +#define HID_ENABLED + + +#ifdef CDC_ENABLED +#define CDC_INTERFACE_COUNT 2 +#define CDC_ENPOINT_COUNT 3 +#else +#define CDC_INTERFACE_COUNT 0 +#define CDC_ENPOINT_COUNT 0 +#endif + +#ifdef HID_ENABLED +#define HID_INTERFACE_COUNT 1 +#define HID_ENPOINT_COUNT 1 +#else +#define HID_INTERFACE_COUNT 0 +#define HID_ENPOINT_COUNT 0 +#endif + +#define CDC_ACM_INTERFACE 0 // CDC ACM +#define CDC_DATA_INTERFACE 1 // CDC Data +#define CDC_FIRST_ENDPOINT 1 +#define CDC_ENDPOINT_ACM (CDC_FIRST_ENDPOINT) // CDC First +#define CDC_ENDPOINT_OUT (CDC_FIRST_ENDPOINT+1) +#define CDC_ENDPOINT_IN (CDC_FIRST_ENDPOINT+2) + +#define HID_INTERFACE (CDC_ACM_INTERFACE + CDC_INTERFACE_COUNT) // HID Interface +#define HID_FIRST_ENDPOINT (CDC_FIRST_ENDPOINT + CDC_ENPOINT_COUNT) +#define HID_ENDPOINT_INT (HID_FIRST_ENDPOINT) + +#define INTERFACE_COUNT (MSC_INTERFACE + MSC_INTERFACE_COUNT) + +#ifdef CDC_ENABLED +#define CDC_RX CDC_ENDPOINT_OUT +#define CDC_TX CDC_ENDPOINT_IN +#endif + +#ifdef HID_ENABLED +#define HID_TX HID_ENDPOINT_INT +#endif + +#define IMANUFACTURER 1 +#define IPRODUCT 2 + diff --git a/cores/robot/Udp.h b/cores/robot/Udp.h new file mode 100644 index 0000000..dc5644b --- /dev/null +++ b/cores/robot/Udp.h @@ -0,0 +1,88 @@ +/* + * Udp.cpp: Library to send/receive UDP packets. + * + * NOTE: UDP is fast, but has some important limitations (thanks to Warren Gray for mentioning these) + * 1) UDP does not guarantee the order in which assembled UDP packets are received. This + * might not happen often in practice, but in larger network topologies, a UDP + * packet can be received out of sequence. + * 2) UDP does not guard against lost packets - so packets *can* disappear without the sender being + * aware of it. Again, this may not be a concern in practice on small local networks. + * For more information, see http://www.cafeaulait.org/course/week12/35.html + * + * MIT License: + * Copyright (c) 2008 Bjoern Hartmann + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + * + * bjoern@cs.stanford.edu 12/30/2008 + */ + +#ifndef udp_h +#define udp_h + +#include <Stream.h> +#include <IPAddress.h> + +class UDP : public Stream { + +public: + virtual uint8_t begin(uint16_t) =0; // initialize, start listening on specified port. Returns 1 if successful, 0 if there are no sockets available to use + virtual void stop() =0; // Finish with the UDP socket + + // Sending UDP packets + + // Start building up a packet to send to the remote host specific in ip and port + // Returns 1 if successful, 0 if there was a problem with the supplied IP address or port + virtual int beginPacket(IPAddress ip, uint16_t port) =0; + // Start building up a packet to send to the remote host specific in host and port + // Returns 1 if successful, 0 if there was a problem resolving the hostname or port + virtual int beginPacket(const char *host, uint16_t port) =0; + // Finish off this packet and send it + // Returns 1 if the packet was sent successfully, 0 if there was an error + virtual int endPacket() =0; + // Write a single byte into the packet + virtual size_t write(uint8_t) =0; + // Write size bytes from buffer into the packet + virtual size_t write(const uint8_t *buffer, size_t size) =0; + + // Start processing the next available incoming packet + // Returns the size of the packet in bytes, or 0 if no packets are available + virtual int parsePacket() =0; + // Number of bytes remaining in the current packet + virtual int available() =0; + // Read a single byte from the current packet + virtual int read() =0; + // Read up to len bytes from the current packet and place them into buffer + // Returns the number of bytes read, or 0 if none are available + virtual int read(unsigned char* buffer, size_t len) =0; + // Read up to len characters from the current packet and place them into buffer + // Returns the number of characters read, or 0 if none are available + virtual int read(char* buffer, size_t len) =0; + // Return the next byte from the current packet without moving on to the next byte + virtual int peek() =0; + virtual void flush() =0; // Finish reading the current packet + + // Return the IP address of the host who sent the current incoming packet + virtual IPAddress remoteIP() =0; + // Return the port of the host who sent the current incoming packet + virtual uint16_t remotePort() =0; +protected: + uint8_t* rawIPAddress(IPAddress& addr) { return addr.raw_address(); }; +}; + +#endif diff --git a/cores/robot/WCharacter.h b/cores/robot/WCharacter.h new file mode 100644 index 0000000..79733b5 --- /dev/null +++ b/cores/robot/WCharacter.h @@ -0,0 +1,168 @@ +/* + WCharacter.h - Character utility functions for Wiring & Arduino + Copyright (c) 2010 Hernando Barragan. All right reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + */ + +#ifndef Character_h +#define Character_h + +#include <ctype.h> + +// WCharacter.h prototypes +inline boolean isAlphaNumeric(int c) __attribute__((always_inline)); +inline boolean isAlpha(int c) __attribute__((always_inline)); +inline boolean isAscii(int c) __attribute__((always_inline)); +inline boolean isWhitespace(int c) __attribute__((always_inline)); +inline boolean isControl(int c) __attribute__((always_inline)); +inline boolean isDigit(int c) __attribute__((always_inline)); +inline boolean isGraph(int c) __attribute__((always_inline)); +inline boolean isLowerCase(int c) __attribute__((always_inline)); +inline boolean isPrintable(int c) __attribute__((always_inline)); +inline boolean isPunct(int c) __attribute__((always_inline)); +inline boolean isSpace(int c) __attribute__((always_inline)); +inline boolean isUpperCase(int c) __attribute__((always_inline)); +inline boolean isHexadecimalDigit(int c) __attribute__((always_inline)); +inline int toAscii(int c) __attribute__((always_inline)); +inline int toLowerCase(int c) __attribute__((always_inline)); +inline int toUpperCase(int c)__attribute__((always_inline)); + + +// Checks for an alphanumeric character. +// It is equivalent to (isalpha(c) || isdigit(c)). +inline boolean isAlphaNumeric(int c) +{ + return ( isalnum(c) == 0 ? false : true); +} + + +// Checks for an alphabetic character. +// It is equivalent to (isupper(c) || islower(c)). +inline boolean isAlpha(int c) +{ + return ( isalpha(c) == 0 ? false : true); +} + + +// Checks whether c is a 7-bit unsigned char value +// that fits into the ASCII character set. +inline boolean isAscii(int c) +{ + return ( isascii (c) == 0 ? false : true); +} + + +// Checks for a blank character, that is, a space or a tab. +inline boolean isWhitespace(int c) +{ + return ( isblank (c) == 0 ? false : true); +} + + +// Checks for a control character. +inline boolean isControl(int c) +{ + return ( iscntrl (c) == 0 ? false : true); +} + + +// Checks for a digit (0 through 9). +inline boolean isDigit(int c) +{ + return ( isdigit (c) == 0 ? false : true); +} + + +// Checks for any printable character except space. +inline boolean isGraph(int c) +{ + return ( isgraph (c) == 0 ? false : true); +} + + +// Checks for a lower-case character. +inline boolean isLowerCase(int c) +{ + return (islower (c) == 0 ? false : true); +} + + +// Checks for any printable character including space. +inline boolean isPrintable(int c) +{ + return ( isprint (c) == 0 ? false : true); +} + + +// Checks for any printable character which is not a space +// or an alphanumeric character. +inline boolean isPunct(int c) +{ + return ( ispunct (c) == 0 ? false : true); +} + + +// Checks for white-space characters. For the avr-libc library, +// these are: space, formfeed ('\f'), newline ('\n'), carriage +// return ('\r'), horizontal tab ('\t'), and vertical tab ('\v'). +inline boolean isSpace(int c) +{ + return ( isspace (c) == 0 ? false : true); +} + + +// Checks for an uppercase letter. +inline boolean isUpperCase(int c) +{ + return ( isupper (c) == 0 ? false : true); +} + + +// Checks for a hexadecimal digits, i.e. one of 0 1 2 3 4 5 6 7 +// 8 9 a b c d e f A B C D E F. +inline boolean isHexadecimalDigit(int c) +{ + return ( isxdigit (c) == 0 ? false : true); +} + + +// Converts c to a 7-bit unsigned char value that fits into the +// ASCII character set, by clearing the high-order bits. +inline int toAscii(int c) +{ + return toascii (c); +} + + +// Warning: +// Many people will be unhappy if you use this function. +// This function will convert accented letters into random +// characters. + +// Converts the letter c to lower case, if possible. +inline int toLowerCase(int c) +{ + return tolower (c); +} + + +// Converts the letter c to upper case, if possible. +inline int toUpperCase(int c) +{ + return toupper (c); +} + +#endif
\ No newline at end of file diff --git a/cores/robot/WInterrupts.c b/cores/robot/WInterrupts.c new file mode 100644 index 0000000..d3fbf10 --- /dev/null +++ b/cores/robot/WInterrupts.c @@ -0,0 +1,334 @@ +/* -*- mode: jde; c-basic-offset: 2; indent-tabs-mode: nil -*- */ + +/* + Part of the Wiring project - http://wiring.uniandes.edu.co + + Copyright (c) 2004-05 Hernando Barragan + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General + Public License along with this library; if not, write to the + Free Software Foundation, Inc., 59 Temple Place, Suite 330, + Boston, MA 02111-1307 USA + + Modified 24 November 2006 by David A. Mellis + Modified 1 August 2010 by Mark Sproul +*/ + +#include <inttypes.h> +#include <avr/io.h> +#include <avr/interrupt.h> +#include <avr/pgmspace.h> +#include <stdio.h> + +#include "wiring_private.h" + +static volatile voidFuncPtr intFunc[EXTERNAL_NUM_INTERRUPTS]; +// volatile static voidFuncPtr twiIntFunc; + +void attachInterrupt(uint8_t interruptNum, void (*userFunc)(void), int mode) { + if(interruptNum < EXTERNAL_NUM_INTERRUPTS) { + intFunc[interruptNum] = userFunc; + + // Configure the interrupt mode (trigger on low input, any change, rising + // edge, or falling edge). The mode constants were chosen to correspond + // to the configuration bits in the hardware register, so we simply shift + // the mode into place. + + // Enable the interrupt. + + switch (interruptNum) { +#if defined(__AVR_ATmega32U4__) + // I hate doing this, but the register assignment differs between the 1280/2560 + // and the 32U4. Since avrlib defines registers PCMSK1 and PCMSK2 that aren't + // even present on the 32U4 this is the only way to distinguish between them. + case 0: + EICRA = (EICRA & ~((1<<ISC00) | (1<<ISC01))) | (mode << ISC00); + EIMSK |= (1<<INT0); + break; + case 1: + EICRA = (EICRA & ~((1<<ISC10) | (1<<ISC11))) | (mode << ISC10); + EIMSK |= (1<<INT1); + break; + case 2: + EICRA = (EICRA & ~((1<<ISC20) | (1<<ISC21))) | (mode << ISC20); + EIMSK |= (1<<INT2); + break; + case 3: + EICRA = (EICRA & ~((1<<ISC30) | (1<<ISC31))) | (mode << ISC30); + EIMSK |= (1<<INT3); + break; + case 4: + EICRB = (EICRB & ~((1<<ISC60) | (1<<ISC61))) | (mode << ISC60); + EIMSK |= (1<<INT6); + break; +#elif defined(EICRA) && defined(EICRB) && defined(EIMSK) + case 2: + EICRA = (EICRA & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00); + EIMSK |= (1 << INT0); + break; + case 3: + EICRA = (EICRA & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10); + EIMSK |= (1 << INT1); + break; + case 4: + EICRA = (EICRA & ~((1 << ISC20) | (1 << ISC21))) | (mode << ISC20); + EIMSK |= (1 << INT2); + break; + case 5: + EICRA = (EICRA & ~((1 << ISC30) | (1 << ISC31))) | (mode << ISC30); + EIMSK |= (1 << INT3); + break; + case 0: + EICRB = (EICRB & ~((1 << ISC40) | (1 << ISC41))) | (mode << ISC40); + EIMSK |= (1 << INT4); + break; + case 1: + EICRB = (EICRB & ~((1 << ISC50) | (1 << ISC51))) | (mode << ISC50); + EIMSK |= (1 << INT5); + break; + case 6: + EICRB = (EICRB & ~((1 << ISC60) | (1 << ISC61))) | (mode << ISC60); + EIMSK |= (1 << INT6); + break; + case 7: + EICRB = (EICRB & ~((1 << ISC70) | (1 << ISC71))) | (mode << ISC70); + EIMSK |= (1 << INT7); + break; +#else + case 0: + #if defined(EICRA) && defined(ISC00) && defined(EIMSK) + EICRA = (EICRA & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00); + EIMSK |= (1 << INT0); + #elif defined(MCUCR) && defined(ISC00) && defined(GICR) + MCUCR = (MCUCR & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00); + GICR |= (1 << INT0); + #elif defined(MCUCR) && defined(ISC00) && defined(GIMSK) + MCUCR = (MCUCR & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00); + GIMSK |= (1 << INT0); + #else + #error attachInterrupt not finished for this CPU (case 0) + #endif + break; + + case 1: + #if defined(EICRA) && defined(ISC10) && defined(ISC11) && defined(EIMSK) + EICRA = (EICRA & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10); + EIMSK |= (1 << INT1); + #elif defined(MCUCR) && defined(ISC10) && defined(ISC11) && defined(GICR) + MCUCR = (MCUCR & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10); + GICR |= (1 << INT1); + #elif defined(MCUCR) && defined(ISC10) && defined(GIMSK) && defined(GIMSK) + MCUCR = (MCUCR & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10); + GIMSK |= (1 << INT1); + #else + #warning attachInterrupt may need some more work for this cpu (case 1) + #endif + break; + + case 2: + #if defined(EICRA) && defined(ISC20) && defined(ISC21) && defined(EIMSK) + EICRA = (EICRA & ~((1 << ISC20) | (1 << ISC21))) | (mode << ISC20); + EIMSK |= (1 << INT2); + #elif defined(MCUCR) && defined(ISC20) && defined(ISC21) && defined(GICR) + MCUCR = (MCUCR & ~((1 << ISC20) | (1 << ISC21))) | (mode << ISC20); + GICR |= (1 << INT2); + #elif defined(MCUCR) && defined(ISC20) && defined(GIMSK) && defined(GIMSK) + MCUCR = (MCUCR & ~((1 << ISC20) | (1 << ISC21))) | (mode << ISC20); + GIMSK |= (1 << INT2); + #endif + break; +#endif + } + } +} + +void detachInterrupt(uint8_t interruptNum) { + if(interruptNum < EXTERNAL_NUM_INTERRUPTS) { + // Disable the interrupt. (We can't assume that interruptNum is equal + // to the number of the EIMSK bit to clear, as this isn't true on the + // ATmega8. There, INT0 is 6 and INT1 is 7.) + switch (interruptNum) { +#if defined(__AVR_ATmega32U4__) + case 0: + EIMSK &= ~(1<<INT0); + break; + case 1: + EIMSK &= ~(1<<INT1); + break; + case 2: + EIMSK &= ~(1<<INT2); + break; + case 3: + EIMSK &= ~(1<<INT3); + break; + case 4: + EIMSK &= ~(1<<INT6); + break; +#elif defined(EICRA) && defined(EICRB) && defined(EIMSK) + case 2: + EIMSK &= ~(1 << INT0); + break; + case 3: + EIMSK &= ~(1 << INT1); + break; + case 4: + EIMSK &= ~(1 << INT2); + break; + case 5: + EIMSK &= ~(1 << INT3); + break; + case 0: + EIMSK &= ~(1 << INT4); + break; + case 1: + EIMSK &= ~(1 << INT5); + break; + case 6: + EIMSK &= ~(1 << INT6); + break; + case 7: + EIMSK &= ~(1 << INT7); + break; +#else + case 0: + #if defined(EIMSK) && defined(INT0) + EIMSK &= ~(1 << INT0); + #elif defined(GICR) && defined(ISC00) + GICR &= ~(1 << INT0); // atmega32 + #elif defined(GIMSK) && defined(INT0) + GIMSK &= ~(1 << INT0); + #else + #error detachInterrupt not finished for this cpu + #endif + break; + + case 1: + #if defined(EIMSK) && defined(INT1) + EIMSK &= ~(1 << INT1); + #elif defined(GICR) && defined(INT1) + GICR &= ~(1 << INT1); // atmega32 + #elif defined(GIMSK) && defined(INT1) + GIMSK &= ~(1 << INT1); + #else + #warning detachInterrupt may need some more work for this cpu (case 1) + #endif + break; +#endif + } + + intFunc[interruptNum] = 0; + } +} + +/* +void attachInterruptTwi(void (*userFunc)(void) ) { + twiIntFunc = userFunc; +} +*/ + +#if defined(__AVR_ATmega32U4__) +ISR(INT0_vect) { + if(intFunc[EXTERNAL_INT_0]) + intFunc[EXTERNAL_INT_0](); +} + +ISR(INT1_vect) { + if(intFunc[EXTERNAL_INT_1]) + intFunc[EXTERNAL_INT_1](); +} + +ISR(INT2_vect) { + if(intFunc[EXTERNAL_INT_2]) + intFunc[EXTERNAL_INT_2](); +} + +ISR(INT3_vect) { + if(intFunc[EXTERNAL_INT_3]) + intFunc[EXTERNAL_INT_3](); +} + +ISR(INT6_vect) { + if(intFunc[EXTERNAL_INT_4]) + intFunc[EXTERNAL_INT_4](); +} + +#elif defined(EICRA) && defined(EICRB) + +ISR(INT0_vect) { + if(intFunc[EXTERNAL_INT_2]) + intFunc[EXTERNAL_INT_2](); +} + +ISR(INT1_vect) { + if(intFunc[EXTERNAL_INT_3]) + intFunc[EXTERNAL_INT_3](); +} + +ISR(INT2_vect) { + if(intFunc[EXTERNAL_INT_4]) + intFunc[EXTERNAL_INT_4](); +} + +ISR(INT3_vect) { + if(intFunc[EXTERNAL_INT_5]) + intFunc[EXTERNAL_INT_5](); +} + +ISR(INT4_vect) { + if(intFunc[EXTERNAL_INT_0]) + intFunc[EXTERNAL_INT_0](); +} + +ISR(INT5_vect) { + if(intFunc[EXTERNAL_INT_1]) + intFunc[EXTERNAL_INT_1](); +} + +ISR(INT6_vect) { + if(intFunc[EXTERNAL_INT_6]) + intFunc[EXTERNAL_INT_6](); +} + +ISR(INT7_vect) { + if(intFunc[EXTERNAL_INT_7]) + intFunc[EXTERNAL_INT_7](); +} + +#else + +ISR(INT0_vect) { + if(intFunc[EXTERNAL_INT_0]) + intFunc[EXTERNAL_INT_0](); +} + +ISR(INT1_vect) { + if(intFunc[EXTERNAL_INT_1]) + intFunc[EXTERNAL_INT_1](); +} + +#if defined(EICRA) && defined(ISC20) +ISR(INT2_vect) { + if(intFunc[EXTERNAL_INT_2]) + intFunc[EXTERNAL_INT_2](); +} +#endif + +#endif + +/* +ISR(TWI_vect) { + if(twiIntFunc) + twiIntFunc(); +} +*/ + diff --git a/cores/robot/WMath.cpp b/cores/robot/WMath.cpp new file mode 100644 index 0000000..2120c4c --- /dev/null +++ b/cores/robot/WMath.cpp @@ -0,0 +1,60 @@ +/* -*- mode: jde; c-basic-offset: 2; indent-tabs-mode: nil -*- */ + +/* + Part of the Wiring project - http://wiring.org.co + Copyright (c) 2004-06 Hernando Barragan + Modified 13 August 2006, David A. Mellis for Arduino - http://www.arduino.cc/ + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General + Public License along with this library; if not, write to the + Free Software Foundation, Inc., 59 Temple Place, Suite 330, + Boston, MA 02111-1307 USA + + $Id$ +*/ + +extern "C" { + #include "stdlib.h" +} + +void randomSeed(unsigned int seed) +{ + if (seed != 0) { + srandom(seed); + } +} + +long random(long howbig) +{ + if (howbig == 0) { + return 0; + } + return random() % howbig; +} + +long random(long howsmall, long howbig) +{ + if (howsmall >= howbig) { + return howsmall; + } + long diff = howbig - howsmall; + return random(diff) + howsmall; +} + +long map(long x, long in_min, long in_max, long out_min, long out_max) +{ + return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; +} + +unsigned int makeWord(unsigned int w) { return w; } +unsigned int makeWord(unsigned char h, unsigned char l) { return (h << 8) | l; }
\ No newline at end of file diff --git a/cores/robot/WString.cpp b/cores/robot/WString.cpp new file mode 100644 index 0000000..c6839fc --- /dev/null +++ b/cores/robot/WString.cpp @@ -0,0 +1,645 @@ +/* + WString.cpp - String library for Wiring & Arduino + ...mostly rewritten by Paul Stoffregen... + Copyright (c) 2009-10 Hernando Barragan. All rights reserved. + Copyright 2011, Paul Stoffregen, paul@pjrc.com + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include "WString.h" + + +/*********************************************/ +/* Constructors */ +/*********************************************/ + +String::String(const char *cstr) +{ + init(); + if (cstr) copy(cstr, strlen(cstr)); +} + +String::String(const String &value) +{ + init(); + *this = value; +} + +#ifdef __GXX_EXPERIMENTAL_CXX0X__ +String::String(String &&rval) +{ + init(); + move(rval); +} +String::String(StringSumHelper &&rval) +{ + init(); + move(rval); +} +#endif + +String::String(char c) +{ + init(); + char buf[2]; + buf[0] = c; + buf[1] = 0; + *this = buf; +} + +String::String(unsigned char value, unsigned char base) +{ + init(); + char buf[9]; + utoa(value, buf, base); + *this = buf; +} + +String::String(int value, unsigned char base) +{ + init(); + char buf[18]; + itoa(value, buf, base); + *this = buf; +} + +String::String(unsigned int value, unsigned char base) +{ + init(); + char buf[17]; + utoa(value, buf, base); + *this = buf; +} + +String::String(long value, unsigned char base) +{ + init(); + char buf[34]; + ltoa(value, buf, base); + *this = buf; +} + +String::String(unsigned long value, unsigned char base) +{ + init(); + char buf[33]; + ultoa(value, buf, base); + *this = buf; +} + +String::~String() +{ + free(buffer); +} + +/*********************************************/ +/* Memory Management */ +/*********************************************/ + +inline void String::init(void) +{ + buffer = NULL; + capacity = 0; + len = 0; + flags = 0; +} + +void String::invalidate(void) +{ + if (buffer) free(buffer); + buffer = NULL; + capacity = len = 0; +} + +unsigned char String::reserve(unsigned int size) +{ + if (buffer && capacity >= size) return 1; + if (changeBuffer(size)) { + if (len == 0) buffer[0] = 0; + return 1; + } + return 0; +} + +unsigned char String::changeBuffer(unsigned int maxStrLen) +{ + char *newbuffer = (char *)realloc(buffer, maxStrLen + 1); + if (newbuffer) { + buffer = newbuffer; + capacity = maxStrLen; + return 1; + } + return 0; +} + +/*********************************************/ +/* Copy and Move */ +/*********************************************/ + +String & String::copy(const char *cstr, unsigned int length) +{ + if (!reserve(length)) { + invalidate(); + return *this; + } + len = length; + strcpy(buffer, cstr); + return *this; +} + +#ifdef __GXX_EXPERIMENTAL_CXX0X__ +void String::move(String &rhs) +{ + if (buffer) { + if (capacity >= rhs.len) { + strcpy(buffer, rhs.buffer); + len = rhs.len; + rhs.len = 0; + return; + } else { + free(buffer); + } + } + buffer = rhs.buffer; + capacity = rhs.capacity; + len = rhs.len; + rhs.buffer = NULL; + rhs.capacity = 0; + rhs.len = 0; +} +#endif + +String & String::operator = (const String &rhs) +{ + if (this == &rhs) return *this; + + if (rhs.buffer) copy(rhs.buffer, rhs.len); + else invalidate(); + + return *this; +} + +#ifdef __GXX_EXPERIMENTAL_CXX0X__ +String & String::operator = (String &&rval) +{ + if (this != &rval) move(rval); + return *this; +} + +String & String::operator = (StringSumHelper &&rval) +{ + if (this != &rval) move(rval); + return *this; +} +#endif + +String & String::operator = (const char *cstr) +{ + if (cstr) copy(cstr, strlen(cstr)); + else invalidate(); + + return *this; +} + +/*********************************************/ +/* concat */ +/*********************************************/ + +unsigned char String::concat(const String &s) +{ + return concat(s.buffer, s.len); +} + +unsigned char String::concat(const char *cstr, unsigned int length) +{ + unsigned int newlen = len + length; + if (!cstr) return 0; + if (length == 0) return 1; + if (!reserve(newlen)) return 0; + strcpy(buffer + len, cstr); + len = newlen; + return 1; +} + +unsigned char String::concat(const char *cstr) +{ + if (!cstr) return 0; + return concat(cstr, strlen(cstr)); +} + +unsigned char String::concat(char c) +{ + char buf[2]; + buf[0] = c; + buf[1] = 0; + return concat(buf, 1); +} + +unsigned char String::concat(unsigned char num) +{ + char buf[4]; + itoa(num, buf, 10); + return concat(buf, strlen(buf)); +} + +unsigned char String::concat(int num) +{ + char buf[7]; + itoa(num, buf, 10); + return concat(buf, strlen(buf)); +} + +unsigned char String::concat(unsigned int num) +{ + char buf[6]; + utoa(num, buf, 10); + return concat(buf, strlen(buf)); +} + +unsigned char String::concat(long num) +{ + char buf[12]; + ltoa(num, buf, 10); + return concat(buf, strlen(buf)); +} + +unsigned char String::concat(unsigned long num) +{ + char buf[11]; + ultoa(num, buf, 10); + return concat(buf, strlen(buf)); +} + +/*********************************************/ +/* Concatenate */ +/*********************************************/ + +StringSumHelper & operator + (const StringSumHelper &lhs, const String &rhs) +{ + StringSumHelper &a = const_cast<StringSumHelper&>(lhs); + if (!a.concat(rhs.buffer, rhs.len)) a.invalidate(); + return a; +} + +StringSumHelper & operator + (const StringSumHelper &lhs, const char *cstr) +{ + StringSumHelper &a = const_cast<StringSumHelper&>(lhs); + if (!cstr || !a.concat(cstr, strlen(cstr))) a.invalidate(); + return a; +} + +StringSumHelper & operator + (const StringSumHelper &lhs, char c) +{ + StringSumHelper &a = const_cast<StringSumHelper&>(lhs); + if (!a.concat(c)) a.invalidate(); + return a; +} + +StringSumHelper & operator + (const StringSumHelper &lhs, unsigned char num) +{ + StringSumHelper &a = const_cast<StringSumHelper&>(lhs); + if (!a.concat(num)) a.invalidate(); + return a; +} + +StringSumHelper & operator + (const StringSumHelper &lhs, int num) +{ + StringSumHelper &a = const_cast<StringSumHelper&>(lhs); + if (!a.concat(num)) a.invalidate(); + return a; +} + +StringSumHelper & operator + (const StringSumHelper &lhs, unsigned int num) +{ + StringSumHelper &a = const_cast<StringSumHelper&>(lhs); + if (!a.concat(num)) a.invalidate(); + return a; +} + +StringSumHelper & operator + (const StringSumHelper &lhs, long num) +{ + StringSumHelper &a = const_cast<StringSumHelper&>(lhs); + if (!a.concat(num)) a.invalidate(); + return a; +} + +StringSumHelper & operator + (const StringSumHelper &lhs, unsigned long num) +{ + StringSumHelper &a = const_cast<StringSumHelper&>(lhs); + if (!a.concat(num)) a.invalidate(); + return a; +} + +/*********************************************/ +/* Comparison */ +/*********************************************/ + +int String::compareTo(const String &s) const +{ + if (!buffer || !s.buffer) { + if (s.buffer && s.len > 0) return 0 - *(unsigned char *)s.buffer; + if (buffer && len > 0) return *(unsigned char *)buffer; + return 0; + } + return strcmp(buffer, s.buffer); +} + +unsigned char String::equals(const String &s2) const +{ + return (len == s2.len && compareTo(s2) == 0); +} + +unsigned char String::equals(const char *cstr) const +{ + if (len == 0) return (cstr == NULL || *cstr == 0); + if (cstr == NULL) return buffer[0] == 0; + return strcmp(buffer, cstr) == 0; +} + +unsigned char String::operator<(const String &rhs) const +{ + return compareTo(rhs) < 0; +} + +unsigned char String::operator>(const String &rhs) const +{ + return compareTo(rhs) > 0; +} + +unsigned char String::operator<=(const String &rhs) const +{ + return compareTo(rhs) <= 0; +} + +unsigned char String::operator>=(const String &rhs) const +{ + return compareTo(rhs) >= 0; +} + +unsigned char String::equalsIgnoreCase( const String &s2 ) const +{ + if (this == &s2) return 1; + if (len != s2.len) return 0; + if (len == 0) return 1; + const char *p1 = buffer; + const char *p2 = s2.buffer; + while (*p1) { + if (tolower(*p1++) != tolower(*p2++)) return 0; + } + return 1; +} + +unsigned char String::startsWith( const String &s2 ) const +{ + if (len < s2.len) return 0; + return startsWith(s2, 0); +} + +unsigned char String::startsWith( const String &s2, unsigned int offset ) const +{ + if (offset > len - s2.len || !buffer || !s2.buffer) return 0; + return strncmp( &buffer[offset], s2.buffer, s2.len ) == 0; +} + +unsigned char String::endsWith( const String &s2 ) const +{ + if ( len < s2.len || !buffer || !s2.buffer) return 0; + return strcmp(&buffer[len - s2.len], s2.buffer) == 0; +} + +/*********************************************/ +/* Character Access */ +/*********************************************/ + +char String::charAt(unsigned int loc) const +{ + return operator[](loc); +} + +void String::setCharAt(unsigned int loc, char c) +{ + if (loc < len) buffer[loc] = c; +} + +char & String::operator[](unsigned int index) +{ + static char dummy_writable_char; + if (index >= len || !buffer) { + dummy_writable_char = 0; + return dummy_writable_char; + } + return buffer[index]; +} + +char String::operator[]( unsigned int index ) const +{ + if (index >= len || !buffer) return 0; + return buffer[index]; +} + +void String::getBytes(unsigned char *buf, unsigned int bufsize, unsigned int index) const +{ + if (!bufsize || !buf) return; + if (index >= len) { + buf[0] = 0; + return; + } + unsigned int n = bufsize - 1; + if (n > len - index) n = len - index; + strncpy((char *)buf, buffer + index, n); + buf[n] = 0; +} + +/*********************************************/ +/* Search */ +/*********************************************/ + +int String::indexOf(char c) const +{ + return indexOf(c, 0); +} + +int String::indexOf( char ch, unsigned int fromIndex ) const +{ + if (fromIndex >= len) return -1; + const char* temp = strchr(buffer + fromIndex, ch); + if (temp == NULL) return -1; + return temp - buffer; +} + +int String::indexOf(const String &s2) const +{ + return indexOf(s2, 0); +} + +int String::indexOf(const String &s2, unsigned int fromIndex) const +{ + if (fromIndex >= len) return -1; + const char *found = strstr(buffer + fromIndex, s2.buffer); + if (found == NULL) return -1; + return found - buffer; +} + +int String::lastIndexOf( char theChar ) const +{ + return lastIndexOf(theChar, len - 1); +} + +int String::lastIndexOf(char ch, unsigned int fromIndex) const +{ + if (fromIndex >= len) return -1; + char tempchar = buffer[fromIndex + 1]; + buffer[fromIndex + 1] = '\0'; + char* temp = strrchr( buffer, ch ); + buffer[fromIndex + 1] = tempchar; + if (temp == NULL) return -1; + return temp - buffer; +} + +int String::lastIndexOf(const String &s2) const +{ + return lastIndexOf(s2, len - s2.len); +} + +int String::lastIndexOf(const String &s2, unsigned int fromIndex) const +{ + if (s2.len == 0 || len == 0 || s2.len > len) return -1; + if (fromIndex >= len) fromIndex = len - 1; + int found = -1; + for (char *p = buffer; p <= buffer + fromIndex; p++) { + p = strstr(p, s2.buffer); + if (!p) break; + if ((unsigned int)(p - buffer) <= fromIndex) found = p - buffer; + } + return found; +} + +String String::substring( unsigned int left ) const +{ + return substring(left, len); +} + +String String::substring(unsigned int left, unsigned int right) const +{ + if (left > right) { + unsigned int temp = right; + right = left; + left = temp; + } + String out; + if (left > len) return out; + if (right > len) right = len; + char temp = buffer[right]; // save the replaced character + buffer[right] = '\0'; + out = buffer + left; // pointer arithmetic + buffer[right] = temp; //restore character + return out; +} + +/*********************************************/ +/* Modification */ +/*********************************************/ + +void String::replace(char find, char replace) +{ + if (!buffer) return; + for (char *p = buffer; *p; p++) { + if (*p == find) *p = replace; + } +} + +void String::replace(const String& find, const String& replace) +{ + if (len == 0 || find.len == 0) return; + int diff = replace.len - find.len; + char *readFrom = buffer; + char *foundAt; + if (diff == 0) { + while ((foundAt = strstr(readFrom, find.buffer)) != NULL) { + memcpy(foundAt, replace.buffer, replace.len); + readFrom = foundAt + replace.len; + } + } else if (diff < 0) { + char *writeTo = buffer; + while ((foundAt = strstr(readFrom, find.buffer)) != NULL) { + unsigned int n = foundAt - readFrom; + memcpy(writeTo, readFrom, n); + writeTo += n; + memcpy(writeTo, replace.buffer, replace.len); + writeTo += replace.len; + readFrom = foundAt + find.len; + len += diff; + } + strcpy(writeTo, readFrom); + } else { + unsigned int size = len; // compute size needed for result + while ((foundAt = strstr(readFrom, find.buffer)) != NULL) { + readFrom = foundAt + find.len; + size += diff; + } + if (size == len) return; + if (size > capacity && !changeBuffer(size)) return; // XXX: tell user! + int index = len - 1; + while (index >= 0 && (index = lastIndexOf(find, index)) >= 0) { + readFrom = buffer + index + find.len; + memmove(readFrom + diff, readFrom, len - (readFrom - buffer)); + len += diff; + buffer[len] = 0; + memcpy(buffer + index, replace.buffer, replace.len); + index--; + } + } +} + +void String::toLowerCase(void) +{ + if (!buffer) return; + for (char *p = buffer; *p; p++) { + *p = tolower(*p); + } +} + +void String::toUpperCase(void) +{ + if (!buffer) return; + for (char *p = buffer; *p; p++) { + *p = toupper(*p); + } +} + +void String::trim(void) +{ + if (!buffer || len == 0) return; + char *begin = buffer; + while (isspace(*begin)) begin++; + char *end = buffer + len - 1; + while (isspace(*end) && end >= begin) end--; + len = end + 1 - begin; + if (begin > buffer) memcpy(buffer, begin, len); + buffer[len] = 0; +} + +/*********************************************/ +/* Parsing / Conversion */ +/*********************************************/ + +long String::toInt(void) const +{ + if (buffer) return atol(buffer); + return 0; +} + + diff --git a/cores/robot/WString.h b/cores/robot/WString.h new file mode 100644 index 0000000..642b016 --- /dev/null +++ b/cores/robot/WString.h @@ -0,0 +1,206 @@ +/* + WString.h - String library for Wiring & Arduino + ...mostly rewritten by Paul Stoffregen... + Copyright (c) 2009-10 Hernando Barragan. All right reserved. + Copyright 2011, Paul Stoffregen, paul@pjrc.com + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef String_class_h +#define String_class_h +#ifdef __cplusplus + +#include <stdlib.h> +#include <string.h> +#include <ctype.h> +#include <avr/pgmspace.h> + +// When compiling programs with this class, the following gcc parameters +// dramatically increase performance and memory (RAM) efficiency, typically +// with little or no increase in code size. +// -felide-constructors +// -std=c++0x + +class __FlashStringHelper; +#define F(string_literal) (reinterpret_cast<const __FlashStringHelper *>(PSTR(string_literal))) + +// An inherited class for holding the result of a concatenation. These +// result objects are assumed to be writable by subsequent concatenations. +class StringSumHelper; + +// The string class +class String +{ + // use a function pointer to allow for "if (s)" without the + // complications of an operator bool(). for more information, see: + // http://www.artima.com/cppsource/safebool.html + typedef void (String::*StringIfHelperType)() const; + void StringIfHelper() const {} + +public: + // constructors + // creates a copy of the initial value. + // if the initial value is null or invalid, or if memory allocation + // fails, the string will be marked as invalid (i.e. "if (s)" will + // be false). + String(const char *cstr = ""); + String(const String &str); + #ifdef __GXX_EXPERIMENTAL_CXX0X__ + String(String &&rval); + String(StringSumHelper &&rval); + #endif + explicit String(char c); + explicit String(unsigned char, unsigned char base=10); + explicit String(int, unsigned char base=10); + explicit String(unsigned int, unsigned char base=10); + explicit String(long, unsigned char base=10); + explicit String(unsigned long, unsigned char base=10); + ~String(void); + + // memory management + // return true on success, false on failure (in which case, the string + // is left unchanged). reserve(0), if successful, will validate an + // invalid string (i.e., "if (s)" will be true afterwards) + unsigned char reserve(unsigned int size); + inline unsigned int length(void) const {return len;} + + // creates a copy of the assigned value. if the value is null or + // invalid, or if the memory allocation fails, the string will be + // marked as invalid ("if (s)" will be false). + String & operator = (const String &rhs); + String & operator = (const char *cstr); + #ifdef __GXX_EXPERIMENTAL_CXX0X__ + String & operator = (String &&rval); + String & operator = (StringSumHelper &&rval); + #endif + + // concatenate (works w/ built-in types) + + // returns true on success, false on failure (in which case, the string + // is left unchanged). if the argument is null or invalid, the + // concatenation is considered unsucessful. + unsigned char concat(const String &str); + unsigned char concat(const char *cstr); + unsigned char concat(char c); + unsigned char concat(unsigned char c); + unsigned char concat(int num); + unsigned char concat(unsigned int num); + unsigned char concat(long num); + unsigned char concat(unsigned long num); + + // if there's not enough memory for the concatenated value, the string + // will be left unchanged (but this isn't signalled in any way) + String & operator += (const String &rhs) {concat(rhs); return (*this);} + String & operator += (const char *cstr) {concat(cstr); return (*this);} + String & operator += (char c) {concat(c); return (*this);} + String & operator += (unsigned char num) {concat(num); return (*this);} + String & operator += (int num) {concat(num); return (*this);} + String & operator += (unsigned int num) {concat(num); return (*this);} + String & operator += (long num) {concat(num); return (*this);} + String & operator += (unsigned long num) {concat(num); return (*this);} + + friend StringSumHelper & operator + (const StringSumHelper &lhs, const String &rhs); + friend StringSumHelper & operator + (const StringSumHelper &lhs, const char *cstr); + friend StringSumHelper & operator + (const StringSumHelper &lhs, char c); + friend StringSumHelper & operator + (const StringSumHelper &lhs, unsigned char num); + friend StringSumHelper & operator + (const StringSumHelper &lhs, int num); + friend StringSumHelper & operator + (const StringSumHelper &lhs, unsigned int num); + friend StringSumHelper & operator + (const StringSumHelper &lhs, long num); + friend StringSumHelper & operator + (const StringSumHelper &lhs, unsigned long num); + + // comparison (only works w/ Strings and "strings") + operator StringIfHelperType() const { return buffer ? &String::StringIfHelper : 0; } + int compareTo(const String &s) const; + unsigned char equals(const String &s) const; + unsigned char equals(const char *cstr) const; + unsigned char operator == (const String &rhs) const {return equals(rhs);} + unsigned char operator == (const char *cstr) const {return equals(cstr);} + unsigned char operator != (const String &rhs) const {return !equals(rhs);} + unsigned char operator != (const char *cstr) const {return !equals(cstr);} + unsigned char operator < (const String &rhs) const; + unsigned char operator > (const String &rhs) const; + unsigned char operator <= (const String &rhs) const; + unsigned char operator >= (const String &rhs) const; + unsigned char equalsIgnoreCase(const String &s) const; + unsigned char startsWith( const String &prefix) const; + unsigned char startsWith(const String &prefix, unsigned int offset) const; + unsigned char endsWith(const String &suffix) const; + + // character acccess + char charAt(unsigned int index) const; + void setCharAt(unsigned int index, char c); + char operator [] (unsigned int index) const; + char& operator [] (unsigned int index); + void getBytes(unsigned char *buf, unsigned int bufsize, unsigned int index=0) const; + void toCharArray(char *buf, unsigned int bufsize, unsigned int index=0) const + {getBytes((unsigned char *)buf, bufsize, index);} + const char * c_str() const { return buffer; } + + // search + int indexOf( char ch ) const; + int indexOf( char ch, unsigned int fromIndex ) const; + int indexOf( const String &str ) const; + int indexOf( const String &str, unsigned int fromIndex ) const; + int lastIndexOf( char ch ) const; + int lastIndexOf( char ch, unsigned int fromIndex ) const; + int lastIndexOf( const String &str ) const; + int lastIndexOf( const String &str, unsigned int fromIndex ) const; + String substring( unsigned int beginIndex ) const; + String substring( unsigned int beginIndex, unsigned int endIndex ) const; + + // modification + void replace(char find, char replace); + void replace(const String& find, const String& replace); + void toLowerCase(void); + void toUpperCase(void); + void trim(void); + + // parsing/conversion + long toInt(void) const; + +protected: + char *buffer; // the actual char array + unsigned int capacity; // the array length minus one (for the '\0') + unsigned int len; // the String length (not counting the '\0') + unsigned char flags; // unused, for future features +protected: + void init(void); + void invalidate(void); + unsigned char changeBuffer(unsigned int maxStrLen); + unsigned char concat(const char *cstr, unsigned int length); + + // copy and move + String & copy(const char *cstr, unsigned int length); + #ifdef __GXX_EXPERIMENTAL_CXX0X__ + void move(String &rhs); + #endif +}; + +class StringSumHelper : public String +{ +public: + StringSumHelper(const String &s) : String(s) {} + StringSumHelper(const char *p) : String(p) {} + StringSumHelper(char c) : String(c) {} + StringSumHelper(unsigned char num) : String(num) {} + StringSumHelper(int num) : String(num) {} + StringSumHelper(unsigned int num) : String(num) {} + StringSumHelper(long num) : String(num) {} + StringSumHelper(unsigned long num) : String(num) {} +}; + +#endif // __cplusplus +#endif // String_class_h diff --git a/cores/robot/binary.h b/cores/robot/binary.h new file mode 100644 index 0000000..af14980 --- /dev/null +++ b/cores/robot/binary.h @@ -0,0 +1,515 @@ +#ifndef Binary_h +#define Binary_h + +#define B0 0 +#define B00 0 +#define B000 0 +#define B0000 0 +#define B00000 0 +#define B000000 0 +#define B0000000 0 +#define B00000000 0 +#define B1 1 +#define B01 1 +#define B001 1 +#define B0001 1 +#define B00001 1 +#define B000001 1 +#define B0000001 1 +#define B00000001 1 +#define B10 2 +#define B010 2 +#define B0010 2 +#define B00010 2 +#define B000010 2 +#define B0000010 2 +#define B00000010 2 +#define B11 3 +#define B011 3 +#define B0011 3 +#define B00011 3 +#define B000011 3 +#define B0000011 3 +#define B00000011 3 +#define B100 4 +#define B0100 4 +#define B00100 4 +#define B000100 4 +#define B0000100 4 +#define B00000100 4 +#define B101 5 +#define B0101 5 +#define B00101 5 +#define B000101 5 +#define B0000101 5 +#define B00000101 5 +#define B110 6 +#define B0110 6 +#define B00110 6 +#define B000110 6 +#define B0000110 6 +#define B00000110 6 +#define B111 7 +#define B0111 7 +#define B00111 7 +#define B000111 7 +#define B0000111 7 +#define B00000111 7 +#define B1000 8 +#define B01000 8 +#define B001000 8 +#define B0001000 8 +#define B00001000 8 +#define B1001 9 +#define B01001 9 +#define B001001 9 +#define B0001001 9 +#define B00001001 9 +#define B1010 10 +#define B01010 10 +#define B001010 10 +#define B0001010 10 +#define B00001010 10 +#define B1011 11 +#define B01011 11 +#define B001011 11 +#define B0001011 11 +#define B00001011 11 +#define B1100 12 +#define B01100 12 +#define B001100 12 +#define B0001100 12 +#define B00001100 12 +#define B1101 13 +#define B01101 13 +#define B001101 13 +#define B0001101 13 +#define B00001101 13 +#define B1110 14 +#define B01110 14 +#define B001110 14 +#define B0001110 14 +#define B00001110 14 +#define B1111 15 +#define B01111 15 +#define B001111 15 +#define B0001111 15 +#define B00001111 15 +#define B10000 16 +#define B010000 16 +#define B0010000 16 +#define B00010000 16 +#define B10001 17 +#define B010001 17 +#define B0010001 17 +#define B00010001 17 +#define B10010 18 +#define B010010 18 +#define B0010010 18 +#define B00010010 18 +#define B10011 19 +#define B010011 19 +#define B0010011 19 +#define B00010011 19 +#define B10100 20 +#define B010100 20 +#define B0010100 20 +#define B00010100 20 +#define B10101 21 +#define B010101 21 +#define B0010101 21 +#define B00010101 21 +#define B10110 22 +#define B010110 22 +#define B0010110 22 +#define B00010110 22 +#define B10111 23 +#define B010111 23 +#define B0010111 23 +#define B00010111 23 +#define B11000 24 +#define B011000 24 +#define B0011000 24 +#define B00011000 24 +#define B11001 25 +#define B011001 25 +#define B0011001 25 +#define B00011001 25 +#define B11010 26 +#define B011010 26 +#define B0011010 26 +#define B00011010 26 +#define B11011 27 +#define B011011 27 +#define B0011011 27 +#define B00011011 27 +#define B11100 28 +#define B011100 28 +#define B0011100 28 +#define B00011100 28 +#define B11101 29 +#define B011101 29 +#define B0011101 29 +#define B00011101 29 +#define B11110 30 +#define B011110 30 +#define B0011110 30 +#define B00011110 30 +#define B11111 31 +#define B011111 31 +#define B0011111 31 +#define B00011111 31 +#define B100000 32 +#define B0100000 32 +#define B00100000 32 +#define B100001 33 +#define B0100001 33 +#define B00100001 33 +#define B100010 34 +#define B0100010 34 +#define B00100010 34 +#define B100011 35 +#define B0100011 35 +#define B00100011 35 +#define B100100 36 +#define B0100100 36 +#define B00100100 36 +#define B100101 37 +#define B0100101 37 +#define B00100101 37 +#define B100110 38 +#define B0100110 38 +#define B00100110 38 +#define B100111 39 +#define B0100111 39 +#define B00100111 39 +#define B101000 40 +#define B0101000 40 +#define B00101000 40 +#define B101001 41 +#define B0101001 41 +#define B00101001 41 +#define B101010 42 +#define B0101010 42 +#define B00101010 42 +#define B101011 43 +#define B0101011 43 +#define B00101011 43 +#define B101100 44 +#define B0101100 44 +#define B00101100 44 +#define B101101 45 +#define B0101101 45 +#define B00101101 45 +#define B101110 46 +#define B0101110 46 +#define B00101110 46 +#define B101111 47 +#define B0101111 47 +#define B00101111 47 +#define B110000 48 +#define B0110000 48 +#define B00110000 48 +#define B110001 49 +#define B0110001 49 +#define B00110001 49 +#define B110010 50 +#define B0110010 50 +#define B00110010 50 +#define B110011 51 +#define B0110011 51 +#define B00110011 51 +#define B110100 52 +#define B0110100 52 +#define B00110100 52 +#define B110101 53 +#define B0110101 53 +#define B00110101 53 +#define B110110 54 +#define B0110110 54 +#define B00110110 54 +#define B110111 55 +#define B0110111 55 +#define B00110111 55 +#define B111000 56 +#define B0111000 56 +#define B00111000 56 +#define B111001 57 +#define B0111001 57 +#define B00111001 57 +#define B111010 58 +#define B0111010 58 +#define B00111010 58 +#define B111011 59 +#define B0111011 59 +#define B00111011 59 +#define B111100 60 +#define B0111100 60 +#define B00111100 60 +#define B111101 61 +#define B0111101 61 +#define B00111101 61 +#define B111110 62 +#define B0111110 62 +#define B00111110 62 +#define B111111 63 +#define B0111111 63 +#define B00111111 63 +#define B1000000 64 +#define B01000000 64 +#define B1000001 65 +#define B01000001 65 +#define B1000010 66 +#define B01000010 66 +#define B1000011 67 +#define B01000011 67 +#define B1000100 68 +#define B01000100 68 +#define B1000101 69 +#define B01000101 69 +#define B1000110 70 +#define B01000110 70 +#define B1000111 71 +#define B01000111 71 +#define B1001000 72 +#define B01001000 72 +#define B1001001 73 +#define B01001001 73 +#define B1001010 74 +#define B01001010 74 +#define B1001011 75 +#define B01001011 75 +#define B1001100 76 +#define B01001100 76 +#define B1001101 77 +#define B01001101 77 +#define B1001110 78 +#define B01001110 78 +#define B1001111 79 +#define B01001111 79 +#define B1010000 80 +#define B01010000 80 +#define B1010001 81 +#define B01010001 81 +#define B1010010 82 +#define B01010010 82 +#define B1010011 83 +#define B01010011 83 +#define B1010100 84 +#define B01010100 84 +#define B1010101 85 +#define B01010101 85 +#define B1010110 86 +#define B01010110 86 +#define B1010111 87 +#define B01010111 87 +#define B1011000 88 +#define B01011000 88 +#define B1011001 89 +#define B01011001 89 +#define B1011010 90 +#define B01011010 90 +#define B1011011 91 +#define B01011011 91 +#define B1011100 92 +#define B01011100 92 +#define B1011101 93 +#define B01011101 93 +#define B1011110 94 +#define B01011110 94 +#define B1011111 95 +#define B01011111 95 +#define B1100000 96 +#define B01100000 96 +#define B1100001 97 +#define B01100001 97 +#define B1100010 98 +#define B01100010 98 +#define B1100011 99 +#define B01100011 99 +#define B1100100 100 +#define B01100100 100 +#define B1100101 101 +#define B01100101 101 +#define B1100110 102 +#define B01100110 102 +#define B1100111 103 +#define B01100111 103 +#define B1101000 104 +#define B01101000 104 +#define B1101001 105 +#define B01101001 105 +#define B1101010 106 +#define B01101010 106 +#define B1101011 107 +#define B01101011 107 +#define B1101100 108 +#define B01101100 108 +#define B1101101 109 +#define B01101101 109 +#define B1101110 110 +#define B01101110 110 +#define B1101111 111 +#define B01101111 111 +#define B1110000 112 +#define B01110000 112 +#define B1110001 113 +#define B01110001 113 +#define B1110010 114 +#define B01110010 114 +#define B1110011 115 +#define B01110011 115 +#define B1110100 116 +#define B01110100 116 +#define B1110101 117 +#define B01110101 117 +#define B1110110 118 +#define B01110110 118 +#define B1110111 119 +#define B01110111 119 +#define B1111000 120 +#define B01111000 120 +#define B1111001 121 +#define B01111001 121 +#define B1111010 122 +#define B01111010 122 +#define B1111011 123 +#define B01111011 123 +#define B1111100 124 +#define B01111100 124 +#define B1111101 125 +#define B01111101 125 +#define B1111110 126 +#define B01111110 126 +#define B1111111 127 +#define B01111111 127 +#define B10000000 128 +#define B10000001 129 +#define B10000010 130 +#define B10000011 131 +#define B10000100 132 +#define B10000101 133 +#define B10000110 134 +#define B10000111 135 +#define B10001000 136 +#define B10001001 137 +#define B10001010 138 +#define B10001011 139 +#define B10001100 140 +#define B10001101 141 +#define B10001110 142 +#define B10001111 143 +#define B10010000 144 +#define B10010001 145 +#define B10010010 146 +#define B10010011 147 +#define B10010100 148 +#define B10010101 149 +#define B10010110 150 +#define B10010111 151 +#define B10011000 152 +#define B10011001 153 +#define B10011010 154 +#define B10011011 155 +#define B10011100 156 +#define B10011101 157 +#define B10011110 158 +#define B10011111 159 +#define B10100000 160 +#define B10100001 161 +#define B10100010 162 +#define B10100011 163 +#define B10100100 164 +#define B10100101 165 +#define B10100110 166 +#define B10100111 167 +#define B10101000 168 +#define B10101001 169 +#define B10101010 170 +#define B10101011 171 +#define B10101100 172 +#define B10101101 173 +#define B10101110 174 +#define B10101111 175 +#define B10110000 176 +#define B10110001 177 +#define B10110010 178 +#define B10110011 179 +#define B10110100 180 +#define B10110101 181 +#define B10110110 182 +#define B10110111 183 +#define B10111000 184 +#define B10111001 185 +#define B10111010 186 +#define B10111011 187 +#define B10111100 188 +#define B10111101 189 +#define B10111110 190 +#define B10111111 191 +#define B11000000 192 +#define B11000001 193 +#define B11000010 194 +#define B11000011 195 +#define B11000100 196 +#define B11000101 197 +#define B11000110 198 +#define B11000111 199 +#define B11001000 200 +#define B11001001 201 +#define B11001010 202 +#define B11001011 203 +#define B11001100 204 +#define B11001101 205 +#define B11001110 206 +#define B11001111 207 +#define B11010000 208 +#define B11010001 209 +#define B11010010 210 +#define B11010011 211 +#define B11010100 212 +#define B11010101 213 +#define B11010110 214 +#define B11010111 215 +#define B11011000 216 +#define B11011001 217 +#define B11011010 218 +#define B11011011 219 +#define B11011100 220 +#define B11011101 221 +#define B11011110 222 +#define B11011111 223 +#define B11100000 224 +#define B11100001 225 +#define B11100010 226 +#define B11100011 227 +#define B11100100 228 +#define B11100101 229 +#define B11100110 230 +#define B11100111 231 +#define B11101000 232 +#define B11101001 233 +#define B11101010 234 +#define B11101011 235 +#define B11101100 236 +#define B11101101 237 +#define B11101110 238 +#define B11101111 239 +#define B11110000 240 +#define B11110001 241 +#define B11110010 242 +#define B11110011 243 +#define B11110100 244 +#define B11110101 245 +#define B11110110 246 +#define B11110111 247 +#define B11111000 248 +#define B11111001 249 +#define B11111010 250 +#define B11111011 251 +#define B11111100 252 +#define B11111101 253 +#define B11111110 254 +#define B11111111 255 + +#endif diff --git a/cores/robot/main.cpp b/cores/robot/main.cpp new file mode 100644 index 0000000..3d4e079 --- /dev/null +++ b/cores/robot/main.cpp @@ -0,0 +1,20 @@ +#include <Arduino.h> + +int main(void) +{ + init(); + +#if defined(USBCON) + USBDevice.attach(); +#endif + + setup(); + + for (;;) { + loop(); + if (serialEventRun) serialEventRun(); + } + + return 0; +} + diff --git a/cores/robot/new.cpp b/cores/robot/new.cpp new file mode 100644 index 0000000..b81031e --- /dev/null +++ b/cores/robot/new.cpp @@ -0,0 +1,28 @@ +#include <new.h> + +void * operator new(size_t size) +{ + return malloc(size); +} + +void * operator new[](size_t size) +{ + return malloc(size); +} + +void operator delete(void * ptr) +{ + free(ptr); +} + +void operator delete[](void * ptr) +{ + free(ptr); +} + +int __cxa_guard_acquire(__guard *g) {return !*(char *)(g);}; +void __cxa_guard_release (__guard *g) {*(char *)g = 1;}; +void __cxa_guard_abort (__guard *) {}; + +void __cxa_pure_virtual(void) {}; + diff --git a/cores/robot/new.h b/cores/robot/new.h new file mode 100644 index 0000000..991c86c --- /dev/null +++ b/cores/robot/new.h @@ -0,0 +1,24 @@ +/* Header to define new/delete operators as they aren't provided by avr-gcc by default + Taken from http://www.avrfreaks.net/index.php?name=PNphpBB2&file=viewtopic&t=59453 + */ + +#ifndef NEW_H +#define NEW_H + +#include <stdlib.h> + +void * operator new(size_t size); +void * operator new[](size_t size); +void operator delete(void * ptr); +void operator delete[](void * ptr); + +__extension__ typedef int __guard __attribute__((mode (__DI__))); + +extern "C" int __cxa_guard_acquire(__guard *); +extern "C" void __cxa_guard_release (__guard *); +extern "C" void __cxa_guard_abort (__guard *); + +extern "C" void __cxa_pure_virtual(void); + +#endif + diff --git a/cores/robot/wiring.c b/cores/robot/wiring.c new file mode 100644 index 0000000..a3c4390 --- /dev/null +++ b/cores/robot/wiring.c @@ -0,0 +1,324 @@ +/* + wiring.c - Partial implementation of the Wiring API for the ATmega8. + Part of Arduino - http://www.arduino.cc/ + + Copyright (c) 2005-2006 David A. Mellis + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General + Public License along with this library; if not, write to the + Free Software Foundation, Inc., 59 Temple Place, Suite 330, + Boston, MA 02111-1307 USA + + $Id$ +*/ + +#include "wiring_private.h" + +// the prescaler is set so that timer0 ticks every 64 clock cycles, and the +// the overflow handler is called every 256 ticks. +#define MICROSECONDS_PER_TIMER0_OVERFLOW (clockCyclesToMicroseconds(64 * 256)) + +// the whole number of milliseconds per timer0 overflow +#define MILLIS_INC (MICROSECONDS_PER_TIMER0_OVERFLOW / 1000) + +// the fractional number of milliseconds per timer0 overflow. we shift right +// by three to fit these numbers into a byte. (for the clock speeds we care +// about - 8 and 16 MHz - this doesn't lose precision.) +#define FRACT_INC ((MICROSECONDS_PER_TIMER0_OVERFLOW % 1000) >> 3) +#define FRACT_MAX (1000 >> 3) + +volatile unsigned long timer0_overflow_count = 0; +volatile unsigned long timer0_millis = 0; +static unsigned char timer0_fract = 0; + +#if defined(__AVR_ATtiny24__) || defined(__AVR_ATtiny44__) || defined(__AVR_ATtiny84__) +ISR(TIM0_OVF_vect) +#else +ISR(TIMER0_OVF_vect) +#endif +{ + // copy these to local variables so they can be stored in registers + // (volatile variables must be read from memory on every access) + unsigned long m = timer0_millis; + unsigned char f = timer0_fract; + + m += MILLIS_INC; + f += FRACT_INC; + if (f >= FRACT_MAX) { + f -= FRACT_MAX; + m += 1; + } + + timer0_fract = f; + timer0_millis = m; + timer0_overflow_count++; +} + +unsigned long millis() +{ + unsigned long m; + uint8_t oldSREG = SREG; + + // disable interrupts while we read timer0_millis or we might get an + // inconsistent value (e.g. in the middle of a write to timer0_millis) + cli(); + m = timer0_millis; + SREG = oldSREG; + + return m; +} + +unsigned long micros() { + unsigned long m; + uint8_t oldSREG = SREG, t; + + cli(); + m = timer0_overflow_count; +#if defined(TCNT0) + t = TCNT0; +#elif defined(TCNT0L) + t = TCNT0L; +#else + #error TIMER 0 not defined +#endif + + +#ifdef TIFR0 + if ((TIFR0 & _BV(TOV0)) && (t < 255)) + m++; +#else + if ((TIFR & _BV(TOV0)) && (t < 255)) + m++; +#endif + + SREG = oldSREG; + + return ((m << 8) + t) * (64 / clockCyclesPerMicrosecond()); +} + +void delay(unsigned long ms) +{ + uint16_t start = (uint16_t)micros(); + + while (ms > 0) { + if (((uint16_t)micros() - start) >= 1000) { + ms--; + start += 1000; + } + } +} + +/* Delay for the given number of microseconds. Assumes a 8 or 16 MHz clock. */ +void delayMicroseconds(unsigned int us) +{ + // calling avrlib's delay_us() function with low values (e.g. 1 or + // 2 microseconds) gives delays longer than desired. + //delay_us(us); +#if F_CPU >= 20000000L + // for the 20 MHz clock on rare Arduino boards + + // for a one-microsecond delay, simply wait 2 cycle and return. The overhead + // of the function call yields a delay of exactly a one microsecond. + __asm__ __volatile__ ( + "nop" "\n\t" + "nop"); //just waiting 2 cycle + if (--us == 0) + return; + + // the following loop takes a 1/5 of a microsecond (4 cycles) + // per iteration, so execute it five times for each microsecond of + // delay requested. + us = (us<<2) + us; // x5 us + + // account for the time taken in the preceeding commands. + us -= 2; + +#elif F_CPU >= 16000000L + // for the 16 MHz clock on most Arduino boards + + // for a one-microsecond delay, simply return. the overhead + // of the function call yields a delay of approximately 1 1/8 us. + if (--us == 0) + return; + + // the following loop takes a quarter of a microsecond (4 cycles) + // per iteration, so execute it four times for each microsecond of + // delay requested. + us <<= 2; + + // account for the time taken in the preceeding commands. + us -= 2; +#else + // for the 8 MHz internal clock on the ATmega168 + + // for a one- or two-microsecond delay, simply return. the overhead of + // the function calls takes more than two microseconds. can't just + // subtract two, since us is unsigned; we'd overflow. + if (--us == 0) + return; + if (--us == 0) + return; + + // the following loop takes half of a microsecond (4 cycles) + // per iteration, so execute it twice for each microsecond of + // delay requested. + us <<= 1; + + // partially compensate for the time taken by the preceeding commands. + // we can't subtract any more than this or we'd overflow w/ small delays. + us--; +#endif + + // busy wait + __asm__ __volatile__ ( + "1: sbiw %0,1" "\n\t" // 2 cycles + "brne 1b" : "=w" (us) : "0" (us) // 2 cycles + ); +} + +void init() +{ + // this needs to be called before setup() or some functions won't + // work there + sei(); + + // on the ATmega168, timer 0 is also used for fast hardware pwm + // (using phase-correct PWM would mean that timer 0 overflowed half as often + // resulting in different millis() behavior on the ATmega8 and ATmega168) +#if defined(TCCR0A) && defined(WGM01) + sbi(TCCR0A, WGM01); + sbi(TCCR0A, WGM00); +#endif + + // set timer 0 prescale factor to 64 +#if defined(__AVR_ATmega128__) + // CPU specific: different values for the ATmega128 + sbi(TCCR0, CS02); +#elif defined(TCCR0) && defined(CS01) && defined(CS00) + // this combination is for the standard atmega8 + sbi(TCCR0, CS01); + sbi(TCCR0, CS00); +#elif defined(TCCR0B) && defined(CS01) && defined(CS00) + // this combination is for the standard 168/328/1280/2560 + sbi(TCCR0B, CS01); + sbi(TCCR0B, CS00); +#elif defined(TCCR0A) && defined(CS01) && defined(CS00) + // this combination is for the __AVR_ATmega645__ series + sbi(TCCR0A, CS01); + sbi(TCCR0A, CS00); +#else + #error Timer 0 prescale factor 64 not set correctly +#endif + + // enable timer 0 overflow interrupt +#if defined(TIMSK) && defined(TOIE0) + sbi(TIMSK, TOIE0); +#elif defined(TIMSK0) && defined(TOIE0) + sbi(TIMSK0, TOIE0); +#else + #error Timer 0 overflow interrupt not set correctly +#endif + + // timers 1 and 2 are used for phase-correct hardware pwm + // this is better for motors as it ensures an even waveform + // note, however, that fast pwm mode can achieve a frequency of up + // 8 MHz (with a 16 MHz clock) at 50% duty cycle + +#if defined(TCCR1B) && defined(CS11) && defined(CS10) + TCCR1B = 0; + + // set timer 1 prescale factor to 64 + sbi(TCCR1B, CS11); +#if F_CPU >= 8000000L + sbi(TCCR1B, CS10); +#endif +#elif defined(TCCR1) && defined(CS11) && defined(CS10) + sbi(TCCR1, CS11); +#if F_CPU >= 8000000L + sbi(TCCR1, CS10); +#endif +#endif + // put timer 1 in 8-bit phase correct pwm mode +#if defined(TCCR1A) && defined(WGM10) + sbi(TCCR1A, WGM10); +#elif defined(TCCR1) + #warning this needs to be finished +#endif + + // set timer 2 prescale factor to 64 +#if defined(TCCR2) && defined(CS22) + sbi(TCCR2, CS22); +#elif defined(TCCR2B) && defined(CS22) + sbi(TCCR2B, CS22); +#else + #warning Timer 2 not finished (may not be present on this CPU) +#endif + + // configure timer 2 for phase correct pwm (8-bit) +#if defined(TCCR2) && defined(WGM20) + sbi(TCCR2, WGM20); +#elif defined(TCCR2A) && defined(WGM20) + sbi(TCCR2A, WGM20); +#else + #warning Timer 2 not finished (may not be present on this CPU) +#endif + +#if defined(TCCR3B) && defined(CS31) && defined(WGM30) + sbi(TCCR3B, CS31); // set timer 3 prescale factor to 64 + sbi(TCCR3B, CS30); + sbi(TCCR3A, WGM30); // put timer 3 in 8-bit phase correct pwm mode +#endif + +#if defined(TCCR4A) && defined(TCCR4B) && defined(TCCR4D) /* beginning of timer4 block for 32U4 and similar */ + sbi(TCCR4B, CS42); // set timer4 prescale factor to 64 + sbi(TCCR4B, CS41); + sbi(TCCR4B, CS40); + sbi(TCCR4D, WGM40); // put timer 4 in phase- and frequency-correct PWM mode + sbi(TCCR4A, PWM4A); // enable PWM mode for comparator OCR4A + sbi(TCCR4C, PWM4D); // enable PWM mode for comparator OCR4D +#else /* beginning of timer4 block for ATMEGA1280 and ATMEGA2560 */ +#if defined(TCCR4B) && defined(CS41) && defined(WGM40) + sbi(TCCR4B, CS41); // set timer 4 prescale factor to 64 + sbi(TCCR4B, CS40); + sbi(TCCR4A, WGM40); // put timer 4 in 8-bit phase correct pwm mode +#endif +#endif /* end timer4 block for ATMEGA1280/2560 and similar */ + +#if defined(TCCR5B) && defined(CS51) && defined(WGM50) + sbi(TCCR5B, CS51); // set timer 5 prescale factor to 64 + sbi(TCCR5B, CS50); + sbi(TCCR5A, WGM50); // put timer 5 in 8-bit phase correct pwm mode +#endif + +#if defined(ADCSRA) + // set a2d prescale factor to 128 + // 16 MHz / 128 = 125 KHz, inside the desired 50-200 KHz range. + // XXX: this will not work properly for other clock speeds, and + // this code should use F_CPU to determine the prescale factor. + sbi(ADCSRA, ADPS2); + sbi(ADCSRA, ADPS1); + sbi(ADCSRA, ADPS0); + + // enable a2d conversions + sbi(ADCSRA, ADEN); +#endif + + // the bootloader connects pins 0 and 1 to the USART; disconnect them + // here so they can be used as normal digital i/o; they will be + // reconnected in Serial.begin() +#if defined(UCSRB) + UCSRB = 0; +#elif defined(UCSR0B) + UCSR0B = 0; +#endif +} diff --git a/cores/robot/wiring_analog.c b/cores/robot/wiring_analog.c new file mode 100644 index 0000000..7ed0e4e --- /dev/null +++ b/cores/robot/wiring_analog.c @@ -0,0 +1,284 @@ +/* + wiring_analog.c - analog input and output + Part of Arduino - http://www.arduino.cc/ + + Copyright (c) 2005-2006 David A. Mellis + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General + Public License along with this library; if not, write to the + Free Software Foundation, Inc., 59 Temple Place, Suite 330, + Boston, MA 02111-1307 USA + + Modified 28 September 2010 by Mark Sproul + + $Id: wiring.c 248 2007-02-03 15:36:30Z mellis $ +*/ + +#include "wiring_private.h" +#include "pins_arduino.h" + +uint8_t analog_reference = DEFAULT; + +void analogReference(uint8_t mode) +{ + // can't actually set the register here because the default setting + // will connect AVCC and the AREF pin, which would cause a short if + // there's something connected to AREF. + analog_reference = mode; +} + +int analogRead(uint8_t pin) +{ + uint8_t low, high; + +#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) + if (pin >= 54) pin -= 54; // allow for channel or pin numbers +#elif defined(__AVR_ATmega32U4__) + if (pin >= 18) pin -= 18; // allow for channel or pin numbers +#elif defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644__) || defined(__AVR_ATmega644A__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) + if (pin >= 24) pin -= 24; // allow for channel or pin numbers +#elif defined(analogPinToChannel) && (defined(__AVR_ATtiny25__) || defined(__AVR_ATtiny45__) || defined(__AVR_ATtiny85__)) + pin = analogPinToChannel(pin); +#else + if (pin >= 14) pin -= 14; // allow for channel or pin numbers +#endif + +#if defined(__AVR_ATmega32U4__) + pin = analogPinToChannel(pin); + ADCSRB = (ADCSRB & ~(1 << MUX5)) | (((pin >> 3) & 0x01) << MUX5); +#elif defined(ADCSRB) && defined(MUX5) + // the MUX5 bit of ADCSRB selects whether we're reading from channels + // 0 to 7 (MUX5 low) or 8 to 15 (MUX5 high). + ADCSRB = (ADCSRB & ~(1 << MUX5)) | (((pin >> 3) & 0x01) << MUX5); +#endif + + // set the analog reference (high two bits of ADMUX) and select the + // channel (low 4 bits). this also sets ADLAR (left-adjust result) + // to 0 (the default). +#if defined(ADMUX) + ADMUX = (analog_reference << 6) | (pin & 0x07); +#endif + + // without a delay, we seem to read from the wrong channel + //delay(1); + +#if defined(ADCSRA) && defined(ADCL) + // start the conversion + sbi(ADCSRA, ADSC); + + // ADSC is cleared when the conversion finishes + while (bit_is_set(ADCSRA, ADSC)); + + // we have to read ADCL first; doing so locks both ADCL + // and ADCH until ADCH is read. reading ADCL second would + // cause the results of each conversion to be discarded, + // as ADCL and ADCH would be locked when it completed. + low = ADCL; + high = ADCH; +#else + // we dont have an ADC, return 0 + low = 0; + high = 0; +#endif + + // combine the two bytes + return (high << 8) | low; +} + +// Right now, PWM output only works on the pins with +// hardware support. These are defined in the appropriate +// pins_*.c file. For the rest of the pins, we default +// to digital output. +void analogWrite(uint8_t pin, int val) +{ + // We need to make sure the PWM output is enabled for those pins + // that support it, as we turn it off when digitally reading or + // writing with them. Also, make sure the pin is in output mode + // for consistenty with Wiring, which doesn't require a pinMode + // call for the analog output pins. + pinMode(pin, OUTPUT); + if (val == 0) + { + digitalWrite(pin, LOW); + } + else if (val == 255) + { + digitalWrite(pin, HIGH); + } + else + { + switch(digitalPinToTimer(pin)) + { + // XXX fix needed for atmega8 + #if defined(TCCR0) && defined(COM00) && !defined(__AVR_ATmega8__) + case TIMER0A: + // connect pwm to pin on timer 0 + sbi(TCCR0, COM00); + OCR0 = val; // set pwm duty + break; + #endif + + #if defined(TCCR0A) && defined(COM0A1) + case TIMER0A: + // connect pwm to pin on timer 0, channel A + sbi(TCCR0A, COM0A1); + OCR0A = val; // set pwm duty + break; + #endif + + #if defined(TCCR0A) && defined(COM0B1) + case TIMER0B: + // connect pwm to pin on timer 0, channel B + sbi(TCCR0A, COM0B1); + OCR0B = val; // set pwm duty + break; + #endif + + #if defined(TCCR1A) && defined(COM1A1) + case TIMER1A: + // connect pwm to pin on timer 1, channel A + sbi(TCCR1A, COM1A1); + OCR1A = val; // set pwm duty + break; + #endif + + #if defined(TCCR1A) && defined(COM1B1) + case TIMER1B: + // connect pwm to pin on timer 1, channel B + sbi(TCCR1A, COM1B1); + OCR1B = val; // set pwm duty + break; + #endif + + #if defined(TCCR2) && defined(COM21) + case TIMER2: + // connect pwm to pin on timer 2 + sbi(TCCR2, COM21); + OCR2 = val; // set pwm duty + break; + #endif + + #if defined(TCCR2A) && defined(COM2A1) + case TIMER2A: + // connect pwm to pin on timer 2, channel A + sbi(TCCR2A, COM2A1); + OCR2A = val; // set pwm duty + break; + #endif + + #if defined(TCCR2A) && defined(COM2B1) + case TIMER2B: + // connect pwm to pin on timer 2, channel B + sbi(TCCR2A, COM2B1); + OCR2B = val; // set pwm duty + break; + #endif + + #if defined(TCCR3A) && defined(COM3A1) + case TIMER3A: + // connect pwm to pin on timer 3, channel A + sbi(TCCR3A, COM3A1); + OCR3A = val; // set pwm duty + break; + #endif + + #if defined(TCCR3A) && defined(COM3B1) + case TIMER3B: + // connect pwm to pin on timer 3, channel B + sbi(TCCR3A, COM3B1); + OCR3B = val; // set pwm duty + break; + #endif + + #if defined(TCCR3A) && defined(COM3C1) + case TIMER3C: + // connect pwm to pin on timer 3, channel C + sbi(TCCR3A, COM3C1); + OCR3C = val; // set pwm duty + break; + #endif + + #if defined(TCCR4A) + case TIMER4A: + //connect pwm to pin on timer 4, channel A + sbi(TCCR4A, COM4A1); + #if defined(COM4A0) // only used on 32U4 + cbi(TCCR4A, COM4A0); + #endif + OCR4A = val; // set pwm duty + break; + #endif + + #if defined(TCCR4A) && defined(COM4B1) + case TIMER4B: + // connect pwm to pin on timer 4, channel B + sbi(TCCR4A, COM4B1); + OCR4B = val; // set pwm duty + break; + #endif + + #if defined(TCCR4A) && defined(COM4C1) + case TIMER4C: + // connect pwm to pin on timer 4, channel C + sbi(TCCR4A, COM4C1); + OCR4C = val; // set pwm duty + break; + #endif + + #if defined(TCCR4C) && defined(COM4D1) + case TIMER4D: + // connect pwm to pin on timer 4, channel D + sbi(TCCR4C, COM4D1); + #if defined(COM4D0) // only used on 32U4 + cbi(TCCR4C, COM4D0); + #endif + OCR4D = val; // set pwm duty + break; + #endif + + + #if defined(TCCR5A) && defined(COM5A1) + case TIMER5A: + // connect pwm to pin on timer 5, channel A + sbi(TCCR5A, COM5A1); + OCR5A = val; // set pwm duty + break; + #endif + + #if defined(TCCR5A) && defined(COM5B1) + case TIMER5B: + // connect pwm to pin on timer 5, channel B + sbi(TCCR5A, COM5B1); + OCR5B = val; // set pwm duty + break; + #endif + + #if defined(TCCR5A) && defined(COM5C1) + case TIMER5C: + // connect pwm to pin on timer 5, channel C + sbi(TCCR5A, COM5C1); + OCR5C = val; // set pwm duty + break; + #endif + + case NOT_ON_TIMER: + default: + if (val < 128) { + digitalWrite(pin, LOW); + } else { + digitalWrite(pin, HIGH); + } + } + } +} + diff --git a/cores/robot/wiring_digital.c b/cores/robot/wiring_digital.c new file mode 100644 index 0000000..be323b1 --- /dev/null +++ b/cores/robot/wiring_digital.c @@ -0,0 +1,178 @@ +/* + wiring_digital.c - digital input and output functions + Part of Arduino - http://www.arduino.cc/ + + Copyright (c) 2005-2006 David A. Mellis + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General + Public License along with this library; if not, write to the + Free Software Foundation, Inc., 59 Temple Place, Suite 330, + Boston, MA 02111-1307 USA + + Modified 28 September 2010 by Mark Sproul + + $Id: wiring.c 248 2007-02-03 15:36:30Z mellis $ +*/ + +#define ARDUINO_MAIN +#include "wiring_private.h" +#include "pins_arduino.h" + +void pinMode(uint8_t pin, uint8_t mode) +{ + uint8_t bit = digitalPinToBitMask(pin); + uint8_t port = digitalPinToPort(pin); + volatile uint8_t *reg, *out; + + if (port == NOT_A_PIN) return; + + // JWS: can I let the optimizer do this? + reg = portModeRegister(port); + out = portOutputRegister(port); + + if (mode == INPUT) { + uint8_t oldSREG = SREG; + cli(); + *reg &= ~bit; + *out &= ~bit; + SREG = oldSREG; + } else if (mode == INPUT_PULLUP) { + uint8_t oldSREG = SREG; + cli(); + *reg &= ~bit; + *out |= bit; + SREG = oldSREG; + } else { + uint8_t oldSREG = SREG; + cli(); + *reg |= bit; + SREG = oldSREG; + } +} + +// Forcing this inline keeps the callers from having to push their own stuff +// on the stack. It is a good performance win and only takes 1 more byte per +// user than calling. (It will take more bytes on the 168.) +// +// But shouldn't this be moved into pinMode? Seems silly to check and do on +// each digitalread or write. +// +// Mark Sproul: +// - Removed inline. Save 170 bytes on atmega1280 +// - changed to a switch statment; added 32 bytes but much easier to read and maintain. +// - Added more #ifdefs, now compiles for atmega645 +// +//static inline void turnOffPWM(uint8_t timer) __attribute__ ((always_inline)); +//static inline void turnOffPWM(uint8_t timer) +static void turnOffPWM(uint8_t timer) +{ + switch (timer) + { + #if defined(TCCR1A) && defined(COM1A1) + case TIMER1A: cbi(TCCR1A, COM1A1); break; + #endif + #if defined(TCCR1A) && defined(COM1B1) + case TIMER1B: cbi(TCCR1A, COM1B1); break; + #endif + + #if defined(TCCR2) && defined(COM21) + case TIMER2: cbi(TCCR2, COM21); break; + #endif + + #if defined(TCCR0A) && defined(COM0A1) + case TIMER0A: cbi(TCCR0A, COM0A1); break; + #endif + + #if defined(TIMER0B) && defined(COM0B1) + case TIMER0B: cbi(TCCR0A, COM0B1); break; + #endif + #if defined(TCCR2A) && defined(COM2A1) + case TIMER2A: cbi(TCCR2A, COM2A1); break; + #endif + #if defined(TCCR2A) && defined(COM2B1) + case TIMER2B: cbi(TCCR2A, COM2B1); break; + #endif + + #if defined(TCCR3A) && defined(COM3A1) + case TIMER3A: cbi(TCCR3A, COM3A1); break; + #endif + #if defined(TCCR3A) && defined(COM3B1) + case TIMER3B: cbi(TCCR3A, COM3B1); break; + #endif + #if defined(TCCR3A) && defined(COM3C1) + case TIMER3C: cbi(TCCR3A, COM3C1); break; + #endif + + #if defined(TCCR4A) && defined(COM4A1) + case TIMER4A: cbi(TCCR4A, COM4A1); break; + #endif + #if defined(TCCR4A) && defined(COM4B1) + case TIMER4B: cbi(TCCR4A, COM4B1); break; + #endif + #if defined(TCCR4A) && defined(COM4C1) + case TIMER4C: cbi(TCCR4A, COM4C1); break; + #endif + #if defined(TCCR4C) && defined(COM4D1) + case TIMER4D: cbi(TCCR4C, COM4D1); break; + #endif + + #if defined(TCCR5A) + case TIMER5A: cbi(TCCR5A, COM5A1); break; + case TIMER5B: cbi(TCCR5A, COM5B1); break; + case TIMER5C: cbi(TCCR5A, COM5C1); break; + #endif + } +} + +void digitalWrite(uint8_t pin, uint8_t val) +{ + uint8_t timer = digitalPinToTimer(pin); + uint8_t bit = digitalPinToBitMask(pin); + uint8_t port = digitalPinToPort(pin); + volatile uint8_t *out; + + if (port == NOT_A_PIN) return; + + // If the pin that support PWM output, we need to turn it off + // before doing a digital write. + if (timer != NOT_ON_TIMER) turnOffPWM(timer); + + out = portOutputRegister(port); + + uint8_t oldSREG = SREG; + cli(); + + if (val == LOW) { + *out &= ~bit; + } else { + *out |= bit; + } + + SREG = oldSREG; +} + +int digitalRead(uint8_t pin) +{ + uint8_t timer = digitalPinToTimer(pin); + uint8_t bit = digitalPinToBitMask(pin); + uint8_t port = digitalPinToPort(pin); + + if (port == NOT_A_PIN) return LOW; + + // If the pin that support PWM output, we need to turn it off + // before getting a digital reading. + if (timer != NOT_ON_TIMER) turnOffPWM(timer); + + if (*portInputRegister(port) & bit) return HIGH; + return LOW; +} diff --git a/cores/robot/wiring_private.h b/cores/robot/wiring_private.h new file mode 100755 index 0000000..c366005 --- /dev/null +++ b/cores/robot/wiring_private.h @@ -0,0 +1,71 @@ +/* + wiring_private.h - Internal header file. + Part of Arduino - http://www.arduino.cc/ + + Copyright (c) 2005-2006 David A. Mellis + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General + Public License along with this library; if not, write to the + Free Software Foundation, Inc., 59 Temple Place, Suite 330, + Boston, MA 02111-1307 USA + + $Id: wiring.h 239 2007-01-12 17:58:39Z mellis $ +*/ + +#ifndef WiringPrivate_h +#define WiringPrivate_h + +#include <avr/io.h> +#include <avr/interrupt.h> +#include <stdio.h> +#include <stdarg.h> + +#include "Arduino.h" + +#ifdef __cplusplus +extern "C"{ +#endif + +#ifndef cbi +#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) +#endif +#ifndef sbi +#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) +#endif + +#define EXTERNAL_INT_0 0 +#define EXTERNAL_INT_1 1 +#define EXTERNAL_INT_2 2 +#define EXTERNAL_INT_3 3 +#define EXTERNAL_INT_4 4 +#define EXTERNAL_INT_5 5 +#define EXTERNAL_INT_6 6 +#define EXTERNAL_INT_7 7 + +#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) +#define EXTERNAL_NUM_INTERRUPTS 8 +#elif defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644__) || defined(__AVR_ATmega644A__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) +#define EXTERNAL_NUM_INTERRUPTS 3 +#elif defined(__AVR_ATmega32U4__) +#define EXTERNAL_NUM_INTERRUPTS 5 +#else +#define EXTERNAL_NUM_INTERRUPTS 2 +#endif + +typedef void (*voidFuncPtr)(void); + +#ifdef __cplusplus +} // extern "C" +#endif + +#endif diff --git a/cores/robot/wiring_pulse.c b/cores/robot/wiring_pulse.c new file mode 100755 index 0000000..0d96886 --- /dev/null +++ b/cores/robot/wiring_pulse.c @@ -0,0 +1,69 @@ +/* + wiring_pulse.c - pulseIn() function + Part of Arduino - http://www.arduino.cc/ + + Copyright (c) 2005-2006 David A. Mellis + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General + Public License along with this library; if not, write to the + Free Software Foundation, Inc., 59 Temple Place, Suite 330, + Boston, MA 02111-1307 USA + + $Id: wiring.c 248 2007-02-03 15:36:30Z mellis $ +*/ + +#include "wiring_private.h" +#include "pins_arduino.h" + +/* Measures the length (in microseconds) of a pulse on the pin; state is HIGH + * or LOW, the type of pulse to measure. Works on pulses from 2-3 microseconds + * to 3 minutes in length, but must be called at least a few dozen microseconds + * before the start of the pulse. */ +unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout) +{ + // cache the port and bit of the pin in order to speed up the + // pulse width measuring loop and achieve finer resolution. calling + // digitalRead() instead yields much coarser resolution. + uint8_t bit = digitalPinToBitMask(pin); + uint8_t port = digitalPinToPort(pin); + uint8_t stateMask = (state ? bit : 0); + unsigned long width = 0; // keep initialization out of time critical area + + // convert the timeout from microseconds to a number of times through + // the initial loop; it takes 16 clock cycles per iteration. + unsigned long numloops = 0; + unsigned long maxloops = microsecondsToClockCycles(timeout) / 16; + + // wait for any previous pulse to end + while ((*portInputRegister(port) & bit) == stateMask) + if (numloops++ == maxloops) + return 0; + + // wait for the pulse to start + while ((*portInputRegister(port) & bit) != stateMask) + if (numloops++ == maxloops) + return 0; + + // wait for the pulse to stop + while ((*portInputRegister(port) & bit) == stateMask) { + if (numloops++ == maxloops) + return 0; + width++; + } + + // convert the reading to microseconds. The loop has been determined + // to be 20 clock cycles long and have about 16 clocks between the edge + // and the start of the loop. There will be some error introduced by + // the interrupt handlers. + return clockCyclesToMicroseconds(width * 21 + 16); +} diff --git a/cores/robot/wiring_shift.c b/cores/robot/wiring_shift.c new file mode 100755 index 0000000..cfe7867 --- /dev/null +++ b/cores/robot/wiring_shift.c @@ -0,0 +1,55 @@ +/* + wiring_shift.c - shiftOut() function + Part of Arduino - http://www.arduino.cc/ + + Copyright (c) 2005-2006 David A. Mellis + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General + Public License along with this library; if not, write to the + Free Software Foundation, Inc., 59 Temple Place, Suite 330, + Boston, MA 02111-1307 USA + + $Id: wiring.c 248 2007-02-03 15:36:30Z mellis $ +*/ + +#include "wiring_private.h" + +uint8_t shiftIn(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder) { + uint8_t value = 0; + uint8_t i; + + for (i = 0; i < 8; ++i) { + digitalWrite(clockPin, HIGH); + if (bitOrder == LSBFIRST) + value |= digitalRead(dataPin) << i; + else + value |= digitalRead(dataPin) << (7 - i); + digitalWrite(clockPin, LOW); + } + return value; +} + +void shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t val) +{ + uint8_t i; + + for (i = 0; i < 8; i++) { + if (bitOrder == LSBFIRST) + digitalWrite(dataPin, !!(val & (1 << i))); + else + digitalWrite(dataPin, !!(val & (1 << (7 - i)))); + + digitalWrite(clockPin, HIGH); + digitalWrite(clockPin, LOW); + } +} diff --git a/libraries/Robot_Control/Adafruit_GFX.cpp b/libraries/Robot_Control/Adafruit_GFX.cpp new file mode 100644 index 0000000..acfed1d --- /dev/null +++ b/libraries/Robot_Control/Adafruit_GFX.cpp @@ -0,0 +1,688 @@ +/****************************************************************** + This is the core graphics library for all our displays, providing + basic graphics primitives (points, lines, circles, etc.). It needs + to be paired with a hardware-specific library for each display + device we carry (handling the lower-level functions). + + Adafruit invests time and resources providing this open + source code, please support Adafruit and open-source hardware + by purchasing products from Adafruit! + + Written by Limor Fried/Ladyada for Adafruit Industries. + BSD license, check license.txt for more information. + All text above must be included in any redistribution. + ******************************************************************/ + +#include "Adafruit_GFX.h" +#include "glcdfont.c" +#include <avr/pgmspace.h> + +void Adafruit_GFX::constructor(int16_t w, int16_t h) { + _width = WIDTH = w; + _height = HEIGHT = h; + + rotation = 0; + cursor_y = cursor_x = 0; + textsize = 1; + textcolor = textbgcolor = 0xFFFF; + wrap = true; + + strokeColor = 0; + useStroke = true; + fillColor = 0; + useFill = false; + +} + + +// draw a circle outline +void Adafruit_GFX::drawCircle(int16_t x0, int16_t y0, int16_t r, + uint16_t color) { + int16_t f = 1 - r; + int16_t ddF_x = 1; + int16_t ddF_y = -2 * r; + int16_t x = 0; + int16_t y = r; + + drawPixel(x0, y0+r, color); + drawPixel(x0, y0-r, color); + drawPixel(x0+r, y0, color); + drawPixel(x0-r, y0, color); + + while (x<y) { + if (f >= 0) { + y--; + ddF_y += 2; + f += ddF_y; + } + x++; + ddF_x += 2; + f += ddF_x; + + drawPixel(x0 + x, y0 + y, color); + drawPixel(x0 - x, y0 + y, color); + drawPixel(x0 + x, y0 - y, color); + drawPixel(x0 - x, y0 - y, color); + drawPixel(x0 + y, y0 + x, color); + drawPixel(x0 - y, y0 + x, color); + drawPixel(x0 + y, y0 - x, color); + drawPixel(x0 - y, y0 - x, color); + + } +} + +void Adafruit_GFX::drawCircleHelper( int16_t x0, int16_t y0, + int16_t r, uint8_t cornername, uint16_t color) { + int16_t f = 1 - r; + int16_t ddF_x = 1; + int16_t ddF_y = -2 * r; + int16_t x = 0; + int16_t y = r; + + while (x<y) { + if (f >= 0) { + y--; + ddF_y += 2; + f += ddF_y; + } + x++; + ddF_x += 2; + f += ddF_x; + if (cornername & 0x4) { + drawPixel(x0 + x, y0 + y, color); + drawPixel(x0 + y, y0 + x, color); + } + if (cornername & 0x2) { + drawPixel(x0 + x, y0 - y, color); + drawPixel(x0 + y, y0 - x, color); + } + if (cornername & 0x8) { + drawPixel(x0 - y, y0 + x, color); + drawPixel(x0 - x, y0 + y, color); + } + if (cornername & 0x1) { + drawPixel(x0 - y, y0 - x, color); + drawPixel(x0 - x, y0 - y, color); + } + } +} + +void Adafruit_GFX::fillCircle(int16_t x0, int16_t y0, int16_t r, + uint16_t color) { + drawFastVLine(x0, y0-r, 2*r+1, color); + fillCircleHelper(x0, y0, r, 3, 0, color); +} + +// used to do circles and roundrects! +void Adafruit_GFX::fillCircleHelper(int16_t x0, int16_t y0, int16_t r, + uint8_t cornername, int16_t delta, uint16_t color) { + + int16_t f = 1 - r; + int16_t ddF_x = 1; + int16_t ddF_y = -2 * r; + int16_t x = 0; + int16_t y = r; + + while (x<y) { + if (f >= 0) { + y--; + ddF_y += 2; + f += ddF_y; + } + x++; + ddF_x += 2; + f += ddF_x; + + if (cornername & 0x1) { + drawFastVLine(x0+x, y0-y, 2*y+1+delta, color); + drawFastVLine(x0+y, y0-x, 2*x+1+delta, color); + } + if (cornername & 0x2) { + drawFastVLine(x0-x, y0-y, 2*y+1+delta, color); + drawFastVLine(x0-y, y0-x, 2*x+1+delta, color); + } + } +} + +// bresenham's algorithm - thx wikpedia +void Adafruit_GFX::drawLine(int16_t x0, int16_t y0, + int16_t x1, int16_t y1, + uint16_t color) { + int16_t steep = abs(y1 - y0) > abs(x1 - x0); + if (steep) { + swap(x0, y0); + swap(x1, y1); + } + + if (x0 > x1) { + swap(x0, x1); + swap(y0, y1); + } + + int16_t dx, dy; + dx = x1 - x0; + dy = abs(y1 - y0); + + int16_t err = dx / 2; + int16_t ystep; + + if (y0 < y1) { + ystep = 1; + } else { + ystep = -1; + } + + for (; x0<=x1; x0++) { + if (steep) { + drawPixel(y0, x0, color); + } else { + drawPixel(x0, y0, color); + } + err -= dy; + if (err < 0) { + y0 += ystep; + err += dx; + } + } +} + + +// draw a rectangle +void Adafruit_GFX::drawRect(int16_t x, int16_t y, + int16_t w, int16_t h, + uint16_t color) { + drawFastHLine(x, y, w, color); + drawFastHLine(x, y+h-1, w, color); + drawFastVLine(x, y, h, color); + drawFastVLine(x+w-1, y, h, color); +} + +void Adafruit_GFX::drawFastVLine(int16_t x, int16_t y, + int16_t h, uint16_t color) { + // stupidest version - update in subclasses if desired! + drawLine(x, y, x, y+h-1, color); +} + + +void Adafruit_GFX::drawFastHLine(int16_t x, int16_t y, + int16_t w, uint16_t color) { + // stupidest version - update in subclasses if desired! + drawLine(x, y, x+w-1, y, color); +} + +void Adafruit_GFX::fillRect(int16_t x, int16_t y, int16_t w, int16_t h, + uint16_t color) { + // stupidest version - update in subclasses if desired! + for (int16_t i=x; i<x+w; i++) { + drawFastVLine(i, y, h, color); + } +} + + +void Adafruit_GFX::fillScreen(uint16_t color) { + fillRect(0, 0, _width, _height, color); +} + +// draw a rounded rectangle! +void Adafruit_GFX::drawRoundRect(int16_t x, int16_t y, int16_t w, + int16_t h, int16_t r, uint16_t color) { + // smarter version + drawFastHLine(x+r , y , w-2*r, color); // Top + drawFastHLine(x+r , y+h-1, w-2*r, color); // Bottom + drawFastVLine( x , y+r , h-2*r, color); // Left + drawFastVLine( x+w-1, y+r , h-2*r, color); // Right + // draw four corners + drawCircleHelper(x+r , y+r , r, 1, color); + drawCircleHelper(x+w-r-1, y+r , r, 2, color); + drawCircleHelper(x+w-r-1, y+h-r-1, r, 4, color); + drawCircleHelper(x+r , y+h-r-1, r, 8, color); +} + +// fill a rounded rectangle! +void Adafruit_GFX::fillRoundRect(int16_t x, int16_t y, int16_t w, + int16_t h, int16_t r, uint16_t color) { + // smarter version + fillRect(x+r, y, w-2*r, h, color); + + // draw four corners + fillCircleHelper(x+w-r-1, y+r, r, 1, h-2*r-1, color); + fillCircleHelper(x+r , y+r, r, 2, h-2*r-1, color); +} + +// draw a triangle! +void Adafruit_GFX::drawTriangle(int16_t x0, int16_t y0, + int16_t x1, int16_t y1, + int16_t x2, int16_t y2, uint16_t color) { + drawLine(x0, y0, x1, y1, color); + drawLine(x1, y1, x2, y2, color); + drawLine(x2, y2, x0, y0, color); +} + +// fill a triangle! +void Adafruit_GFX::fillTriangle ( int16_t x0, int16_t y0, + int16_t x1, int16_t y1, + int16_t x2, int16_t y2, uint16_t color) { + + int16_t a, b, y, last; + + // Sort coordinates by Y order (y2 >= y1 >= y0) + if (y0 > y1) { + swap(y0, y1); swap(x0, x1); + } + if (y1 > y2) { + swap(y2, y1); swap(x2, x1); + } + if (y0 > y1) { + swap(y0, y1); swap(x0, x1); + } + + if(y0 == y2) { // Handle awkward all-on-same-line case as its own thing + a = b = x0; + if(x1 < a) a = x1; + else if(x1 > b) b = x1; + if(x2 < a) a = x2; + else if(x2 > b) b = x2; + drawFastHLine(a, y0, b-a+1, color); + return; + } + + int16_t + dx01 = x1 - x0, + dy01 = y1 - y0, + dx02 = x2 - x0, + dy02 = y2 - y0, + dx12 = x2 - x1, + dy12 = y2 - y1, + sa = 0, + sb = 0; + + // For upper part of triangle, find scanline crossings for segments + // 0-1 and 0-2. If y1=y2 (flat-bottomed triangle), the scanline y1 + // is included here (and second loop will be skipped, avoiding a /0 + // error there), otherwise scanline y1 is skipped here and handled + // in the second loop...which also avoids a /0 error here if y0=y1 + // (flat-topped triangle). + if(y1 == y2) last = y1; // Include y1 scanline + else last = y1-1; // Skip it + + for(y=y0; y<=last; y++) { + a = x0 + sa / dy01; + b = x0 + sb / dy02; + sa += dx01; + sb += dx02; + /* longhand: + a = x0 + (x1 - x0) * (y - y0) / (y1 - y0); + b = x0 + (x2 - x0) * (y - y0) / (y2 - y0); + */ + if(a > b) swap(a,b); + drawFastHLine(a, y, b-a+1, color); + } + + // For lower part of triangle, find scanline crossings for segments + // 0-2 and 1-2. This loop is skipped if y1=y2. + sa = dx12 * (y - y1); + sb = dx02 * (y - y0); + for(; y<=y2; y++) { + a = x1 + sa / dy12; + b = x0 + sb / dy02; + sa += dx12; + sb += dx02; + /* longhand: + a = x1 + (x2 - x1) * (y - y1) / (y2 - y1); + b = x0 + (x2 - x0) * (y - y0) / (y2 - y0); + */ + if(a > b) swap(a,b); + drawFastHLine(a, y, b-a+1, color); + } +} + +void Adafruit_GFX::drawBitmap(int16_t x, int16_t y, + const uint8_t *bitmap, int16_t w, int16_t h, + uint16_t color) { + + int16_t i, j, byteWidth = (w + 7) / 8; + + for(j=0; j<h; j++) { + for(i=0; i<w; i++ ) { + if(pgm_read_byte(bitmap + j * byteWidth + i / 8) & (128 >> (i & 7))) { + drawPixel(x+i, y+j, color); + } + } + } +} + + +#if ARDUINO >= 100 +size_t Adafruit_GFX::write(uint8_t c) { +#else +void Adafruit_GFX::write(uint8_t c) { +#endif + if (c == '\n') { + cursor_y += textsize*8; + cursor_x = 0; + } else if (c == '\r') { + // skip em + } else { + drawChar(cursor_x, cursor_y, c, textcolor, textbgcolor, textsize); + cursor_x += textsize*6; + if (wrap && (cursor_x > (_width - textsize*6))) { + cursor_y += textsize*8; + cursor_x = 0; + } + } +#if ARDUINO >= 100 + return 1; +#endif +} + +// draw a character +void Adafruit_GFX::drawChar(int16_t x, int16_t y, unsigned char c, + uint16_t color, uint16_t bg, uint8_t size) { + + if((x >= _width) || // Clip right + (y >= _height) || // Clip bottom + ((x + 5 * size - 1) < 0) || // Clip left + ((y + 8 * size - 1) < 0)) // Clip top + return; + + for (int8_t i=0; i<6; i++ ) { + uint8_t line; + if (i == 5) + line = 0x0; + else + line = pgm_read_byte(font+(c*5)+i); + for (int8_t j = 0; j<8; j++) { + if (line & 0x1) { + if (size == 1) // default size + drawPixel(x+i, y+j, color); + else { // big size + fillRect(x+(i*size), y+(j*size), size, size, color); + } + } else if (bg != color) { + if (size == 1) // default size + drawPixel(x+i, y+j, bg); + else { // big size + fillRect(x+i*size, y+j*size, size, size, bg); + } + } + line >>= 1; + } + } +} + +void Adafruit_GFX::setCursor(int16_t x, int16_t y) { + cursor_x = x; + cursor_y = y; +} + + +void Adafruit_GFX::setTextSize(uint8_t s) { + textsize = (s > 0) ? s : 1; +} + + +void Adafruit_GFX::setTextColor(uint16_t c) { + textcolor = c; + textbgcolor = c; + // for 'transparent' background, we'll set the bg + // to the same as fg instead of using a flag +} + + void Adafruit_GFX::setTextColor(uint16_t c, uint16_t b) { + textcolor = c; + textbgcolor = b; + } + +void Adafruit_GFX::setTextWrap(boolean w) { + wrap = w; +} + +uint8_t Adafruit_GFX::getRotation(void) { + rotation %= 4; + return rotation; +} + +void Adafruit_GFX::setRotation(uint8_t x) { + x %= 4; // cant be higher than 3 + rotation = x; + switch (x) { + case 0: + case 2: + _width = WIDTH; + _height = HEIGHT; + break; + case 1: + case 3: + _width = HEIGHT; + _height = WIDTH; + break; + } +} + +void Adafruit_GFX::invertDisplay(boolean i) { + // do nothing, can be subclassed +} + + +// return the size of the display which depends on the rotation! +int16_t Adafruit_GFX::width(void) { + return _width; +} + +int16_t Adafruit_GFX::height(void) { + return _height; +} + + + +uint16_t Adafruit_GFX::newColor(uint8_t r, uint8_t g, uint8_t b) { + return ((r & 0xF8) << 8) | ((g & 0xFC) << 3) | (b >> 3); +} + + +void Adafruit_GFX::background(uint8_t red, uint8_t green, uint8_t blue) { + background(newColor(red, green, blue)); +} + +void Adafruit_GFX::background(color c) { + fillScreen(c); +} + +void Adafruit_GFX::stroke(uint8_t red, uint8_t green, uint8_t blue) { + stroke(newColor(red, green, blue)); +} + +void Adafruit_GFX::stroke(color c) { + useStroke = true; + strokeColor = c; + setTextColor(c); +} + +void Adafruit_GFX::noStroke() { + useStroke = false; +} + +void Adafruit_GFX::noFill() { + useFill = false; +} + +void Adafruit_GFX::fill(uint8_t red, uint8_t green, uint8_t blue) { + fill(newColor(red, green, blue)); +} + +void Adafruit_GFX::fill(color c) { + useFill = true; + fillColor = c; +} + +void Adafruit_GFX::text(int value, uint8_t x, uint8_t y){ + if (!useStroke) + return; + + setTextWrap(false); + setTextColor(strokeColor); + setCursor(x, y); + print(value); +} +void Adafruit_GFX::text(long value, uint8_t x, uint8_t y){ + if (!useStroke) + return; + + setTextWrap(false); + setTextColor(strokeColor); + setCursor(x, y); + print(value); +} +void Adafruit_GFX::text(char value, uint8_t x, uint8_t y){ + if (!useStroke) + return; + + setTextWrap(false); + setTextColor(strokeColor); + setCursor(x, y); + print(value); +} + +void Adafruit_GFX::text(const char * text, int16_t x, int16_t y) { + if (!useStroke) + return; + + setTextWrap(false); + setTextColor(strokeColor); + setCursor(x, y); + print(text); +} + +void Adafruit_GFX::textWrap(const char * text, int16_t x, int16_t y) { + if (!useStroke) + return; + + setTextWrap(true); + setTextColor(strokeColor); + setCursor(x, y); + print(text); +} + + +void Adafruit_GFX::textSize(uint8_t size) { + setTextSize(size); +} + +void Adafruit_GFX::point(int16_t x, int16_t y) { + if (!useStroke) + return; + + drawPixel(x, y, strokeColor); +} + +void Adafruit_GFX::line(int16_t x1, int16_t y1, int16_t x2, int16_t y2) { + if (!useStroke) + return; + + if (x1 == x2) { + drawFastVLine(x1, y1, y2 - y1, strokeColor); + } + else if (y1 == y2) { + drawFastHLine(x1, y1, x2 - x1, strokeColor); + } + else { + drawLine(x1, y1, x2, y2, strokeColor); + } +} + +void Adafruit_GFX::rect(int16_t x, int16_t y, int16_t width, int16_t height) { + if (useFill) { + fillRect(x, y, width, height, fillColor); + } + if (useStroke) { + drawRect(x, y, width, height, strokeColor); + } +} + +void Adafruit_GFX::rect(int16_t x, int16_t y, int16_t width, int16_t height, int16_t radius) { + if (radius == 0) { + rect(x, y, width, height); + } + if (useFill) { + fillRoundRect(x, y, width, height, radius, fillColor); + } + if (useStroke) { + drawRoundRect(x, y, width, height, radius, strokeColor); + } +} + +void Adafruit_GFX::circle(int16_t x, int16_t y, int16_t r) { + if (r == 0) + return; + + if (useFill) { + fillCircle(x, y, r, fillColor); + } + if (useStroke) { + drawCircle(x, y, r, strokeColor); + } +} + +void Adafruit_GFX::triangle(int16_t x1, int16_t y1, int16_t x2, int16_t y2, int16_t x3, int16_t y3) { + if (useFill) { + fillTriangle(x1, y1, x2, y2, x3, y3, fillColor); + } + if (useStroke) { + drawTriangle(x1, y1, x2, y2, x3, y3, strokeColor); + } +} + +#define BUFFPIXEL 20 +/* +void Adafruit_GFX::image(PImage & img, uint16_t x, uint16_t y) { + int w, h, row, col; + uint8_t r, g, b; + uint32_t pos = 0; + uint8_t sdbuffer[3*BUFFPIXEL]; // pixel buffer (R+G+B per pixel) + uint8_t buffidx = sizeof(sdbuffer); // Current position in sdbuffer + + // Crop area to be loaded + w = img._bmpWidth; + h = img._bmpHeight; + if((x+w-1) >= width()) w = width() - x; + if((y+h-1) >= height()) h = height() - y; + + + // Set TFT address window to clipped image bounds + //setAddrWindow(x, y, x+w-1, y+h-1); + + + for (row=0; row<h; row++) { // For each scanline... + // Seek to start of scan line. It might seem labor- + // intensive to be doing this on every line, but this + // method covers a lot of gritty details like cropping + // and scanline padding. Also, the seek only takes + // place if the file position actually needs to change + // (avoids a lot of cluster math in SD library). + if(img._flip) // Bitmap is stored bottom-to-top order (normal BMP) + pos = img._bmpImageoffset + (img._bmpHeight - 1 - row) * img._rowSize; + else // Bitmap is stored top-to-bottom + pos = img._bmpImageoffset + row * img._rowSize; + if(img._bmpFile.position() != pos) { // Need seek? + img._bmpFile.seek(pos); + buffidx = sizeof(sdbuffer); // Force buffer reload + } + + for (col=0; col<w; col++) { // For each pixel... + // Time to read more pixel data? + if (buffidx >= sizeof(sdbuffer)) { // Indeed + img._bmpFile.read(sdbuffer, sizeof(sdbuffer)); + buffidx = 0; // Set index to beginning + } + + // Convert pixel from BMP to TFT format, push to display + b = sdbuffer[buffidx++]; + g = sdbuffer[buffidx++]; + r = sdbuffer[buffidx++]; + //pushColor(tft.Color565(r,g,b)); + drawPixel(x + col, y + row, newColor(r, g, b)); + + } // end pixel + } // end scanline + +}*/ diff --git a/libraries/Robot_Control/Adafruit_GFX.h b/libraries/Robot_Control/Adafruit_GFX.h new file mode 100644 index 0000000..1f6b8d8 --- /dev/null +++ b/libraries/Robot_Control/Adafruit_GFX.h @@ -0,0 +1,190 @@ +/****************************************************************** + This is the core graphics library for all our displays, providing + basic graphics primitives (points, lines, circles, etc.). It needs + to be paired with a hardware-specific library for each display + device we carry (handling the lower-level functions). + + Adafruit invests time and resources providing this open + source code, please support Adafruit and open-source hardware + by purchasing products from Adafruit! + + Written by Limor Fried/Ladyada for Adafruit Industries. + BSD license, check license.txt for more information. + All text above must be included in any redistribution. + ******************************************************************/ + +#ifndef _ADAFRUIT_GFX_H +#define _ADAFRUIT_GFX_H + +#if ARDUINO >= 100 + #include "Arduino.h" + #include "Print.h" +#else + #include "WProgram.h" +#endif + +//#include "PImage.h" + +#define swap(a, b) { int16_t t = a; a = b; b = t; } + +/* TODO +enum RectMode { + CORNER, + CORNERS, + RADIUS, + CENTER +}; +*/ + +typedef uint16_t color; + +class Adafruit_GFX : public Print { + public: + + //Adafruit_GFX(); + // i have no idea why we have to formally call the constructor. kinda sux + void constructor(int16_t w, int16_t h); + + // this must be defined by the subclass + virtual void drawPixel(int16_t x, int16_t y, uint16_t color); + virtual void invertDisplay(boolean i); + + // these are 'generic' drawing functions, so we can share them! + virtual void drawLine(int16_t x0, int16_t y0, int16_t x1, int16_t y1, + uint16_t color); + virtual void drawFastVLine(int16_t x, int16_t y, int16_t h, uint16_t color); + virtual void drawFastHLine(int16_t x, int16_t y, int16_t w, uint16_t color); + virtual void drawRect(int16_t x, int16_t y, int16_t w, int16_t h, + uint16_t color); + virtual void fillRect(int16_t x, int16_t y, int16_t w, int16_t h, + uint16_t color); + virtual void fillScreen(uint16_t color); + + void drawCircle(int16_t x0, int16_t y0, int16_t r, uint16_t color); + void drawCircleHelper(int16_t x0, int16_t y0, + int16_t r, uint8_t cornername, uint16_t color); + void fillCircle(int16_t x0, int16_t y0, int16_t r, uint16_t color); + void fillCircleHelper(int16_t x0, int16_t y0, int16_t r, + uint8_t cornername, int16_t delta, uint16_t color); + + void drawTriangle(int16_t x0, int16_t y0, int16_t x1, int16_t y1, + int16_t x2, int16_t y2, uint16_t color); + void fillTriangle(int16_t x0, int16_t y0, int16_t x1, int16_t y1, + int16_t x2, int16_t y2, uint16_t color); + void drawRoundRect(int16_t x0, int16_t y0, int16_t w, int16_t h, + int16_t radius, uint16_t color); + void fillRoundRect(int16_t x0, int16_t y0, int16_t w, int16_t h, + int16_t radius, uint16_t color); + + void drawBitmap(int16_t x, int16_t y, + const uint8_t *bitmap, int16_t w, int16_t h, + uint16_t color); + void drawChar(int16_t x, int16_t y, unsigned char c, + uint16_t color, uint16_t bg, uint8_t size); +#if ARDUINO >= 100 + virtual size_t write(uint8_t); +#else + virtual void write(uint8_t); +#endif + void setCursor(int16_t x, int16_t y); + void setTextColor(uint16_t c); + void setTextColor(uint16_t c, uint16_t bg); + void setTextSize(uint8_t s); + void setTextWrap(boolean w); + + int16_t height(void); + int16_t width(void); + + void setRotation(uint8_t r); + uint8_t getRotation(void); + + + /* + * Processing-like graphics primitives + */ + + /// transforms a color in 16-bit form given the RGB components. + /// The default implementation makes a 5-bit red, a 6-bit + /// green and a 5-bit blue (MSB to LSB). Devices that use + /// different scheme should override this. + virtual uint16_t newColor(uint8_t red, uint8_t green, uint8_t blue); + + + // http://processing.org/reference/background_.html + void background(uint8_t red, uint8_t green, uint8_t blue); + void background(color c); + + // http://processing.org/reference/fill_.html + void fill(uint8_t red, uint8_t green, uint8_t blue); + void fill(color c); + + // http://processing.org/reference/noFill_.html + void noFill(); + + // http://processing.org/reference/stroke_.html + void stroke(uint8_t red, uint8_t green, uint8_t blue); + void stroke(color c); + + // http://processing.org/reference/noStroke_.html + void noStroke(); + + void text(const char * text, int16_t x, int16_t y); + void text(int value, uint8_t posX, uint8_t posY); + void text(long value, uint8_t posX, uint8_t posY); + void text(char value, uint8_t posX, uint8_t posY); + + void textWrap(const char * text, int16_t x, int16_t y); + + void textSize(uint8_t size); + + // similar to ellipse() in Processing, but with + // a single radius. + // http://processing.org/reference/ellipse_.html + void circle(int16_t x, int16_t y, int16_t r); + + void point(int16_t x, int16_t y); + + void line(int16_t x1, int16_t y1, int16_t x2, int16_t y2); + + void quad(int16_t x1, int16_t y1, int16_t x2, int16_t y2, int16_t x3, int16_t y3, int16_t x4, int16_t y4); + + void rect(int16_t x, int16_t y, int16_t width, int16_t height); + + void rect(int16_t x, int16_t y, int16_t width, int16_t height, int16_t radius); + + void triangle(int16_t x1, int16_t y1, int16_t x2, int16_t y2, int16_t x3, int16_t y3); + + /* TODO + void rectMode(RectMode mode); + + void pushStyle(); + void popStyle(); + */ + +// PImage loadImage(const char * fileName) { return PImage::loadImage(fileName); } + +// void image(PImage & img, uint16_t x, uint16_t y); + + protected: + int16_t WIDTH, HEIGHT; // this is the 'raw' display w/h - never changes + int16_t _width, _height; // dependent on rotation + int16_t cursor_x, cursor_y; + uint16_t textcolor, textbgcolor; + uint8_t textsize; + uint8_t rotation; + boolean wrap; // If set, 'wrap' text at right edge of display + + /* + * Processing-style graphics state + */ + + color strokeColor; + bool useStroke; + color fillColor; + bool useFill; +}; + + + + +#endif diff --git a/libraries/Robot_Control/ArduinoRobot.cpp b/libraries/Robot_Control/ArduinoRobot.cpp new file mode 100644 index 0000000..3adac73 --- /dev/null +++ b/libraries/Robot_Control/ArduinoRobot.cpp @@ -0,0 +1,40 @@ +#include "ArduinoRobot.h" +#include "Multiplexer.h" +#include "Wire.h" +#include "EasyTransfer2.h" + +//RobotControl::RobotControl(){} + +RobotControl::RobotControl():Arduino_LCD(LCD_CS,DC_LCD,RST_LCD){ + +} + +void RobotControl::begin(){ + Wire.begin(); + //Compass + //nothing here + + //TK sensors + uint8_t MuxPins[]={MUXA,MUXB,MUXC,MUXD}; + Multiplexer::begin(MuxPins,MUX_IN,4); + + //piezo + pinMode(BUZZ,OUTPUT); + + //communication + Serial1.begin(9600); + messageOut.begin(&Serial1); + messageIn.begin(&Serial1); + + //TFT initialization + //Arduino_LCD::initR(INITR_GREENTAB); +} + +void RobotControl::setMode(uint8_t mode){ + messageOut.writeByte(COMMAND_SWITCH_MODE); + messageOut.writeByte(mode); + messageOut.sendData(); +} + + +RobotControl Robot=RobotControl();
\ No newline at end of file diff --git a/libraries/Robot_Control/ArduinoRobot.h b/libraries/Robot_Control/ArduinoRobot.h new file mode 100644 index 0000000..becdca8 --- /dev/null +++ b/libraries/Robot_Control/ArduinoRobot.h @@ -0,0 +1,360 @@ +#ifndef ArduinoRobot_h +#define ArduinoRobot_h + +#include "Arduino_LCD.h" // Hardware-specific library +//#include "FormattedText.h" +#include "SquawkSD.h" +#include "Multiplexer.h" +#include "EasyTransfer2.h" +#include "EEPROM_I2C.h" +#include "Compass.h" +#include "Fat16.h" + +#if ARDUINO >= 100 +#include "Arduino.h" +#else +#include "WProgram.h" +#endif + + +#define BUTTON_NONE -1 +#define BUTTON_LEFT 0 +#define BUTTON_DOWN 1 +#define BUTTON_UP 2 +#define BUTTON_RIGHT 3 +#define BUTTON_MIDDLE 4 +#define NUMBER_BUTTONS 5 + +//beep length +#define BEEP_SIMPLE 0 +#define BEEP_DOUBLE 1 +#define BEEP_LONG 2 + +// image locations on the EEPROM + #define HOME_BMP 0 +#define BATTERY_BMP 2048 +#define COMPASS_BMP 4096 +#define CONTROL_BMP 6144 +#define GEARS_BMP 8192 +#define LIGHT_BMP 10240 +#define OSCILLO_BMP 12288 +#define VOLT_BMP 14336 +#define INICIO_BMP 16384 // this is a full screen splash + +//Command code +#define COMMAND_SWITCH_MODE 0 +#define COMMAND_RUN 10 +#define COMMAND_MOTORS_STOP 11 +#define COMMAND_ANALOG_WRITE 20 +#define COMMAND_DIGITAL_WRITE 30 +#define COMMAND_ANALOG_READ 40 +#define COMMAND_ANALOG_READ_RE 41 +#define COMMAND_DIGITAL_READ 50 +#define COMMAND_DIGITAL_READ_RE 51 +#define COMMAND_READ_IR 60 +#define COMMAND_READ_IR_RE 61 +#define COMMAND_ACTION_DONE 70 +#define COMMAND_READ_TRIM 80 +#define COMMAND_READ_TRIM_RE 81 +#define COMMAND_PAUSE_MODE 90 +#define COMMAND_LINE_FOLLOW_CONFIG 100 + +//component codename +#define CN_LEFT_MOTOR 0 +#define CN_RIGHT_MOTOR 1 +#define CN_IR 2 + +//motor board modes +#define MODE_SIMPLE 0 +#define MODE_LINE_FOLLOW 1 +#define MODE_ADJUST_MOTOR 2 +#define MODE_IR_CONTROL 3 + +//port types, for R/W +#define TYPE_TOP_TK 0 +#define TYPE_TOP_TKD 1 +#define TYPE_BOTTOM_TK 2 + +//top TKs +#define TK0 100 +#define TK1 101 +#define TK2 102 +#define TK3 103 +#define TK4 104 +#define TK5 105 +#define TK6 106 +#define TK7 107 + +//bottom TKs, just for communication purpose +#define B_TK1 201 +#define B_TK2 202 +#define B_TK3 203 +#define B_TK4 204 + +//bottom IRs, for communication purpose +#define B_IR0 210 +#define B_IR1 211 +#define B_IR2 212 +#define B_IR3 213 +#define B_IR4 214 + +#ifndef LED1 +#define LED1 17 +#endif + +//320 - 337 username, +#define ADDRESS_USERNAME 320 +//338 - 355 robotname, +#define ADDRESS_ROBOTNAME 338 +//356 - 373 cityname, +#define ADDRESS_CITYNAME 356 + //374- 391 countryname, +#define ADDRESS_COUNTRYNAME 374 +//508-511 robot info +#define ADDRESS_ROBOTINFO 508 + +#define BLACK ILI9163C_BLACK +#define BLUE ILI9163C_BLUE +#define RED ILI9163C_RED +#define GREEN ILI9163C_GREEN +#define CYAN ILI9163C_CYAN +#define MAGENTA ILI9163C_MAGENTA +#define YELLOW ILI9163C_YELLOW +#define WHITE ILI9163C_WHITE + +//A data structure for storing the current state of motor board +struct MOTOR_BOARD_DATA{ + int _B_TK1; + int _B_TK2; + int _B_TK3; + int _B_TK4; + + /*int _B_IR0; + int _B_IR1; + int _B_IR2; + int _B_IR3; + int _B_IR4;*/ +}; + +/* +A message structure will be: +switch mode: + byte COMMAND_SWITCH_MODE, byte mode +run: + byte COMMAND_RUN, int speedL, int speedR +analogWrite: + byte COMMAND_ANALOG_WRITE, byte codename, byte value; +digitalWrite: + byte COMMAND_DIGITAL_WRITE, byte codename, byte value; +analogRead: + byte COMMAND_ANALOG_READ, byte codename; +analogRead return: + byte COMMAND_ANALOG_READ_RE, byte codename, int value; +digitalRead return: + byte COMMAND_DIGITAL_READ_RE, byte codename, byte value; +read IR: + byte COMMAND_READ_IR, int valueA, int valueB, int valueC, int valueD; + + +*/ +#define NUM_EEPROM_BMP 10 +struct EEPROM_BMP{ + char name[8]; + uint8_t width; + uint8_t height; + uint16_t address; +}; + +//if you call #undef USE_SQUAWK_SYNTH_SD at the beginning of your sketch, +//it's going to remove anything regarding sound playing + +class RobotControl:public Multiplexer, +public EEPROM_I2C, +public Compass, +public SquawkSynthSD, +//public FormattedText +public Arduino_LCD +{ + public: + RobotControl(); + void begin(); + void setMode(uint8_t mode); + + //Read & Write, TK0 - TK7, TKD0 - TKD1, bottom TK0 - TK4 + bool digitalRead(uint8_t port); + int analogRead(uint8_t port); + void digitalWrite(uint8_t port, bool value); + void analogWrite(uint8_t port, uint8_t value);//It's not available, as there's no pin can be used for analog write + + //IR sensors from the bottom board + //define an array as "int arr[4];", and supply the arry name here + uint16_t IRarray[5]; + void updateIR(); + + //on board Potentiometor + int knobRead(); + //Potentiometor of the motor board + int trimRead(); + + //on board piezo + void beginSpeaker(uint16_t frequency=44100); + void playMelody(char* script); + void playFile(char* filename); + void stopPlayFile(); + void beep(int beep_length=BEEP_SIMPLE); + void tempoWrite(int tempo); + void tuneWrite(float tune); + + //compass + uint16_t compassRead(); + void drawCompass(uint16_t value); + void drawBase(); + void drawDire(int16_t dire); + + //keyboard + void keyboardCalibrate(int *vals); + int8_t keyboardRead();//return the key that is being pressed?Has been pressed(with _processKeyboard)? + + //movement + void moveForward(int speed); + void moveBackward(int speed); + void turnLeft(int speed); + void turnRight(int speed); + void motorsStop(); + void motorsWritePct(int speedLeftPct, int speedRightPct); + + void motorsWrite(int speedLeft,int speedRight); + void pointTo(int degrees);//turn to an absolute angle from the compass + void turn(int degress);//turn certain degrees from the current heading + + //Line Following + void lineFollowConfig(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime);//default 11 5 50 10 + + //TFT LCD + //use the same commands as Arduino_LCD + void beginTFT(uint16_t foreGround=BLACK, uint16_t background=WHITE); + /*void text(int value, uint8_t posX, uint8_t posY, bool EW); + void text(long value, uint8_t posX, uint8_t posY, bool EW); + void text(char* value, uint8_t posX, uint8_t posY, bool EW); + void text(char value, uint8_t posX, uint8_t posY, bool EW);*/ + void debugPrint(long value, uint8_t x=0, uint8_t y=0); + void clearScreen(); + + void drawBMP(char* filename, uint8_t x, uint8_t y);//detect if draw with EEPROM or SD, and draw it + void _drawBMP(uint32_t iconOffset, uint8_t x, uint8_t y, uint8_t width, uint8_t height);//draw from EEPROM + void _drawBMP(char* filename, uint8_t x, uint8_t y);//draw from SD + void beginBMPFromEEPROM(); + void endBMPFromEEPROM(); + + uint16_t foreGround;//foreground color + uint16_t backGround;//background color + + + //SD card + void beginSD(); + + //Information + void userNameRead(char* container); + void robotNameRead(char* container); + void cityNameRead(char* container); + void countryNameRead(char* container); + + void userNameWrite(char* text); + void robotNameWrite(char* text); + void cityNameWrite(char* text); + void countryNameWrite(char* text); + + //Others + bool isActionDone(); + void pauseMode(uint8_t onOff); + void displayLogos(); + void waitContinue(uint8_t key=BUTTON_MIDDLE); + + private: + //Read & Write + uint8_t _getTypeCode(uint8_t port);//different ports need different actions + uint8_t _portToTopMux(uint8_t port);//get the number for multiplexer within top TKs + uint8_t _topDPortToAPort(uint8_t port);//get the corrensponding analogIn pin for top TKDs + + bool _digitalReadTopMux(uint8_t port);//TK0 - TK7 + int _analogReadTopMux(uint8_t port); + + bool _digitalReadTopPin(uint8_t port); + int _analogReadTopPin(uint8_t port); + void _digitalWriteTopPin(uint8_t port, bool value); + + MOTOR_BOARD_DATA motorBoardData; + int* parseMBDPort(uint8_t port); + int get_motorBoardData(uint8_t port); + void set_motorBoardData(uint8_t port, int value); + + bool _requestDigitalRead(uint8_t port); + int _requestAnalogRead(uint8_t port); + void _requestDigitalWrite(uint8_t port, uint8_t value); + + //LCD + void _enableLCD(); + void _setWrite(uint8_t posX, uint8_t posY); + void _setErase(uint8_t posX, uint8_t posY); + + + //SD + SdCard card; + Fat16 file; + Fat16 melody; + void _enableSD(); + + //keyboard + void _processKeyboard(); //need to run in loop, detect if the key is actually pressed + int averageAnalogInput(int pinNum); + + //Ultrasonic ranger + //uint8_t pinTrigger_UR; + //uint8_t pinEcho_UR; + + //Melody + void playNote(byte period, word length, char modifier); + + //Communication + + EasyTransfer2 messageOut; + EasyTransfer2 messageIn; + + //TFT LCD + bool _isEEPROM_BMP_Allocated; + EEPROM_BMP * _eeprom_bmp; + void _drawBMP_EEPROM(uint16_t address, uint8_t width, uint8_t height); + void _drawBMP_SD(char* filename, uint8_t x, uint8_t y); + + +}; + +inline void RobotControl::userNameRead(char* container){ + EEPROM_I2C::readBuffer(ADDRESS_USERNAME,(uint8_t*)container,18); +} +inline void RobotControl::robotNameRead(char* container){ + EEPROM_I2C::readBuffer(ADDRESS_ROBOTNAME,(uint8_t*)container,18); +} +inline void RobotControl::cityNameRead(char* container){ + EEPROM_I2C::readBuffer(ADDRESS_CITYNAME,(uint8_t*)container,18); +} +inline void RobotControl::countryNameRead(char* container){ + EEPROM_I2C::readBuffer(ADDRESS_COUNTRYNAME,(uint8_t*)container,18); +} + +inline void RobotControl::userNameWrite(char* text){ + EEPROM_I2C::writePage(ADDRESS_USERNAME,(uint8_t*)text,18); +} +inline void RobotControl::robotNameWrite(char* text){ + EEPROM_I2C::writePage(ADDRESS_ROBOTNAME,(uint8_t*)text,18); +} +inline void RobotControl::cityNameWrite(char* text){ + EEPROM_I2C::writePage(ADDRESS_CITYNAME,(uint8_t*)text,18); +} +inline void RobotControl::countryNameWrite(char* text){ + EEPROM_I2C::writePage(ADDRESS_COUNTRYNAME,(uint8_t*)text,18); +} + +extern RobotControl Robot; + +#endif
\ No newline at end of file diff --git a/libraries/Robot_Control/Arduino_LCD.cpp b/libraries/Robot_Control/Arduino_LCD.cpp new file mode 100644 index 0000000..db28cd0 --- /dev/null +++ b/libraries/Robot_Control/Arduino_LCD.cpp @@ -0,0 +1,706 @@ +/*************************************************** + This is a library for the Adafruit 1.8" SPI display. + This library works with the Adafruit 1.8" TFT Breakout w/SD card + ----> http://www.adafruit.com/products/358 + as well as Adafruit raw 1.8" TFT display + ----> http://www.adafruit.com/products/618 + + Check out the links above for our tutorials and wiring diagrams + These displays use SPI to communicate, 4 or 5 pins are required to + interface (RST is optional) + Adafruit invests time and resources providing this open source code, + please support Adafruit and open-source hardware by purchasing + products from Adafruit! + + Written by Limor Fried/Ladyada for Adafruit Industries. + MIT license, all text above must be included in any redistribution + ****************************************************/ + +#include "Arduino_LCD.h" +//#include <avr/pgmspace.h> +#include <limits.h> +//#include "pins_arduino.h" +#include "wiring_private.h" +#include <SPI.h> + + +// Constructor when using software SPI. All output pins are configurable. +Arduino_LCD::Arduino_LCD(uint8_t cs, uint8_t rs, uint8_t sid, + uint8_t sclk, uint8_t rst) { + _cs = cs; + _rs = rs; + _sid = sid; + _sclk = sclk; + _rst = rst; + hwSPI = false; +} + + +// Constructor when using hardware SPI. Faster, but must use SPI pins +// specific to each board type (e.g. 11,13 for Uno, 51,52 for Mega, etc.) +Arduino_LCD::Arduino_LCD(uint8_t cs, uint8_t rs, uint8_t rst) { + _cs = cs; + _rs = rs; + _rst = rst; + hwSPI = true; + _sid = _sclk = 0; +} + + +inline void Arduino_LCD::spiwrite(uint8_t c) { + + //Serial.println(c, HEX); + +/* if (hwSPI) { + SPDR = c; + while(!(SPSR & _BV(SPIF))); + } else { + // Fast SPI bitbang swiped from LPD8806 library + for(uint8_t bit = 0x80; bit; bit >>= 1) { + if(c & bit) *dataport |= datapinmask; + else *dataport &= ~datapinmask; + *clkport |= clkpinmask; + *clkport &= ~clkpinmask; + } + } +*/ +SPI.transfer(c); +} + + +void Arduino_LCD::writecommand(uint8_t c) { +// *rsport &= ~rspinmask; +// *csport &= ~cspinmask; +digitalWrite(_rs, LOW); +digitalWrite(_cs, LOW); + + //Serial.print("C "); + spiwrite(c); +//SPI.transfer(c); +// *csport |= cspinmask; +digitalWrite(_cs, HIGH); +} + + +void Arduino_LCD::writedata(uint8_t c) { +// *rsport &= ~rspinmask; +// *csport &= ~cspinmask; +digitalWrite(_rs, HIGH); +digitalWrite(_cs, LOW); + + //Serial.print("D "); + spiwrite(c); +//SPI.transfer(c); +// *csport |= cspinmask; +digitalWrite(_cs, HIGH); +} + + +// Rather than a bazillion writecommand() and writedata() calls, screen +// initialization commands and arguments are organized in these tables +// stored in PROGMEM. The table may look bulky, but that's mostly the +// formatting -- storage-wise this is hundreds of bytes more compact +// than the equivalent code. Companion function follows. +#define DELAY 0x80 +//PROGMEM static prog_uchar +/*uint8_t + Bcmd[] = { // Initialization commands for 7735B screens + 18, // 18 commands in list: + ILI9163C_SWRESET, DELAY, // 1: Software reset, no args, w/delay + 50, // 50 ms delay + ILI9163C_SLPOUT , DELAY, // 2: Out of sleep mode, no args, w/delay + 255, // 255 = 500 ms delay + ILI9163C_COLMOD , 1+DELAY, // 3: Set color mode, 1 arg + delay: // I THINK THERE WAS SOMETHING HERE BECAUSE THE COMMAND IS CALLED 3A on Adafruits + 0x05, // 16-bit color + 10, // 10 ms delay + ILI9163C_FRMCTR1, 3+DELAY, // 4: Frame rate control, 3 args + delay: + 0x00, // fastest refresh + 0x06, // 6 lines front porch + 0x03, // 3 lines back porch + 10, // 10 ms delay + ILI9163C_MADCTL , 1 , // 5: Memory access ctrl (directions), 1 arg: + 0x08, // Row addr/col addr, bottom to top refresh + ILI9163C_DISSET5, 2 , // 6: Display settings #5, 2 args, no delay: + 0x15, // 1 clk cycle nonoverlap, 2 cycle gate + // rise, 3 cycle osc equalize + 0x02, // Fix on VTL + ILI9163C_INVCTR , 1 , // 7: Display inversion control, 1 arg: + 0x0, // Line inversion + ILI9163C_PWCTR1 , 2+DELAY, // 8: Power control, 2 args + delay: + 0x02, // GVDD = 4.7V + 0x70, // 1.0uA + 10, // 10 ms delay + ILI9163C_PWCTR2 , 1 , // 9: Power control, 1 arg, no delay: + 0x05, // VGH = 14.7V, VGL = -7.35V + ILI9163C_PWCTR3 , 2 , // 10: Power control, 2 args, no delay: + 0x01, // Opamp current small + 0x02, // Boost frequency + ILI9163C_VMCTR1 , 2+DELAY, // 11: Power control, 2 args + delay: + 0x3C, // VCOMH = 4V + 0x38, // VCOML = -1.1V + 10, // 10 ms delay + ILI9163C_PWCTR6 , 2 , // 12: Power control, 2 args, no delay: + 0x11, 0x15, + ILI9163C_GMCTRP1,16 , // 13: Magical unicorn dust, 16 args, no delay: + 0x09, 0x16, 0x09, 0x20, // (seriously though, not sure what + 0x21, 0x1B, 0x13, 0x19, // these config values represent) + 0x17, 0x15, 0x1E, 0x2B, + 0x04, 0x05, 0x02, 0x0E, + ILI9163C_GMCTRN1,16+DELAY, // 14: Sparkles and rainbows, 16 args + delay: + 0x0B, 0x14, 0x08, 0x1E, // (ditto) + 0x22, 0x1D, 0x18, 0x1E, + 0x1B, 0x1A, 0x24, 0x2B, + 0x06, 0x06, 0x02, 0x0F, + 10, // 10 ms delay + ILI9163C_CASET , 4 , // 15: Column addr set, 4 args, no delay: + 0x00, 0x02, // XSTART = 2 + 0x00, 0x81, // XEND = 129 + ILI9163C_RASET , 4 , // 16: Row addr set, 4 args, no delay: + 0x00, 0x02, // XSTART = 1 + 0x00, 0x81, // XEND = 160 + ILI9163C_NORON , DELAY, // 17: Normal display on, no args, w/delay + 10, // 10 ms delay + ILI9163C_DISPON , DELAY, // 18: Main screen turn on, no args, w/delay + 255 }, // 255 = 500 ms delay +*/ +uint8_t + Bcmd[] = { // Initialization commands for 7735B screens + 19, // 19 commands in list: + ILI9163C_SWRESET, DELAY, // 1: Software reset, no args, w/delay + 50, // 50 ms delay + 0x11 , DELAY, // 2: Out of sleep mode, no args, w/delay + 100, // 255 = 500 ms delay + 0x26 , 1, // 3: Set default gamma + 0x04, // 16-bit color + 0xb1, 2, // 4: Frame Rate + 0x0b, + 0x14, + 0xc0, 2, // 5: VRH1[4:0] & VC[2:0] + 0x08, + 0x00, + 0xc1, 1, // 6: BT[2:0] + 0x05, + 0xc5, 2, // 7: VMH[6:0] & VML[6:0] + 0x41, + 0x30, + 0xc7, 1, // 8: LCD Driving control + 0xc1, + 0xEC, 1, // 9: Set pumping color freq + 0x1b, + 0x3a , 1 + DELAY, // 10: Set color format + 0x55, // 16-bit color + 100, + 0x2a, 4, // 11: Set Column Address + 0x00, + 0x00, + 0x00, + 0x7f, + 0x2b, 4, // 12: Set Page Address + 0x00, + 0x00, + 0x00, + 0x9f, + 0x36, 1, // 12+1: Set Scanning Direction + 0xc8, + 0xb7, 1, // 14: Set Source Output Direciton + 0x00, + 0xf2, 1, // 15: Enable Gamma bit + 0x01, + 0xe0, 15 + DELAY, // 16: magic + 0x28, 0x24, 0x22, 0x31, + 0x2b, 0x0e, 0x53, 0xa5, + 0x42, 0x16, 0x18, 0x12, + 0x1a, 0x14, 0x03, + 50, + 0xe1, 15 + DELAY, // 17: more magic + 0x17, 0x1b, 0x1d, 0x0e, + 0x14, 0x11, 0x2c, 0xa5, + 0x3d, 0x09, 0x27, 0x2d, + 0x25, 0x2b, 0x3c, + 50, + ILI9163C_NORON , DELAY, // 18: Normal display on, no args, w/delay + 10, // 10 ms delay + ILI9163C_DISPON , DELAY, // 19: Main screen turn on, no args w/delay + 100 }, // 100 ms delay +Rcmd1[] = { // Init for 7735R, part 1 (red or green tab) + 15, // 15 commands in list: + ILI9163C_SWRESET, DELAY, // 1: Software reset, 0 args, w/delay + 150, // 150 ms delay + ILI9163C_SLPOUT , DELAY, // 2: Out of sleep mode, 0 args, w/delay + 255, // 500 ms delay + ILI9163C_FRMCTR1, 3 , // 3: Frame rate ctrl - normal mode, 3 args: + 0x01, 0x2C, 0x2D, // Rate = fosc/(1x2+40) * (LINE+2C+2D) + ILI9163C_FRMCTR2, 3 , // 4: Frame rate control - idle mode, 3 args: + 0x01, 0x2C, 0x2D, // Rate = fosc/(1x2+40) * (LINE+2C+2D) + ILI9163C_FRMCTR3, 6 , // 5: Frame rate ctrl - partial mode, 6 args: + 0x01, 0x2C, 0x2D, // Dot inversion mode + 0x01, 0x2C, 0x2D, // Line inversion mode + ILI9163C_INVCTR , 1 , // 6: Display inversion ctrl, 1 arg, no delay: + 0x07, // No inversion + ILI9163C_PWCTR1 , 3 , // 7: Power control, 3 args, no delay: + 0xA2, + 0x02, // -4.6V + 0x84, // AUTO mode + ILI9163C_PWCTR2 , 1 , // 8: Power control, 1 arg, no delay: + 0xC5, // VGH25 = 2.4C VGSEL = -10 VGH = 3 * AVDD + ILI9163C_PWCTR3 , 2 , // 9: Power control, 2 args, no delay: + 0x0A, // Opamp current small + 0x00, // Boost frequency + ILI9163C_PWCTR4 , 2 , // 10: Power control, 2 args, no delay: + 0x8A, // BCLK/2, Opamp current small & Medium low + 0x2A, + ILI9163C_PWCTR5 , 2 , // 11: Power control, 2 args, no delay: + 0x8A, 0xEE, + ILI9163C_VMCTR1 , 1 , // 12: Power control, 1 arg, no delay: + 0x0E, + ILI9163C_INVOFF , 0 , // 13: Don't invert display, no args, no delay + ILI9163C_MADCTL , 1 , // 14: Memory access control (directions), 1 arg: + 0xC8, // row addr/col addr, bottom to top refresh + ILI9163C_COLMOD , 1 , // 15: set color mode, 1 arg, no delay: + 0x05 }, // 16-bit color + + Rcmd2green[] = { // Init for 7735R, part 2 (green tab only) + 2, // 2 commands in list: + ILI9163C_CASET , 4 , // 1: Column addr set, 4 args, no delay: + 0x00, 0x02, // XSTART = 0 + 0x00, 0x7F+0x02, // XEND = 127 + ILI9163C_RASET , 4 , // 2: Row addr set, 4 args, no delay: + 0x00, 0x01, // XSTART = 0 + 0x00, 0x9F+0x01 }, // XEND = 159 + Rcmd2red[] = { // Init for 7735R, part 2 (red tab only) + 2, // 2 commands in list: + ILI9163C_CASET , 4 , // 1: Column addr set, 4 args, no delay: + 0x00, 0x00, // XSTART = 0 + 0x00, 0x7F, // XEND = 127 + ILI9163C_RASET , 4 , // 2: Row addr set, 4 args, no delay: + 0x00, 0x00, // XSTART = 0 + 0x00, 0x9F }, // XEND = 159 + + Rcmd3[] = { // Init for 7735R, part 3 (red or green tab) + 4, // 4 commands in list: + ILI9163C_GMCTRP1, 16 , // 1: Magical unicorn dust, 16 args, no delay: + 0x02, 0x1c, 0x07, 0x12, + 0x37, 0x32, 0x29, 0x2d, + 0x29, 0x25, 0x2B, 0x39, + 0x00, 0x01, 0x03, 0x10, + ILI9163C_GMCTRN1, 16 , // 2: Sparkles and rainbows, 16 args, no delay: + 0x03, 0x1d, 0x07, 0x06, + 0x2E, 0x2C, 0x29, 0x2D, + 0x2E, 0x2E, 0x37, 0x3F, + 0x00, 0x00, 0x02, 0x10, + ILI9163C_NORON , DELAY, // 3: Normal display on, no args, w/delay + 10, // 10 ms delay + ILI9163C_DISPON , DELAY, // 4: Main screen turn on, no args w/delay + 100 }; // 100 ms delay + + +// Companion code to the above tables. Reads and issues +// a series of LCD commands stored in PROGMEM byte array. +//void Arduino_LCD::commandList(prog_uchar *addr) { +void Arduino_LCD::commandList(uint8_t *addr) { + + uint8_t numCommands, numArgs; + uint16_t ms; + + numCommands = *addr++; // Number of commands to follow + while(numCommands--) { // For each command... + writecommand(*addr++); // Read, issue command + numArgs = *addr++; // Number of args to follow + ms = numArgs & DELAY; // If hibit set, delay follows args + numArgs &= ~DELAY; // Mask out delay bit + while(numArgs--) { // For each argument... + writedata(*addr++); // Read, issue argument + } + + if(ms) { + ms = *addr++; // Read post-command delay time (ms) + if(ms == 255) ms = 500; // If 255, delay for 500 ms + delay(ms); + } + } +} + + +// Initialization code common to both 'B' and 'R' type displays +//void Arduino_LCD::commonInit(prog_uchar *cmdList) { +void Arduino_LCD::commonInit(uint8_t *cmdList) { + + constructor(ILI9163C_TFTWIDTH, ILI9163C_TFTHEIGHT); + colstart = rowstart = 0; // May be overridden in init func + + pinMode(_rs, OUTPUT); + pinMode(_cs, OUTPUT); +/* + csport = portOutputRegister(digitalPinToPort(_cs)); + cspinmask = digitalPinToBitMask(_cs); + rsport = portOutputRegister(digitalPinToPort(_rs)); + rspinmask = digitalPinToBitMask(_rs); +*/ + +// if(hwSPI) { // Using hardware SPI + SPI.begin(); + SPI.setClockDivider(21); // 4 MHz (half speed) +// SPI.setClockDivider(SPI_CLOCK_DIV4); // 4 MHz (half speed) +// SPI.setBitOrder(MSBFIRST); +// there is no setBitOrder on the SPI library for the Due + SPI.setDataMode(SPI_MODE0); +/* + } else { + pinMode(_sclk, OUTPUT); + pinMode(_sid , OUTPUT); + clkport = portOutputRegister(digitalPinToPort(_sclk)); + clkpinmask = digitalPinToBitMask(_sclk); + dataport = portOutputRegister(digitalPinToPort(_sid)); + datapinmask = digitalPinToBitMask(_sid); + *clkport &= ~clkpinmask; + *dataport &= ~datapinmask; + } +*/ + + // toggle RST low to reset; CS low so it'll listen to us +// *csport &= ~cspinmask; + digitalWrite(_cs, LOW); + if (_rst) { + pinMode(_rst, OUTPUT); + digitalWrite(_rst, HIGH); + delay(500); + digitalWrite(_rst, LOW); + delay(500); + digitalWrite(_rst, HIGH); + delay(500); + } + + if(cmdList) commandList(cmdList); +} + + +// Initialization for ST7735B screens +void Arduino_LCD::initB(void) { + commonInit(Bcmd); + commandList(Rcmd3); +} + + +// Initialization for ST7735R screens (green or red tabs) +void Arduino_LCD::initR(uint8_t options) { + commonInit(Rcmd1); + if(options == INITR_GREENTAB) { + commandList(Rcmd2green); + colstart = 2; + rowstart = 1; + } else { + // colstart, rowstart left at default '0' values + commandList(Rcmd2red); + } + commandList(Rcmd3); +} + + +void Arduino_LCD::setAddrWindow(uint8_t x0, uint8_t y0, uint8_t x1, + uint8_t y1) { + + writecommand(ILI9163C_CASET); // Column addr set + writedata(0x00); + writedata(x0+colstart); // XSTART + writedata(0x00); + writedata(x1+colstart); // XEND + + writecommand(ILI9163C_RASET); // Row addr set + writedata(0x00); + writedata(y0+rowstart); // YSTART + writedata(0x00); + writedata(y1+rowstart); // YEND + + writecommand(ILI9163C_RAMWR); // write to RAM +} + + +void Arduino_LCD::fillScreen(uint16_t color) { + + uint8_t x, y, hi = color >> 8, lo = color; + + setAddrWindow(0, 0, _width-1, _height-1); + +// *rsport |= rspinmask; +// *csport &= ~cspinmask; +digitalWrite(_rs, HIGH); + digitalWrite(_cs, LOW); + + for(y=_height; y>0; y--) { + for(x=_width; x>0; x--) { +//SPI.transfer(hi); +//SPI.transfer(lo); + spiwrite(hi); + spiwrite(lo); + } + } + +// *csport |= cspinmask; + digitalWrite(_cs, HIGH); +} + + +void Arduino_LCD::pushColor(uint16_t color) { +// *rsport |= rspinmask; +// *csport &= ~cspinmask; +digitalWrite(_rs, HIGH); + digitalWrite(_cs, LOW); + + spiwrite(color >> 8); + spiwrite(color); +//SPI.transfer(color>>8); +//SPI.transfer(color); + +// *csport |= cspinmask; + digitalWrite(_cs, HIGH); +} + + +void Arduino_LCD::drawPixel(int16_t x, int16_t y, uint16_t color) { + + if((x < 0) ||(x >= _width) || (y < 0) || (y >= _height)) return; + + setAddrWindow(x,y,x+1,y+1); + +// *rsport |= rspinmask; +// *csport &= ~cspinmask; +digitalWrite(_rs, HIGH); + digitalWrite(_cs, LOW); + + spiwrite(color >> 8); + spiwrite(color); +//SPI.transfer(color>>8); +//SPI.transfer(color); + +// *csport |= cspinmask; + digitalWrite(_cs, HIGH); +} + + +void Arduino_LCD::drawFastVLine(int16_t x, int16_t y, int16_t h, + uint16_t color) { + + // Rudimentary clipping + if((x >= _width) || (y >= _height)) return; + if((y+h-1) >= _height) h = _height-y; + setAddrWindow(x, y, x, y+h-1); + + uint8_t hi = color >> 8, lo = color; +// *rsport |= rspinmask; +// *csport &= ~cspinmask; +digitalWrite(_rs, HIGH); + digitalWrite(_cs, LOW); + while (h--) { + spiwrite(hi); + spiwrite(lo); +//SPI.transfer(hi); +//SPI.transfer(lo); + } +// *csport |= cspinmask; + digitalWrite(_cs, HIGH); +} + + +void Arduino_LCD::drawFastHLine(int16_t x, int16_t y, int16_t w, + uint16_t color) { + + // Rudimentary clipping + if((x >= _width) || (y >= _height)) return; + if((x+w-1) >= _width) w = _width-x; + setAddrWindow(x, y, x+w-1, y); + + uint8_t hi = color >> 8, lo = color; +// *rsport |= rspinmask; +// *csport &= ~cspinmask; +digitalWrite(_rs, HIGH); + digitalWrite(_cs, LOW); + while (w--) { + spiwrite(hi); + spiwrite(lo); +//SPI.transfer(hi); +//SPI.transfer(lo); + } +// *csport |= cspinmask; + digitalWrite(_cs, HIGH); +} + + +// fill a rectangle +void Arduino_LCD::fillRect(int16_t x, int16_t y, int16_t w, int16_t h, + uint16_t color) { + + // rudimentary clipping (drawChar w/big text requires this) + if((x >= _width) || (y >= _height)) return; + if((x + w - 1) >= _width) w = _width - x; + if((y + h - 1) >= _height) h = _height - y; + + setAddrWindow(x, y, x+w-1, y+h-1); + + uint8_t hi = color >> 8, lo = color; +// *rsport |= rspinmask; +// *csport &= ~cspinmask; +digitalWrite(_rs, HIGH); +digitalWrite(_cs, LOW); + for(y=h; y>0; y--) { + for(x=w; x>0; x--) { + spiwrite(hi); + spiwrite(lo); +//SPI.transfer(hi); +//SPI.transfer(lo); + } + } + +// *csport |= cspinmask; +digitalWrite(_cs, HIGH); +} + + +// Pass 8-bit (each) R,G,B, get back 16-bit packed color +uint16_t Arduino_LCD::Color565(uint8_t r, uint8_t g, uint8_t b) { + return ((r & 0xF8) << 8) | ((g & 0xFC) << 3) | (b >> 3); +} + + +#define MADCTL_MY 0x80 +#define MADCTL_MX 0x40 +#define MADCTL_MV 0x20 +#define MADCTL_ML 0x10 +#define MADCTL_RGB 0x08 +#define MADCTL_MH 0x04 + +void Arduino_LCD::setRotation(uint8_t m) { + + writecommand(ILI9163C_MADCTL); + rotation = m % 4; // can't be higher than 3 + switch (rotation) { + case 0: + writedata(MADCTL_MX | MADCTL_MY | MADCTL_RGB); + _width = ILI9163C_TFTWIDTH; + _height = ILI9163C_TFTHEIGHT; + break; + case 1: + writedata(MADCTL_MY | MADCTL_MV | MADCTL_RGB); + _width = ILI9163C_TFTHEIGHT; + _height = ILI9163C_TFTWIDTH; + break; + case 2: + writedata(MADCTL_RGB); + _width = ILI9163C_TFTWIDTH; + _height = ILI9163C_TFTHEIGHT; + break; + case 3: + writedata(MADCTL_MX | MADCTL_MV | MADCTL_RGB); + _width = ILI9163C_TFTHEIGHT; + _height = ILI9163C_TFTWIDTH; + break; + } +} + + +void Arduino_LCD::invertDisplay(boolean i) { + writecommand(i ? ILI9163C_INVON : ILI9163C_INVOFF); +} + +/* + 18, // there are 17 commands + ILI9163C_SWRESET, DELAY, // 1: Software reset, no args, w/delay + 50, // 50 ms delay + + 0x11, //Exit Sleep + DELAY,50, + + 0x26, //Set Default Gamma + 0x104, + + //0xF2, //E0h & E1h Enable/Disable + //0x100, + + 0xB1, + 0x10C, + 0x114, + + 0xC0, //Set VRH1[4:0] & VC[2:0] for VCI1 & GVDD + 0x10C, + 0x105, + + 0xC1, //Set BT[2:0] for AVDD & VCL & VGH & VGL + 0x102, + + 0xC5, //Set VMH[6:0] & VML[6:0] for VOMH & VCOML + 0x129, + 0x143, + + 0xC7, + 0x140, + + 0x3a, //Set Color Format + 0x105, + + 0x2A, //Set Column Address + 0x100, + 0x100, + 0x100, + 0x17F, + + 0x2B, //Set Page Address + 0x100, + 0x100, + 0x100, + 0x19F, + + 0x36, //Set Scanning Direction, RGB + 0x1C0, + + 0xB7, //Set Source Output Direction + 0x100, + + 0xf2, //Enable Gamma bit + 0x101, + + 0xE0, + 0x136,//p1 + 0x129,//p2 + 0x112,//p3 + 0x122,//p4 + 0x11C,//p5 + 0x115,//p6 + 0x142,//p7 + 0x1B7,//p8 + 0x12F,//p9 + 0x113,//p10 + 0x112,//p11 + 0x10A,//p12 + 0x111,//p13 + 0x10B,//p14 + 0x106,//p15 + + 0xE1, + 0x109,//p1 + 0x116,//p2 + 0x12D,//p3 + 0x10D,//p4 + 0x113,//p5 + 0x115,//p6 + 0x140,//p7 + 0x148,//p8 + 0x153,//p9 + 0x10C,//p10 + 0x11D,//p11 + 0x125,//p12 + 0x12E,//p13 + 0x134,//p14 + 0x139,//p15 + + 0x33, // scroll setup + 0x100, + 0x100, + 0x100, + 0x1C1, + 0x100, + 0x100, + + 0x29, // Display On + 0x2C}, // write gram + +*/ + diff --git a/libraries/Robot_Control/Arduino_LCD.h b/libraries/Robot_Control/Arduino_LCD.h new file mode 100644 index 0000000..a518133 --- /dev/null +++ b/libraries/Robot_Control/Arduino_LCD.h @@ -0,0 +1,141 @@ +/*************************************************** + This is a library for the Adafruit 1.8" SPI display. + This library works with the Adafruit 1.8" TFT Breakout w/SD card + ----> http://www.adafruit.com/products/358 + as well as Adafruit raw 1.8" TFT display + ----> http://www.adafruit.com/products/618 + + Check out the links above for our tutorials and wiring diagrams + These displays use SPI to communicate, 4 or 5 pins are required to + interface (RST is optional) + Adafruit invests time and resources providing this open source code, + please support Adafruit and open-source hardware by purchasing + products from Adafruit! + + Written by Limor Fried/Ladyada for Adafruit Industries. + MIT license, all text above must be included in any redistribution + ****************************************************/ + +#ifndef _ARDUINO_LCDH_ +#define _ARDUINO_LCDH_ + +#if ARDUINO >= 100 + #include "Arduino.h" + #include "Print.h" +#else + #include "WProgram.h" +#endif +#include "Adafruit_GFX.h" +//#include <avr/pgmspace.h> + +// some flags for initR() :( +#define INITR_GREENTAB 0x0 +#define INITR_REDTAB 0x1 + +#define ILI9163C_TFTWIDTH 128 +#define ILI9163C_TFTHEIGHT 160 + +#define ILI9163C_NOP 0x00 +#define ILI9163C_SWRESET 0x01 +#define ILI9163C_RDDID 0x04 +#define ILI9163C_RDDST 0x09 + +#define ILI9163C_SLPIN 0x10 +#define ILI9163C_SLPOUT 0x11 +#define ILI9163C_PTLON 0x12 +#define ILI9163C_NORON 0x13 + +#define ILI9163C_INVOFF 0x20 +#define ILI9163C_INVON 0x21 +#define ILI9163C_DISPOFF 0x28 +#define ILI9163C_DISPON 0x29 +#define ILI9163C_CASET 0x2A +#define ILI9163C_RASET 0x2B +#define ILI9163C_RAMWR 0x2C +#define ILI9163C_RAMRD 0x2E + +#define ILI9163C_PTLAR 0x30 +#define ILI9163C_COLMOD 0x3A // this is interface pixel format, this might be the issue +#define ILI9163C_MADCTL 0x36 + +#define ILI9163C_FRMCTR1 0xB1 +#define ILI9163C_FRMCTR2 0xB2 +#define ILI9163C_FRMCTR3 0xB3 +#define ILI9163C_INVCTR 0xB4 +#define ILI9163C_DISSET5 0xB6 + +#define ILI9163C_PWCTR1 0xC0 +#define ILI9163C_PWCTR2 0xC1 +#define ILI9163C_PWCTR3 0xC2 +#define ILI9163C_PWCTR4 0xC3 +#define ILI9163C_PWCTR5 0xC4 +#define ILI9163C_VMCTR1 0xC5 + +#define ILI9163C_RDID1 0xDA +#define ILI9163C_RDID2 0xDB +#define ILI9163C_RDID3 0xDC +#define ILI9163C_RDID4 0xDD + +#define ILI9163C_PWCTR6 0xFC + +#define ILI9163C_GMCTRP1 0xE0 +#define ILI9163C_GMCTRN1 0xE1 + +// Color definitions +#define ILI9163C_BLACK 0x0000 +#define ILI9163C_BLUE 0x001F +#define ILI9163C_RED 0xF800 +#define ILI9163C_GREEN 0x07E0 +#define ILI9163C_CYAN 0x07FF +#define ILI9163C_MAGENTA 0xF81F +#define ILI9163C_YELLOW 0xFFE0 +#define ILI9163C_WHITE 0xFFFF + + +class Arduino_LCD : public Adafruit_GFX { + + public: + + Arduino_LCD(uint8_t CS, uint8_t RS, uint8_t SID, uint8_t SCLK, uint8_t RST); + Arduino_LCD(uint8_t CS, uint8_t RS, uint8_t RST); + + void initB(void), // for ST7735B displays + initR(uint8_t options = INITR_GREENTAB), // for ST7735R + setAddrWindow(uint8_t x0, uint8_t y0, uint8_t x1, uint8_t y1), + pushColor(uint16_t color), + fillScreen(uint16_t color), + drawPixel(int16_t x, int16_t y, uint16_t color), + drawFastVLine(int16_t x, int16_t y, int16_t h, uint16_t color), + drawFastHLine(int16_t x, int16_t y, int16_t w, uint16_t color), + fillRect(int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color), + setRotation(uint8_t r), + invertDisplay(boolean i); + uint16_t Color565(uint8_t r, uint8_t g, uint8_t b); + + /* These are not for current use, 8-bit protocol only! + uint8_t readdata(void), + readcommand8(uint8_t); + uint16_t readcommand16(uint8_t); + uint32_t readcommand32(uint8_t); + void dummyclock(void); + */ + + private: + + void spiwrite(uint8_t), + writecommand(uint8_t c), + writedata(uint8_t d), +// commandList(prog_uchar *addr), +// commonInit(prog_uchar *cmdList); + commandList(uint8_t *addr), + commonInit(uint8_t *cmdList); +//uint8_t spiread(void); + + boolean hwSPI; + volatile uint8_t *dataport, *clkport, *csport, *rsport; + uint8_t _cs, _rs, _rst, _sid, _sclk, + datapinmask, clkpinmask, cspinmask, rspinmask, + colstart, rowstart; // some displays need this changed +}; + +#endif diff --git a/libraries/Robot_Control/Compass.cpp b/libraries/Robot_Control/Compass.cpp new file mode 100644 index 0000000..1b1ef31 --- /dev/null +++ b/libraries/Robot_Control/Compass.cpp @@ -0,0 +1,34 @@ +#include "Compass.h" +#include <Wire.h> + +void Compass::begin(){ + Wire.begin(); +} +float Compass::getReading(){ + _beginTransmission(); + _endTransmission(); + + //time delays required by HMC6352 upon receipt of the command + //Get Data. Compensate and Calculate New Heading : 6ms + delay(6); + + Wire.requestFrom(HMC6352SlaveAddress, 2); //get the two data bytes, MSB and LSB + + //"The heading output data will be the value in tenths of degrees + //from zero to 3599 and provided in binary format over the two bytes." + byte MSB = Wire.read(); + byte LSB = Wire.read(); + + float headingSum = (MSB << 8) + LSB; //(MSB / LSB sum) + float headingInt = headingSum / 10; + + return headingInt; +} + +void Compass::_beginTransmission(){ + Wire.beginTransmission(HMC6352SlaveAddress); + Wire.write(HMC6352ReadAddress); +} +void Compass::_endTransmission(){ + Wire.endTransmission(); +}
\ No newline at end of file diff --git a/libraries/Robot_Control/Compass.h b/libraries/Robot_Control/Compass.h new file mode 100644 index 0000000..aa085a9 --- /dev/null +++ b/libraries/Robot_Control/Compass.h @@ -0,0 +1,24 @@ +#ifndef Compass_h +#define Compass_h + +#if ARDUINO >= 100 +#include "Arduino.h" +#else +#include "WProgram.h" +#endif + +//0x21==0x42>>1, from bildr's code +#define HMC6352SlaveAddress 0x21 +#define HMC6352ReadAddress 0x41 + +class Compass{ + public: + void begin(); + float getReading(); + private: + void _beginTransmission(); + void _endTransmission(); + +}; + +#endif
\ No newline at end of file diff --git a/libraries/Robot_Control/EEPROM_I2C.cpp b/libraries/Robot_Control/EEPROM_I2C.cpp new file mode 100644 index 0000000..dd12695 --- /dev/null +++ b/libraries/Robot_Control/EEPROM_I2C.cpp @@ -0,0 +1,62 @@ +#include "EEPROM_I2C.h" +#include <Wire.h> + +#if ARDUINO >= 100 +#include "Arduino.h" +#else +#include "WProgram.h" +#endif + +void EEPROM_I2C::begin(){ + Wire.begin(); +} + +void EEPROM_I2C::writeByte(unsigned int eeaddress, byte data){ + int rdata = data; + this->_beginTransmission(eeaddress); + Wire.write(rdata); + this->_endTransmission(); +} + +byte EEPROM_I2C::readByte(unsigned int eeaddress){ + int rdata; + this->_beginTransmission(eeaddress); + this->_endTransmission(); + + Wire.requestFrom(DEVICEADDRESS,1); + if (Wire.available()) rdata = Wire.read(); + return rdata; +} + +void EEPROM_I2C::writePage(unsigned int eeaddress, byte* data, byte length ){ + this->_beginTransmission(eeaddress); + + byte c; + + for ( c = 0; c < length; c++) + Wire.write(data[c]); + + this->_endTransmission(); + + delay(10); // need some delay +} + +void EEPROM_I2C::readBuffer(unsigned int eeaddress, byte *buffer, int length ){ + this->_beginTransmission(eeaddress); + this->_endTransmission(); + Wire.requestFrom(DEVICEADDRESS,length); + + for ( int c = 0; c < length; c++ ) + if (Wire.available()) buffer[c] = Wire.read(); +} + + + +void EEPROM_I2C::_beginTransmission(unsigned int eeaddress){ + Wire.beginTransmission(DEVICEADDRESS); + Wire.write((eeaddress >> 8)); // Address High Byte + Wire.write((eeaddress & 0xFF)); // Address Low Byte +} +void EEPROM_I2C::_endTransmission(){ + Wire.endTransmission(); +}
\ No newline at end of file diff --git a/libraries/Robot_Control/EEPROM_I2C.h b/libraries/Robot_Control/EEPROM_I2C.h new file mode 100644 index 0000000..9bd0f6a --- /dev/null +++ b/libraries/Robot_Control/EEPROM_I2C.h @@ -0,0 +1,31 @@ +#ifndef EEPROM_I2C_h +#define EEPROM_I2C_h + +#if ARDUINO >= 100 +#include "Arduino.h" +#else +#include "WProgram.h" +#endif + +#define EE24LC512MAXBYTES 64000 +#define DEVICEADDRESS 0x50 + +class EEPROM_I2C{ + public: + void begin(); + + void writeByte(unsigned int eeaddresspage, byte data); + byte readByte(unsigned int eeaddresspage); + + void writePage(unsigned int eeaddresspage, byte* data, byte length ); + void readBuffer(unsigned int eeaddress, byte *buffer, int length ); + + //uint16_t readPixel(uint16_t theMemoryAddress); + //void readImage(uint16_t theMemoryAddress, int width, int height); + + protected: + void _beginTransmission(unsigned int eeaddress); + void _endTransmission(); +}; + +#endif
\ No newline at end of file diff --git a/libraries/Robot_Control/EasyTransfer2.cpp b/libraries/Robot_Control/EasyTransfer2.cpp new file mode 100644 index 0000000..24427cc --- /dev/null +++ b/libraries/Robot_Control/EasyTransfer2.cpp @@ -0,0 +1,152 @@ +#include "EasyTransfer2.h" + + + + +//Captures address and size of struct +void EasyTransfer2::begin(HardwareSerial *theSerial){ + _serial = theSerial; + + //dynamic creation of rx parsing buffer in RAM + //rx_buffer = (uint8_t*) malloc(size); + + resetData(); +} + +void EasyTransfer2::writeByte(uint8_t dat){ + if(position<20) + data[position++]=dat; + size++; +} +void EasyTransfer2::writeInt(int dat){ + if(position<19){ + data[position++]=dat>>8; + data[position++]=dat; + size+=2; + } +} +uint8_t EasyTransfer2::readByte(){ + if(position>=size)return 0; + return data[position++]; +} +int EasyTransfer2::readInt(){ + if(position+1>=size)return 0; + int dat_1=data[position++]<<8; + int dat_2=data[position++]; + int dat= dat_1 | dat_2; + return dat; +} + +void EasyTransfer2::resetData(){ + for(int i=0;i<20;i++){ + data[i]=0; + } + size=0; + position=0; +} + +//Sends out struct in binary, with header, length info and checksum +void EasyTransfer2::sendData(){ + uint8_t CS = size; + _serial->write(0x06); + _serial->write(0x85); + _serial->write(size); + for(int i = 0; i<size; i++){ + CS^=*(data+i); + _serial->write(*(data+i)); + //Serial.print(*(data+i)); + //Serial.print(","); + } + //Serial.println(""); + _serial->write(CS); + + resetData(); +} + +boolean EasyTransfer2::receiveData(){ + + //start off by looking for the header bytes. If they were already found in a previous call, skip it. + if(rx_len == 0){ + //this size check may be redundant due to the size check below, but for now I'll leave it the way it is. + if(_serial->available() >= 3){ + //this will block until a 0x06 is found or buffer size becomes less then 3. + while(_serial->read() != 0x06) { + //This will trash any preamble junk in the serial buffer + //but we need to make sure there is enough in the buffer to process while we trash the rest + //if the buffer becomes too empty, we will escape and try again on the next call + if(_serial->available() < 3) + return false; + } + //Serial.println("head"); + if (_serial->read() == 0x85){ + rx_len = _serial->read(); + //Serial.print("rx_len:"); + //Serial.println(rx_len); + resetData(); + + //make sure the binary structs on both Arduinos are the same size. + /*if(rx_len != size){ + rx_len = 0; + return false; + }*/ + } + } + //Serial.println("nothing"); + } + + //we get here if we already found the header bytes, the struct size matched what we know, and now we are byte aligned. + if(rx_len != 0){ + + while(_serial->available() && rx_array_inx <= rx_len){ + data[rx_array_inx++] = _serial->read(); + } + + if(rx_len == (rx_array_inx-1)){ + //seem to have got whole message + //last uint8_t is CS + calc_CS = rx_len; + //Serial.print("len:"); + //Serial.println(rx_len); + for (int i = 0; i<rx_len; i++){ + calc_CS^=data[i]; + //Serial.print("m"); + //Serial.print(data[i]); + //Serial.print(","); + } + //Serial.println(); + //Serial.print(data[rx_array_inx-1]); + //Serial.print(" "); + //Serial.println(calc_CS); + + if(calc_CS == data[rx_array_inx-1]){//CS good + //resetData(); + //memcpy(data,d,rx_len); + for(int i=0;i<20;i++){ + //Serial.print(data[i]); + //Serial.print(","); + } + //Serial.println(""); + size=rx_len; + rx_len = 0; + rx_array_inx = 0; + return true; + } + + else{ + //Serial.println("CS"); + resetData(); + //failed checksum, need to clear this out anyway + rx_len = 0; + rx_array_inx = 0; + return false; + } + + } + } + //Serial.print(rx_len); + //Serial.print(" "); + //Serial.print(rx_array_inx); + //Serial.print(" "); + //Serial.println("Short"); + return false; +}
\ No newline at end of file diff --git a/libraries/Robot_Control/EasyTransfer2.h b/libraries/Robot_Control/EasyTransfer2.h new file mode 100644 index 0000000..3369a51 --- /dev/null +++ b/libraries/Robot_Control/EasyTransfer2.h @@ -0,0 +1,76 @@ +/****************************************************************** +* EasyTransfer Arduino Library +* details and example sketch: +* http://www.billporter.info/easytransfer-arduino-library/ +* +* Brought to you by: +* Bill Porter +* www.billporter.info +* +* See Readme for other info and version history +* +* +*This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or(at your option) any later version. +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. +<http://www.gnu.org/licenses/> +* +*This work is licensed under the Creative Commons Attribution-ShareAlike 3.0 Unported License. +*To view a copy of this license, visit http://creativecommons.org/licenses/by-sa/3.0/ or +*send a letter to Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA. +******************************************************************/ +#ifndef EasyTransfer2_h +#define EasyTransfer2_h + + +//make it a little prettier on the front end. +#define details(name) (byte*)&name,sizeof(name) + +//Not neccessary, but just in case. +#if ARDUINO > 22 +#include "Arduino.h" +#else +#include "WProgram.h" +#endif +#include "HardwareSerial.h" +//#include <NewSoftSerial.h> +#include <math.h> +#include <stdio.h> +#include <stdint.h> +#include <avr/io.h> + +class EasyTransfer2 { +public: +void begin(HardwareSerial *theSerial); +//void begin(uint8_t *, uint8_t, NewSoftSerial *theSerial); +void sendData(); +boolean receiveData(); + +void writeByte(uint8_t dat); +void writeInt(int dat); +uint8_t readByte(); +int readInt(); + + +private: +HardwareSerial *_serial; + +void resetData(); + +uint8_t data[20]; //data storage, for both read and send +uint8_t position; +uint8_t size; //size of data in bytes. Both for read and send +//uint8_t * address; //address of struct +//uint8_t size; //size of struct +//uint8_t * rx_buffer; //address for temporary storage and parsing buffer +//uint8_t rx_buffer[20]; +uint8_t rx_array_inx; //index for RX parsing buffer +uint8_t rx_len; //RX packet length according to the packet +uint8_t calc_CS; //calculated Chacksum +}; + + + +#endif
\ No newline at end of file diff --git a/libraries/Robot_Control/Fat16.cpp b/libraries/Robot_Control/Fat16.cpp new file mode 100644 index 0000000..aa8f585 --- /dev/null +++ b/libraries/Robot_Control/Fat16.cpp @@ -0,0 +1,990 @@ +/* Arduino FAT16 Library + * Copyright (C) 2008 by William Greiman + * + * This file is part of the Arduino FAT16 Library + * + * This Library is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This Library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + + * You should have received a copy of the GNU General Public License + * along with the Arduino Fat16 Library. If not, see + * <http://www.gnu.org/licenses/>. + */ +#include <avr/pgmspace.h> +#if ARDUINO < 100 +#include <WProgram.h> +#else // ARDUINO +#include <Arduino.h> +#endif // ARDUINO +#include <Fat16.h> +//----------------------------------------------------------------------------- +// volume info +uint8_t Fat16::volumeInitialized_ = 0; // true if FAT16 volume is valid +uint8_t Fat16::fatCount_; // number of file allocation tables +uint8_t Fat16::blocksPerCluster_; // must be power of 2 +uint16_t Fat16::rootDirEntryCount_; // should be 512 for FAT16 +fat_t Fat16::blocksPerFat_; // number of blocks in one FAT +fat_t Fat16::clusterCount_; // total clusters in volume +uint32_t Fat16::fatStartBlock_; // start of first FAT +uint32_t Fat16::rootDirStartBlock_; // start of root dir +uint32_t Fat16::dataStartBlock_; // start of data clusters +//------------------------------------------------------------------------------ +// raw block cache +SdCard *Fat16::rawDev_ = 0; // class for block read and write +uint32_t Fat16::cacheBlockNumber_ = 0XFFFFFFFF; // init to invalid block number +cache16_t Fat16::cacheBuffer_; // 512 byte cache for SdCard +uint8_t Fat16::cacheDirty_ = 0; // cacheFlush() will write block if true +uint32_t Fat16::cacheMirrorBlock_ = 0; // mirror block for second FAT +//------------------------------------------------------------------------------ +// callback function for date/time +void (*Fat16::dateTime_)(uint16_t* date, uint16_t* time) = NULL; + +#if ALLOW_DEPRECATED_FUNCTIONS +void (*Fat16::oldDateTime_)(uint16_t& date, uint16_t& time) = NULL; // NOLINT +#endif // ALLOW_DEPRECATED_FUNCTIONS +//------------------------------------------------------------------------------ +// format 8.3 name for directory entry +static uint8_t make83Name(const char* str, uint8_t* name) { + uint8_t c; + uint8_t n = 7; // max index for part before dot + uint8_t i = 0; + // blank fill name and extension + while (i < 11) name[i++] = ' '; + i = 0; + while ((c = *str++) != '\0') { + if (c == '.') { + if (n == 10) return false; // only one dot allowed + n = 10; // max index for full 8.3 name + i = 8; // place for extension + } else { + // illegal FAT characters + PGM_P p = PSTR("|<>^+=?/[];,*\"\\"); + uint8_t b; + while ((b = pgm_read_byte(p++))) if (b == c) return false; + // check length and only allow ASCII printable characters + if (i > n || c < 0X21 || c > 0X7E) return false; + // only upper case allowed in 8.3 names - convert lower to upper + name[i++] = c < 'a' || c > 'z' ? c : c + ('A' - 'a'); + } + } + // must have a file name, extension is optional + return name[0] != ' '; +} +//============================================================================== +// Fat16 member functions +//------------------------------------------------------------------------------ +uint8_t Fat16::addCluster(void) { + // start search after last cluster of file or at cluster two in FAT + fat_t freeCluster = curCluster_ ? curCluster_ : 1; + for (fat_t i = 0; ; i++) { + // return no free clusters + if (i >= clusterCount_) return false; + // Fat has clusterCount + 2 entries + if (freeCluster > clusterCount_) freeCluster = 1; + freeCluster++; + fat_t value; + if (!fatGet(freeCluster, &value)) return false; + if (value == 0) break; + } + // mark cluster allocated + if (!fatPut(freeCluster, FAT16EOC)) return false; + + if (curCluster_ != 0) { + // link cluster to chain + if (!fatPut(curCluster_, freeCluster)) return false; + } else { + // first cluster of file so update directory entry + flags_ |= F_FILE_DIR_DIRTY; + firstCluster_ = freeCluster; + } + curCluster_ = freeCluster; + return true; +} +//------------------------------------------------------------------------------ +// +dir_t* Fat16::cacheDirEntry(uint16_t index, uint8_t action) { + if (index >= rootDirEntryCount_) return NULL; + if (!cacheRawBlock(rootDirStartBlock_ + (index >> 4), action)) return NULL; + return &cacheBuffer_.dir[index & 0XF]; +} +//------------------------------------------------------------------------------ +// +uint8_t Fat16::cacheFlush(void) { + if (cacheDirty_) { + if (!rawDev_->writeBlock(cacheBlockNumber_, cacheBuffer_.data)) { + return false; + } + // mirror FAT tables + if (cacheMirrorBlock_) { + if (!rawDev_->writeBlock(cacheMirrorBlock_, cacheBuffer_.data)) { + return false; + } + cacheMirrorBlock_ = 0; + } + cacheDirty_ = 0; + } + return true; +} +//------------------------------------------------------------------------------ +// +uint8_t Fat16::cacheRawBlock(uint32_t blockNumber, uint8_t action) { + if (cacheBlockNumber_ != blockNumber) { + if (!cacheFlush()) return false; + if (!rawDev_->readBlock(blockNumber, cacheBuffer_.data)) return false; + cacheBlockNumber_ = blockNumber; + } + cacheDirty_ |= action; + return true; +} +//------------------------------------------------------------------------------ +/** + * Close a file and force cached data and directory information + * to be written to the storage device. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include no file is open or an I/O error. + */ +uint8_t Fat16::close(void) { + if (!sync()) return false; + flags_ = 0; + return true; +} +//------------------------------------------------------------------------------ +/** + * Return a files directory entry + * + * \param[out] dir Location for return of the files directory entry. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +uint8_t Fat16::dirEntry(dir_t* dir) { + if (!sync()) return false; + dir_t* p = cacheDirEntry(dirEntryIndex_, CACHE_FOR_WRITE); + if (!p) return false; + memcpy(dir, p, sizeof(dir_t)); + return true; +} +//------------------------------------------------------------------------------ +uint8_t Fat16::fatGet(fat_t cluster, fat_t* value) { + if (cluster > (clusterCount_ + 1)) return false; + uint32_t lba = fatStartBlock_ + (cluster >> 8); + if (lba != cacheBlockNumber_) { + if (!cacheRawBlock(lba)) return false; + } + *value = cacheBuffer_.fat[cluster & 0XFF]; + return true; +} +//------------------------------------------------------------------------------ +uint8_t Fat16::fatPut(fat_t cluster, fat_t value) { + if (cluster < 2) return false; + if (cluster > (clusterCount_ + 1)) return false; + uint32_t lba = fatStartBlock_ + (cluster >> 8); + if (lba != cacheBlockNumber_) { + if (!cacheRawBlock(lba)) return false; + } + cacheBuffer_.fat[cluster & 0XFF] = value; + cacheSetDirty(); + // mirror second FAT + if (fatCount_ > 1) cacheMirrorBlock_ = lba + blocksPerFat_; + return true; +} +//------------------------------------------------------------------------------ +// free a cluster chain +uint8_t Fat16::freeChain(fat_t cluster) { + while (1) { + fat_t next; + if (!fatGet(cluster, &next)) return false; + if (!fatPut(cluster, 0)) return false; + if (isEOC(next)) return true; + cluster = next; + } +} +//------------------------------------------------------------------------------ +/** + * Initialize a FAT16 volume. + * + * \param[in] dev The SdCard where the volume is located. + * + * \param[in] part The partition to be used. Legal values for \a part are + * 1-4 to use the corresponding partition on a device formatted with + * a MBR, Master Boot Record, or zero if the device is formatted as + * a super floppy with the FAT boot sector in block zero. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. reasons for + * failure include not finding a valid FAT16 file system in the + * specified partition, a call to init() after a volume has + * been successful initialized or an I/O error. + * + */ +uint8_t Fat16::init(SdCard* dev, uint8_t part) { + // error if invalid partition + if (part > 4) return false; + rawDev_ = dev; + uint32_t volumeStartBlock = 0; + // if part == 0 assume super floppy with FAT16 boot sector in block zero + // if part > 0 assume mbr volume with partition table + if (part) { + if (!cacheRawBlock(volumeStartBlock)) return false; + volumeStartBlock = cacheBuffer_.mbr.part[part - 1].firstSector; + } + if (!cacheRawBlock(volumeStartBlock)) return false; + // check boot block signature + if (cacheBuffer_.data[510] != BOOTSIG0 || + cacheBuffer_.data[511] != BOOTSIG1) return false; + bpb_t* bpb = &cacheBuffer_.fbs.bpb; + fatCount_ = bpb->fatCount; + blocksPerCluster_ = bpb->sectorsPerCluster; + blocksPerFat_ = bpb->sectorsPerFat16; + rootDirEntryCount_ = bpb->rootDirEntryCount; + fatStartBlock_ = volumeStartBlock + bpb->reservedSectorCount; + rootDirStartBlock_ = fatStartBlock_ + bpb->fatCount*bpb->sectorsPerFat16; + dataStartBlock_ = rootDirStartBlock_ + + ((32*bpb->rootDirEntryCount + 511)/512); + uint32_t totalBlocks = bpb->totalSectors16 ? + bpb->totalSectors16 : bpb->totalSectors32; + clusterCount_ = (totalBlocks - (dataStartBlock_ - volumeStartBlock)) + /bpb->sectorsPerCluster; + // verify valid FAT16 volume + if (bpb->bytesPerSector != 512 // only allow 512 byte blocks + || bpb->sectorsPerFat16 == 0 // zero for FAT32 + || clusterCount_ < 4085 // FAT12 if true + || totalBlocks > 0X800000 // Max size for FAT16 volume + || bpb->reservedSectorCount == 0 // invalid volume + || bpb->fatCount == 0 // invalid volume + || bpb->sectorsPerFat16 < (clusterCount_ >> 8) // invalid volume + || bpb->sectorsPerCluster == 0 // invalid volume + // power of 2 test + || bpb->sectorsPerCluster & (bpb->sectorsPerCluster - 1)) { + // not a usable FAT16 bpb + return false; + } + volumeInitialized_ = 1; + return true; +} +//------------------------------------------------------------------------------ +/** List directory contents to Serial. + * + * \param[in] flags The inclusive OR of + * + * LS_DATE - %Print file modification date + * + * LS_SIZE - %Print file size. + */ +void Fat16::ls(uint8_t flags) { + dir_t d; + for (uint16_t index = 0; readDir(&d, &index, DIR_ATT_VOLUME_ID); index++) { + // print file name with possible blank fill + printDirName(d, flags & (LS_DATE | LS_SIZE) ? 14 : 0); + + // print modify date/time if requested + if (flags & LS_DATE) { + printFatDate(d.lastWriteDate); + Serial.write(' '); + printFatTime(d.lastWriteTime); + } + + // print size if requested + if (DIR_IS_FILE(&d) && (flags & LS_SIZE)) { + Serial.write(' '); + Serial.print(d.fileSize); + } + Serial.println(); + } +} +//------------------------------------------------------------------------------ +/** + * Open a file by file name. + * + * \note The file must be in the root directory and must have a DOS + * 8.3 name. + * + * \param[in] fileName A valid 8.3 DOS name for a file in the root directory. + * + * \param[in] oflag Values for \a oflag are constructed by a bitwise-inclusive + * OR of flags from the following list + * + * O_READ - Open for reading. + * + * O_RDONLY - Same as O_READ. + * + * O_WRITE - Open for writing. + * + * O_WRONLY - Same as O_WRITE. + * + * O_RDWR - Open for reading and writing. + * + * O_APPEND - If set, the file offset shall be set to the end of the + * file prior to each write. + * + * O_CREAT - If the file exists, this flag has no effect except as noted + * under O_EXCL below. Otherwise, the file shall be created + * + * O_EXCL - If O_CREAT and O_EXCL are set, open() shall fail if the file exists. + * + * O_SYNC - Call sync() after each write. This flag should not be used with + * write(uint8_t), write_P(PGM_P), writeln_P(PGM_P), or the Arduino Print class. + * These functions do character a time writes so sync() will be called + * after each byte. + * + * O_TRUNC - If the file exists and is a regular file, and the file is + * successfully opened and is not read only, its length shall be truncated to 0. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include the FAT volume has not been initialized, + * a file is already open, \a fileName is invalid, the file does not exist, + * is a directory, or can't be opened in the access mode specified by oflag. + */ +uint8_t Fat16::open(const char* fileName, uint8_t oflag) { + uint8_t dname[11]; // name formated for dir entry + int16_t empty = -1; // index of empty slot + dir_t* p; // pointer to cached dir entry + + if (!volumeInitialized_ || isOpen()) return false; + + // error if invalid name + if (!make83Name(fileName, dname)) return false; + + for (uint16_t index = 0; index < rootDirEntryCount_; index++) { + if (!(p = cacheDirEntry(index))) return false; + if (p->name[0] == DIR_NAME_FREE || p->name[0] == DIR_NAME_DELETED) { + // remember first empty slot + if (empty < 0) empty = index; + // done if no entries follow + if (p->name[0] == DIR_NAME_FREE) break; + } else if (!memcmp(dname, p->name, 11)) { + // don't open existing file if O_CREAT and O_EXCL + if ((oflag & (O_CREAT | O_EXCL)) == (O_CREAT | O_EXCL)) return false; + + // open existing file + return open(index, oflag); + } + } + // error if directory is full + if (empty < 0) return false; + + // only create file if O_CREAT and O_WRITE + if ((oflag & (O_CREAT | O_WRITE)) != (O_CREAT | O_WRITE)) return false; + + if (!(p = cacheDirEntry(empty, CACHE_FOR_WRITE))) return false; + + // initialize as empty file + memset(p, 0, sizeof(dir_t)); + memcpy(p->name, dname, 11); + + // set timestamps + if (dateTime_) { + // call user function + dateTime_(&p->creationDate, &p->creationTime); + } else { + // use default date/time + p->creationDate = FAT_DEFAULT_DATE; + p->creationTime = FAT_DEFAULT_TIME; + } + p->lastAccessDate = p->creationDate; + p->lastWriteDate = p->creationDate; + p->lastWriteTime = p->creationTime; + + // insure created directory entry will be written to storage device + if (!cacheFlush()) return false; + + // open entry + return open(empty, oflag); +} +//------------------------------------------------------------------------------ +/** + * Open a file by file index. + * + * \param[in] index The root directory index of the file to be opened. See \link + * Fat16::readDir() readDir()\endlink. + * + * \param[in] oflag See \link Fat16::open(const char*, uint8_t)\endlink. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include the FAT volume has not been initialized, + * a file is already open, \a index is invalid or is not the index of a + * file or the file cannot be opened in the access mode specified by oflag. + */ +uint8_t Fat16::open(uint16_t index, uint8_t oflag) { + if (!volumeInitialized_ || isOpen()) return false; + if ((oflag & O_TRUNC) && !(oflag & O_WRITE)) return false; + dir_t* d = cacheDirEntry(index); + // if bad file index or I/O error + if (!d) return false; + + // error if unused entry + if (d->name[0] == DIR_NAME_FREE || d->name[0] == DIR_NAME_DELETED) { + return false; + } + // error if long name, volume label or subdirectory + if ((d->attributes & (DIR_ATT_VOLUME_ID | DIR_ATT_DIRECTORY)) != 0) { + return false; + } + // don't allow write or truncate if read-only + if (d->attributes & DIR_ATT_READ_ONLY) { + if (oflag & (O_WRITE | O_TRUNC)) return false; + } + + curCluster_ = 0; + curPosition_ = 0; + dirEntryIndex_ = index; + fileSize_ = d->fileSize; + firstCluster_ = d->firstClusterLow; + flags_ = oflag & (O_ACCMODE | O_SYNC | O_APPEND); + + if (oflag & O_TRUNC ) return truncate(0); + return true; +} +//------------------------------------------------------------------------------ +/** %Print the name field of a directory entry in 8.3 format to Serial. + * + * \param[in] dir The directory structure containing the name. + * \param[in] width Blank fill name if length is less than \a width. + */ +void Fat16::printDirName(const dir_t& dir, uint8_t width) { + uint8_t w = 0; + for (uint8_t i = 0; i < 11; i++) { + if (dir.name[i] == ' ') continue; + if (i == 8) { + Serial.write('.'); + w++; + } + Serial.write(dir.name[i]); + w++; + } + if (DIR_IS_SUBDIR(&dir)) { + Serial.write('/'); + w++; + } + while (w < width) { + Serial.write(' '); + w++; + } +} +//------------------------------------------------------------------------------ +/** %Print a directory date field to Serial. + * + * Format is yyyy-mm-dd. + * + * \param[in] fatDate The date field from a directory entry. + */ +void Fat16::printFatDate(uint16_t fatDate) { + Serial.print(FAT_YEAR(fatDate)); + Serial.write('-'); + printTwoDigits(FAT_MONTH(fatDate)); + Serial.write('-'); + printTwoDigits(FAT_DAY(fatDate)); +} +//------------------------------------------------------------------------------ +/** %Print a directory time field to Serial. + * + * Format is hh:mm:ss. + * + * \param[in] fatTime The time field from a directory entry. + */ +void Fat16::printFatTime(uint16_t fatTime) { + printTwoDigits(FAT_HOUR(fatTime)); + Serial.write(':'); + printTwoDigits(FAT_MINUTE(fatTime)); + Serial.write(':'); + printTwoDigits(FAT_SECOND(fatTime)); +} + +//------------------------------------------------------------------------------ +/** %Print a value as two digits to Serial. + * + * \param[in] v Value to be printed, 0 <= \a v <= 99 + */ +void Fat16::printTwoDigits(uint8_t v) { + char str[3]; + str[0] = '0' + v/10; + str[1] = '0' + v % 10; + str[2] = 0; + Serial.print(str); +} +//------------------------------------------------------------------------------ +/** + * Read the next byte from a file. + * + * \return For success read returns the next byte in the file as an int. + * If an error occurs or end of file is reached -1 is returned. + */ +int16_t Fat16::read(void) { + uint8_t b; + return read(&b, 1) == 1 ? b : -1; +} +//------------------------------------------------------------------------------ +/** + * Read data from a file at starting at the current file position. + * + * \param[out] buf Pointer to the location that will receive the data. + * + * \param[in] nbyte Maximum number of bytes to read. + * + * \return For success read returns the number of bytes read. + * A value less than \a nbyte, including zero, may be returned + * if end of file is reached. + * If an error occurs, read returns -1. Possible errors include + * read called before a file has been opened, the file has not been opened in + * read mode, a corrupt file system, or an I/O error. + */ +int16_t Fat16::read(void* buf, uint16_t nbyte) { + // convert void pointer to uin8_t pointer + uint8_t* dst = reinterpret_cast<uint8_t*>(buf); + + // error if not open for read + if (!(flags_ & O_READ)) return -1; + + // don't read beyond end of file + if ((curPosition_ + nbyte) > fileSize_) nbyte = fileSize_ - curPosition_; + + // bytes left to read in loop + uint16_t nToRead = nbyte; + while (nToRead > 0) { + uint8_t blkOfCluster = blockOfCluster(curPosition_); + uint16_t blockOffset = cacheDataOffset(curPosition_); + if (blkOfCluster == 0 && blockOffset == 0) { + // start next cluster + if (curCluster_ == 0) { + curCluster_ = firstCluster_; + } else { + if (!fatGet(curCluster_, &curCluster_)) return -1; + } + // return error if bad cluster chain + if (curCluster_ < 2 || isEOC(curCluster_)) return -1; + } + // cache data block + if (!cacheRawBlock(dataBlockLba(curCluster_, blkOfCluster))) return -1; + + // location of data in cache + uint8_t* src = cacheBuffer_.data + blockOffset; + + // max number of byte available in block + uint16_t n = 512 - blockOffset; + + // lesser of available and amount to read + if (n > nToRead) n = nToRead; + + // copy data to caller + memcpy(dst, src, n); + + curPosition_ += n; + dst += n; + nToRead -= n; + } + return nbyte; +} +//------------------------------------------------------------------------------ +/** + * Read the next short, 8.3, directory entry. + * + * Unused entries and entries for long names are skipped. + * + * \param[out] dir Location that will receive the entry. + * + * \param[in,out] index The search starts at \a index and \a index is + * updated with the root directory index of the found directory entry. + * If the entry is a file, it may be opened by calling + * \link Fat16::open(uint16_t, uint8_t) \endlink. + * + * \param[in] skip Skip entries that have these attributes. If \a skip + * is not specified, the default is to skip the volume label and directories. + * + * \return The value one, true, is returned for success and the value zero, + * false, is returned if an error occurs or the end of the root directory is + * reached. On success, \a entry is set to the index of the found directory + * entry. + */ +uint8_t Fat16::readDir(dir_t* dir, uint16_t* index, uint8_t skip) { + dir_t* p; + for (uint16_t i = *index; ; i++) { + if (i >= rootDirEntryCount_) return false; + if (!(p = cacheDirEntry(i))) return false; + + // done if beyond last used entry + if (p->name[0] == DIR_NAME_FREE) return false; + + // skip deleted entry + if (p->name[0] == DIR_NAME_DELETED) continue; + + // skip long names + if ((p->attributes & DIR_ATT_LONG_NAME_MASK) == DIR_ATT_LONG_NAME) continue; + + // skip if attribute match + if (p->attributes & skip) continue; + + // return found index + *index = i; + break; + } + memcpy(dir, p, sizeof(dir_t)); + return true; +} +//------------------------------------------------------------------------------ +/** + * Remove a file. The directory entry and all data for the file are deleted. + * + * \note This function should not be used to delete the 8.3 version of a + * file that has a long name. For example if a file has the long name + * "New Text Document.txt" you should not delete the 8.3 name "NEWTEX~1.TXT". + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include the file is not open for write + * or an I/O error occurred. + */ +uint8_t Fat16::remove(void) { + // error if file is not open for write + if (!(flags_ & O_WRITE)) return false; + if (firstCluster_) { + if (!freeChain(firstCluster_)) return false; + } + dir_t* d = cacheDirEntry(dirEntryIndex_, CACHE_FOR_WRITE); + if (!d) return false; + d->name[0] = DIR_NAME_DELETED; + flags_ = 0; + return cacheFlush(); +} +//------------------------------------------------------------------------------ +/** + * Remove a file. + * + * The directory entry and all data for the file are deleted. + * + * \param[in] fileName The name of the file to be removed. + * + * \note This function should not be used to delete the 8.3 version of a + * file that has a long name. For example if a file has the long name + * "New Text Document.txt" you should not delete the 8.3 name "NEWTEX~1.TXT". + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include the file is read only, \a fileName is not found + * or an I/O error occurred. + */ +uint8_t Fat16::remove(const char* fileName) { + Fat16 file; + if (!file.open(fileName, O_WRITE)) return false; + return file.remove(); +} +//------------------------------------------------------------------------------ +/** + * Sets the file's read/write position. + * + * \param[in] pos The new position in bytes from the beginning of the file. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +uint8_t Fat16::seekSet(uint32_t pos) { + // error if file not open or seek past end of file + if (!isOpen() || pos > fileSize_) return false; + if (pos == 0) { + // set position to start of file + curCluster_ = 0; + curPosition_ = 0; + return true; + } + fat_t n = ((pos - 1) >> 9)/blocksPerCluster_; + if (pos < curPosition_ || curPosition_ == 0) { + // must follow chain from first cluster + curCluster_ = firstCluster_; + } else { + // advance from curPosition + n -= ((curPosition_ - 1) >> 9)/blocksPerCluster_; + } + while (n--) { + if (!fatGet(curCluster_, &curCluster_)) return false; + } + curPosition_ = pos; + return true; +} +//------------------------------------------------------------------------------ +/** + * The sync() call causes all modified data and directory fields + * to be written to the storage device. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include a call to sync() before a file has been + * opened or an I/O error. + */ +uint8_t Fat16::sync(void) { + if (flags_ & F_FILE_DIR_DIRTY) { + // cache directory entry + dir_t* d = cacheDirEntry(dirEntryIndex_, CACHE_FOR_WRITE); + if (!d) return false; + + // update file size and first cluster + d->fileSize = fileSize_; + d->firstClusterLow = firstCluster_; + + // set modify time if user supplied a callback date/time function + if (dateTime_) { + dateTime_(&d->lastWriteDate, &d->lastWriteTime); + d->lastAccessDate = d->lastWriteDate; + } + flags_ &= ~F_FILE_DIR_DIRTY; + } + return cacheFlush(); +} +//------------------------------------------------------------------------------ +/** + * The timestamp() call sets a file's timestamps in its directory entry. + * + * \param[in] flags Values for \a flags are constructed by a bitwise-inclusive + * OR of flags from the following list + * + * T_ACCESS - Set the file's last access date. + * + * T_CREATE - Set the file's creation date and time. + * + * T_WRITE - Set the file's last write/modification date and time. + * + * \param[in] year Valid range 1980 - 2107 inclusive. + * + * \param[in] month Valid range 1 - 12 inclusive. + * + * \param[in] day Valid range 1 - 31 inclusive. + * + * \param[in] hour Valid range 0 - 23 inclusive. + * + * \param[in] minute Valid range 0 - 59 inclusive. + * + * \param[in] second Valid range 0 - 59 inclusive + * + * \note It is possible to set an invalid date since there is no check for + * the number of days in a month. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +uint8_t Fat16::timestamp(uint8_t flags, uint16_t year, uint8_t month, + uint8_t day, uint8_t hour, uint8_t minute, uint8_t second) { + if (!isOpen() + || year < 1980 + || year > 2107 + || month < 1 + || month > 12 + || day < 1 + || day > 31 + || hour > 23 + || minute > 59 + || second > 59) { + return false; + } + dir_t* d = cacheDirEntry(dirEntryIndex_, CACHE_FOR_WRITE); + if (!d) return false; + uint16_t dirDate = FAT_DATE(year, month, day); + uint16_t dirTime = FAT_TIME(hour, minute, second); + if (flags & T_ACCESS) { + d->lastAccessDate = dirDate; + } + if (flags & T_CREATE) { + d->creationDate = dirDate; + d->creationTime = dirTime; + // seems to be units of 1/100 second not 1/10 as Microsoft standard states + d->creationTimeTenths = second & 1 ? 100 : 0; + } + if (flags & T_WRITE) { + d->lastWriteDate = dirDate; + d->lastWriteTime = dirTime; + } + cacheSetDirty(); + return sync(); +} +//------------------------------------------------------------------------------ +/** + * Truncate a file to a specified length. The current file position + * will be maintained if it is less than or equal to \a length otherwise + * it will be set to end of file. + * + * \param[in] length The desired length for the file. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include file is read only, file is a directory, + * \a length is greater than the current file size or an I/O error occurs. + */ +uint8_t Fat16::truncate(uint32_t length) { + // error if file is not open for write + if (!(flags_ & O_WRITE)) return false; + + if (length > fileSize_) return false; + + // fileSize and length are zero - nothing to do + if (fileSize_ == 0) return true; + uint32_t newPos = curPosition_ > length ? length : curPosition_; + if (length == 0) { + // free all clusters + if (!freeChain(firstCluster_)) return false; + curCluster_ = firstCluster_ = 0; + } else { + fat_t toFree; + if (!seekSet(length)) return false; + if (!fatGet(curCluster_, &toFree)) return false; + if (!isEOC(toFree)) { + // free extra clusters + if (!fatPut(curCluster_, FAT16EOC)) return false; + if (!freeChain(toFree)) return false; + } + } + fileSize_ = length; + flags_ |= F_FILE_DIR_DIRTY; + if (!sync()) return false; + return seekSet(newPos); +} +//------------------------------------------------------------------------------ +/** + * Write data at the current position of an open file. + * + * \note Data is moved to the cache but may not be written to the + * storage device until sync() is called. + * + * \param[in] buf Pointer to the location of the data to be written. + * + * \param[in] nbyte Number of bytes to write. + * + * \return For success write() returns the number of bytes written, always + * \a nbyte. If an error occurs, write() returns -1. Possible errors include + * write() is called before a file has been opened, the file has not been opened + * for write, device is full, a corrupt file system or an I/O error. + * + */ +int16_t Fat16::write(const void* buf, uint16_t nbyte) { + uint16_t nToWrite = nbyte; + const uint8_t* src = reinterpret_cast<const uint8_t*>(buf); + + // error if file is not open for write + if (!(flags_ & O_WRITE)) goto writeErrorReturn; + + // go to end of file if O_APPEND + if ((flags_ & O_APPEND) && curPosition_ != fileSize_) { + if (!seekEnd()) goto writeErrorReturn; + } + while (nToWrite > 0) { + uint8_t blkOfCluster = blockOfCluster(curPosition_); + uint16_t blockOffset = cacheDataOffset(curPosition_); + if (blkOfCluster == 0 && blockOffset == 0) { + // start of new cluster + if (curCluster_ == 0) { + if (firstCluster_ == 0) { + // allocate first cluster of file + if (!addCluster()) goto writeErrorReturn; + } else { + curCluster_ = firstCluster_; + } + } else { + fat_t next; + if (!fatGet(curCluster_, &next)) goto writeErrorReturn; + if (isEOC(next)) { + // add cluster if at end of chain + if (!addCluster()) goto writeErrorReturn; + } else { + curCluster_ = next; + } + } + } + uint32_t lba = dataBlockLba(curCluster_, blkOfCluster); + if (blockOffset == 0 && curPosition_ >= fileSize_) { + // start of new block don't need to read into cache + if (!cacheFlush()) goto writeErrorReturn; + cacheBlockNumber_ = lba; + cacheSetDirty(); + } else { + // rewrite part of block + if (!cacheRawBlock(lba, CACHE_FOR_WRITE)) return -1; + } + uint8_t* dst = cacheBuffer_.data + blockOffset; + + // max space in block + uint16_t n = 512 - blockOffset; + + // lesser of space and amount to write + if (n > nToWrite) n = nToWrite; + + // copy data to cache + memcpy(dst, src, n); + + curPosition_ += n; + nToWrite -= n; + src += n; + } + if (curPosition_ > fileSize_) { + // update fileSize and insure sync will update dir entry + fileSize_ = curPosition_; + flags_ |= F_FILE_DIR_DIRTY; + } else if (dateTime_ && nbyte) { + // insure sync will update modified date and time + flags_ |= F_FILE_DIR_DIRTY; + } + + if (flags_ & O_SYNC) { + if (!sync()) goto writeErrorReturn; + } + return nbyte; + + writeErrorReturn: + writeError = true; + return -1; +} +//------------------------------------------------------------------------------ +/** + * Write a byte to a file. Required by the Arduino Print class. + * + * Use Fat16::writeError to check for errors. + */ +#if ARDUINO < 100 +void Fat16::write(uint8_t b) { + write(&b, 1); +} +#else // ARDUINO < 100 +size_t Fat16::write(uint8_t b) { + return write(&b, 1) == 1 ? 1 : 0; +} +#endif // ARDUINO < 100 +//------------------------------------------------------------------------------ +/** + * Write a string to a file. Used by the Arduino Print class. + * + * Use Fat16::writeError to check for errors. + */ +#if ARDUINO < 100 +void Fat16::write(const char* str) { + write(str, strlen(str)); +} +#else // ARDUINO < 100 +int16_t Fat16::write(const char* str) { + return write(str, strlen(str)); +} +#endif // ARDUINO < 100 +//------------------------------------------------------------------------------ +/** + * Write a PROGMEM string to a file. + * + * Use Fat16::writeError to check for errors. + */ +void Fat16::write_P(PGM_P str) { + for (uint8_t c; (c = pgm_read_byte(str)); str++) write(c); +} +//------------------------------------------------------------------------------ +/** + * Write a PROGMEM string followed by CR/LF to a file. + * + * Use Fat16::writeError to check for errors. + */ +void Fat16::writeln_P(PGM_P str) { + write_P(str); + println(); +} diff --git a/libraries/Robot_Control/Fat16.h b/libraries/Robot_Control/Fat16.h new file mode 100644 index 0000000..935b9b0 --- /dev/null +++ b/libraries/Robot_Control/Fat16.h @@ -0,0 +1,378 @@ +/* Arduino FAT16 Library + * Copyright (C) 2008 by William Greiman + * + * This file is part of the Arduino FAT16 Library + * + * This Library is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This Library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + + * You should have received a copy of the GNU General Public License + * along with the Arduino Fat16 Library. If not, see + * <http://www.gnu.org/licenses/>. + */ +#ifndef Fat16_h +#define Fat16_h +/** + * \file + * Fat16 class + */ +#include <string.h> +#include <avr/pgmspace.h> +#include <Print.h> +#include <SdCard.h> +#include <FatStructs.h> +#include <Fat16Config.h> +//------------------------------------------------------------------------------ +/** Fat16 version YYYYMMDD */ +#define FAT16_VERSION 20111205 +//------------------------------------------------------------------------------ +// flags for ls() +/** ls() flag to print modify date */ +uint8_t const LS_DATE = 1; +/** ls() flag to print file size */ +uint8_t const LS_SIZE = 2; + +// use the gnu style oflags +/** open for reading */ +uint8_t const O_READ = 0X01; +/** same as O_READ */ +uint8_t const O_RDONLY = O_READ; +/** open for write */ +uint8_t const O_WRITE = 0X02; +/** same as O_WRITE */ +uint8_t const O_WRONLY = O_WRITE; +/** open for reading and writing */ +uint8_t const O_RDWR = O_READ | O_WRITE; +/** mask for access modes */ +uint8_t const O_ACCMODE = O_READ | O_WRITE; +/** The file offset shall be set to the end of the file prior to each write. */ +uint8_t const O_APPEND = 0X04; +/** synchronous writes - call sync() after each write */ +uint8_t const O_SYNC = 0X08; +/** create the file if nonexistent */ +uint8_t const O_CREAT = 0X10; +/** If O_CREAT and O_EXCL are set, open() shall fail if the file exists */ +uint8_t const O_EXCL = 0X20; +/** truncate the file to zero length */ +uint8_t const O_TRUNC = 0X40; + +// flags for timestamp +/** set the file's last access date */ +uint8_t const T_ACCESS = 1; +/** set the file's creation date and time */ +uint8_t const T_CREATE = 2; +/** Set the file's write date and time */ +uint8_t const T_WRITE = 4; + +/** date field for FAT directory entry */ +static inline uint16_t FAT_DATE(uint16_t year, uint8_t month, uint8_t day) { + return (year - 1980) << 9 | month << 5 | day; +} +/** year part of FAT directory date field */ +static inline uint16_t FAT_YEAR(uint16_t fatDate) { + return 1980 + (fatDate >> 9); +} +/** month part of FAT directory date field */ +static inline uint8_t FAT_MONTH(uint16_t fatDate) { + return (fatDate >> 5) & 0XF; +} +/** day part of FAT directory date field */ +static inline uint8_t FAT_DAY(uint16_t fatDate) { + return fatDate & 0X1F; +} +/** time field for FAT directory entry */ +static inline uint16_t FAT_TIME(uint8_t hour, uint8_t minute, uint8_t second) { + return hour << 11 | minute << 5 | second >> 1; +} +/** hour part of FAT directory time field */ +static inline uint8_t FAT_HOUR(uint16_t fatTime) { + return fatTime >> 11; +} +/** minute part of FAT directory time field */ +static inline uint8_t FAT_MINUTE(uint16_t fatTime) { + return(fatTime >> 5) & 0X3F; +} +/** second part of FAT directory time field */ +static inline uint8_t FAT_SECOND(uint16_t fatTime) { + return 2*(fatTime & 0X1F); +} +/** Default date for file timestamps is 1 Jan 2000 */ +uint16_t const FAT_DEFAULT_DATE = ((2000 - 1980) << 9) | (1 << 5) | 1; +/** Default time for file timestamp is 1 am */ +uint16_t const FAT_DEFAULT_TIME = (1 << 11); +//------------------------------------------------------------------------------ +/** + * \typedef fat_t + * + * \brief Type for FAT16 entry + */ +typedef uint16_t fat_t; +/** + * \union cache16_t + * + * \brief Cache buffer data type + * + */ +union cache16_t { + /** Used to access cached file data blocks. */ + uint8_t data[512]; + /** Used to access cached FAT entries. */ + fat_t fat[256]; + /** Used to access cached directory entries. */ + dir_t dir[16]; + /** Used to access a cached Master Boot Record. */ + mbr_t mbr; + /** Used to access to a cached FAT16 boot sector. */ + fbs_t fbs; +}; +//------------------------------------------------------------------------------ +/** \class Fat16 + * \brief Fat16 implements a minimal Arduino FAT16 Library + * + * Fat16 does not support subdirectories or long file names. + */ +class Fat16 : public Print { + public: + /* + * Public functions + */ + /** create with file closed */ + Fat16(void) : flags_(0) {} + /** \return The current cluster number. */ + fat_t curCluster(void) const {return curCluster_;} + uint8_t close(void); + /** \return The count of clusters in the FAT16 volume. */ + static fat_t clusterCount(void) {return clusterCount_;} + /** \return The number of 512 byte blocks in a cluster */ + static uint8_t clusterSize(void) {return blocksPerCluster_;} + /** \return The current file position. */ + uint32_t curPosition(void) const {return curPosition_;} + /** + * Set the date/time callback function + * + * \param[in] dateTime The user's callback function. The callback + * function is of the form: + * + * \code + * void dateTime(uint16_t* date, uint16_t* time) { + * uint16_t year; + * uint8_t month, day, hour, minute, second; + * + * // User gets date and time from GPS or real-time clock here + * + * // return date using FAT_DATE macro to format fields + * *date = FAT_DATE(year, month, day); + * + * // return time using FAT_TIME macro to format fields + * *time = FAT_TIME(hour, minute, second); + * } + * \endcode + * + * Sets the function that is called when a file is created or when + * a file's directory entry is modified by sync(). All timestamps, + * access, creation, and modify, are set when a file is created. + * sync() maintains the last access date and last modify date/time. + * + * See the timestamp() function. + */ + static void dateTimeCallback( + void (*dateTime)(uint16_t* date, uint16_t* time)) { + dateTime_ = dateTime; + } + /** + * Cancel the date/time callback function. + */ + static void dateTimeCallbackCancel(void) {dateTime_ = NULL;} + uint8_t dirEntry(dir_t* dir); + + /** \return The file's size in bytes. */ + uint32_t fileSize(void) const {return fileSize_;} + static uint8_t init(SdCard* dev, uint8_t part); + /** + * Initialize a FAT16 volume. + * + * First try partition 1 then try super floppy format. + * + * \param[in] dev The SdCard where the volume is located. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. reasons for + * failure include not finding a valid FAT16 file system, a call + * to init() after a volume has been successful initialized or + * an I/O error. + * + */ + static uint8_t init(SdCard* dev) { + return init(dev, 1) ? true : init(dev, 0); + } + /** + * Checks the file's open/closed status for this instance of Fat16. + * \return The value true if a file is open otherwise false; + */ + uint8_t isOpen(void) const {return (flags_ & O_ACCMODE) != 0;} + static void ls(uint8_t flags = 0); + uint8_t open(const char* fileName, uint8_t oflag); + uint8_t open(uint16_t entry, uint8_t oflag); + static void printDirName(const dir_t& dir, uint8_t width); + static void printFatDate(uint16_t fatDate); + static void printFatTime(uint16_t fatTime); + static void printTwoDigits(uint8_t v); + int16_t read(void); + int16_t read(void* buf, uint16_t nbyte); + static uint8_t readDir(dir_t* dir, uint16_t* index, + uint8_t skip = (DIR_ATT_VOLUME_ID | DIR_ATT_DIRECTORY)); + + uint8_t remove(void); + static uint8_t remove(const char* fileName); + /** Sets the file's current position to zero. */ + void rewind(void) {curPosition_ = curCluster_ = 0;} + /** \return The number of entries in the root directory. */ + static uint16_t rootDirEntryCount(void) {return rootDirEntryCount_;} + /** Seek to current position plus \a pos bytes. See Fat16::seekSet(). */ + uint8_t seekCur(uint32_t pos) {return seekSet(curPosition_ + pos);} + /** Seek to end of file. See Fat16::seekSet(). */ + uint8_t seekEnd(void) {return seekSet(fileSize_);} + uint8_t seekSet(uint32_t pos); + uint8_t sync(void); + uint8_t timestamp(uint8_t flag, uint16_t year, uint8_t month, uint8_t day, + uint8_t hour, uint8_t minute, uint8_t second); + uint8_t truncate(uint32_t size); + /** Fat16::writeError is set to true if an error occurs during a write(). + * Set Fat16::writeError to false before calling print() and/or write() and check + * for true after calls to write() and/or print(). + */ + bool writeError; + int16_t write(const void *buf, uint16_t nbyte); +#if ARDUINO < 100 + void write(uint8_t b); + void write(const char* str); +#else // ARDUINO < 100 + size_t write(uint8_t b); + int16_t write(const char* str); +#endif // ARDUINO < 100 + void write_P(PGM_P str); + void writeln_P(PGM_P str); +//------------------------------------------------------------------------------ +#if FAT16_DEBUG_SUPPORT + /** For debug only. Do not use in applications. */ + static cache16_t* dbgBufAdd(void) {return &cacheBuffer_;} + /** For debug only. Do not use in applications. */ + static void dbgSetDev(SdCard* dev) {rawDev_ = dev;} + /** For debug only. Do not use in applications. */ + static uint8_t* dbgCacheBlock(uint32_t blockNumber) { + return cacheRawBlock(blockNumber) ? cacheBuffer_.data : 0; } + /** For debug only. Do not use in applications. */ + static dir_t* dbgCacheDir(uint16_t index) { + return cacheDirEntry(index);} +#endif // FAT16_DEBUG_SUPPORT +//------------------------------------------------------------------------------ +#if ALLOW_DEPRECATED_FUNCTIONS +// Deprecated functions - suppress cpplint messages with NOLINT comment + public: + /** + * Deprecated - Use: + * static void Fat16::dateTimeCallback( + * void (*dateTime)(uint16_t* date, uint16_t* time)); + */ + static void dateTimeCallback( + void (*dateTime)(uint16_t& date, uint16_t& time)) { // NOLINT + oldDateTime_ = dateTime; + dateTime_ = dateTime ? oldToNew : 0; + } + /** Deprecated - Use: uint8_t Fat16::dirEntry(dir_t* dir); */ + uint8_t dirEntry(dir_t& dir) { // NOLINT + return dirEntry(&dir); + } + /** Deprecated - Use: static uint8_t Fat16::init(SdCard *dev); */ + static uint8_t init(SdCard& dev) {return init(&dev);} // NOLINT + + /** Deprecated - Use: static uint8_t Fat16::init(SdCard *dev, uint8_t part) */ + static uint8_t init(SdCard& dev, uint8_t part) { // NOLINT + return init(&dev, part); + } + /** + * Deprecated - Use: + * uint8_t Fat16::readDir(dir_t* dir, uint16_t* index, uint8_t skip); + */ + static uint8_t readDir(dir_t& dir, uint16_t& index, // NOLINT + uint8_t skip = (DIR_ATT_VOLUME_ID | DIR_ATT_DIRECTORY)) { + return readDir(&dir, &index, skip); + } +//------------------------------------------------------------------------------ + private: + static void (*oldDateTime_)(uint16_t& date, uint16_t& time); // NOLINT + static void oldToNew(uint16_t *date, uint16_t *time) { + uint16_t d; + uint16_t t; + oldDateTime_(d, t); + *date = d; + *time = t; + } +#endif // ALLOW_DEPRECATED_FUNCTIONS +//------------------------------------------------------------------------------ + private: + // Volume info + static uint8_t volumeInitialized_; // true if volume has been initialized + static uint8_t fatCount_; // number of FATs + static uint8_t blocksPerCluster_; // must be power of 2 + static uint16_t rootDirEntryCount_; // should be 512 for FAT16 + static fat_t blocksPerFat_; // number of blocks in one FAT + static fat_t clusterCount_; // total clusters in volume + static uint32_t fatStartBlock_; // start of first FAT + static uint32_t rootDirStartBlock_; // start of root dir + static uint32_t dataStartBlock_; // start of data clusters + + // block cache + static uint8_t const CACHE_FOR_READ = 0; // cache a block for read + static uint8_t const CACHE_FOR_WRITE = 1; // cache a block and set dirty + static SdCard *rawDev_; // Device + static cache16_t cacheBuffer_; // 512 byte cache for raw blocks + static uint32_t cacheBlockNumber_; // Logical number of block in the cache + static uint8_t cacheDirty_; // cacheFlush() will write block if true + static uint32_t cacheMirrorBlock_; // mirror block for second FAT + + // callback function for date/time + static void (*dateTime_)(uint16_t* date, uint16_t* time); + + // define fields in flags_ + static uint8_t const F_OFLAG = O_ACCMODE | O_APPEND | O_SYNC; + static uint8_t const F_FILE_DIR_DIRTY = 0X80; // require sync directory entry + + uint8_t flags_; // see above for bit definitions + int16_t dirEntryIndex_; // index of directory entry for open file + fat_t firstCluster_; // first cluster of file + uint32_t fileSize_; // fileSize + fat_t curCluster_; // current cluster + uint32_t curPosition_; // current byte offset + + // private functions for cache + static uint8_t blockOfCluster(uint32_t position) { + // depends on blocks per cluster being power of two + return (position >> 9) & (blocksPerCluster_ - 1); + } + static uint16_t cacheDataOffset(uint32_t position) {return position & 0X1FF;} + static dir_t* cacheDirEntry(uint16_t index, uint8_t action = 0); + static uint8_t cacheRawBlock(uint32_t blockNumber, uint8_t action = 0); + static uint8_t cacheFlush(void); + static void cacheSetDirty(void) {cacheDirty_ |= CACHE_FOR_WRITE;} + static uint32_t dataBlockLba(fat_t cluster, uint8_t blockOfCluster) { + return dataStartBlock_ + (uint32_t)(cluster - 2) * blocksPerCluster_ + + blockOfCluster; + } + static uint8_t fatGet(fat_t cluster, fat_t* value); + static uint8_t fatPut(fat_t cluster, fat_t value); + // end of chain test + static uint8_t isEOC(fat_t cluster) {return cluster >= 0XFFF8;} + // allocate a cluster to a file + uint8_t addCluster(void); + // free a cluster chain + uint8_t freeChain(fat_t cluster); +}; +#endif // Fat16_h diff --git a/libraries/Robot_Control/Fat16Config.h b/libraries/Robot_Control/Fat16Config.h new file mode 100644 index 0000000..d598b56 --- /dev/null +++ b/libraries/Robot_Control/Fat16Config.h @@ -0,0 +1,38 @@ +/* Arduino FAT16 Library + * Copyright (C) 2008 by William Greiman + * + * This file is part of the Arduino FAT16 Library + * + * This Library is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This Library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + + * You should have received a copy of the GNU General Public License + * along with the Arduino Fat16 Library. If not, see + * <http://www.gnu.org/licenses/>. + */ + /** + * \file + * Configuration file + */ +#ifndef Fat16Config_h +#define Fat16Config_h +/** + * Allow use of deprecated functions if non-zero + */ +#define ALLOW_DEPRECATED_FUNCTIONS 1 +/** + * SdCard::writeBlock will protect block zero if set non-zero + */ +#define SD_PROTECT_BLOCK_ZERO 1 +/** + * Set non-zero to allow access to Fat16 internals by cardInfo debug sketch + */ +#define FAT16_DEBUG_SUPPORT 1 +#endif // Fat16Config_h diff --git a/libraries/Robot_Control/Fat16mainpage.h b/libraries/Robot_Control/Fat16mainpage.h new file mode 100644 index 0000000..2c4f773 --- /dev/null +++ b/libraries/Robot_Control/Fat16mainpage.h @@ -0,0 +1,208 @@ +/* Arduino FAT16 Library + * Copyright (C) 2008 by William Greiman + * + * This file is part of the Arduino FAT16 Library + * + * This Library is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This Library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + + * You should have received a copy of the GNU General Public License + * along with the Arduino Fat16 Library. If not, see + * <http://www.gnu.org/licenses/>. + */ + +/** +\mainpage Arduino Fat16 Library +<CENTER>Copyright © 2008 by William Greiman +</CENTER> + +\section Intro Introduction +The Arduino Fat16 Library is a minimal implementation of the FAT16 file system +on standard SD flash memory cards. Fat16 supports read, write, file +creation, deletion, and truncation. + +The Fat16 class only supports access to files in the root directory and only +supports short 8.3 names. Directory time and date fields for creation +and modification can be maintained by providing a date/time callback +function \link Fat16::dateTimeCallback() dateTimeCallback()\endlink +or calling \link Fat16::timestamp() timestamp()\endlink. + +Fat16 was designed to use the Arduino Print class which +allows files to be written with \link Print::print() print() \endlink and +\link Print::println() println()\endlink. + +\section comment Bugs and Comments + +If you wish to report bugs or have comments, send email to fat16lib@sbcglobal.net. + + +\section SDcard SD Cards + +Arduinos access SD cards using the cards SPI protocol. PCs, Macs, and +most consumer devices use the 4-bit parallel SD protocol. A card that +functions well on A PC or Mac may not work well on the Arduino. + +Most cards have good SPI read performance but cards vary widely in SPI +write performance. Write performance is limited by how efficiently the +card manages internal erase/remapping operations. The Arduino cannot +optimize writes to reduce erase operations because of its limit RAM. + +SanDisk cards generally have good write performance. They seem to have +more internal RAM buffering than other cards and therefore can limit +the number of flash erase operations that the Arduino forces due to its +limited RAM. + +Some Dane-Elec cards have a write speed that is only 20% as fast as +a good SanDisk card. + + +\section Hardware Hardware Configuration +Fat16 was developed using an <A HREF = "http://www.adafruit.com/"> Adafruit Industries</A> +<A HREF = "http://ladyada.net/make/gpsshield/modules.html"> GPS Shield</A>. + +The hardware interface to the SD card should not use a resistor based level +shifter. SdCard::init() sets the SPI bus frequency to 8 MHz which results in +signal rise times that are too slow for the edge detectors in many newer SD card +controllers when resistor voltage dividers are used. + +The 5 to 3.3 V level shifter for 5 V arduinos should be IC based like the +74HC4050N based circuit shown in the file SdLevel.png. The Adafruit Wave Shield +uses a 74AHC125N. Gravitech sells SD and MicroSD Card Adapters based on the +74LCX245. + +If you are using a resistor based level shifter and are having problems try +setting the SPI bus frequency to 4 MHz. This can be done by using +card.init(true) to initialize the SD card. + + +\section Fat16Class Fat16 Usage + +The class Fat16 is a minimal implementation of FAT16 on standard SD cards. +High Capacity SD cards, SDHC, are not supported. It should work on all +standard cards from 8MB to 2GB formatted with a FAT16 file system. + +\note + The Arduino Print class uses character +at a time writes so it was necessary to use a \link Fat16::sync() sync() \endlink +function to control when data is written to the SD card. + +\par +An application which writes to a file using \link Print::print() print()\endlink, +\link Print::println() println() \endlink +or \link Fat16::write write() \endlink must call \link Fat16::sync() sync() \endlink +at the appropriate time to force data and directory information to be written +to the SD Card. Data and directory information are also written to the SD card +when \link Fat16::close() close() \endlink is called. + +\par +Applications must use care calling \link Fat16::sync() sync() \endlink +since 2048 bytes of I/O is required to update file and +directory information. This includes writing the current data block, reading +the block that contains the directory entry for update, writing the directory +block back and reading back the current data block. + +Fat16 only supports access to files in the root directory and only supports +short 8.3 names. + +It is possible to open a file with two or more instances of Fat16. A file may +be corrupted if data is written to the file by more than one instance of Fat16. + +Short names are limited to 8 characters followed by an optional period (.) +and extension of up to 3 characters. The characters may be any combination +of letters and digits. The following special characters are also allowed: + +$ % ' - _ @ ~ ` ! ( ) { } ^ # & + +Short names are always converted to upper case and their original case +value is lost. + +Fat16 uses a slightly restricted form of short names. +Only printable ASCII characters are supported. No characters with code point +values greater than 127 are allowed. Space is not allowed even though space +was allowed in the API of early versions of DOS. + +Fat16 has been optimized for The Arduino ATmega168. Minimizing RAM use is the +highest priority goal followed by flash use and finally performance. +Most SD cards only support 512 byte block write operations so a 512 byte +cache buffer is used by Fat16. This is the main use of RAM. A small +amount of RAM is used to store key volume and file information. +Flash memory usage can be controlled by selecting options in Fat16Config.h. + +\section HowTo How to format SD Cards as FAT16 Volumes + +Microsoft operating systems support removable media formatted with a +Master Boot Record, MBR, or formatted as a super floppy with a FAT Boot Sector +in block zero. + +Microsoft operating systems expect MBR formatted removable media +to have only one partition. The first partition should be used. + +Microsoft operating systems do not support partitioning SD flash cards. +If you erase an SD card with a program like KillDisk, Most versions of +Windows will format the card as a super floppy. + +The best way to restore an SD card's MBR is to use SDFormatter +which can be downloaded from: + +http://www.sdcard.org/consumers/formatter/ + +SDFormatter does not have an option for FAT type so it may format +small cards as FAT12. + +After the MBR is restored by SDFormatter you may need to reformat small +cards that have been formatted FAT12 to force the volume type to be FAT16. + +The FAT type, FAT12, FAT16, or FAT32, is determined by the count +of clusters on the volume and nothing else. + +Microsoft published the following code for determining FAT type: + +\code +if (CountOfClusters < 4085) { + // Volume is FAT12 +} +else if (CountOfClusters < 65525) { + // Volume is FAT16 +} +else { + // Volume is FAT32 +} + +\endcode +If you format a FAT volume with an OS utility , choose a cluster size that +will result in: + +4084 < CountOfClusters && CountOfClusters < 65525 + +The volume will then be FAT16. + +If you are formatting an SD card on OS X or Linux, be sure to use the first +partition. Format this partition with a cluster count in above range. + +\section References References + +The Arduino site: + +http://www.arduino.cc/ + +For more information about FAT file systems see: + +http://www.microsoft.com/whdc/system/platform/firmware/fatgen.mspx + +For information about using SD cards as SPI devices see: + +http://www.sdcard.org/developers/tech/sdcard/pls/Simplified_Physical_Layer_Spec.pdf + +The ATmega328 datasheet: + +http://www.atmel.com/dyn/resources/prod_documents/doc8161.pdf + + + */
\ No newline at end of file diff --git a/libraries/Robot_Control/Fat16util.h b/libraries/Robot_Control/Fat16util.h new file mode 100644 index 0000000..1fea068 --- /dev/null +++ b/libraries/Robot_Control/Fat16util.h @@ -0,0 +1,74 @@ +#ifndef Fat16util_h +#define Fat16util_h +/* Arduino FAT16 Library + * Copyright (C) 2008 by William Greiman + * + * This file is part of the Arduino FAT16 Library + * + * This Library is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This Library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + + * You should have received a copy of the GNU General Public License + * along with the Arduino Fat16 Library. If not, see + * <http://www.gnu.org/licenses/>. + */ +/** + * \file + * Useful utility functions. + */ +#if ARDUINO < 100 +#include <WProgram.h> +#else // ARDUINO +#include <Arduino.h> +#endif // ARDUINO +#include <avr/pgmspace.h> +/** Store and print a string in flash memory.*/ +#define PgmPrint(x) SerialPrint_P(PSTR(x)) +/** Store and print a string in flash memory followed by a CR/LF.*/ +#define PgmPrintln(x) SerialPrintln_P(PSTR(x)) +/** Defined so doxygen works for function definitions. */ +#define NOINLINE __attribute__((noinline)) +//------------------------------------------------------------------------------ +/** Return the number of bytes currently free in RAM. */ +static int FreeRam(void) { + extern int __bss_end; + extern int* __brkval; + int free_memory; + if (reinterpret_cast<int>(__brkval) == 0) { + // if no heap use from end of bss section + free_memory = reinterpret_cast<int>(&free_memory) + - reinterpret_cast<int>(&__bss_end); + } else { + // use from top of stack to heap + free_memory = reinterpret_cast<int>(&free_memory) + - reinterpret_cast<int>(__brkval); + } + return free_memory; +} +//------------------------------------------------------------------------------ +/** + * %Print a string in flash memory to the serial port. + * + * \param[in] str Pointer to string stored in flash memory. + */ +static NOINLINE void SerialPrint_P(PGM_P str) { + for (uint8_t c; (c = pgm_read_byte(str)); str++) Serial.write(c); +} +//------------------------------------------------------------------------------ +/** + * %Print a string in flash memory followed by a CR/LF. + * + * \param[in] str Pointer to string stored in flash memory. + */ +static NOINLINE void SerialPrintln_P(PGM_P str) { + SerialPrint_P(str); + Serial.println(); +} +#endif // #define Fat16util_h diff --git a/libraries/Robot_Control/FatStructs.h b/libraries/Robot_Control/FatStructs.h new file mode 100644 index 0000000..431bf30 --- /dev/null +++ b/libraries/Robot_Control/FatStructs.h @@ -0,0 +1,418 @@ +/* Arduino Fat16 Library + * Copyright (C) 2009 by William Greiman + * + * This file is part of the Arduino Fat16 Library + * + * This Library is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This Library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the Arduino Fat16 Library. If not, see + * <http://www.gnu.org/licenses/>. + */ +#ifndef FatStructs_h +#define FatStructs_h +/** + * \file + * FAT file structures + */ +/* + * mostly from Microsoft document fatgen103.doc + * http://www.microsoft.com/whdc/system/platform/firmware/fatgen.mspx + */ +//------------------------------------------------------------------------------ +/** Value for byte 510 of boot block or MBR */ +uint8_t const BOOTSIG0 = 0X55; +/** Value for byte 511 of boot block or MBR */ +uint8_t const BOOTSIG1 = 0XAA; +//------------------------------------------------------------------------------ +/** + * \struct partitionTable + * \brief MBR partition table entry + * + * A partition table entry for a MBR formatted storage device. + * The MBR partition table has four entries. + */ +struct partitionTable { + /** + * Boot Indicator . Indicates whether the volume is the active + * partition. Legal values include: 0X00. Do not use for booting. + * 0X80 Active partition. + */ + uint8_t boot; + /** + * Head part of Cylinder-head-sector address of the first block in + * the partition. Legal values are 0-255. Only used in old PC BIOS. + */ + uint8_t beginHead; + /** + * Sector part of Cylinder-head-sector address of the first block in + * the partition. Legal values are 1-63. Only used in old PC BIOS. + */ + unsigned beginSector : 6; + /** High bits cylinder for first block in partition. */ + unsigned beginCylinderHigh : 2; + /** + * Combine beginCylinderLow with beginCylinderHigh. Legal values + * are 0-1023. Only used in old PC BIOS. + */ + uint8_t beginCylinderLow; + /** + * Partition type. See defines that begin with PART_TYPE_ for + * some Microsoft partition types. + */ + uint8_t type; + /** + * head part of cylinder-head-sector address of the last sector in the + * partition. Legal values are 0-255. Only used in old PC BIOS. + */ + uint8_t endHead; + /** + * Sector part of cylinder-head-sector address of the last sector in + * the partition. Legal values are 1-63. Only used in old PC BIOS. + */ + unsigned endSector : 6; + /** High bits of end cylinder */ + unsigned endCylinderHigh : 2; + /** + * Combine endCylinderLow with endCylinderHigh. Legal values + * are 0-1023. Only used in old PC BIOS. + */ + uint8_t endCylinderLow; + /** Logical block address of the first block in the partition. */ + uint32_t firstSector; + /** Length of the partition, in blocks. */ + uint32_t totalSectors; +}; +/** Type name for partitionTable */ +typedef struct partitionTable part_t; +//------------------------------------------------------------------------------ +/** + * \struct masterBootRecord + * + * \brief Master Boot Record + * + * The first block of a storage device that is formatted with a MBR. + */ +struct masterBootRecord { + /** Code Area for master boot program. */ + uint8_t codeArea[440]; + /** Optional WindowsNT disk signature. May contain more boot code. */ + uint32_t diskSignature; + /** Usually zero but may be more boot code. */ + uint16_t usuallyZero; + /** Partition tables. */ + part_t part[4]; + /** First MBR signature byte. Must be 0X55 */ + uint8_t mbrSig0; + /** Second MBR signature byte. Must be 0XAA */ + uint8_t mbrSig1; +}; +/** Type name for masterBootRecord */ +typedef struct masterBootRecord mbr_t; +//------------------------------------------------------------------------------ +/** + * \struct biosParmBlock + * + * \brief BIOS parameter block + * + * The BIOS parameter block describes the physical layout of a FAT volume. + */ +struct biosParmBlock { + /** + * Count of bytes per sector. This value may take on only the + * following values: 512, 1024, 2048 or 4096 + */ + uint16_t bytesPerSector; + /** + * Number of sectors per allocation unit. This value must be a + * power of 2 that is greater than 0. The legal values are + * 1, 2, 4, 8, 16, 32, 64, and 128. + */ + uint8_t sectorsPerCluster; + /** + * Number of sectors before the first FAT. + * This value must not be zero. + */ + uint16_t reservedSectorCount; + /** The count of FAT data structures on the volume. This field should + * always contain the value 2 for any FAT volume of any type. + */ + uint8_t fatCount; + /** + * For FAT12 and FAT16 volumes, this field contains the count of + * 32-byte directory entries in the root directory. For FAT32 volumes, + * this field must be set to 0. For FAT12 and FAT16 volumes, this + * value should always specify a count that when multiplied by 32 + * results in a multiple of bytesPerSector. FAT16 volumes should + * use the value 512. + */ + uint16_t rootDirEntryCount; + /** + * This field is the old 16-bit total count of sectors on the volume. + * This count includes the count of all sectors in all four regions + * of the volume. This field can be 0; if it is 0, then totalSectors32 + * must be non-zero. For FAT32 volumes, this field must be 0. For + * FAT12 and FAT16 volumes, this field contains the sector count, and + * totalSectors32 is 0 if the total sector count fits + * (is less than 0x10000). + */ + uint16_t totalSectors16; + /** + * This dates back to the old MS-DOS 1.x media determination and is + * no longer usually used for anything. 0xF8 is the standard value + * for fixed (non-removable) media. For removable media, 0xF0 is + * frequently used. Legal values are 0xF0 or 0xF8-0xFF. + */ + uint8_t mediaType; + /** + * Count of sectors occupied by one FAT on FAT12/FAT16 volumes. + * On FAT32 volumes this field must be 0, and sectorsPerFat32 + * contains the FAT size count. + */ + uint16_t sectorsPerFat16; + /** Sectors per track for interrupt 0x13. Not used otherwise. */ + uint16_t sectorsPerTrtack; + /** Number of heads for interrupt 0x13. Not used otherwise. */ + uint16_t headCount; + /** + * Count of hidden sectors preceding the partition that contains this + * FAT volume. This field is generally only relevant for media + * visible on interrupt 0x13. + */ + uint32_t hidddenSectors; + /** + * This field is the new 32-bit total count of sectors on the volume. + * This count includes the count of all sectors in all four regions + * of the volume. This field can be 0; if it is 0, then + * totalSectors16 must be non-zero. + */ + uint32_t totalSectors32; + /** + * Count of sectors occupied by one FAT on FAT32 volumes. + */ + uint32_t sectorsPerFat32; + /** + * This field is only defined for FAT32 media and does not exist on + * FAT12 and FAT16 media. + * Bits 0-3 -- Zero-based number of active FAT. + * Only valid if mirroring is disabled. + * Bits 4-6 -- Reserved. + * Bit 7 -- 0 means the FAT is mirrored at runtime into all FATs. + * -- 1 means only one FAT is active; it is the one referenced in bits 0-3. + * Bits 8-15 -- Reserved. + */ + uint16_t fat32Flags; + /** + * FAT32 version. High byte is major revision number. + * Low byte is minor revision number. Only 0.0 define. + */ + uint16_t fat32Version; + /** + * Cluster number of the first cluster of the root directory for FAT32. + * This usually 2 but not required to be 2. + */ + uint32_t fat32RootCluster; + /** + * Sector number of FSINFO structure in the reserved area of the + * FAT32 volume. Usually 1. + */ + uint16_t fat32FSInfo; + /** + * If non-zero, indicates the sector number in the reserved area + * of the volume of a copy of the boot record. Usually 6. + * No value other than 6 is recommended. + */ + uint16_t fat32BackBootBlock; + /** + * Reserved for future expansion. Code that formats FAT32 volumes + * should always set all of the bytes of this field to 0. + */ + uint8_t fat32Reserved[12]; +}; +/** Type name for biosParmBlock */ +typedef struct biosParmBlock bpb_t; +//------------------------------------------------------------------------------ +/** + * \struct fat32BootSector + * + * \brief Boot sector for a FAT16 or FAT32 volume. + * + */ +struct fat32BootSector { + /** X86 jmp to boot program */ + uint8_t jmpToBootCode[3]; + /** informational only - don't depend on it */ + char oemName[8]; + /** BIOS Parameter Block */ + bpb_t bpb; + /** for int0x13 use value 0X80 for hard drive */ + uint8_t driveNumber; + /** used by Windows NT - should be zero for FAT */ + uint8_t reserved1; + /** 0X29 if next three fields are valid */ + uint8_t bootSignature; + /** usually generated by combining date and time */ + uint32_t volumeSerialNumber; + /** should match volume label in root dir */ + char volumeLabel[11]; + /** informational only - don't depend on it */ + char fileSystemType[8]; + /** X86 boot code */ + uint8_t bootCode[420]; + /** must be 0X55 */ + uint8_t bootSectorSig0; + /** must be 0XAA */ + uint8_t bootSectorSig1; +}; +//------------------------------------------------------------------------------ +// End Of Chain values for FAT entries +/** FAT16 end of chain value used by Microsoft. */ +uint16_t const FAT16EOC = 0XFFFF; +/** Minimum value for FAT16 EOC. Use to test for EOC. */ +uint16_t const FAT16EOC_MIN = 0XFFF8; +/** FAT32 end of chain value used by Microsoft. */ +uint32_t const FAT32EOC = 0X0FFFFFFF; +/** Minimum value for FAT32 EOC. Use to test for EOC. */ +uint32_t const FAT32EOC_MIN = 0X0FFFFFF8; +/** Mask a for FAT32 entry. Entries are 28 bits. */ +uint32_t const FAT32MASK = 0X0FFFFFFF; + +/** Type name for fat32BootSector */ +typedef struct fat32BootSector fbs_t; +//------------------------------------------------------------------------------ +/** + * \struct directoryEntry + * \brief FAT short directory entry + * + * Short means short 8.3 name, not the entry size. + * + * Date Format. A FAT directory entry date stamp is a 16-bit field that is + * basically a date relative to the MS-DOS epoch of 01/01/1980. Here is the + * format (bit 0 is the LSB of the 16-bit word, bit 15 is the MSB of the + * 16-bit word): + * + * Bits 9-15: Count of years from 1980, valid value range 0-127 + * inclusive (1980-2107). + * + * Bits 5-8: Month of year, 1 = January, valid value range 1-12 inclusive. + * + * Bits 0-4: Day of month, valid value range 1-31 inclusive. + * + * Time Format. A FAT directory entry time stamp is a 16-bit field that has + * a granularity of 2 seconds. Here is the format (bit 0 is the LSB of the + * 16-bit word, bit 15 is the MSB of the 16-bit word). + * + * Bits 11-15: Hours, valid value range 0-23 inclusive. + * + * Bits 5-10: Minutes, valid value range 0-59 inclusive. + * + * Bits 0-4: 2-second count, valid value range 0-29 inclusive (0 - 58 seconds). + * + * The valid time range is from Midnight 00:00:00 to 23:59:58. + */ +struct directoryEntry { + /** + * Short 8.3 name. + * The first eight bytes contain the file name with blank fill. + * The last three bytes contain the file extension with blank fill. + */ + uint8_t name[11]; + /** Entry attributes. + * + * The upper two bits of the attribute byte are reserved and should + * always be set to 0 when a file is created and never modified or + * looked at after that. See defines that begin with DIR_ATT_. + */ + uint8_t attributes; + /** + * Reserved for use by Windows NT. Set value to 0 when a file is + * created and never modify or look at it after that. + */ + uint8_t reservedNT; + /** + * The granularity of the seconds part of creationTime is 2 seconds + * so this field is a count of tenths of a second and its valid + * value range is 0-199 inclusive. (WHG note - seems to be hundredths) + */ + uint8_t creationTimeTenths; + /** Time file was created. */ + uint16_t creationTime; + /** Date file was created. */ + uint16_t creationDate; + /** + * Last access date. Note that there is no last access time, only + * a date. This is the date of last read or write. In the case of + * a write, this should be set to the same date as lastWriteDate. + */ + uint16_t lastAccessDate; + /** + * High word of this entry's first cluster number (always 0 for a + * FAT12 or FAT16 volume). + */ + uint16_t firstClusterHigh; + /** Time of last write. File creation is considered a write. */ + uint16_t lastWriteTime; + /** Date of last write. File creation is considered a write. */ + uint16_t lastWriteDate; + /** Low word of this entry's first cluster number. */ + uint16_t firstClusterLow; + /** 32-bit unsigned holding this file's size in bytes. */ + uint32_t fileSize; +}; +//------------------------------------------------------------------------------ +// Definitions for directory entries +// +/** Type name for directoryEntry */ +typedef struct directoryEntry dir_t; +/** escape for name[0] = 0XE5 */ +uint8_t const DIR_NAME_0XE5 = 0X05; +/** name[0] value for entry that is free after being "deleted" */ +uint8_t const DIR_NAME_DELETED = 0XE5; +/** name[0] value for entry that is free and no allocated entries follow */ +uint8_t const DIR_NAME_FREE = 0X00; +/** file is read-only */ +uint8_t const DIR_ATT_READ_ONLY = 0X01; +/** File should hidden in directory listings */ +uint8_t const DIR_ATT_HIDDEN = 0X02; +/** Entry is for a system file */ +uint8_t const DIR_ATT_SYSTEM = 0X04; +/** Directory entry contains the volume label */ +uint8_t const DIR_ATT_VOLUME_ID = 0X08; +/** Entry is for a directory */ +uint8_t const DIR_ATT_DIRECTORY = 0X10; +/** Old DOS archive bit for backup support */ +uint8_t const DIR_ATT_ARCHIVE = 0X20; +/** Test value for long name entry. Test is + (d->attributes & DIR_ATT_LONG_NAME_MASK) == DIR_ATT_LONG_NAME. */ +uint8_t const DIR_ATT_LONG_NAME = 0X0F; +/** Test mask for long name entry */ +uint8_t const DIR_ATT_LONG_NAME_MASK = 0X3F; +/** defined attribute bits */ +uint8_t const DIR_ATT_DEFINED_BITS = 0X3F; +/** Directory entry is part of a long name */ +static inline uint8_t DIR_IS_LONG_NAME(const dir_t* dir) { + return (dir->attributes & DIR_ATT_LONG_NAME_MASK) == DIR_ATT_LONG_NAME; +} +/** Mask for file/subdirectory tests */ +uint8_t const DIR_ATT_FILE_TYPE_MASK = (DIR_ATT_VOLUME_ID | DIR_ATT_DIRECTORY); +/** Directory entry is for a file */ +static inline uint8_t DIR_IS_FILE(const dir_t* dir) { + return (dir->attributes & DIR_ATT_FILE_TYPE_MASK) == 0; +} +/** Directory entry is for a subdirectory */ +static inline uint8_t DIR_IS_SUBDIR(const dir_t* dir) { + return (dir->attributes & DIR_ATT_FILE_TYPE_MASK) == DIR_ATT_DIRECTORY; +} +/** Directory entry is for a file or subdirectory */ +static inline uint8_t DIR_IS_FILE_OR_SUBDIR(const dir_t* dir) { + return (dir->attributes & DIR_ATT_VOLUME_ID) == 0; +} +#endif // FatStructs_h diff --git a/libraries/Robot_Control/Melody.cpp b/libraries/Robot_Control/Melody.cpp new file mode 100644 index 0000000..0341c55 --- /dev/null +++ b/libraries/Robot_Control/Melody.cpp @@ -0,0 +1,100 @@ +#include "ArduinoRobot.h" +#include "SquawkSD.h" +#include "Fat16.h" + + + +SQUAWK_CONSTRUCT_ISR(SQUAWK_PWM_PIN5); + + +void RobotControl::beginSpeaker(uint16_t frequency){ + SquawkSynth::begin(frequency); + SquawkSynth::play(); + osc[2].vol = 0x7F; +} + +void RobotControl::playNote(byte period, word length, char modifier) { + // Modifier . makes note length 2/3 + if(modifier == '.') length = (length * 2) / 3; + // Set up the play frequency, 352800 is [sample_rate]=44100 * [tuning]=8.0 + osc[2].freq = 352800 / period; + // Delay, silence, delay + delay(length); + osc[2].freq = 0; + delay(length); +} + +void RobotControl::playMelody(char* script){ + // Find length of play string + word length = strlen(script); + // Set the default note time + word time = 500; + // Loop through each character in the play string + for(int n = 0; n < length; n++) { + // Fetch the character AFTER the current one - it may contain a modifier + char modifier = script[n + 1]; + // Fetch the current character and branch accordingly + switch(script[n]) { + // Notes + case 'c': playNote(214, time, modifier); break; // Play a C + case 'C': playNote(202, time, modifier); break; // Play a C# + case 'd': playNote(190, time, modifier); break; // Play a D + case 'D': playNote(180, time, modifier); break; // Play a D# + case 'e': playNote(170, time, modifier); break; // Play an F + case 'f': playNote(160, time, modifier); break; // Play an F + case 'F': playNote(151, time, modifier); break; // Play an F# + case 'g': playNote(143, time, modifier); break; // Play a G + case 'G': playNote(135, time, modifier); break; // Play a G# + case 'a': playNote(127, time, modifier); break; // Play an A + case 'A': playNote(120, time, modifier); break; // Play an A# + case 'b': playNote(113, time, modifier); break; // Play a B + // Delay + case '-': playNote(0, time, modifier); break; // Play a quiet note + // Note lengths + case '1': time = 1000; break; // Full note + case '2': time = 500; break; // Half note + case '4': time = 250; break; // Quarter note + case '8': time = 50; break; // Eigth note + // Modifier '.' makes note length 2/3 + + } + } +} + +void RobotControl::beep(int beep_length){ + char scr1[]="8F"; + char scr2[]="8Fe"; + char scr3[]="1F"; + + switch (beep_length) + { + case BEEP_SIMPLE: + default: + playMelody(scr1); + break; + + case BEEP_DOUBLE: + playMelody(scr2); + break; + + case BEEP_LONG: + playMelody(scr3); + } + +} + +void RobotControl::tempoWrite(int tempo){ + SquawkSynthSD::tempo(tempo); +} +void RobotControl::tuneWrite(float tune){ + SquawkSynthSD::tune(tune); +} + +void RobotControl::playFile(char* filename){ + melody.open(filename,O_READ); + SquawkSynthSD::play(melody); +} + +void RobotControl::stopPlayFile(){ + melody.close(); +}
\ No newline at end of file diff --git a/libraries/Robot_Control/Motors.cpp b/libraries/Robot_Control/Motors.cpp new file mode 100644 index 0000000..9d5e8b0 --- /dev/null +++ b/libraries/Robot_Control/Motors.cpp @@ -0,0 +1 @@ +#include "ArduinoRobot.h"
#include "EasyTransfer2.h"
void RobotControl::motorsStop(){
messageOut.writeByte(COMMAND_MOTORS_STOP);
messageOut.sendData();
}
void RobotControl::motorsWrite(int speedLeft,int speedRight){
messageOut.writeByte(COMMAND_RUN);
messageOut.writeInt(speedLeft);
messageOut.writeInt(speedRight);
messageOut.sendData();
}
void RobotControl::motorsWritePct(int speedLeftPct, int speedRightPct){
int16_t speedLeft=255*speedLeftPct;
int16_t speedRight=255*speedRightPct;
motorsWrite(speedLeft,speedRight);
}
void RobotControl::pointTo(int angle){
int target=angle;
uint8_t speed=80;
target=target%360;
if(target<0){
target+=360;
}
int direction=angle;
while(1){
if(direction>0){
motorsWrite(speed,-speed);//right
delay(10);
}else{
motorsWrite(-speed,speed);//left
delay(10);
}
int currentAngle=compassRead();
int diff=target-currentAngle;
if(diff<-180)
diff += 360;
else if(diff> 180)
diff -= 360;
direction=-diff;
if(abs(diff)<5){
motorsWrite(0,0);
return;
}
}
}
void RobotControl::turn(int angle){
int originalAngle=compassRead();
int target=originalAngle+angle;
pointTo(target);
/*uint8_t speed=80;
target=target%360;
if(target<0){
target+=360;
}
int direction=angle;
while(1){
if(direction>0){
motorsWrite(speed,speed);//right
delay(10);
}else{
motorsWrite(-speed,-speed);//left
delay(10);
}
int currentAngle=compassRead();
int diff=target-currentAngle;
if(diff<-180)
diff += 360;
else if(diff> 180)
diff -= 360;
direction=-diff;
if(abs(diff)<5){
motorsWrite(0,0);
return;
}
}*/
}
void RobotControl::moveForward(int speed){
motorsWrite(speed,speed);
}
void RobotControl::moveBackward(int speed){
motorsWrite(speed,speed);
}
void RobotControl::turnLeft(int speed){
motorsWrite(speed,255);
}
void RobotControl::turnRight(int speed){
motorsWrite(255,speed);
}
/*
int RobotControl::getIRrecvResult(){
messageOut.writeByte(COMMAND_GET_IRRECV);
messageOut.sendData();
//delay(10);
while(!messageIn.receiveData());
if(messageIn.readByte()==COMMAND_GET_IRRECV_RE){
return messageIn.readInt();
}
return -1;
}
*/
\ No newline at end of file diff --git a/libraries/Robot_Control/Multiplexer.cpp b/libraries/Robot_Control/Multiplexer.cpp new file mode 100644 index 0000000..8f7d30e --- /dev/null +++ b/libraries/Robot_Control/Multiplexer.cpp @@ -0,0 +1,37 @@ +#include "Multiplexer.h" + +void Multiplexer::begin(uint8_t* selectors, uint8_t Z, uint8_t length){ + for(uint8_t i=0;i<length;i++){ + this->selectors[i]=selectors[i]; + pinMode(selectors[i],OUTPUT); + } + this->length=length; + this->pin_Z=Z; + pinMode(pin_Z,INPUT); +} + +void Multiplexer::selectPin(uint8_t num){ + for(uint8_t i=0;i<length;i++){ + //Serial.print(bitRead(num,i)); + digitalWrite(selectors[i],bitRead(num,i)); + } + //Serial.println(""); +} + +int Multiplexer::getAnalogValue(){ + return analogRead(pin_Z); +} + +bool Multiplexer::getDigitalValue(){ + return digitalRead(pin_Z); +} + +int Multiplexer::getAnalogValueAt(uint8_t num){ + selectPin(num); + return getAnalogValue(); +} + +bool Multiplexer::getDigitalValueAt(uint8_t num){ + selectPin(num); + return getDigitalValue(); +} diff --git a/libraries/Robot_Control/Multiplexer.h b/libraries/Robot_Control/Multiplexer.h new file mode 100644 index 0000000..a0c4c5c --- /dev/null +++ b/libraries/Robot_Control/Multiplexer.h @@ -0,0 +1,24 @@ +#ifndef Multiplexer_h +#define Multiplexer_h + +#if ARDUINO >= 100 +#include "Arduino.h" +#else +#include "WProgram.h" +#endif + +class Multiplexer{ + public: + void begin(uint8_t* selectors, uint8_t Z, uint8_t length); + void selectPin(uint8_t num); + int getAnalogValue(); + int getAnalogValueAt(uint8_t num); + bool getDigitalValue(); + bool getDigitalValueAt(uint8_t num); + private: + uint8_t selectors[4]; + uint8_t pin_Z; + uint8_t length; +}; + +#endif diff --git a/libraries/Robot_Control/RobotSdCard.cpp b/libraries/Robot_Control/RobotSdCard.cpp new file mode 100644 index 0000000..df833d2 --- /dev/null +++ b/libraries/Robot_Control/RobotSdCard.cpp @@ -0,0 +1,22 @@ +#include <ArduinoRobot.h> + +void RobotControl::beginSD(){ + card.init(); + file.init(&card); + melody.init(&card); +} + +void RobotControl::_enableSD(){ + DDRB = DDRB & 0xDF; //pinMode(CS_LCD,INPUT); + DDRB = DDRB | 0x10; //pinMode(CS_SD,OUTPUT); +} + +/* +void RobotControl::sdTest(){ + file.open("Infor.txt",O_READ); + uint8_t buf[7]; + char n; + while ((n = file.read(buf, sizeof(buf))) > 0) { + for (uint8_t i = 0; i < n; i++) Serial.write(buf[i]); + } +}*/
\ No newline at end of file diff --git a/libraries/Robot_Control/SPI.cpp b/libraries/Robot_Control/SPI.cpp new file mode 100644 index 0000000..5e48073 --- /dev/null +++ b/libraries/Robot_Control/SPI.cpp @@ -0,0 +1,66 @@ +/* + * Copyright (c) 2010 by Cristian Maglie <c.maglie@bug.st> + * SPI Master library for arduino. + * + * This file is free software; you can redistribute it and/or modify + * it under the terms of either the GNU General Public License version 2 + * or the GNU Lesser General Public License version 2.1, both as + * published by the Free Software Foundation. + */ + +#include "pins_arduino.h" +#include "SPI.h" + +SPIClass SPI; + +void SPIClass::begin() { + + // Set SS to high so a connected chip will be "deselected" by default + digitalWrite(SS, HIGH); + + // When the SS pin is set as OUTPUT, it can be used as + // a general purpose output port (it doesn't influence + // SPI operations). + pinMode(SS, OUTPUT); + + // Warning: if the SS pin ever becomes a LOW INPUT then SPI + // automatically switches to Slave, so the data direction of + // the SS pin MUST be kept as OUTPUT. + SPCR |= _BV(MSTR); + SPCR |= _BV(SPE); + + // Set direction register for SCK and MOSI pin. + // MISO pin automatically overrides to INPUT. + // By doing this AFTER enabling SPI, we avoid accidentally + // clocking in a single bit since the lines go directly + // from "input" to SPI control. + // http://code.google.com/p/arduino/issues/detail?id=888 + pinMode(SCK, OUTPUT); + pinMode(MOSI, OUTPUT); +} + + +void SPIClass::end() { + SPCR &= ~_BV(SPE); +} + +void SPIClass::setBitOrder(uint8_t bitOrder) +{ + if(bitOrder == LSBFIRST) { + SPCR |= _BV(DORD); + } else { + SPCR &= ~(_BV(DORD)); + } +} + +void SPIClass::setDataMode(uint8_t mode) +{ + SPCR = (SPCR & ~SPI_MODE_MASK) | mode; +} + +void SPIClass::setClockDivider(uint8_t rate) +{ + SPCR = (SPCR & ~SPI_CLOCK_MASK) | (rate & SPI_CLOCK_MASK); + SPSR = (SPSR & ~SPI_2XCLOCK_MASK) | ((rate >> 2) & SPI_2XCLOCK_MASK); +} + diff --git a/libraries/Robot_Control/SPI.h b/libraries/Robot_Control/SPI.h new file mode 100644 index 0000000..f647d5c --- /dev/null +++ b/libraries/Robot_Control/SPI.h @@ -0,0 +1,70 @@ +/* + * Copyright (c) 2010 by Cristian Maglie <c.maglie@bug.st> + * SPI Master library for arduino. + * + * This file is free software; you can redistribute it and/or modify + * it under the terms of either the GNU General Public License version 2 + * or the GNU Lesser General Public License version 2.1, both as + * published by the Free Software Foundation. + */ + +#ifndef _SPI_H_INCLUDED +#define _SPI_H_INCLUDED + +#include <stdio.h> +#include <Arduino.h> +#include <avr/pgmspace.h> + +#define SPI_CLOCK_DIV4 0x00 +#define SPI_CLOCK_DIV16 0x01 +#define SPI_CLOCK_DIV64 0x02 +#define SPI_CLOCK_DIV128 0x03 +#define SPI_CLOCK_DIV2 0x04 +#define SPI_CLOCK_DIV8 0x05 +#define SPI_CLOCK_DIV32 0x06 +//#define SPI_CLOCK_DIV64 0x07 + +#define SPI_MODE0 0x00 +#define SPI_MODE1 0x04 +#define SPI_MODE2 0x08 +#define SPI_MODE3 0x0C + +#define SPI_MODE_MASK 0x0C // CPOL = bit 3, CPHA = bit 2 on SPCR +#define SPI_CLOCK_MASK 0x03 // SPR1 = bit 1, SPR0 = bit 0 on SPCR +#define SPI_2XCLOCK_MASK 0x01 // SPI2X = bit 0 on SPSR + +class SPIClass { +public: + inline static byte transfer(byte _data); + + // SPI Configuration methods + + inline static void attachInterrupt(); + inline static void detachInterrupt(); // Default + + static void begin(); // Default + static void end(); + + static void setBitOrder(uint8_t); + static void setDataMode(uint8_t); + static void setClockDivider(uint8_t); +}; + +extern SPIClass SPI; + +byte SPIClass::transfer(byte _data) { + SPDR = _data; + while (!(SPSR & _BV(SPIF))) + ; + return SPDR; +} + +void SPIClass::attachInterrupt() { + SPCR |= _BV(SPIE); +} + +void SPIClass::detachInterrupt() { + SPCR &= ~_BV(SPIE); +} + +#endif diff --git a/libraries/Robot_Control/SdCard.cpp b/libraries/Robot_Control/SdCard.cpp new file mode 100644 index 0000000..fbbd8bc --- /dev/null +++ b/libraries/Robot_Control/SdCard.cpp @@ -0,0 +1,279 @@ +/* Arduino FAT16 Library + * Copyright (C) 2008 by William Greiman + * + * This file is part of the Arduino FAT16 Library + * + * This Library is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This Library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + + * You should have received a copy of the GNU General Public License + * along with the Arduino Fat16 Library. If not, see + * <http://www.gnu.org/licenses/>. + */ +#include <avr/pgmspace.h> +#if ARDUINO < 100 +#include <WProgram.h> +#else // ARDUINO +#include <Arduino.h> +#endif // ARDUINO +#include <Fat16Config.h> +#include <SdCard.h> +//------------------------------------------------------------------------------ +// r1 status values +uint8_t const R1_READY_STATE = 0; +uint8_t const R1_IDLE_STATE = 1; +// start data token for read or write +uint8_t const DATA_START_BLOCK = 0XFE; +// data response tokens for write block +uint8_t const DATA_RES_MASK = 0X1F; +uint8_t const DATA_RES_ACCEPTED = 0X05; +uint8_t const DATA_RES_CRC_ERROR = 0X0B; +uint8_t const DATA_RES_WRITE_ERROR = 0X0D; +// +// stop compiler from inlining where speed optimization is not required +#define STATIC_NOINLINE static __attribute__((noinline)) +//------------------------------------------------------------------------------ +// SPI static functions +// +// clock byte in +STATIC_NOINLINE uint8_t spiRec(void) { + SPDR = 0xff; + while (!(SPSR & (1 << SPIF))); + return SPDR; +} +// clock byte out +STATIC_NOINLINE void spiSend(uint8_t b) { + SPDR = b; + while (!(SPSR & (1 << SPIF))); +} +//------------------------------------------------------------------------------ +// wait for card to go not busy +// return false if timeout +static uint8_t waitForToken(uint8_t token, uint16_t timeoutMillis) { + uint16_t t0 = millis(); + while (spiRec() != token) { + if (((uint16_t)millis() - t0) > timeoutMillis) return false; + } + return true; +} +//------------------------------------------------------------------------------ +uint8_t SdCard::cardCommand(uint8_t cmd, uint32_t arg) { + uint8_t r1; + + // select card + chipSelectLow(); + + // wait if busy + waitForToken(0XFF, SD_COMMAND_TIMEOUT); + + // send command + spiSend(cmd | 0x40); + + // send argument + for (int8_t s = 24; s >= 0; s -= 8) spiSend(arg >> s); + + // send CRC - must send valid CRC for CMD0 + spiSend(cmd == CMD0 ? 0x95 : 0XFF); + + // wait for not busy + for (uint8_t retry = 0; (0X80 & (r1 = spiRec())) && retry != 0XFF; retry++); + return r1; +} +//------------------------------------------------------------------------------ +uint8_t SdCard::cardAcmd(uint8_t cmd, uint32_t arg) { + cardCommand(CMD55, 0); + return cardCommand(cmd, arg); +} +//============================================================================== +// SdCard member functions +//------------------------------------------------------------------------------ +/** + * Determine the size of a standard SD flash memory card + * \return The number of 512 byte data blocks in the card + */ +uint32_t SdCard::cardSize(void) { + uint16_t c_size; + csd_t csd; + if (!readReg(CMD9, &csd)) return 0; + uint8_t read_bl_len = csd.read_bl_len; + c_size = (csd.c_size_high << 10) | (csd.c_size_mid << 2) | csd.c_size_low; + uint8_t c_size_mult = (csd.c_size_mult_high << 1) | csd.c_size_mult_low; + return (uint32_t)(c_size+1) << (c_size_mult + read_bl_len - 7); +} +//------------------------------------------------------------------------------ +void SdCard::chipSelectHigh(void) { + digitalWrite(chipSelectPin_, HIGH); + // make sure MISO goes high impedance + spiSend(0XFF); +} +//------------------------------------------------------------------------------ +void SdCard::chipSelectLow(void) { + // Enable SPI, Master, clock rate F_CPU/4 + SPCR = (1 << SPE) | (1 << MSTR); + + // Doubled Clock Frequency to F_CPU/2 unless speed_ is nonzero + if (!speed_) SPSR |= (1 << SPI2X); + + digitalWrite(chipSelectPin_, LOW); +} +//------------------------------------------------------------------------------ +void SdCard::error(uint8_t code, uint8_t data) { + errorData = data; + error(code); +} +//------------------------------------------------------------------------------ +void SdCard::error(uint8_t code) { + errorCode = code; + chipSelectHigh(); +} +//------------------------------------------------------------------------------ +/** + * Initialize a SD flash memory card. + * + * \param[in] speed Set SPI Frequency to F_CPU/2 if speed = 0 or F_CPU/4 + * if speed = 1. + * \param[in] chipSelectPin SD chip select pin number. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * + */ +uint8_t SdCard::init(uint8_t speed, uint8_t chipSelectPin) { + if (speed > 1) { + error(SD_ERROR_SPI_SPEED); + return false; + } + speed_ = speed; + chipSelectPin_ = chipSelectPin; + errorCode = 0; + uint8_t r; + // 16-bit init start time allows over a minute + uint16_t t0 = (uint16_t)millis(); + + pinMode(chipSelectPin_, OUTPUT); + digitalWrite(chipSelectPin_, HIGH); + pinMode(SPI_MISO_PIN, INPUT); + pinMode(SPI_SS_PIN, OUTPUT); + pinMode(SPI_MOSI_PIN, OUTPUT); + pinMode(SPI_SCK_PIN, OUTPUT); + + // Enable SPI, Master, clock rate F_CPU/128 + SPCR = (1 << SPE) | (1 << MSTR) | (1 << SPR1) | (1 << SPR0); + + // must supply min of 74 clock cycles with CS high. + for (uint8_t i = 0; i < 10; i++) spiSend(0XFF); + digitalWrite(chipSelectPin_, LOW); + + // command to go idle in SPI mode + while ((r = cardCommand(CMD0, 0)) != R1_IDLE_STATE) { + if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) { + error(SD_ERROR_CMD0, r); + return false; + } + } + // start initialization and wait for completed initialization + while ((r = cardAcmd(ACMD41, 0)) != R1_READY_STATE) { + if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) { + error(SD_ERROR_ACMD41, r); + return false; + } + } + chipSelectHigh(); + return true; +} +//------------------------------------------------------------------------------ +/** + * Reads a 512 byte block from a storage device. + * + * \param[in] blockNumber Logical block to be read. + * \param[out] dst Pointer to the location that will receive the data. + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +uint8_t SdCard::readBlock(uint32_t blockNumber, uint8_t* dst) { + if (cardCommand(CMD17, blockNumber << 9)) { + error(SD_ERROR_CMD17); + return false; + } + return readTransfer(dst, 512); +} +//------------------------------------------------------------------------------ +uint8_t SdCard::readReg(uint8_t cmd, void* buf) { + uint8_t* dst = reinterpret_cast<uint8_t*>(buf); + if (cardCommand(cmd, 0)) { + chipSelectHigh(); + return false; + } + return readTransfer(dst, 16); +} +//------------------------------------------------------------------------------ +uint8_t SdCard::readTransfer(uint8_t* dst, uint16_t count) { + // wait for start of data + if (!waitForToken(DATA_START_BLOCK, SD_READ_TIMEOUT)) { + error(SD_ERROR_READ_TIMEOUT); + } + // start first spi transfer + SPDR = 0XFF; + for (uint16_t i = 0; i < count; i++) { + while (!(SPSR & (1 << SPIF))); + dst[i] = SPDR; + SPDR = 0XFF; + } + // wait for first CRC byte + while (!(SPSR & (1 << SPIF))); + spiRec(); // second CRC byte + chipSelectHigh(); + return true; +} +//------------------------------------------------------------------------------ +/** + * Writes a 512 byte block to a storage device. + * + * \param[in] blockNumber Logical block to be written. + * \param[in] src Pointer to the location of the data to be written. + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +uint8_t SdCard::writeBlock(uint32_t blockNumber, const uint8_t* src) { + uint32_t address = blockNumber << 9; +#if SD_PROTECT_BLOCK_ZERO + // don't allow write to first block + if (address == 0) { + error(SD_ERROR_BLOCK_ZERO_WRITE); + return false; + } +#endif // SD_PROTECT_BLOCK_ZERO + if (cardCommand(CMD24, address)) { + error(SD_ERROR_CMD24); + return false; + } + // optimize write loop + SPDR = DATA_START_BLOCK; + for (uint16_t i = 0; i < 512; i++) { + while (!(SPSR & (1 << SPIF))); + SPDR = src[i]; + } + while (!(SPSR & (1 << SPIF))); // wait for last data byte + spiSend(0xFF); // dummy crc + spiSend(0xFF); // dummy crc + + // get write response + uint8_t r1 = spiRec(); + if ((r1 & DATA_RES_MASK) != DATA_RES_ACCEPTED) { + error(SD_ERROR_WRITE_RESPONSE, r1); + return false; + } + // wait for card to complete write programming + if (!waitForToken(0XFF, SD_WRITE_TIMEOUT)) { + error(SD_ERROR_WRITE_TIMEOUT); + } + chipSelectHigh(); + return true; +} diff --git a/libraries/Robot_Control/SdCard.h b/libraries/Robot_Control/SdCard.h new file mode 100644 index 0000000..c03e6ab --- /dev/null +++ b/libraries/Robot_Control/SdCard.h @@ -0,0 +1,192 @@ +/* Arduino FAT16 Library + * Copyright (C) 2008 by William Greiman + * + * This file is part of the Arduino FAT16 Library + * + * This Library is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This Library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + + * You should have received a copy of the GNU General Public License + * along with the Arduino Fat16 Library. If not, see + * <http://www.gnu.org/licenses/>. + */ +#ifndef SdCard_h +#define SdCard_h + /** + * \file + * SdCard class + */ +#include <SdInfo.h> +//------------------------------------------------------------------------------ +// Warning only SD_CHIP_SELECT_PIN, the SD card select pin, may be redefined. +// define hardware SPI pins +#if defined(__AVR_ATmega168__)\ +||defined(__AVR_ATmega168P__)\ +||defined(__AVR_ATmega328P__) +// 168 and 328 Arduinos +/** Slave Select pin */ +uint8_t const SPI_SS_PIN = 10; +/** Master Out Slave In pin */ +uint8_t const SPI_MOSI_PIN = 11; +/** Master In Slave Out pin */ +uint8_t const SPI_MISO_PIN = 12; +/** Serial Clock */ +uint8_t const SPI_SCK_PIN = 13; +//------------------------------------------------------------------------------ +#elif defined(__AVR_ATmega1280__)\ +|| defined(__AVR_ATmega2560__) +// pins for Arduino Mega +uint8_t const SPI_SS_PIN = 53; +uint8_t const SPI_MOSI_PIN = 51; +uint8_t const SPI_MISO_PIN = 50; +uint8_t const SPI_SCK_PIN = 52; +//------------------------------------------------------------------------------ +#elif defined(__AVR_ATmega644P__)\ +|| defined(__AVR_ATmega644__)\ +|| defined(__AVR_ATmega1284P__) +// pins for Sanguino +uint8_t const SPI_SS_PIN = 4; +uint8_t const SPI_MOSI_PIN = 5; +uint8_t const SPI_MISO_PIN = 6; +uint8_t const SPI_SCK_PIN = 7; +//------------------------------------------------------------------------------ +#elif defined(__AVR_ATmega32U4__) +// pins for Teensy 2.0 +uint8_t const SPI_SS_PIN = 8; +uint8_t const SPI_MOSI_PIN = 16; +uint8_t const SPI_MISO_PIN = 14; +uint8_t const SPI_SCK_PIN = 15; +//------------------------------------------------------------------------------ +#elif defined(__AVR_AT90USB646__)\ +|| defined(__AVR_AT90USB1286__) +// pins for Teensy++ 1.0 & 2.0 +uint8_t const SPI_SS_PIN = 20; +uint8_t const SPI_MOSI_PIN = 22; +uint8_t const SPI_MISO_PIN = 23; +uint8_t const SPI_SCK_PIN = 21; +//------------------------------------------------------------------------------ +#else // SPI pins +#error unknown CPU +#endif // SPI pins +//------------------------------------------------------------------------------ +/** + * SD Chip Select pin + * + * Warning if this pin is redefined the hardware SS pin will be enabled + * as an output by init(). An avr processor will not function as an SPI + * master unless SS is set to output mode. + * + * For example to set SD_CHIP_SELECT_PIN to 8 for the SparkFun microSD shield: + * uint8_t const SD_CHIP_SELECT_PIN = 8; + * + * The default chip select pin for the SD card is SS. + */ +uint8_t const SD_CHIP_SELECT_PIN = SPI_SS_PIN; +//------------------------------------------------------------------------------ +/** command timeout ms */ +uint16_t const SD_COMMAND_TIMEOUT = 300; +/** init timeout ms */ +uint16_t const SD_INIT_TIMEOUT = 2000; +/** read timeout ms */ +uint16_t const SD_READ_TIMEOUT = 300; +/** write timeout ms */ +uint16_t const SD_WRITE_TIMEOUT = 600; +//------------------------------------------------------------------------------ +// error codes +/** Card did not go into SPI mode */ +uint8_t const SD_ERROR_CMD0 = 1; +/** Card did not go ready */ +uint8_t const SD_ERROR_ACMD41 = 2; +/** Write command not accepted */ +uint8_t const SD_ERROR_CMD24 = 3; +/** Read command not accepted */ +uint8_t const SD_ERROR_CMD17 = 4; +/** timeout waiting for read data */ +uint8_t const SD_ERROR_READ_TIMEOUT = 5; +/** write error occurred */ +uint8_t const SD_ERROR_WRITE_RESPONSE = 6; +/** timeout waiting for write status */ +uint8_t const SD_ERROR_WRITE_TIMEOUT = 7; +/** attempt to write block zero */ +uint8_t const SD_ERROR_BLOCK_ZERO_WRITE = 8; +/** card returned an error to a CMD13 status check after a write */ +uint8_t const SD_ERROR_WRITE_PROGRAMMING = 9; +/** invalid SPI speed in init() call */ +uint8_t const SD_ERROR_SPI_SPEED = 10; +//------------------------------------------------------------------------------ +// SD command codes +/** SEND OPERATING CONDITIONS */ +uint8_t const ACMD41 = 0X29; +/** GO_IDLE_STATE - init card in spi mode if CS low */ +uint8_t const CMD0 = 0X00; +/** SEND_CSD - Card Specific Data */ +uint8_t const CMD9 = 0X09; +/** SEND_CID - Card IDentification */ +uint8_t const CMD10 = 0X0A; +/** SEND_STATUS - read the card status register */ +uint8_t const CMD13 = 0X0D; +/** READ_BLOCK */ +uint8_t const CMD17 = 0X11; +/** WRITE_BLOCK */ +uint8_t const CMD24 = 0X18; +/** APP_CMD - escape for application specific command */ +uint8_t const CMD55 = 0X37; +//------------------------------------------------------------------------------ +/** + * \class SdCard + * \brief Hardware access class for SD flash cards + * + * Supports raw access to a standard SD flash memory card. + * + */ +class SdCard { + public: + /** Code for a SD error. See SdCard.h for definitions. */ + uint8_t errorCode; + /** Data that may be helpful in determining the cause of an error */ + uint8_t errorData; + uint32_t cardSize(void); + /** + * Initialize an SD flash memory card with default clock rate and chip + * select pin. See SdCard::init(uint8_t sckRateID, uint8_t chipSelectPin). + */ + uint8_t init(void) { + return init(0, SD_CHIP_SELECT_PIN); + } + /** + * Initialize an SD flash memory card with the selected SPI clock rate + * and the default SD chip select pin. + * See SdCard::init(uint8_t slow, uint8_t chipSelectPin). + */ + uint8_t init(uint8_t speed) { + return init(speed, SD_CHIP_SELECT_PIN); + } + uint8_t init(uint8_t speed, uint8_t chipselectPin); + uint8_t readBlock(uint32_t block, uint8_t* dst); + /** Read the CID register which contains info about the card. + * This includes Manufacturer ID, OEM ID, product name, version, + * serial number, and manufacturing date. */ + uint8_t readCID(cid_t* cid) { + return readReg(CMD10, cid); + } + uint8_t writeBlock(uint32_t block, const uint8_t* src); + private: + uint8_t cardAcmd(uint8_t cmd, uint32_t arg); + uint8_t cardCommand(uint8_t cmd, uint32_t arg); + uint8_t chipSelectPin_; + uint8_t speed_; + void chipSelectHigh(void); + void chipSelectLow(void); + void error(uint8_t code, uint8_t data); + void error(uint8_t code); + uint8_t readReg(uint8_t cmd, void* buf); + uint8_t readTransfer(uint8_t* dst, uint16_t count); +}; +#endif // SdCard_h diff --git a/libraries/Robot_Control/SdInfo.h b/libraries/Robot_Control/SdInfo.h new file mode 100644 index 0000000..4c82e0b --- /dev/null +++ b/libraries/Robot_Control/SdInfo.h @@ -0,0 +1,117 @@ +/* Arduino FAT16 Library + * Copyright (C) 2008 by William Greiman + * + * This file is part of the Arduino FAT16 Library + * + * This Library is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This Library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + + * You should have received a copy of the GNU General Public License + * along with the Arduino Fat16 Library. If not, see + * <http://www.gnu.org/licenses/>. + */ +#ifndef SdInfo_h +#define SdInfo_h +#include <stdint.h> +// Based on the document: +// +// SD Specifications +// Part 1 +// Physical Layer +// Simplified Specification +// Version 2.00 +// September 25, 2006 +// +// www.sdcard.org/developers/tech/sdcard/pls/Simplified_Physical_Layer_Spec.pdf +// +// Card IDentification (CID) register +typedef struct CID { + // byte 0 + uint8_t mid; // Manufacturer ID + // byte 1-2 + char oid[2]; // OEM/Application ID + // byte 3-7 + char pnm[5]; // Product name + // byte 8 + unsigned prv_m : 4; // Product revision n.m + unsigned prv_n : 4; + // byte 9-12 + uint32_t psn; // Product serial number + // byte 13 + unsigned mdt_year_high : 4; // Manufacturing date + unsigned reserved : 4; + // byte 14 + unsigned mdt_month : 4; + unsigned mdt_year_low :4; + // byte 15 + unsigned always1 : 1; + unsigned crc : 7; +}cid_t; +// Card-Specific Data register +typedef struct CSD { + // byte 0 + unsigned reserved1 : 6; + unsigned csd_ver : 2; + // byte 1 + uint8_t taac; + // byte 2 + uint8_t nsac; + // byte 3 + uint8_t tran_speed; + // byte 4 + uint8_t ccc_high; + // byte 5 + unsigned read_bl_len : 4; + unsigned ccc_low : 4; + // byte 6 + unsigned c_size_high : 2; + unsigned reserved2 : 2; + unsigned dsr_imp : 1; + unsigned read_blk_misalign :1; + unsigned write_blk_misalign : 1; + unsigned read_bl_partial : 1; + // byte 7 + uint8_t c_size_mid; + // byte 8 + unsigned vdd_r_curr_max : 3; + unsigned vdd_r_curr_min : 3; + unsigned c_size_low :2; + // byte 9 + unsigned c_size_mult_high : 2; + unsigned vdd_w_cur_max : 3; + unsigned vdd_w_curr_min : 3; + // byte 10 + unsigned sector_size_high : 6; + unsigned erase_blk_en : 1; + unsigned c_size_mult_low : 1; + // byte 11 + unsigned wp_grp_size : 7; + unsigned sector_size_low : 1; + // byte 12 + unsigned write_bl_len_high : 2; + unsigned r2w_factor : 3; + unsigned reserved3 : 2; + unsigned wp_grp_enable : 1; + // byte 13 + unsigned reserved4 : 5; + unsigned write_partial : 1; + unsigned write_bl_len_low : 2; + // byte 14 + unsigned reserved5: 2; + unsigned file_format : 2; + unsigned tmp_write_protect : 1; + unsigned perm_write_protect : 1; + unsigned copy : 1; + unsigned file_format_grp : 1; + // byte 15 + unsigned always1 : 1; + unsigned crc : 7; +}csd_t; +#endif // SdInfo_h diff --git a/libraries/Robot_Control/Sensors.cpp b/libraries/Robot_Control/Sensors.cpp new file mode 100644 index 0000000..b651c28 --- /dev/null +++ b/libraries/Robot_Control/Sensors.cpp @@ -0,0 +1,274 @@ +#include "ArduinoRobot.h" +#include "Multiplexer.h" +#include "Wire.h" +bool RobotControl::digitalRead(uint8_t port){ + uint8_t type=_getTypeCode(port); + switch(type){ + case TYPE_TOP_TK: + return _digitalReadTopMux(port); + break; + case TYPE_TOP_TKD: + return _digitalReadTopPin(port); + break; + case TYPE_BOTTOM_TK: + return _requestDigitalRead(port); + break; + } +} +int RobotControl::analogRead(uint8_t port){ + uint8_t type=_getTypeCode(port); + switch(type){ + case TYPE_TOP_TK: + return _analogReadTopMux(port); + break; + case TYPE_TOP_TKD: + return _analogReadTopPin(port); + break; + case TYPE_BOTTOM_TK: + return _requestAnalogRead(port); + break; + } +} +void RobotControl::digitalWrite(uint8_t port, bool value){ + uint8_t type=_getTypeCode(port); + switch(type){ + case TYPE_TOP_TK: + //Top TKs can't use digitalWrite? + break; + case TYPE_TOP_TKD: + _digitalWriteTopPin(port, value); + break; + case TYPE_BOTTOM_TK: + _requestDigitalWrite(port, value); + break; + } +} +void RobotControl::analogWrite(uint8_t port, uint8_t value){ + if(port==TKD4) + ::analogWrite(port,value); +} + +uint8_t RobotControl::_getTypeCode(uint8_t port){ + switch(port){ + case TK0: + case TK1: + case TK2: + case TK3: + case TK4: + case TK5: + case TK6: + case TK7: + return TYPE_TOP_TK; + break; + + case TKD0: + case TKD1: + case TKD2: + case TKD3: + case TKD4: + case TKD5: + case LED1: + return TYPE_TOP_TKD; + break; + + case B_TK1: + case B_TK2: + case B_TK3: + case B_TK4: + return TYPE_BOTTOM_TK; + break; + } +} +uint8_t RobotControl::_portToTopMux(uint8_t port){ + switch(port){ + case TK0: + return 0; + case TK1: + return 1; + case TK2: + return 2; + case TK3: + return 3; + case TK4: + return 4; + case TK5: + return 5; + case TK6: + return 6; + case TK7: + return 7; + } +} +uint8_t RobotControl::_topDPortToAPort(uint8_t port){ + switch(port){ + case TKD0: + return A1; + case TKD1: + return A2; + case TKD2: + return A3; + case TKD3: + return A4; + case TKD4: + return A7; + case TKD5: + return A11; + } +} +int* RobotControl::parseMBDPort(uint8_t port){ + //Serial.println(port); + switch(port){ + case B_TK1: + return &motorBoardData._B_TK1; + case B_TK2: + return &motorBoardData._B_TK2; + case B_TK3: + return &motorBoardData._B_TK3; + case B_TK4: + return &motorBoardData._B_TK4; + + /* + case B_IR0: + return &motorBoardData._B_IR0; + case B_IR1: + return &motorBoardData._B_IR1; + case B_IR2: + return &motorBoardData._B_IR2; + case B_IR3: + return &motorBoardData._B_IR3; + case B_IR4: + return &motorBoardData._B_IR4;*/ + } +} +int RobotControl::get_motorBoardData(uint8_t port){ + return *parseMBDPort(port); +} +void RobotControl::set_motorBoardData(uint8_t port, int data){ + *parseMBDPort(port)=data; +} + +bool RobotControl::_digitalReadTopMux(uint8_t port){ + uint8_t num=_portToTopMux(port); + return Multiplexer::getDigitalValueAt(num); +} + +int RobotControl::_analogReadTopMux(uint8_t port){ + uint8_t num=_portToTopMux(port); + return Multiplexer::getAnalogValueAt(num); +} + +bool RobotControl::_digitalReadTopPin(uint8_t port){ + return ::digitalRead(port); +} +int RobotControl::_analogReadTopPin(uint8_t port){ + uint8_t aPin=_topDPortToAPort(port); + return ::analogRead(aPin); +} +void RobotControl::_digitalWriteTopPin(uint8_t port, bool value){ + ::digitalWrite(port, value); +} + +bool RobotControl::_requestDigitalRead(uint8_t port){ + messageOut.writeByte(COMMAND_DIGITAL_READ); + messageOut.writeByte(port);//B_TK1 - B_TK4 + messageOut.sendData(); + delay(10); + if(messageIn.receiveData()){ + //Serial.println("*************"); + uint8_t cmd=messageIn.readByte(); + //Serial.print("cmd: "); + //Serial.println(cmd); + if(!(cmd==COMMAND_DIGITAL_READ_RE)) + return false; + + uint8_t pt=messageIn.readByte(); //Bottom TK port codename + //Serial.print("pt: "); + //Serial.println(pt); + set_motorBoardData(pt,messageIn.readByte()); + return get_motorBoardData(port); + } +} +int RobotControl::_requestAnalogRead(uint8_t port){ + messageOut.writeByte(COMMAND_ANALOG_READ); + messageOut.writeByte(port);//B_TK1 - B_TK4 + messageOut.sendData(); + delay(10); + if(messageIn.receiveData()){ + uint8_t cmd=messageIn.readByte(); + //Serial.println("*************"); + //Serial.print("cmd: "); + //Serial.println(cmd); + if(!(cmd==COMMAND_ANALOG_READ_RE)) + return false; + + uint8_t pt=messageIn.readByte(); + //Serial.print("pt: "); + //Serial.println(pt); + set_motorBoardData(pt,messageIn.readInt()); + return get_motorBoardData(port); + } +} +void RobotControl::_requestDigitalWrite(uint8_t selector, uint8_t value){ + messageOut.writeByte(COMMAND_DIGITAL_WRITE); + messageOut.writeByte(selector);//B_TK1 - B_TK4 + messageOut.writeByte(value); + messageOut.sendData(); +} + + + + + +void RobotControl::updateIR(){ + messageOut.writeByte(COMMAND_READ_IR); + messageOut.sendData(); + delay(10); + if(messageIn.receiveData()){ + if(messageIn.readByte()==COMMAND_READ_IR_RE){ + for(int i=0;i<5;i++){ + IRarray[i]=messageIn.readInt(); + } + } + } +} + +int RobotControl::knobRead(){ + return ::analogRead(POT); +} + +int RobotControl::trimRead(){ + messageOut.writeByte(COMMAND_READ_TRIM); + messageOut.sendData(); + delay(10); + if(messageIn.receiveData()){ + uint8_t cmd=messageIn.readByte(); + if(!(cmd==COMMAND_READ_TRIM_RE)) + return false; + + uint16_t pt=messageIn.readInt(); + return pt; + } +} + +uint16_t RobotControl::compassRead(){ + return Compass::getReading(); +} + +/* +void RobotControl::beginUR(uint8_t pinTrigger, uint8_t pinEcho){ + pinTrigger_UR=pinTrigger; + pinEcho_UR=pinEcho; + + pinMode(pinEcho_UR, INPUT); + pinMode(pinTrigger_UR, OUTPUT); +} +uint16_t RobotControl::getDistance(){ + digitalWrite(pinTrigger_UR, LOW); // Set the trigger pin to low for 2uS + delayMicroseconds(2); + digitalWrite(pinTrigger_UR, HIGH); // Send a 10uS high to trigger ranging + delayMicroseconds(10); + digitalWrite(pinTrigger_UR, LOW); // Send pin low again + uint16_t distance = pulseIn(pinEcho_UR, HIGH); // Read in times pulse + distance= distance/58; // Calculate distance from time of pulse + return distance; +}*/
\ No newline at end of file diff --git a/libraries/Robot_Control/Squawk.cpp b/libraries/Robot_Control/Squawk.cpp new file mode 100644 index 0000000..5b39ebe --- /dev/null +++ b/libraries/Robot_Control/Squawk.cpp @@ -0,0 +1,601 @@ +// Squawk Soft-Synthesizer Library for Arduino +// +// Davey Taylor 2013 +// d.taylor@arduino.cc + +#include "Squawk.h" + +// Period range, used for clamping +#define PERIOD_MIN 28 +#define PERIOD_MAX 3424 + +// Convenience macros +#define LO4(V) ((V) & 0x0F) +#define HI4(V) (((V) & 0xF0) >> 4) +#define MIN(A, B) ((A) < (B) ? (A) : (B)) +#define MAX(A, B) ((A) > (B) ? (A) : (B)) +#define FREQ(PERIOD) (tuning_long / (PERIOD)) + +// SquawkStream class for PROGMEM data +class StreamROM : public SquawkStream { + private: + uint8_t *p_start; + uint8_t *p_cursor; + public: + StreamROM(const uint8_t *p_rom = NULL) { p_start = p_cursor = (uint8_t*)p_rom; } + uint8_t read() { return pgm_read_byte(p_cursor++); } + void seek(size_t offset) { p_cursor = p_start + offset; } +}; + +// Oscillator memory +typedef struct { + uint8_t fxp; + uint8_t offset; + uint8_t mode; +} pto_t; + +// Deconstructed cell +typedef struct { + uint8_t fxc, fxp, ixp; +} cel_t; + +// Effect memory +typedef struct { + int8_t volume; + uint8_t port_speed; + uint16_t port_target; + bool glissando; + pto_t vibr; + pto_t trem; + uint16_t period; + uint8_t param; +} fxm_t; + +// Locals +static uint8_t order_count; +static uint8_t order[64]; +static uint8_t speed; +static uint8_t tick; +static uint8_t ix_row; +static uint8_t ix_order; +static uint8_t ix_nextrow; +static uint8_t ix_nextorder; +static uint8_t row_delay; +static fxm_t fxm[4]; +static cel_t cel[4]; +static uint32_t tuning_long; +static uint16_t sample_rate; +static float tuning = 1.0; +static uint16_t tick_rate = 50; + +static SquawkStream *stream; +static uint16_t stream_base; +static StreamROM rom; + +// Imports +extern intptr_t squawk_register; +extern uint16_t cia; + +// Exports +osc_t osc[4]; +uint8_t pcm = 128; + +// ProTracker period tables +uint16_t period_tbl[84] PROGMEM = { + 3424, 3232, 3048, 2880, 2712, 2560, 2416, 2280, 2152, 2032, 1920, 1814, + 1712, 1616, 1524, 1440, 1356, 1280, 1208, 1140, 1076, 1016, 960, 907, + 856, 808, 762, 720, 678, 640, 604, 570, 538, 508, 480, 453, + 428, 404, 381, 360, 339, 320, 302, 285, 269, 254, 240, 226, + 214, 202, 190, 180, 170, 160, 151, 143, 135, 127, 120, 113, + 107, 101, 95, 90, 85, 80, 75, 71, 67, 63, 60, 56, + 53, 50, 47, 45, 42, 40, 37, 35, 33, 31, 30, 28, +}; + +// ProTracker sine table +int8_t sine_tbl[32] PROGMEM = { + 0x00, 0x0C, 0x18, 0x25, 0x30, 0x3C, 0x47, 0x51, 0x5A, 0x62, 0x6A, 0x70, 0x76, 0x7A, 0x7D, 0x7F, + 0x7F, 0x7F, 0x7D, 0x7A, 0x76, 0x70, 0x6A, 0x62, 0x5A, 0x51, 0x47, 0x3C, 0x30, 0x25, 0x18, 0x0C, +}; + +// Squawk object +SquawkSynth Squawk; + +// Look up or generate waveform for ProTracker vibrato/tremolo oscillator +static int8_t do_osc(pto_t *p_osc) { + int8_t sample = 0; + int16_t mul; + switch(p_osc->mode & 0x03) { + case 0: // Sine + sample = pgm_read_byte(&sine_tbl[(p_osc->offset) & 0x1F]); + if(p_osc->offset & 0x20) sample = -sample; + break; + case 1: // Square + sample = (p_osc->offset & 0x20) ? 127 : -128; + break; + case 2: // Saw + sample = -(p_osc->offset << 2); + break; + case 3: // Noise (random) + sample = rand(); + break; + } + mul = sample * LO4(p_osc->fxp); + p_osc->offset = (p_osc->offset + HI4(p_osc->fxp)); + return mul >> 6; +} + +// Calculates and returns arpeggio period +// Essentially finds period of current note + halftones +static inline uint16_t arpeggio(uint8_t ch, uint8_t halftones) { + uint8_t n; + for(n = 0; n != 47; n++) { + if(fxm[ch].period >= pgm_read_word(&period_tbl[n])) break; + } + return pgm_read_word(&period_tbl[MIN(n + halftones, 47)]); +} + +// Calculates and returns glissando period +// Essentially snaps a sliding frequency to the closest note +static inline uint16_t glissando(uint8_t ch) { + uint8_t n; + uint16_t period_h, period_l; + for(n = 0; n != 47; n++) { + period_l = pgm_read_word(&period_tbl[n]); + period_h = pgm_read_word(&period_tbl[n + 1]); + if(fxm[ch].period < period_l && fxm[ch].period >= period_h) { + if(period_l - fxm[ch].period <= fxm[ch].period - period_h) { + period_h = period_l; + } + break; + } + } + return period_h; +} + +// Tunes Squawk to a different frequency +void SquawkSynth::tune(float new_tuning) { + tuning = new_tuning; + tuning_long = (long)(((double)3669213184.0 / (double)sample_rate) * (double)tuning); + +} + +// Sets tempo +void SquawkSynth::tempo(uint16_t new_tempo) { + tick_rate = new_tempo; + cia = sample_rate / tick_rate; // not atomic? +} + +// Initializes Squawk +// Sets up the selected port, and the sample grinding ISR +void SquawkSynth::begin(uint16_t hz) { + word isr_rr; + + sample_rate = hz; + tuning_long = (long)(((double)3669213184.0 / (double)sample_rate) * (double)tuning); + cia = sample_rate / tick_rate; + + if(squawk_register == (intptr_t)&OCR0A) { + // Squawk uses PWM on OCR0A/PD5(ATMega328/168)/PB7(ATMega32U4) +#ifdef __AVR_ATmega32U4__ + DDRB |= 0b10000000; // TODO: FAIL on 32U4 +#else + DDRD |= 0b01000000; +#endif + TCCR0A = 0b10000011; // Fast-PWM 8-bit + TCCR0B = 0b00000001; // 62500Hz + OCR0A = 0x7F; + } else if(squawk_register == (intptr_t)&OCR0B) { + // Squawk uses PWM on OCR0B/PC5(ATMega328/168)/PD0(ATMega32U4) +#ifdef __AVR_ATmega32U4__ + DDRD |= 0b00000001; +#else + DDRD |= 0b00100000; +#endif // Set timer mode to + TCCR0A = 0b00100011; // Fast-PWM 8-bit + TCCR0B = 0b00000001; // 62500Hz + OCR0B = 0x7F; +#ifdef OCR2A + } else if(squawk_register == (intptr_t)&OCR2A) { + // Squawk uses PWM on OCR2A/PB3 + DDRB |= 0b00001000; // Set timer mode to + TCCR2A = 0b10000011; // Fast-PWM 8-bit + TCCR2B = 0b00000001; // 62500Hz + OCR2A = 0x7F; +#endif +#ifdef OCR2B + } else if(squawk_register == (intptr_t)&OCR2B) { + // Squawk uses PWM on OCR2B/PD3 + DDRD |= 0b00001000; // Set timer mode to + TCCR2A = 0b00100011; // Fast-PWM 8-bit + TCCR2B = 0b00000001; // 62500Hz + OCR2B = 0x7F; +#endif +#ifdef OCR3AL + } else if(squawk_register == (intptr_t)&OCR3AL) { + // Squawk uses PWM on OCR3AL/PC6 + DDRC |= 0b01000000; // Set timer mode to + TCCR3A = 0b10000001; // Fast-PWM 8-bit + TCCR3B = 0b00001001; // 62500Hz + OCR3AH = 0x00; + OCR3AL = 0x7F; +#endif + } else if(squawk_register == (intptr_t)&SPDR) { + // NOT YET SUPPORTED + // Squawk uses external DAC via SPI + // TODO: Configure SPI + // TODO: Needs SS toggle in sample grinder + } else if(squawk_register == (intptr_t)&PORTB) { + // NOT YET SUPPORTED + // Squawk uses resistor ladder on PORTB + // TODO: Needs shift right in sample grinder + DDRB = 0b11111111; + } else if(squawk_register == (intptr_t)&PORTC) { + // NOT YET SUPPORTED + // Squawk uses resistor ladder on PORTC + // TODO: Needs shift right in sample grinder + DDRC = 0b11111111; + } + + // Seed LFSR (needed for noise) + osc[3].freq = 0x2000; + + // Set up ISR to run at sample_rate (may not be exact) + isr_rr = F_CPU / sample_rate; + TCCR1A = 0b00000000; // Set timer mode + TCCR1B = 0b00001001; + OCR1AH = isr_rr >> 8; // Set freq + OCR1AL = isr_rr & 0xFF; +} + +// Decrunches a 9 byte row into a useful data +static void decrunch_row() { + uint8_t data; + + // Initial decrunch + stream->seek(stream_base + ((order[ix_order] << 6) + ix_row) * 9); + data = stream->read(); cel[0].fxc = data << 0x04; + cel[1].fxc = data & 0xF0; + data = stream->read(); cel[0].fxp = data; + data = stream->read(); cel[1].fxp = data; + data = stream->read(); cel[2].fxc = data << 0x04; + cel[3].fxc = data >> 0x04; + data = stream->read(); cel[2].fxp = data; + data = stream->read(); cel[3].fxp = data; + data = stream->read(); cel[0].ixp = data; + data = stream->read(); cel[1].ixp = data; + data = stream->read(); cel[2].ixp = data; + + // Decrunch extended effects + if(cel[0].fxc == 0xE0) { cel[0].fxc |= cel[0].fxp >> 4; cel[0].fxp &= 0x0F; } + if(cel[1].fxc == 0xE0) { cel[1].fxc |= cel[1].fxp >> 4; cel[1].fxp &= 0x0F; } + if(cel[2].fxc == 0xE0) { cel[2].fxc |= cel[2].fxp >> 4; cel[2].fxp &= 0x0F; } + + // Decrunch cell 3 ghetto-style + cel[3].ixp = ((cel[3].fxp & 0x80) ? 0x00 : 0x7F) | ((cel[3].fxp & 0x40) ? 0x80 : 0x00); + cel[3].fxp &= 0x3F; + switch(cel[3].fxc) { + case 0x02: + case 0x03: if(cel[3].fxc & 0x01) cel[3].fxp |= 0x40; cel[3].fxp = (cel[3].fxp >> 4) | (cel[3].fxp << 4); cel[3].fxc = 0x70; break; + case 0x01: if(cel[3].fxp & 0x08) cel[3].fxp = (cel[3].fxp & 0x07) << 4; cel[3].fxc = 0xA0; break; + case 0x04: cel[3].fxc = 0xC0; break; + case 0x05: cel[3].fxc = 0xB0; break; + case 0x06: cel[3].fxc = 0xD0; break; + case 0x07: cel[3].fxc = 0xF0; break; + case 0x08: cel[3].fxc = 0xE7; break; + case 0x09: cel[3].fxc = 0xE9; break; + case 0x0A: cel[3].fxc = (cel[3].fxp & 0x08) ? 0xEA : 0xEB; cel[3].fxp &= 0x07; break; + case 0x0B: cel[3].fxc = (cel[3].fxp & 0x10) ? 0xED : 0xEC; cel[3].fxp &= 0x0F; break; + case 0x0C: cel[3].fxc = 0xEE; break; + } + + // Apply generic effect parameter memory + uint8_t ch; + cel_t *p_cel = cel; + fxm_t *p_fxm = fxm; + for(ch = 0; ch != 4; ch++) { + uint8_t fx = p_cel->fxc; + if(fx == 0x10 || fx == 0x20 || fx == 0xE1 || fx == 0xE2 || fx == 0x50 || fx == 0x60 || fx == 0xA0) { + if(p_cel->fxp) { + p_fxm->param = p_cel->fxp; + } else { + p_cel->fxp = p_fxm->param; + } + } + p_cel++; p_fxm++; + } +} + +// Resets playback +static void playroutine_reset() { + memset(fxm, 0, sizeof(fxm)); + tick = 0; + ix_row = 0; + ix_order = 0; + ix_nextrow = 0xFF; + ix_nextorder = 0xFF; + row_delay = 0; + speed = 6; + decrunch_row(); +} + +// Start grinding samples +void SquawkSynth::play() { + TIMSK1 = 1 << OCIE1A; // Enable interrupt +} + +// Load a melody stream and start grinding samples +void SquawkSynth::play(SquawkStream *melody) { + uint8_t n; + pause(); + stream = melody; + stream->seek(0); + n = stream->read(); + if(n == 'S') { + // Squawk SD file + stream->seek(4); + stream_base = stream->read() << 8; + stream_base |= stream->read(); + stream_base += 6; + } else { + // Squawk ROM array + stream_base = 1; + } + stream->seek(stream_base); + order_count = stream->read(); + if(order_count <= 64) { + stream_base += order_count + 1; + for(n = 0; n < order_count; n++) order[n] = stream->read(); + playroutine_reset(); + play(); + } else { + order_count = 0; + } +} + +// Load a melody in PROGMEM and start grinding samples +void SquawkSynth::play(const uint8_t *melody) { + pause(); + rom = StreamROM(melody); + play(&rom); +} + +// Pause playback +void SquawkSynth::pause() { + TIMSK1 = 0; // Disable interrupt +} + +// Stop playing, unload melody +void SquawkSynth::stop() { + pause(); + order_count = 0; // Unload melody +} + +// Progress module by one tick +void squawk_playroutine() { + static bool lockout = false; + + if(!order_count) return; + + // Protect from re-entry via ISR + cli(); + if(lockout) { + sei(); + return; + } + lockout = true; + sei(); + + // Handle row delay + if(row_delay) { + if(tick == 0) row_delay--; + // Advance tick + if(++tick == speed) tick = 0; + } else { + + // Quick pointer access + fxm_t *p_fxm = fxm; + osc_t *p_osc = osc; + cel_t *p_cel = cel; + + // Temps + uint8_t ch, fx, fxp; + bool pattern_jump = false; + uint8_t ix_period; + + for(ch = 0; ch != 4; ch++) { + uint8_t temp; + + // Local register copy + fx = p_cel->fxc; + fxp = p_cel->fxp; + ix_period = p_cel->ixp; + + // If first tick + if(tick == (fx == 0xED ? fxp : 0)) { + + // Reset volume + if(ix_period & 0x80) p_osc->vol = p_fxm->volume = 0x20; + + if((ix_period & 0x7F) != 0x7F) { + + // Reset oscillators (unless continous flag set) + if((p_fxm->vibr.mode & 0x4) == 0x0) p_fxm->vibr.offset = 0; + if((p_fxm->trem.mode & 0x4) == 0x0) p_fxm->trem.offset = 0; + + // Cell has note + if(fx == 0x30 || fx == 0x50) { + + // Tone-portamento effect setup + p_fxm->port_target = pgm_read_word(&period_tbl[ix_period & 0x7F]); + } else { + + // Set required effect memory parameters + p_fxm->period = pgm_read_word(&period_tbl[ix_period & 0x7F]); + + // Start note + if(ch != 3) p_osc->freq = FREQ(p_fxm->period); + + } + } + + // Effects processed when tick = 0 + switch(fx) { + case 0x30: // Portamento + if(fxp) p_fxm->port_speed = fxp; + break; + case 0xB0: // Jump to pattern + ix_nextorder = (fxp >= order_count ? 0x00 : fxp); + ix_nextrow = 0; + pattern_jump = true; + break; + case 0xC0: // Set volume + p_osc->vol = p_fxm->volume = MIN(fxp, 0x20); + break; + case 0xD0: // Jump to row + if(!pattern_jump) ix_nextorder = ((ix_order + 1) >= order_count ? 0x00 : ix_order + 1); + pattern_jump = true; + ix_nextrow = (fxp > 63 ? 0 : fxp); + break; + case 0xF0: // Set speed, BPM(CIA) not supported + if(fxp <= 0x20) speed = fxp; + break; + case 0x40: // Vibrato + if(fxp) p_fxm->vibr.fxp = fxp; + break; + case 0x70: // Tremolo + if(fxp) p_fxm->trem.fxp = fxp; + break; + case 0xE1: // Fine slide up + if(ch != 3) { + p_fxm->period = MAX(p_fxm->period - fxp, PERIOD_MIN); + p_osc->freq = FREQ(p_fxm->period); + } + break; + case 0xE2: // Fine slide down + if(ch != 3) { + p_fxm->period = MIN(p_fxm->period + fxp, PERIOD_MAX); + p_osc->freq = FREQ(p_fxm->period); + } + break; + case 0xE3: // Glissando control + p_fxm->glissando = (fxp != 0); + break; + case 0xE4: // Set vibrato waveform + p_fxm->vibr.mode = fxp; + break; + case 0xE7: // Set tremolo waveform + p_fxm->trem.mode = fxp; + break; + case 0xEA: // Fine volume slide up + p_osc->vol = p_fxm->volume = MIN(p_fxm->volume + fxp, 0x20); + break; + case 0xEB: // Fine volume slide down + p_osc->vol = p_fxm->volume = MAX(p_fxm->volume - fxp, 0); + break; + case 0xEE: // Delay + row_delay = fxp; + break; + } + } else { + + // Effects processed when tick > 0 + switch(fx) { + case 0x10: // Slide up + if(ch != 3) { + p_fxm->period = MAX(p_fxm->period - fxp, PERIOD_MIN); + p_osc->freq = FREQ(p_fxm->period); + } + break; + case 0x20: // Slide down + if(ch != 3) { + p_fxm->period = MIN(p_fxm->period + fxp, PERIOD_MAX); + p_osc->freq = FREQ(p_fxm->period); + } + break; +/* + // Just feels... ugly + case 0xE9: // Retrigger note + temp = tick; while(temp >= fxp) temp -= fxp; + if(!temp) { + if(ch == 3) { + p_osc->freq = p_osc->phase = 0x2000; + } else { + p_osc->phase = 0; + } + } + break; +*/ + case 0xEC: // Note cut + if(fxp == tick) p_osc->vol = 0x00; + break; + default: // Multi-effect processing + + // Portamento + if(ch != 3 && (fx == 0x30 || fx == 0x50)) { + if(p_fxm->period < p_fxm->port_target) p_fxm->period = MIN(p_fxm->period + p_fxm->port_speed, p_fxm->port_target); + else p_fxm->period = MAX(p_fxm->period - p_fxm->port_speed, p_fxm->port_target); + if(p_fxm->glissando) p_osc->freq = FREQ(glissando(ch)); + else p_osc->freq = FREQ(p_fxm->period); + } + + // Volume slide + if(fx == 0x50 || fx == 0x60 || fx == 0xA0) { + if((fxp & 0xF0) == 0) p_fxm->volume -= (LO4(fxp)); + if((fxp & 0x0F) == 0) p_fxm->volume += (HI4(fxp)); + p_osc->vol = p_fxm->volume = MAX(MIN(p_fxm->volume, 0x20), 0); + } + } + } + + // Normal play and arpeggio + if(fx == 0x00) { + if(ch != 3) { + temp = tick; while(temp > 2) temp -= 2; + if(temp == 0) { + + // Reset + p_osc->freq = FREQ(p_fxm->period); + } else if(fxp) { + + // Arpeggio + p_osc->freq = FREQ(arpeggio(ch, (temp == 1 ? HI4(fxp) : LO4(fxp)))); + } + } + } else if(fx == 0x40 || fx == 0x60) { + + // Vibrato + if(ch != 3) p_osc->freq = FREQ((p_fxm->period + do_osc(&p_fxm->vibr))); + } else if(fx == 0x70) { + int8_t trem = p_fxm->volume + do_osc(&p_fxm->trem); + p_osc->vol = MAX(MIN(trem, 0x20), 0); + } + + // Next channel + p_fxm++; p_cel++; p_osc++; + } + + // Advance tick + if(++tick == speed) tick = 0; + + // Advance playback + if(tick == 0) { + if(++ix_row == 64) { + ix_row = 0; + if(++ix_order >= order_count) ix_order = 0; + } + // Forced order/row + if( ix_nextorder != 0xFF ) { + ix_order = ix_nextorder; + ix_nextorder = 0xFF; + } + if( ix_nextrow != 0xFF ) { + ix_row = ix_nextrow; + ix_nextrow = 0xFF; + } + decrunch_row(); + } + + } + + lockout = false; +}
\ No newline at end of file diff --git a/libraries/Robot_Control/Squawk.h b/libraries/Robot_Control/Squawk.h new file mode 100644 index 0000000..3481acf --- /dev/null +++ b/libraries/Robot_Control/Squawk.h @@ -0,0 +1,265 @@ +// Squawk Soft-Synthesizer Library for Arduino +// +// Davey Taylor 2013 +// d.taylor@arduino.cc + +#ifndef _SQUAWK_H_ +#define _SQUAWK_H_ +#include <stddef.h> +#include <inttypes.h> +#include "Arduino.h" + +#define Melody const uint8_t PROGMEM + +class SquawkStream { + public: + virtual ~SquawkStream() = 0; + virtual uint8_t read() = 0; + virtual void seek(size_t offset) = 0; +}; +inline SquawkStream::~SquawkStream() { } + +class SquawkSynth { + +protected: + // Load and play specified melody + void play(SquawkStream *melody); + +public: + SquawkSynth() {}; + + // Initialize Squawk to generate samples at sample_rate Hz + void begin(uint16_t sample_rate); + + // Load and play specified melody + // melody needs to point to PROGMEM data + void play(const uint8_t *melody); + + // Resume currently loaded melody (or enable direct osc manipulation by sketch) + void play(); + + // Pause playback + void pause(); + + // Stop playback (unloads song) + void stop(); + + // Tune Squawk to a different frequency - default is 1.0 + void tune(float tuning); + + // Change the tempo - default is 50 + void tempo(uint16_t tempo); +}; + +extern SquawkSynth Squawk; + +// oscillator structure +typedef struct { + uint8_t vol; + uint16_t freq; + uint16_t phase; +} osc_t; + +typedef osc_t Oscillator; + +// oscillator memory +extern osc_t osc[4]; +extern uint8_t pcm; +// channel 0 is pulse wave @ 25% duty +// channel 1 is square wave +// channel 2 is triangle wave +// channel 3 is noise + +// For channel 3, freq is used as part of its LFSR and should not be changed. +// LFSR: Linear feedback shift register, a method of producing a +// pseudo-random bit sequence, used to generate nasty noise. + +#ifdef __AVR_ATmega32U4__ +// Supported configurations for ATmega32U4 +#define SQUAWK_PWM_PIN5 OCR3AL +#define SQUAWK_PWM_PIN11 OCR0A +#define SQUAWK_PWM_PIN3 OCR0B +/* +// NOT SUPPORTED YET +#define SQUAWK_PWM_PIN6 OCR4D +#define SQUAWK_PWM_PIN9 OCR4B +#define SQUAWK_PWM_PIN10 OCR4B +*/ +#endif + +#ifdef __AVR_ATmega168__ +// Supported configurations for ATmega168 +#define SQUAWK_PWM_PIN6 OCR0A +#define SQUAWK_PWM_PIN5 OCR0B +#define SQUAWK_PWM_PIN11 OCR2A +#define SQUAWK_PWM_PIN3 OCR2B +#endif + +#ifdef __AVR_ATmega328P__ +// Supported configurations for ATmega328P +#define SQUAWK_PWM_PIN6 OCR0A +#define SQUAWK_PWM_PIN5 OCR0B +#define SQUAWK_PWM_PIN11 OCR2A +#define SQUAWK_PWM_PIN3 OCR2B +#endif + +/* +// NOT SUPPORTED YET +#define SQUAWK_SPI SPDR +#define SQUAWK_RLD_PORTB PORTB +#define SQUAWK_RLD_PORTC PORTC +*/ + +extern void squawk_playroutine() asm("squawk_playroutine"); + +// SAMPLE GRINDER +// generates samples and updates oscillators +// uses 132 cycles (not counting playroutine) +// ~1/3 CPU @ 44kHz on 16MHz +#define SQUAWK_CONSTRUCT_ISR(TARGET_REGISTER) \ +uint16_t cia, cia_count; \ +intptr_t squawk_register = (intptr_t)&TARGET_REGISTER; \ +ISR(TIMER1_COMPA_vect, ISR_NAKED) { \ + asm volatile( \ + "push r2 " "\n\t" \ + "in r2, __SREG__ " "\n\t" \ + "push r18 " "\n\t" \ + "push r27 " "\n\t" \ + "push r26 " "\n\t" \ + "push r0 " "\n\t" \ + "push r1 " "\n\t" \ +\ + "lds r18, osc+2*%[mul]+%[fre] " "\n\t" \ + "lds r0, osc+2*%[mul]+%[pha] " "\n\t" \ + "add r0, r18 " "\n\t" \ + "sts osc+2*%[mul]+%[pha], r0 " "\n\t" \ + "lds r18, osc+2*%[mul]+%[fre]+1" "\n\t" \ + "lds r1, osc+2*%[mul]+%[pha]+1" "\n\t" \ + "adc r1, r18 " "\n\t" \ + "sts osc+2*%[mul]+%[pha]+1, r1 " "\n\t" \ +\ + "mov r27, r1 " "\n\t" \ + "sbrc r27, 7 " "\n\t" \ + "com r27 " "\n\t" \ + "lsl r27 " "\n\t" \ + "lds r26, osc+2*%[mul]+%[vol] " "\n\t" \ + "subi r27, 128 " "\n\t" \ + "muls r27, r26 " "\n\t" \ + "lsl r1 " "\n\t" \ + "mov r26, r1 " "\n\t" \ +\ + "lds r18, osc+0*%[mul]+%[fre] " "\n\t" \ + "lds r0, osc+0*%[mul]+%[pha] " "\n\t" \ + "add r0, r18 " "\n\t" \ + "sts osc+0*%[mul]+%[pha], r0 " "\n\t" \ + "lds r18, osc+0*%[mul]+%[fre]+1" "\n\t" \ + "lds r1, osc+0*%[mul]+%[pha]+1" "\n\t" \ + "adc r1, r18 " "\n\t" \ + "sts osc+0*%[mul]+%[pha]+1, r1 " "\n\t" \ +\ + "mov r18, r1 " "\n\t" \ + "lsl r18 " "\n\t" \ + "and r18, r1 " "\n\t" \ + "lds r27, osc+0*%[mul]+%[vol] " "\n\t" \ + "sbrc r18, 7 " "\n\t" \ + "neg r27 " "\n\t" \ + "add r26, r27 " "\n\t" \ +\ + "lds r18, osc+1*%[mul]+%[fre] " "\n\t" \ + "lds r0, osc+1*%[mul]+%[pha] " "\n\t" \ + "add r0, r18 " "\n\t" \ + "sts osc+1*%[mul]+%[pha], r0 " "\n\t" \ + "lds r18, osc+1*%[mul]+%[fre]+1" "\n\t" \ + "lds r1, osc+1*%[mul]+%[pha]+1" "\n\t" \ + "adc r1, r18 " "\n\t" \ + "sts osc+1*%[mul]+%[pha]+1, r1 " "\n\t" \ +\ + "lds r27, osc+1*%[mul]+%[vol] " "\n\t" \ + "sbrc r1, 7 " "\n\t" \ + "neg r27 " "\n\t" \ + "add r26, r27 " "\n\t" \ +\ + "ldi r27, 1 " "\n\t" \ + "lds r0, osc+3*%[mul]+%[fre] " "\n\t" \ + "lds r1, osc+3*%[mul]+%[fre]+1" "\n\t" \ + "add r0, r0 " "\n\t" \ + "adc r1, r1 " "\n\t" \ + "sbrc r1, 7 " "\n\t" \ + "eor r0, r27 " "\n\t" \ + "sbrc r1, 6 " "\n\t" \ + "eor r0, r27 " "\n\t" \ + "sts osc+3*%[mul]+%[fre], r0 " "\n\t" \ + "sts osc+3*%[mul]+%[fre]+1, r1 " "\n\t" \ +\ + "lds r27, osc+3*%[mul]+%[vol] " "\n\t" \ + "sbrc r1, 7 " "\n\t" \ + "neg r27 " "\n\t" \ + "add r26, r27 " "\n\t" \ +\ + "lds r27, pcm " "\n\t" \ + "add r26, r27 " "\n\t" \ + "sts %[reg], r26 " "\n\t" \ +\ + "lds r27, cia_count+1 " "\n\t" \ + "lds r26, cia_count " "\n\t" \ + "sbiw r26, 1 " "\n\t" \ + "breq call_playroutine " "\n\t" \ + "sts cia_count+1, r27 " "\n\t" \ + "sts cia_count, r26 " "\n\t" \ + "pop r1 " "\n\t" \ + "pop r0 " "\n\t" \ + "pop r26 " "\n\t" \ + "pop r27 " "\n\t" \ + "pop r18 " "\n\t" \ + "out __SREG__, r2 " "\n\t" \ + "pop r2 " "\n\t" \ + "reti " "\n\t" \ + "call_playroutine: " "\n\t" \ +\ + "lds r27, cia+1 " "\n\t" \ + "lds r26, cia " "\n\t" \ + "sts cia_count+1, r27 " "\n\t" \ + "sts cia_count, r26 " "\n\t" \ +\ + "sei " "\n\t" \ + "push r19 " "\n\t" \ + "push r20 " "\n\t" \ + "push r21 " "\n\t" \ + "push r22 " "\n\t" \ + "push r23 " "\n\t" \ + "push r24 " "\n\t" \ + "push r25 " "\n\t" \ + "push r30 " "\n\t" \ + "push r31 " "\n\t" \ +\ + "clr r1 " "\n\t" \ + "call squawk_playroutine " "\n\t" \ +\ + "pop r31 " "\n\t" \ + "pop r30 " "\n\t" \ + "pop r25 " "\n\t" \ + "pop r24 " "\n\t" \ + "pop r23 " "\n\t" \ + "pop r22 " "\n\t" \ + "pop r21 " "\n\t" \ + "pop r20 " "\n\t" \ + "pop r19 " "\n\t" \ +\ + "pop r1 " "\n\t" \ + "pop r0 " "\n\t" \ + "pop r26 " "\n\t" \ + "pop r27 " "\n\t" \ + "pop r18 " "\n\t" \ + "out __SREG__, r2 " "\n\t" \ + "pop r2 " "\n\t" \ + "reti " "\n\t" \ + : \ + : [reg] "M" _SFR_MEM_ADDR(TARGET_REGISTER), \ + [mul] "M" (sizeof(Oscillator)), \ + [pha] "M" (offsetof(Oscillator, phase)), \ + [fre] "M" (offsetof(Oscillator, freq)), \ + [vol] "M" (offsetof(Oscillator, vol)) \ + ); \ +} + +#endif
\ No newline at end of file diff --git a/libraries/Robot_Control/SquawkSD.cpp b/libraries/Robot_Control/SquawkSD.cpp new file mode 100644 index 0000000..3c97ef4 --- /dev/null +++ b/libraries/Robot_Control/SquawkSD.cpp @@ -0,0 +1,182 @@ +#include <SquawkSD.h> + +SquawkSynthSD SquawkSD; + +class StreamFile : public SquawkStream { + private: + Fat16 f; + public: + StreamFile(Fat16 file = Fat16()) { f = file; } + uint8_t read() { return f.read(); } + void seek(size_t offset) { f.seekSet(offset); } +}; + +static StreamFile file; + +extern uint16_t period_tbl[84] PROGMEM; + +void SquawkSynthSD::play(Fat16 melody) { + SquawkSynth::pause(); + file = StreamFile(melody); + SquawkSynth::play(&file); +} + +/* +void SquawkSynthSD::convert(Fat16 in, Fat16 out) { + unsigned int n; + uint8_t patterns = 0, order_count; + unsigned int ptn, row, chn; + uint8_t temp; + + uint8_t fxc[4], fxp[4], note[4], sample[4]; + uint16_t period; + + out.write('S'); // ID + out.write('Q'); + out.write('M'); + out.write('1'); + out.write((uint8_t)0); // No meta data + out.write((uint8_t)0); + + // Write order list, count patterns + in.seek(0x3B6); + order_count = in.read(); + out.write(order_count); + in.seek(0x3B8); + for(n = 0; n < order_count; n++) { + temp = in.read(); + if(temp >= patterns) patterns = temp + 1; + out.write(temp); + } + + // Write patterns + in.seek(0x43C); + for(ptn = 0; ptn < patterns; ptn++) { + for(row = 0; row < 64; row++) { + for(chn = 0; chn < 4; chn++) { + + // Basic extraction + temp = in.read(); // sample.msb and period.msb + period = (temp & 0x0F) << 8; + sample[chn] = temp & 0xF0; + period |= in.read(); // period.lsb + temp = in.read(); // sample.lsb and effect + sample[chn] |= temp >> 4; + fxc[chn] = (temp & 0x0F) << 4; + fxp[chn] = in.read(); // parameters + if(fxc[chn] == 0xE0) { + fxc[chn] |= fxp[chn] >> 4; // extended parameters + fxp[chn] &= 0x0F; + } + + #define DIF(A, B) ((A) > (B) ? ((int32_t)(A) - (int32_t)(B)) : ((int32_t)(B) - (int32_t)(A))) + // Find closest matching period + if(period == 0) { + note[chn] = 0x7F; + } else { + int16_t best = DIF(period, pgm_read_word(&period_tbl[0])); + note[chn] = 0; + for(n = 0; n < sizeof(period_tbl) / sizeof(uint16_t); n++) { + if(DIF(period, pgm_read_word(&period_tbl[n])) < best) { + note[chn] = n; + best = DIF(period, pgm_read_word(&period_tbl[n])); + } + } + } + + // Crunch volume/decimal commands + if(fxc[chn] == 0x50 || fxc[chn] == 0x60 || fxc[chn] == 0xA0) { + fxp[chn] = (fxp[chn] >> 1) & 0x77; + } else if(fxc[chn] == 0x70) { + fxp[chn] = (fxp[chn] & 0xF0) | ((fxp[chn] & 0x0F) >> 1); + } else if(fxc[chn] == 0xC0 || fxc[chn] == 0xEA || fxc[chn] == 0xEB) { + fxp[chn] >>= 1; + } else if(fxc[chn] == 0xD0) { + fxp[chn] = ((fxp[chn] >> 4) * 10) | (fxp[chn] & 0x0F); + } + + // Re-nibblify - it's a word! + if(chn != 3) { + if((fxc[chn] & 0xF0) == 0xE0) fxp[chn] |= fxc[chn] << 4; + fxc[chn] >>= 4; + } + + } + + // Ghetto crunch the last channel to save a byte + switch(fxc[3]) { + case 0x50: case 0x60: case 0xA0: + fxc[3] = 0x1; + if((fxp[3] >> 4) >= (fxp[3] & 0x0F)) { + fxp[3] = 0x80 + ((fxp[3] >> 4) - (fxp[3] & 0x0F)); + } else { + fxp[3] = ((fxp[3] & 0x0F) - (fxp[3] >> 4)); + } + break; + case 0x70: + fxc[3] = (fxp[3] & 0x4) ? 0x3 : 0x2; + fxp[3] = (fxp[3] >> 4) | ((fxp[3] & 0x03) << 4); + break; + case 0xC0: + fxc[3] = 0x4; + fxp[3] &= 0x1F; + break; + case 0xB0: + fxc[3] = 0x5; + fxp[3] &= 0x1F; + break; + case 0xD0: + fxc[3] = 0x6; + if(fxp[3] > 63) fxp[3] = 0; + break; + case 0xF0: + if(fxp[3] > 0x20) { + fxc[3] = 0x0; + fxp[3] = 0x00; + } else { + fxc[3] = 0x7; + } + break; + case 0xE7: + fxc[3] = 0x8; + break; + case 0xE9: + fxc[3] = 0x9; + break; + case 0xEA: + fxc[3] = 0xA; + fxp[3] |= 0x08; + break; + case 0xEB: + fxc[3] = 0xA; + break; + case 0xEC: + fxc[3] = 0xB; + break; + case 0xED: + fxc[3] = 0xB; + fxp[3] |= 0x10; + break; + case 0xEE: + fxc[3] = 0xC; + break; + default: + fxc[3] = 0; + fxp[3] = 0; + } + if(note[3] != 0x7F) fxp[3] |= 0x80; + if(sample[3]) fxp[3] |= 0x40; + + // Write out + out.write((fxc[0]) | fxc[1] << 4); + out.write(fxp[0]); + out.write(fxp[1]); + out.write((fxc[2]) | fxc[3] << 4); + out.write(fxp[2]); + out.write(fxp[3]); + out.write(note[0] | (sample[0] == 0 ? 0x00 : 0x80)); + out.write(note[1] | (sample[1] == 0 ? 0x00 : 0x80)); + out.write(note[2] | (sample[2] == 0 ? 0x00 : 0x80)); + } + } +}*/
\ No newline at end of file diff --git a/libraries/Robot_Control/SquawkSD.h b/libraries/Robot_Control/SquawkSD.h new file mode 100644 index 0000000..89d46a5 --- /dev/null +++ b/libraries/Robot_Control/SquawkSD.h @@ -0,0 +1,17 @@ +#ifndef _SQUAWKSD_H_ +#define _SQUAWKSD_H_ +#include <Squawk.h> +#include "Fat16.h" + +class SquawkSynthSD : public SquawkSynth { + private: + Fat16 f; + public: + inline void play() { Squawk.play(); }; + void play(Fat16 file); + //void convert(Fat16 in, Fat16 out); +}; + +extern SquawkSynthSD SquawkSD; + +#endif
\ No newline at end of file diff --git a/libraries/Robot_Control/Wire.cpp b/libraries/Robot_Control/Wire.cpp new file mode 100644 index 0000000..4e7a17c --- /dev/null +++ b/libraries/Robot_Control/Wire.cpp @@ -0,0 +1,298 @@ +/* + TwoWire.cpp - TWI/I2C library for Wiring & Arduino + Copyright (c) 2006 Nicholas Zambetti. All right reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + + Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts +*/ + +extern "C" { + #include <stdlib.h> + #include <string.h> + #include <inttypes.h> + #include "twi.h" +} + +#include "Wire.h" + +// Initialize Class Variables ////////////////////////////////////////////////// + +uint8_t TwoWire::rxBuffer[BUFFER_LENGTH]; +uint8_t TwoWire::rxBufferIndex = 0; +uint8_t TwoWire::rxBufferLength = 0; + +uint8_t TwoWire::txAddress = 0; +uint8_t TwoWire::txBuffer[BUFFER_LENGTH]; +uint8_t TwoWire::txBufferIndex = 0; +uint8_t TwoWire::txBufferLength = 0; + +uint8_t TwoWire::transmitting = 0; +void (*TwoWire::user_onRequest)(void); +void (*TwoWire::user_onReceive)(int); + +// Constructors //////////////////////////////////////////////////////////////// + +TwoWire::TwoWire() +{ +} + +// Public Methods ////////////////////////////////////////////////////////////// + +void TwoWire::begin(void) +{ + rxBufferIndex = 0; + rxBufferLength = 0; + + txBufferIndex = 0; + txBufferLength = 0; + + twi_init(); +} + +void TwoWire::begin(uint8_t address) +{ + twi_setAddress(address); + twi_attachSlaveTxEvent(onRequestService); + twi_attachSlaveRxEvent(onReceiveService); + begin(); +} + +void TwoWire::begin(int address) +{ + begin((uint8_t)address); +} + +uint8_t TwoWire::requestFrom(uint8_t address, uint8_t quantity, uint8_t sendStop) +{ + // clamp to buffer length + if(quantity > BUFFER_LENGTH){ + quantity = BUFFER_LENGTH; + } + // perform blocking read into buffer + uint8_t read = twi_readFrom(address, rxBuffer, quantity, sendStop); + // set rx buffer iterator vars + rxBufferIndex = 0; + rxBufferLength = read; + + return read; +} + +uint8_t TwoWire::requestFrom(uint8_t address, uint8_t quantity) +{ + return requestFrom((uint8_t)address, (uint8_t)quantity, (uint8_t)true); +} + +uint8_t TwoWire::requestFrom(int address, int quantity) +{ + return requestFrom((uint8_t)address, (uint8_t)quantity, (uint8_t)true); +} + +uint8_t TwoWire::requestFrom(int address, int quantity, int sendStop) +{ + return requestFrom((uint8_t)address, (uint8_t)quantity, (uint8_t)sendStop); +} + +void TwoWire::beginTransmission(uint8_t address) +{ + // indicate that we are transmitting + transmitting = 1; + // set address of targeted slave + txAddress = address; + // reset tx buffer iterator vars + txBufferIndex = 0; + txBufferLength = 0; +} + +void TwoWire::beginTransmission(int address) +{ + beginTransmission((uint8_t)address); +} + +// +// Originally, 'endTransmission' was an f(void) function. +// It has been modified to take one parameter indicating +// whether or not a STOP should be performed on the bus. +// Calling endTransmission(false) allows a sketch to +// perform a repeated start. +// +// WARNING: Nothing in the library keeps track of whether +// the bus tenure has been properly ended with a STOP. It +// is very possible to leave the bus in a hung state if +// no call to endTransmission(true) is made. Some I2C +// devices will behave oddly if they do not see a STOP. +// +uint8_t TwoWire::endTransmission(uint8_t sendStop) +{ + // transmit buffer (blocking) + int8_t ret = twi_writeTo(txAddress, txBuffer, txBufferLength, 1, sendStop); + // reset tx buffer iterator vars + txBufferIndex = 0; + txBufferLength = 0; + // indicate that we are done transmitting + transmitting = 0; + return ret; +} + +// This provides backwards compatibility with the original +// definition, and expected behaviour, of endTransmission +// +uint8_t TwoWire::endTransmission(void) +{ + return endTransmission(true); +} + +// must be called in: +// slave tx event callback +// or after beginTransmission(address) +size_t TwoWire::write(uint8_t data) +{ + if(transmitting){ + // in master transmitter mode + // don't bother if buffer is full + if(txBufferLength >= BUFFER_LENGTH){ + setWriteError(); + return 0; + } + // put byte in tx buffer + txBuffer[txBufferIndex] = data; + ++txBufferIndex; + // update amount in buffer + txBufferLength = txBufferIndex; + }else{ + // in slave send mode + // reply to master + twi_transmit(&data, 1); + } + return 1; +} + +// must be called in: +// slave tx event callback +// or after beginTransmission(address) +size_t TwoWire::write(const uint8_t *data, size_t quantity) +{ + if(transmitting){ + // in master transmitter mode + for(size_t i = 0; i < quantity; ++i){ + write(data[i]); + } + }else{ + // in slave send mode + // reply to master + twi_transmit(data, quantity); + } + return quantity; +} + +// must be called in: +// slave rx event callback +// or after requestFrom(address, numBytes) +int TwoWire::available(void) +{ + return rxBufferLength - rxBufferIndex; +} + +// must be called in: +// slave rx event callback +// or after requestFrom(address, numBytes) +int TwoWire::read(void) +{ + int value = -1; + + // get each successive byte on each call + if(rxBufferIndex < rxBufferLength){ + value = rxBuffer[rxBufferIndex]; + ++rxBufferIndex; + } + + return value; +} + +// must be called in: +// slave rx event callback +// or after requestFrom(address, numBytes) +int TwoWire::peek(void) +{ + int value = -1; + + if(rxBufferIndex < rxBufferLength){ + value = rxBuffer[rxBufferIndex]; + } + + return value; +} + +void TwoWire::flush(void) +{ + // XXX: to be implemented. +} + +// behind the scenes function that is called when data is received +void TwoWire::onReceiveService(uint8_t* inBytes, int numBytes) +{ + // don't bother if user hasn't registered a callback + if(!user_onReceive){ + return; + } + // don't bother if rx buffer is in use by a master requestFrom() op + // i know this drops data, but it allows for slight stupidity + // meaning, they may not have read all the master requestFrom() data yet + if(rxBufferIndex < rxBufferLength){ + return; + } + // copy twi rx buffer into local read buffer + // this enables new reads to happen in parallel + for(uint8_t i = 0; i < numBytes; ++i){ + rxBuffer[i] = inBytes[i]; + } + // set rx iterator vars + rxBufferIndex = 0; + rxBufferLength = numBytes; + // alert user program + user_onReceive(numBytes); +} + +// behind the scenes function that is called when data is requested +void TwoWire::onRequestService(void) +{ + // don't bother if user hasn't registered a callback + if(!user_onRequest){ + return; + } + // reset tx buffer iterator vars + // !!! this will kill any pending pre-master sendTo() activity + txBufferIndex = 0; + txBufferLength = 0; + // alert user program + user_onRequest(); +} + +// sets function called on slave write +void TwoWire::onReceive( void (*function)(int) ) +{ + user_onReceive = function; +} + +// sets function called on slave read +void TwoWire::onRequest( void (*function)(void) ) +{ + user_onRequest = function; +} + +// Preinstantiate Objects ////////////////////////////////////////////////////// + +TwoWire Wire = TwoWire(); + diff --git a/libraries/Robot_Control/Wire.h b/libraries/Robot_Control/Wire.h new file mode 100644 index 0000000..a93d0f5 --- /dev/null +++ b/libraries/Robot_Control/Wire.h @@ -0,0 +1,79 @@ +/* + TwoWire.h - TWI/I2C library for Arduino & Wiring + Copyright (c) 2006 Nicholas Zambetti. All right reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + + Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts +*/ + +#ifndef TwoWire_h +#define TwoWire_h + +#include <inttypes.h> +#include "Stream.h" + +#define BUFFER_LENGTH 32 + +class TwoWire : public Stream +{ + private: + static uint8_t rxBuffer[]; + static uint8_t rxBufferIndex; + static uint8_t rxBufferLength; + + static uint8_t txAddress; + static uint8_t txBuffer[]; + static uint8_t txBufferIndex; + static uint8_t txBufferLength; + + static uint8_t transmitting; + static void (*user_onRequest)(void); + static void (*user_onReceive)(int); + static void onRequestService(void); + static void onReceiveService(uint8_t*, int); + public: + TwoWire(); + void begin(); + void begin(uint8_t); + void begin(int); + void beginTransmission(uint8_t); + void beginTransmission(int); + uint8_t endTransmission(void); + uint8_t endTransmission(uint8_t); + uint8_t requestFrom(uint8_t, uint8_t); + uint8_t requestFrom(uint8_t, uint8_t, uint8_t); + uint8_t requestFrom(int, int); + uint8_t requestFrom(int, int, int); + virtual size_t write(uint8_t); + virtual size_t write(const uint8_t *, size_t); + virtual int available(void); + virtual int read(void); + virtual int peek(void); + virtual void flush(void); + void onReceive( void (*)(int) ); + void onRequest( void (*)(void) ); + + inline size_t write(unsigned long n) { return write((uint8_t)n); } + inline size_t write(long n) { return write((uint8_t)n); } + inline size_t write(unsigned int n) { return write((uint8_t)n); } + inline size_t write(int n) { return write((uint8_t)n); } + using Print::write; +}; + +extern TwoWire Wire; + +#endif + diff --git a/libraries/Robot_Control/communication.cpp b/libraries/Robot_Control/communication.cpp new file mode 100644 index 0000000..eaf5346 --- /dev/null +++ b/libraries/Robot_Control/communication.cpp @@ -0,0 +1 @@ +#include <ArduinoRobot.h>
bool RobotControl::isActionDone(){
if(messageIn.receiveData()){
if(messageIn.readByte()==COMMAND_ACTION_DONE){
return true;
}
}
return false;
}
void RobotControl::pauseMode(uint8_t onOff){
messageOut.writeByte(COMMAND_PAUSE_MODE);
if(onOff){
messageOut.writeByte(true);
}else{
messageOut.writeByte(false);
}
messageOut.sendData();
}
void RobotControl::lineFollowConfig(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime){
messageOut.writeByte(COMMAND_LINE_FOLLOW_CONFIG);
messageOut.writeByte(KP);
messageOut.writeByte(KD);
messageOut.writeByte(robotSpeed);
messageOut.writeByte(intergrationTime);
messageOut.sendData();
}
\ No newline at end of file diff --git a/libraries/Robot_Control/examples/explore/R01_Logo/R01_Logo.ino b/libraries/Robot_Control/examples/explore/R01_Logo/R01_Logo.ino new file mode 100644 index 0000000..794479e --- /dev/null +++ b/libraries/Robot_Control/examples/explore/R01_Logo/R01_Logo.ino @@ -0,0 +1,134 @@ +/* Robot Logo + + This sketch demonstrates basic movement of the Robot. + When the sketch starts, press the on-board buttons to tell + the robot how to move. Pressing the middle button will + save the pattern, and the robot will follow accordingly. + You can record up to 20 commands. The robot will move for + one second per command. + + This example uses images on an SD card. It looks for + files named "lg0.bmp" and "lg1.bmp" and draws them on the + screen. + + Circuit: + * Arduino Robot + + created 1 May 2013 + by X. Yang + modified 12 May 2013 + by D. Cuartielles + + This example is in the public domain + */ + +#include <ArduinoRobot.h> // include the robot library + +int commands[20]; // array for storing commands + +void setup() { + // initialize the Robot, SD card, and display + Robot.begin(); + Robot.beginTFT(); + Robot.beginSD(); + + // draw "lg0.bmp" and "lg1.bmp" on the screen + Robot.displayLogos(); +} + +void loop() { + + Robot.drawBMP("intro.bmp", 0, 0); //display background image + + iniCommands(); // remove commands from the array + addCommands(); // add commands to the array + + delay(1000); // wait for a second + + executeCommands(); // follow orders + + Robot.stroke(0,0,0); + Robot.text("Done!", 5, 103); // write some text to the display + delay(1500); // wait for a moment +} + +// empty the commands array +void iniCommands() { + for(int i=0; i<20; i++) + commands[i]=-1; +} + +// add commands to the array +void addCommands() { + Robot.stroke(0,0,0); + // display text on the screen + Robot.text("1. Press buttons to\n add commands.\n\n 2. Middle to finish.", 5, 5); + + // read the buttons' state + for(int i=0; i<20;) { //max 20 commands + int key = Robot.keyboardRead(); + if(key == BUTTON_MIDDLE) { //finish input + break; + }else if(key == BUTTON_NONE) { //if no button is pressed + continue; + } + commands[i] = key; // save the button to the array + PrintCommandI(i, 46); // print the command on the screen + delay(100); + i++; + } +} + +// run through the array and move the robot +void executeCommands() { + // print status to the screen + Robot.text("Excuting...",5,70); + + // read through the array and move accordingly + for(int i=0; i<20; i++) { + switch(commands[i]) { + case BUTTON_LEFT: + Robot.turn(-90); + break; + case BUTTON_RIGHT: + Robot.turn(90); + break; + case BUTTON_UP: + Robot.motorsWrite(255, 255); + break; + case BUTTON_DOWN: + Robot.motorsWrite(-255, -255); + break; + case BUTTON_NONE: + return; + } + // print the current command to the screen + Robot.stroke(255,0,0); + PrintCommandI(i, 86); + delay(1000); + + // stop moving for a second + Robot.motorsStop(); + delay(1000); + } +} + +// convert the button press to a single character +char keyToChar(int key) { + switch(key) { + case BUTTON_LEFT: + return '<'; + case BUTTON_RIGHT: + return '>'; + case BUTTON_UP: + return '^'; + case BUTTON_DOWN: + return 'v'; + } +} + +// display a command +void PrintCommandI(int i, int originY) { + Robot.text(keyToChar(commands[i]), i%14*8+5, i/14*10+originY); +} + diff --git a/libraries/Robot_Control/examples/explore/R02_Line_Follow/R02_Line_Follow.ino b/libraries/Robot_Control/examples/explore/R02_Line_Follow/R02_Line_Follow.ino new file mode 100644 index 0000000..58de253 --- /dev/null +++ b/libraries/Robot_Control/examples/explore/R02_Line_Follow/R02_Line_Follow.ino @@ -0,0 +1,73 @@ +/* Robot Line Follow + + This sketch demonstrates the line following capabilities + of the Arduino Robot. On the floor, place some black + electrical tape along the path you wish the robot to follow. + To indicate a stopping point, place another piece of tape + perpendicular to the path. + + Circuit: + * Arduino Robot + + created 1 May 2013 + by X. Yang + modified 12 May 2013 + by D. Cuartielles + + This example is in the public domain + */ + +#include <ArduinoRobot.h> // include the robot library + +long timerOrigin; // used for counting elapsed time + +void setup() { + // initialize the Robot, SD card, display, and speaker + Robot.begin(); + Robot.beginTFT(); + Robot.beginSD(); + Robot.beginSpeaker(); + + // show the logots on the TFT screen + Robot.displayLogos(); + + Robot.drawBMP("lf.bmp", 0, 0); // display background image + + Robot.playFile("chase.sqm"); // play a song from the SD card + + // add the instructions + Robot.text("Line Following\n\n place the robot on\n the track and \n see it run", 5, 5); + Robot.text("Press the middle\n button to start...", 5, 61); + Robot.waitContinue(); + + // These are some general values that work for line following + // uncomment one or the other to see the different behaviors of the robot + // Robot.lineFollowConfig(11, 5, 50, 10); + Robot.lineFollowConfig(14, 9, 50, 10); + + //set the motor board into line-follow mode + Robot.setMode(MODE_LINE_FOLLOW); + + // start + Robot.fill(255, 255, 255); + Robot.stroke(255, 255, 255); + Robot.rect(0, 0, 128, 80); // erase the previous text + Robot.stroke(0, 0, 0); + Robot.text("Start", 5, 5); + + Robot.stroke(0, 0, 0); // choose color for the text + Robot.text("Time passed:", 5, 21); // write some text to the screen + + timerOrigin=millis(); // keep track of the elapsed time + + while(!Robot.isActionDone()) { //wait for the finish signal + Robot.debugPrint(millis()-timerOrigin, 5, 29); // show how much time has passed + } + + Robot.stroke(0, 0, 0); + Robot.text("Done!", 5, 45); +} +void loop() { + //nothing here, the program only runs once. Reset the robot + //to do it again! +} diff --git a/libraries/Robot_Control/examples/explore/R03_Disco_Bot/R03_Disco_Bot.ino b/libraries/Robot_Control/examples/explore/R03_Disco_Bot/R03_Disco_Bot.ino new file mode 100644 index 0000000..3574b01 --- /dev/null +++ b/libraries/Robot_Control/examples/explore/R03_Disco_Bot/R03_Disco_Bot.ino @@ -0,0 +1,179 @@ +/* Disco Bot + + This sketch shows you how to use the melody playing + feature of the robot, with some really cool 8-bit music. + Music will play when the robot is turned on, and it + will show you some dance moves. + + Circuit: + * Arduino Robot + + created 1 May 2013 + by X. Yang + modified 12 May 2013 + by D. Cuartielles + + This example is in the public domain + */ + +#include <ArduinoRobot.h> // include the robot library + +/* Dancing steps: + S: stop + L: turn left + R: turn right + F: go forward + B: go backwards + + The number after each command determines how long + each step lasts. Each number is 1/2 second long. + + The "\0" indicates end of string +*/ +char danceScript[] = "S4L1R1S2F1B1S1\0"; + +int currentScript = 0; // what step are we at + +int currentSong = 0; // keep track of the current song +static const int SONGS_COUNT = 3; // number of songs + +// an array to hold the songs +char musics[][11] = { + "melody.sqm", + "menu.sqm", + "chase.sqm", +}; + +// variables for non-blocking delay +long waitFrom; +long waitTime = 0; + +void setup() { + // initialize the Robot, SD card, display, and speaker + Robot.begin(); + Robot.beginSpeaker(); + Robot.beginSD(); + Robot.beginTFT(); + + // draw "lg0.bmp" and "lg1.bmp" on the screen + Robot.displayLogos(); + + // Print instructions to the screen + Robot.text("1. Use left and\n right key to switch\n song", 5, 5); + Robot.text("2. Put robot on the\n ground to dance", 5, 33); + + // wait for a few soconds + delay(3000); + + setInterface(); // display the current song + play(0); //play the first song in the array + + resetWait(); //Initialize non-blocking delay +} + +void loop() { + // read the butttons on the robot + int key = Robot.keyboardRead(); + + // Right/left buttons play next/previous song + switch(key) { + case BUTTON_UP: + case BUTTON_LEFT: + play(-1); //play previous song + break; + case BUTTON_DOWN: + case BUTTON_RIGHT: + play(1); //play next song + break; + } + + // dance! + runScript(); +} + +// Dancing function +void runScript() { + if(!waiting()) { // if the previous instructions have finished + // get the next 2 commands (direction and duration) + parseCommand(danceScript[currentScript], danceScript[currentScript+1]); + currentScript += 2; + if(danceScript[currentScript] == '\0') // at the end of the array + currentScript = 0; // start again at the beginning + } +} + +// instead of delay, use this timer +boolean waiting() { + if(millis()-waitFrom >= waitTime) + return false; + else + return true; +} + +// how long to wait +void wait(long t) { + resetWait(); + waitTime = t; +} + +// reset the timer +void resetWait() { + waitFrom = millis(); +} + +// read the direction and dirstion of the steps +void parseCommand(char dir, char duration) { + //convert the scripts to action + switch(dir) { + case 'L': + Robot.motorsWrite(-255, 255); + break; + case 'R': + Robot.motorsWrite(255, -255); + break; + case 'F': + Robot.motorsWrite(255, 255); + break; + case 'B': + Robot.motorsWrite(-255, -255); + break; + case 'S': + Robot.motorsStop(); + break; + } + //You can change "500" to change the pace of dancing + wait(500*(duration-'0')); +} + +// display the song +void setInterface() { + Robot.clearScreen(); + Robot.stroke(0, 0, 0); + Robot.text(musics[0], 0, 0); +} + +// display the next song +void select(int seq, boolean onOff) { + if(onOff){//select + Robot.stroke(0, 0, 0); + Robot.text(musics[seq], 0, 0); + }else{//deselect + Robot.stroke(255, 255, 255); + Robot.text(musics[seq], 0, 0); + } +} + +// play the slected song +void play(int seq) { + select(currentSong, false); + if(currentSong <= 0 && seq == -1) { //previous of 1st song? + currentSong = SONGS_COUNT-1; //go to last song + } else if(currentSong >= SONGS_COUNT-1 && seq == 1) { //next of last? + currentSong = 0; //go to 1st song + } else { + currentSong += seq; //next song + } + Robot.stopPlayFile(); + Robot.playFile(musics[currentSong]); + select(currentSong, true); //display the current song +} diff --git a/libraries/Robot_Control/examples/explore/R04_Compass/R04_Compass.ino b/libraries/Robot_Control/examples/explore/R04_Compass/R04_Compass.ino new file mode 100644 index 0000000..a7a7315 --- /dev/null +++ b/libraries/Robot_Control/examples/explore/R04_Compass/R04_Compass.ino @@ -0,0 +1,70 @@ +/* Robot Compass + + The robot has an on-board compass module, with + which it can tell the direction the robot is + facing. This sketch will make sure the robot + goes towards a certain direction. + + Beware, magnets will interfere with the compass + readings. + + Circuit: + * Arduino Robot + + created 1 May 2013 + by X. Yang + modified 12 May 2013 + by D. Cuartielles + + This example is in the public domain + */ + +// include the robot library +#include <ArduinoRobot.h> + +int speedLeft; +int speedRight; +int compassValue; +int direc = 180; //Direction the robot is heading + +void setup() { + // initialize the modules + Robot.begin(); + Robot.beginTFT(); + Robot.beginSD(); + Robot.displayLogos(); +} + +void loop() { + // read the compass orientation + compassValue = Robot.compassRead(); + + // how many degrees are we off + int diff = compassValue-direc; + + // modify degress + if(diff > 180) + diff = -360+diff; + else if(diff < -180) + diff = 360+diff; + + // Make the robot turn to its proper orientation + diff = map(diff, -180, 180, -255, 255); + + if(diff > 0) { + // keep the right wheel spinning, + // change the speed of the left wheel + speedLeft = 255-diff; + speedRight = 255; + } else { + // keep the right left spinning, + // change the speed of the left wheel + speedLeft = 255; + speedRight = 255+diff; + } + // write out to the motors + Robot.motorsWrite(speedLeft, speedRight); + + // draw the orientation on the screen + Robot.drawCompass(compassValue); +} diff --git a/libraries/Robot_Control/examples/explore/R05_Inputs/R05_Inputs.ino b/libraries/Robot_Control/examples/explore/R05_Inputs/R05_Inputs.ino new file mode 100644 index 0000000..1359f8d --- /dev/null +++ b/libraries/Robot_Control/examples/explore/R05_Inputs/R05_Inputs.ino @@ -0,0 +1,166 @@ +/* Robot Inputs + + This sketch shows you how to use the on-board + potentiometer and buttons as inputs. + + Turning the potentiometer draws a clock-shaped + circle. The up and down buttons change the pitch, + while the left and right buttons change the tempo. + The middle button resets tempo and pitch. + + Circuit: + * Arduino Robot + + created 1 May 2013 + by X. Yang + modified 12 May 2013 + by D. Cuartielles + + This example is in the public domain + */ + +#include <ArduinoRobot.h> + +// default tempo and pitch of the music +int tempo = 60; +int pitch = 1000; + +void setup() { + // initialize the Robot, SD card, speaker, and display + Robot.begin(); + Robot.beginTFT(); + Robot.beginSpeaker(); + Robot.beginSD(); + + // draw "lg0.bmp" and "lg1.bmp" on the screen + Robot.displayLogos(); + + // play a sound file + Robot.playFile("Melody.sqm"); +} + +void loop() { + // check the value of the buttons + keyDown(Robot.keyboardRead()); + + // check the value of the pot + drawKnob(Robot.knobRead()); +} + +// Draw the basic interface +void renderUI() { + //fill the buttons blank + Robot.fill(255, 255, 255); + Robot.rect(53, 58, 13, 13); // left + Robot.rect(93, 58, 13, 13); // right + Robot.rect(73, 38, 13, 13); // up + Robot.circle(79, 64, 6); // middle + Robot.rect(73, 78, 13, 13); // down + Robot.circle(26, 116, 18); // knob + + //draw the vertical bargraph + int fullPart=map(pitch, 200, 2000, 0, 58); //length of filled bargraph + Robot.fill(255, 255, 255); + Robot.rect(21, 30, 13, 58-fullPart); + Robot.fill(0, 0, 255); + Robot.rect(21, 88-fullPart, 13, fullPart); //58-fullPart+30 + + //draw the horizontal bargraph + fullPart = map(tempo, 20, 100, 0, 58); // length of filled bargraph + Robot.fill(255, 190, 0); + Robot.rect(53, 110, fullPart, 13); + Robot.fill(255, 255, 255); + Robot.rect(53+fullPart, 110, 58-fullPart, 13); +} + +void keyDown(int keyCode) { + // use a static int so it is persistent over time + static int oldKey; + switch(keyCode) { + case BUTTON_LEFT: + //left button pressed, reduces tempo + tempo -= 5; + if(tempo < 20) tempo = 20; //lowest tempo 20 + Robot.fill(255,190,0); + + Robot.rect(53, 58, 13, 13); + break; + case BUTTON_RIGHT: + //right button pressed, increases tempo + tempo += 5; + if(tempo > 100) tempo = 100; //highest tempo 100 + Robot.fill(255,190,0); + Robot.rect(93, 58, 13, 13); + break; + case BUTTON_UP: + //up button pressed, increases pitch + pitch += 120; + if(pitch > 2000) pitch = 2000; + Robot.fill(0, 0, 255); + + Robot.rect(73, 38, 13, 13); + break; + case BUTTON_DOWN: + //down button pressed, reduces pitch + pitch -= 120; + if(pitch < 200){ + pitch = 200; + } + Robot.fill(0, 0, 255); + + Robot.rect(73, 78, 13, 13); + break; + case BUTTON_MIDDLE: + //middle button pressed, resets tempo and pitch + tempo = 60; + pitch = 1000; + Robot.fill(160,160,160); + + Robot.circle(79, 64, 6); + break; + case BUTTON_NONE: + //Only when the keys are released(thus BUTTON_NONE is + //encountered the first time), the interface will be + //re-drawn. + if(oldKey != BUTTON_NONE){ + renderUI(); + } + break; + } + if(oldKey != keyCode) { + // change the song's tempo + Robot.tempoWrite(tempo); + // change the song's pitch + Robot.tuneWrite(float(pitch/1000.0)); + } + oldKey = keyCode; +} + +void drawKnob(int val) { + static int x = 0, y = 0, val_old = 0; + // radian number, -3.14 to 3.14 + float ang = map(val, 0, 1023, -PI*1000, PI*1000) / 1000.0; + + // erase the old line + if (val_old != val) { + Robot.stroke(255, 255, 255); + Robot.line(26, 116, x, y); + } + + // the following lines avoid a glitch in the TFT library + // that seems to appear when drawing a vertical line + if (val < 1011 && val > 265 || val < 253) { + //a bit math for drawing the hand inside the clock + x = 16*sin(ang)+26; + y = 16*cos(ang)+116; + } + if (val > 265 && val < 253) { + x = 10; y = 116; + } + if (val >= 1011) { + x = 27; y = 100; + } + Robot.stroke(0, 0, 0); + Robot.line(26, 116, x, y); + val_old = val; +} diff --git a/libraries/Robot_Control/examples/explore/R06_Wheel_Calibration/R06_Wheel_Calibration.ino b/libraries/Robot_Control/examples/explore/R06_Wheel_Calibration/R06_Wheel_Calibration.ino new file mode 100644 index 0000000..c571b3a --- /dev/null +++ b/libraries/Robot_Control/examples/explore/R06_Wheel_Calibration/R06_Wheel_Calibration.ino @@ -0,0 +1,103 @@ +/* 6 Wheel Calibration + + Use this sketch to calibrate the wheels in your robot. + Your robot should drive as straight as possible when + putting both motors at the same speed. + + Run the software and follow the on-screen instructions. + Use the trimmer on the motor board to make sure the + robot is working at its best! + Circuit: + * Arduino Robot + + created 1 May 2013 + by X. Yang + modified 12 May 2013 + by D. Cuartielles + + This example is in the public domain + */ + +#include <ArduinoRobot.h> // inport the robot librsry +// import the utility library +// a description of its funtionality is below +#include <utility/RobotTextManager.h> + +// arrays to hold the text for instructions +char script1[] ="Wheel Calibration"; +char script2[] ="1. Put Robot on a\n flat surface"; +char script3[] ="2. Adjust speed with the knob on top"; +char script4[] ="3. If robot goes\n straight, it's done"; +char script5[] ="4. Use screwdriver\n on the bottom trim"; +char script6[] ="- Robot turns left,\n screw it clockwise;"; +char script7[] ="- Turns right, screw it ct-colockwise;"; +char script8[] ="5. Repeat 4 until\n going straight"; + +int speedRobot; //robot speed +int calibrationValue; //value for calibrate difference between wheels + +void setup(){ + //necessary initialization sequence + Robot.begin(); + Robot.beginTFT(); + Robot.beginSD(); + + // left and top margin for displaying text + // see below for a description of this + textManager.setMargin(5,5); + // write all instructions at once + writeAllscript(); + +} +void loop(){ + //Control the robot's speed with knob on top + int speedRobot=map(Robot.knobRead(),0,1023,-255,255); + Robot.motorsWrite(speedRobot,speedRobot); + + //read value of the pot on motor baord,to clibrate the wheels + int calibrationValue=map(Robot.trimRead(),0,1023,-30,30); + // print the values to the screen + Robot.debugPrint(calibrationValue,110,145); + delay(40); + +} + +void writeAllscript(){ + //prints 8 scripts one after another + textManager.writeText(0,0,script1); + textManager.writeText(1,0,script2); + textManager.writeText(3,0,script3); + textManager.writeText(5,0,script4); + textManager.writeText(7,0,script5); + textManager.writeText(9,0,script6); + textManager.writeText(11,0,script7); + textManager.writeText(13,0,script8); +} + +/** +textManager mostly contains helper functions for +R06_Wheel_Calibration and R01_Hello_User. + + textManager.setMargin(margin_left, margin_top): + Configure the left and top margin for text + display. The margins will be used by + textManager.writeText(). + Parameters: + margin_left, margin_top: int, the margin values + from the top and left side of the screen. + Returns: + none + + textManager.writeText(line,column,text): + Display text on the specific line and column. + It's different from Robot.text() which + uses pixels for positioning the text. + Parameters: + line:int, which line is the text displayed. Each line + is 10px high. + column:int, which column is the text displayed. Each + column is 8px wide. + text:a char array(string) of the text to be displayed. + Returns: + none +*/ diff --git a/libraries/Robot_Control/examples/explore/R07_Runaway_Robot/R07_Runaway_Robot.ino b/libraries/Robot_Control/examples/explore/R07_Runaway_Robot/R07_Runaway_Robot.ino new file mode 100644 index 0000000..9832d29 --- /dev/null +++ b/libraries/Robot_Control/examples/explore/R07_Runaway_Robot/R07_Runaway_Robot.ino @@ -0,0 +1,78 @@ +/* Runaway Robot + + Play tag with your robot! With an ultrasonic + distance sensor, it's capable of detecting and avoiding + obstacles, never bumping into walls again! + + You'll need to attach an untrasonic range finder to TK1. + + Circuit: + * Arduino Robot + * US range finder like Maxbotix EZ10, with analog output + + created 1 May 2013 + by X. Yang + modified 12 May 2013 + by D. Cuartielles + + This example is in the public domain + */ + +// include the robot library +#include <ArduinoRobot.h> + +int sensorPin = TK1; // pin is used by the sensor + +void setup() { + // initialize the Robot, SD card, and display + Serial.begin(9600); + Robot.begin(); + Robot.beginTFT(); + Robot.beginSD(); + Robot.displayLogos(); + + // draw a face on the LCD screen + setFace(true); +} + +void loop() { + // If the robot is blocked, turn until free + while(getDistance() < 40) { // If an obstacle is less than 20cm away + setFace(false); //shows an unhappy face + Robot.motorsStop(); // stop the motors + delay(1000); // wait for a moment + Robot.turn(90); // turn to the right and try again + setFace(true); // happy face + } + // if there are no objects in the way, keep moving + Robot.motorsWrite(255, 255); + delay(100); +} + +// return the distance in cm +float getDistance() { + // read the value from the sensor + int sensorValue = Robot.analogRead(sensorPin); + //Convert the sensor input to cm. + float distance_cm = sensorValue*1.27; + return distance_cm; +} + +// make a happy or sad face +void setFace(boolean onOff) { + if(onOff) { + // if true show a happy face + Robot.background(0, 0, 255); + Robot.setCursor(44, 60); + Robot.stroke(0, 255, 0); + Robot.setTextSize(4); + Robot.print(":)"); + }else{ + // if false show an upset face + Robot.background(255, 0, 0); + Robot.setCursor(44, 60); + Robot.stroke(0, 255, 0); + Robot.setTextSize(4); + Robot.print("X("); + } +} diff --git a/libraries/Robot_Control/examples/explore/R08_Remote_Control/R08_Remote_Control.ino b/libraries/Robot_Control/examples/explore/R08_Remote_Control/R08_Remote_Control.ino new file mode 100644 index 0000000..fda21cb --- /dev/null +++ b/libraries/Robot_Control/examples/explore/R08_Remote_Control/R08_Remote_Control.ino @@ -0,0 +1,123 @@ +/* 08 Remote Control + + ******************* + *** + ***This example code is in an experimental state. + ***You are welcome to try this with your robot, + ***and no harm will come to it. We will provide a + ***detailed description of an updated version of this + ***in a future update + *** + *** For this example to work you need: + *** + *** - download and install the IR-Remote library by Ken Shirriff + *** to be found at https://github.com/shirriff/Arduino-IRremote + *** - get a Sony remote control + *** + *** This example will be updated soon, come back to the Robot + *** page on the Arduino server for updates!! + *** + ******************* + + If you connect a IR receiver to the robot, + you can control it like you control a TV set. + Using a Sony compatiable remote control, + map some buttons to different actions. + You can make the robot move around without + even touching it! + + Circuit: + * Arduino Robot + * Connect the IRreceiver to TDK2 + * Sony compatible remote control + + based on the IRremote library + by Ken Shirriff + http://arcfn.com + + created 1 May 2013 + by X. Yang + modified 12 May 2013 + by D. Cuartielles + + This example is in the public domain + */ + +// include the necessary libraries +#include <IRremote.h> +#include <ArduinoRobot.h> + +// Define a few commands from your remote control +#define IR_CODE_FORWARD 0x2C9B +#define IR_CODE_BACKWARDS 0x6C9B +#define IR_CODE_TURN_LEFT 0xD4B8F +#define IR_CODE_TURN_RIGHT 0x34B8F + +int RECV_PIN = TKD2; // the pin the IR receiver is connected to +IRrecv irrecv(RECV_PIN); // an instance of the IR receiver object +decode_results results; // container for received IR codes + +void setup() { + // initialize the Robot, SD card, display, and speaker + Robot.begin(); + Robot.beginTFT(); + Robot.beginSD(); + + // print some text to the screen + Robot.stroke(0, 0, 0); + Robot.text("Remote Control code:", 5, 5); + Robot.text("Command:", 5, 26); + irrecv.enableIRIn(); // Start the receiver +} + +void loop() { + // if there is an IR command, process it + if (irrecv.decode(&results)) { + processResult(); + irrecv.resume(); // resume receiver + } +} + +void processResult() { + unsigned long res = results.value; + // print the value to the screen + Robot.debugPrint(res, 5, 15); + + if(res == IR_CODE_FORWARD || res == IR_CODE_BACKWARDS || res == IR_CODE_TURN_LEFT || res == IR_CODE_TURN_RIGHT) { + Robot.fill(255, 255, 255); + Robot.stroke(255, 255, 255); + + Robot.rect(5, 36, 55, 10); + } + switch(results.value){ + case IR_CODE_FORWARD: + Robot.stroke(0, 0, 0); + Robot.text("Forward", 5, 36); + Robot.motorsWrite(255, 255); + delay(300); + Robot.motorsStop(); + break; + case IR_CODE_BACKWARDS: + Robot.stroke(0, 0, 0); + Robot.text("Backwards", 5, 36); + Robot.motorsWrite(-255, -255); + delay(300); + Robot.motorsStop(); + break; + case IR_CODE_TURN_LEFT: + Robot.stroke(0, 0, 0); + Robot.text("Left", 5, 36); + Robot.motorsWrite(-255, 255); + delay(100); + Robot.motorsStop(); + break; + case IR_CODE_TURN_RIGHT: + Robot.stroke(0, 0, 0); + Robot.text("Right", 5, 36); + Robot.motorsWrite(255, -255); + delay(100); + Robot.motorsStop(); + break; + } +} + diff --git a/libraries/Robot_Control/examples/explore/R09_Picture_Browser/R09_Picture_Browser.ino b/libraries/Robot_Control/examples/explore/R09_Picture_Browser/R09_Picture_Browser.ino new file mode 100644 index 0000000..a43348c --- /dev/null +++ b/libraries/Robot_Control/examples/explore/R09_Picture_Browser/R09_Picture_Browser.ino @@ -0,0 +1,159 @@ +/* Picture Browser + + You can make your own gallery/picture show with the + Robot. Put some pictures on the SD card, start the + sketch, they will diplay on the screen. + + Use the left/right buttons to navigate through the + previous and next images. + + Press up or down to enter a mode where you change + the pictures by rotating the robot. + + You can add your own pictures onto the SD card, and + view them in the Robot's gallery! + + Pictures must be uncompressed BMP, 24-bit color depth, + 160 pixels wide, and 128 pixels tall. + + They should be named as "picN.bmp". Replace 'N' with a + number between 0 and 9. + + The current code only supports 10 pictures. How would you + improve it to handle more? + + Circuit: + * Arduino Robot + + created 1 May 2013 + by X. Yang + modified 12 May 2013 + by D. Cuartielles + + This example is in the public domain + */ + +#include <ArduinoRobot.h> // include the robot library + +const int NUM_PICS = 4; //Total number of pictures in Gallery + +// name the modes +const int CONTROL_MODE_KEY = 0; +const int CONTROL_MODE_COMPASS = 1; + +char buffer[] = "pic1.bmp"; // current file name +int i = 1; // Current gallery sequence counter +int mode = 0; // Current mode + +// text to display on screen +char modeNames[][9] = { "keyboard", "tilt " }; + +void setup() { + // initialize the Robot, SD card, display, and speaker + Robot.beginSD(); + Robot.beginTFT(); + Robot.begin(); + + // draw "lg0.bmp" and "lg1.bmp" on the screen + Robot.displayLogos(); + + // draw init3.bmp from the SD card on the screen + Robot.drawBMP("init3.bmp", 0, 0); + + // display instructions + Robot.stroke(0, 0, 0); + Robot.text("The gallery\n\n has 2 modes, in\n keyboard mode, L/R\n key for switching\n pictures, U/D key\n for changing modes", 5, 5); + delay(6000); + Robot.clearScreen(); + Robot.drawBMP("pb.bmp", 0, 0); + Robot.text("In tilt mode,\n quickly tilt the\n robot to switch\n pictures", 5, 5); + delay(4000); +} + +void loop() { + buffer[3] = '0'+i;// change filename of the img to be displayed + Robot.drawBMP(buffer, 0, 0); // draw the file on the screen + // change control modes + switch(mode) { + case CONTROL_MODE_COMPASS: + compassControl(3); + break; + case CONTROL_MODE_KEY: + keyboardControl(); + break; + } + delay(200); +} + +void keyboardControl() { + //Use buttons to control the gallery + while(true) { + int keyPressed = Robot.keyboardRead(); // read the button values + switch(keyPressed) { + case BUTTON_LEFT: // display previous picture + if(--i < 1) i = NUM_PICS; + return; + case BUTTON_MIDDLE: // do nothing + case BUTTON_RIGHT: // display next picture + if(++i > NUM_PICS) i = 1; + return; + case BUTTON_UP: // change mode + changeMode(-1); + return; + case BUTTON_DOWN: // change mode + changeMode(1); + return; + } + } +} + +// if controlling by the compass +void compassControl(int change) { + // Rotate the robot to change the pictures + while(true) { + // read the value of the compass + int oldV = Robot.compassRead(); + + //get the change of angle + int diff = Robot.compassRead()-oldV; + if(diff > 180) diff -= 360; + else if(diff < -180) diff += 360; + + if(abs(diff) > change) { + if(++i > NUM_PICS) i = 1; + return; + } + + // chage modes, if buttons are pressed + int keyPressed = Robot.keyboardRead(); + switch(keyPressed) { + case BUTTON_UP: + changeMode(-1); + return; + case BUTTON_DOWN: + changeMode(1); + return; + } + delay(10); + } +} + +// Change the control mode and display it on the LCD +void changeMode(int changeDir) { + // alternate modes + mode += changeDir; + if(mode < 0) { + mode = 1; + } else if(mode > 1) + mode=0; + + // display the mode on screen + Robot.fill(255, 255, 255); + Robot.stroke(255, 255, 255); + Robot.rect(0, 0, 128, 12); + Robot.stroke(0, 0, 0); + Robot.text("Control:", 2, 2); + Robot.text(modeNames[mode], 52, 2); + delay(1000); +} + diff --git a/libraries/Robot_Control/examples/explore/R10_Rescue/R10_Rescue.ino b/libraries/Robot_Control/examples/explore/R10_Rescue/R10_Rescue.ino new file mode 100644 index 0000000..48044db --- /dev/null +++ b/libraries/Robot_Control/examples/explore/R10_Rescue/R10_Rescue.ino @@ -0,0 +1,124 @@ +/* Robot Rescue + + In this example, the robot enters the line following mode and + plays some music until it reaches its target. Once it finds the + target, it pushes it out of the track. It then returns to the + track and looks for a second target. + + You can make the robot push as many objects as you want to, just + add more to calls to the rescue function or even move that code + into the loop. + + Circuit: + * Arduino Robot + * some objects for the robot to push + * a line-following circuit + + created 1 May 2013 + by X. Yang + modified 12 May 2013 + by D. Cuartielles + + This example is in the public domain + */ + +#include <ArduinoRobot.h> // include the robot library + +void setup(){ + // initialize the Robot, SD card, display, and speaker + Robot.begin(); + Robot.beginTFT(); + Robot.beginSD(); + Robot.beginSpeaker(); + + // draw "lg0.bmp" and "lg1.bmp" on the screen + Robot.displayLogos(); + + // display the line following instructional image from the SD card + Robot.drawBMP("lf.bmp", 0, 0); + + // play the chase music file + Robot.playFile("chase.sqm"); + + // add the instructions + Robot.text("Rescue\n\n place the robot on\n the rescue track\n pushing the\n obstacles away", 5, 5); + Robot.text("Press the middle\n button to start...", 5, 61); + Robot.waitContinue(); + + // start + Robot.fill(255, 255, 255); + Robot.stroke(255, 255, 255); + Robot.rect(0, 0, 128, 80); // erase the previous text + Robot.stroke(0, 0, 0); + Robot.text("Start", 5, 5); + + // use this to calibrate the line following algorithm + // uncomment one or the other to see the different behaviors of the robot + // Robot.lineFollowConfig(11, 5, 50, 10); + Robot.lineFollowConfig(14, 9, 50, 10); + + // run the rescue sequence + rescueSequence(); + Robot.text("Found obstacle", 5, 12); + // find the track again + goToNext(); + Robot.text("Found track", 5, 19); + // run the rescue sequence a second time + rescueSequence(); + Robot.text("Found obstacle", 5, 26); + + // here you could go on ... + + // write status on the screen + Robot.stroke(0, 0, 0); + Robot.text("Done!", 5, 25); +} + +void loop(){ + //nothing here, the program only runs once. +} + +// run the sequence +void rescueSequence(){ + //set the motor board into line-follow mode + Robot.setMode(MODE_LINE_FOLLOW); + + while(!Robot.isActionDone()){ // wait until it is no longer following the line + } + delay(1000); + + // do the rescue operation + doRescue(); + delay(1000); +} + +void doRescue(){ + // Reached the endline, engage the target + Robot.motorsWrite(200,200); + delay(250); + Robot.motorsStop(); + delay(1000); + + // Turn the robot + Robot.turn(90); + Robot.motorsStop(); + delay(1000); + + // Move forward + Robot.motorsWrite(200,200); + delay(500); + Robot.motorsStop(); + delay(1000); + + // move backwards, leave the target + Robot.motorsWrite(-200,-200); + delay(500); + Robot.motorsStop(); +} + +void goToNext(){ + // Turn the robot + Robot.turn(-90); + Robot.motorsStop(); + delay(1000); +} diff --git a/libraries/Robot_Control/examples/explore/R11_Hello_User/R11_Hello_User.ino b/libraries/Robot_Control/examples/explore/R11_Hello_User/R11_Hello_User.ino new file mode 100644 index 0000000..90fbfff --- /dev/null +++ b/libraries/Robot_Control/examples/explore/R11_Hello_User/R11_Hello_User.ino @@ -0,0 +1,181 @@ +/* Hello User + + Hello User! This sketch is the first thing you see + when starting this robot. It gives you a warm welcome, + showing you some of the really amazing abilities of + the robot, and make itself really personal to you. + + Circuit: + * Arduino Robot + + created 1 May 2013 + by X. Yang + modified 12 May 2013 + by D. Cuartielles + + This example is in the public domain + */ + +#include <ArduinoRobot.h> // include the robot library +// include the utility function for ths sketch +// see the details below +#include <utility/RobotTextManager.h> + +char buffer[20];//for storing user name + +void setup(){ + //necessary initialization sequence + Robot.begin(); + Robot.beginTFT(); + Robot.beginSpeaker(32000); + Robot.beginSD(); + + // show the logos from the SD card + Robot.displayLogos(); + + // play the music file + Robot.playFile("menu.sqm"); + + // clear the screen + Robot.clearScreen(); + + // From now on, display different slides of + // text/pictures in sequence. The so-called + // scripts are strings of text stored in the + // robot's memory + + // these functions are explained below + + //Script 6 + textManager.writeScript(5, 4, 0); + textManager.writeScript(9, 10, 0); + Robot.waitContinue(); + delay(500); + Robot.clearScreen(); + + //Script 7 + textManager.writeScript(6, 4, 0); + textManager.writeScript(9, 10, 0); + Robot.waitContinue(); + delay(500); + Robot.clearScreen(); + + //Script 8 + // this function enables sound and images at once + textManager.showPicture("init2.bmp", 0, 0); + + textManager.writeScript(7, 2, 0); + textManager.writeScript(9, 7, 0); + Robot.waitContinue(); + delay(500); + Robot.clearScreen(); + + //Script 9 + textManager.showPicture("init3.bmp", 0, 0); + textManager.writeScript(8, 2, 0); + textManager.writeScript(9, 7, 0); + Robot.waitContinue(); + delay(500); + Robot.clearScreen(); + + //Script 11 + textManager.writeScript(10, 4, 0); + textManager.writeScript(9, 10, 0); + Robot.waitContinue(); + delay(500); + Robot.clearScreen(); + + //Input screen + textManager.writeScript(0, 1, 1); + textManager.input(3, 1, USERNAME); + + textManager.writeScript(1, 5, 1); + textManager.input(7, 1, ROBOTNAME); + + delay(1000); + Robot.clearScreen(); + + //last screen + textManager.showPicture("init4.bmp", 0, 0); + textManager.writeText(1, 2, "Hello"); + Robot.userNameRead(buffer); + textManager.writeText(3, 2, buffer); + + textManager.writeScript(4,10,0); + + Robot.waitContinue(BUTTON_LEFT); + Robot.waitContinue(BUTTON_RIGHT); + textManager.showPicture("kt1.bmp", 0, 0); +} + +void loop(){ + // do nothing here +} + + +/** +textManager mostly contains helper functions for +R06_Wheel_Calibration and R01_Hello_User. + +The ones used in this example: + textManager.setMargin(margin_left, margin_top): + Configure the left and top margin for text + display. The margins will be used for + textManager.writeText(). + Parameters: + margin_left, margin_top: the margin values + from the top and left side of the screen. + Returns: + none + + textManager.writeScript(script_number,line,column): + Display a script of Hello User example. + Parameters: + script_number: an int value representing the + script to be displayed. + line, column: in which line,column is the script + displayed. Same as writeText(). + Returns: + none + + textManager.input(line,column,codename): + Print an input indicator(">") in the line and column, + dispaly and receive input from a virtual keyboard, + and save the value into EEPROM represented by codename + Parameters: + line,column: int values represents where the input + starts. Same as wirteText(). + codename: either USERNAME,ROBOTNAME,CITYNAME or + COUNTRYNAME. You can call Robot.userNameRead(), + robotNameRead(),cityNameRead() or countryNameRead() + to access the values later. + Returns: + none; + + textManager.writeText(line,column,text): + Display text on the specific line and column. + It's different from Robot.text() as the later + uses pixels for positioning the text. + Parameters: + line:in which line is the text displayed. Each line + is 10px high. + column:in which column is the text displayed. Each + column is 8px wide. + text:a char array(string) of the text to be displayed. + Returns: + none + + textManager.showPicture(filename, x, y): + It has the same functionality as Robot.drawPicture(), + while fixing the conflict between drawPicture() and + sound playing. Using Robot.drawPicture(), it'll have + glitches when playing sound at the same time. Using + showPicture(), it'll stop sound when displaying + picture, so preventing the problem. + Parameters: + filename:string, name of the bmp file in sd + x,y: int values, position of the picture + Returns: + none + +*/ diff --git a/libraries/Robot_Control/examples/learn/AllIOPorts/AllIOPorts.ino b/libraries/Robot_Control/examples/learn/AllIOPorts/AllIOPorts.ino new file mode 100644 index 0000000..3520214 --- /dev/null +++ b/libraries/Robot_Control/examples/learn/AllIOPorts/AllIOPorts.ino @@ -0,0 +1,149 @@ +/* + All IO Ports + + This example goes through all the IO ports on your robot and + reads/writes from/to them. Uncomment the different lines inside + the loop to test the different possibilities. + + The TK inputs on the Control Board are multiplexed and therefore + it is not recommended to use them as outputs. The TKD pins on the + Control Board as well as the TK pins on the Motor Board go directly + to the microcontroller and therefore can be used both as inputs + and outputs. + + Circuit: + * Arduino Robot + + created 1 May 2013 + by X. Yang + modified 12 May 2013 + by D. Cuartielles + + This example is in the public domain + */ + +#include <ArduinoRobot.h> + +// use arrays to store the names of the pins to be read +uint8_t arr[] = { TK0, TK1, TK2, TK3, TK4, TK5, TK6, TK7 }; +uint8_t arr2[] = { TKD0, TKD1, TKD2, TKD3, TKD4, TKD5 }; +uint8_t arr3[] = { B_TK1, B_TK2, B_TK3, B_TK4 }; + +void setup(){ + // initialize the robot + Robot.begin(); + + // open the serial port to send the information of what you are reading + Serial.begin(9600); +} + +void loop(){ + // read all the TK inputs at the Motor Board as analog + analogReadB_TKs(); + + // read all the TK inputs at the Motor Board as digital + //digitalReadB_TKs(); + + // read all the TK inputs at the Control Board as analog + //analogReadTKs(); + + // read all the TK inputs at the Control Board as digital + //digitalReadTKs(); + + // read all the TKD inputs at the Control Board as analog + //analogReadTKDs(); + + // read all the TKD inputs at the Control Board as digital + //digitalReadTKDs(); + + // write all the TK outputs at the Motor Board as digital + //digitalWriteB_TKs(); + + // write all the TKD outputs at the Control Board as digital + //digitalWriteTKDs(); + delay(5); +} + +// read all TK inputs on the Control Board as analog inputs +void analogReadTKs() { + for(int i=0;i<8;i++) { + Serial.print(Robot.analogRead(arr[i])); + Serial.print(","); + } + Serial.println(""); +} + +// read all TK inputs on the Control Board as digital inputs +void digitalReadTKs() { + for(int i=0;i<8;i++) { + Serial.print(Robot.digitalRead(arr[i])); + Serial.print(","); + } + Serial.println(""); +} + +// read all TKD inputs on the Control Board as analog inputs +void analogReadTKDs() { + for(int i=0; i<6; i++) { + Serial.print(Robot.analogRead(arr2[i])); + Serial.print(","); + } + Serial.println(""); +} + +// read all TKD inputs on the Control Board as digital inputs +void digitalReadTKDs() { + for(int i=0; i<6; i++) { + Serial.print(Robot.digitalRead(arr2[i])); + Serial.print(","); + } + Serial.println(""); +} + +// write all TKD outputs on the Control Board as digital outputs +void digitalWriteTKDs() { + // turn all the pins on + for(int i=0; i<6; i++) { + Robot.digitalWrite(arr2[i], HIGH); + } + delay(500); + + // turn all the pins off + for(int i=0; i<6; i++){ + Robot.digitalWrite(arr2[i], LOW); + } + delay(500); +} + +// write all TK outputs on the Motor Board as digital outputs +void digitalWriteB_TKs() { + // turn all the pins on + for(int i=0; i<4; i++) { + Robot.digitalWrite(arr3[i], HIGH); + } + delay(500); + + // turn all the pins off + for(int i=0; i<4; i++) { + Robot.digitalWrite(arr3[i], LOW); + } + delay(500); +} + +// read all TK inputs on the Motor Board as analog inputs +void analogReadB_TKs() { + for(int i=0; i<4; i++) { + Serial.print(Robot.analogRead(arr3[i])); + Serial.print(","); + } + Serial.println(""); +} + +// read all TKD inputs on the Motor Board as digital inputs +void digitalReadB_TKs() { + for(int i=0; i<4; i++) { + Serial.print(Robot.digitalRead(arr3[i])); + Serial.print(","); + } + Serial.println(""); +} diff --git a/libraries/Robot_Control/examples/learn/Beep/Beep.ino b/libraries/Robot_Control/examples/learn/Beep/Beep.ino new file mode 100644 index 0000000..1a78673 --- /dev/null +++ b/libraries/Robot_Control/examples/learn/Beep/Beep.ino @@ -0,0 +1,39 @@ +/* + Beep + + Test different pre-configured beeps on + the robot's speaker. + + Possible beeps are: + - BEEP_SIMPLE + - BEEP_DOUBLE + - BEEP_LONG + + Circuit: + * Arduino Robot + + created 1 May 2013 + by X. Yang + modified 12 May 2013 + by D. Cuartielles + + This example is in the public domain + */ + +#include <ArduinoRobot.h> + +void setup() { + // initialize the robot + Robot.begin(); + + // initialize the sound speaker + Robot.beginSpeaker(); +} +void loop() { + Robot.beep(BEEP_SIMPLE); + delay(1000); + Robot.beep(BEEP_DOUBLE); + delay(1000); + Robot.beep(BEEP_LONG); + delay(1000); +} diff --git a/libraries/Robot_Control/examples/learn/CleanEEPROM/CleanEEPROM.ino b/libraries/Robot_Control/examples/learn/CleanEEPROM/CleanEEPROM.ino new file mode 100644 index 0000000..ae14bdd --- /dev/null +++ b/libraries/Robot_Control/examples/learn/CleanEEPROM/CleanEEPROM.ino @@ -0,0 +1,41 @@ +/* + Clean EEPROM + + This example erases the user information stored on the + external EEPROM memory chip on your robot. + + BEWARE, this will erase the following information: + - your name + - your robots name given by you + - your city and country if you configured them via software + + EEPROMs shouldn't be rewritten too often, therefore the + code runs only during setup and not inside loop. + + Circuit: + * Arduino Robot + + created 1 May 2013 + by X. Yang + modified 12 May 2013 + by D. Cuartielles + + This example is in the public domain + */ + +#include <ArduinoRobot.h> + +void setup(){ + // initialize the robot + Robot.begin(); + + // write empty strings for the different fields + Robot.userNameWrite(""); + Robot.robotNameWrite(""); + Robot.cityNameWrite(""); + Robot.countryNameWrite(""); +} + +void loop(){ + // do nothing +} diff --git a/libraries/Robot_Control/examples/learn/Compass/Compass.ino b/libraries/Robot_Control/examples/learn/Compass/Compass.ino new file mode 100644 index 0000000..4170ab7 --- /dev/null +++ b/libraries/Robot_Control/examples/learn/Compass/Compass.ino @@ -0,0 +1,41 @@ +/* + Compass + + Try the compass both on the robot's TFT + and through the serial port. + + Circuit: + * Arduino Robot + + created 1 May 2013 + by X. Yang + modified 12 May 2013 + by D. Cuartielles + + This example is in the public domain + */ + +#include <ArduinoRobot.h> + +void setup() { + // initialize the robot + Robot.begin(); + + // initialize the robot's screen + Robot.beginTFT(); + + // initialize the serial port + Serial.begin(9600); +} + +void loop() { + // read the compass + int compass = Robot.compassRead(); + + // print out the sensor's value + Serial.println(compass); + + // show the value on the robot's screen + Robot.drawCompass(compass); +} + diff --git a/libraries/Robot_Control/examples/learn/IRArray/IRArray.ino b/libraries/Robot_Control/examples/learn/IRArray/IRArray.ino new file mode 100644 index 0000000..36b4acf --- /dev/null +++ b/libraries/Robot_Control/examples/learn/IRArray/IRArray.ino @@ -0,0 +1,44 @@ +/* + IR array + + Read the analog value of the IR sensors at the + bottom of the robot. The also-called line following + sensors are a series of pairs of IR sender/receiver + used to detect how dark it is underneath the robot. + + The information coming from the sensor array is stored + into the Robot.IRarray[] and updated using the Robot.updateIR() + method. + + Circuit: + * Arduino Robot + + created 1 May 2013 + by X. Yang + modified 12 May 2013 + by D. Cuartielles + + This example is in the public domain + */ + +#include <ArduinoRobot.h> + +void setup(){ + // initialize the robot + Robot.begin(); + + // initialize the serial port + Serial.begin(9600); +} + +void loop(){ + // store the sensor information into the array + Robot.updateIR(); + + // iterate the array and print the data to the Serial port + for(int i=0; i<5; i++){ + Serial.print(Robot.IRarray[i]); + Serial.print(" "); + } + Serial.println(""); +} diff --git a/libraries/Robot_Control/examples/learn/LCDDebugPrint/LCDDebugPrint.ino b/libraries/Robot_Control/examples/learn/LCDDebugPrint/LCDDebugPrint.ino new file mode 100644 index 0000000..0078b77 --- /dev/null +++ b/libraries/Robot_Control/examples/learn/LCDDebugPrint/LCDDebugPrint.ino @@ -0,0 +1,37 @@ +/* + LCD Debug Print + + Use the Robot's library function debugPrint() to + quickly send a sensor reading to the robot's creen. + + Circuit: + * Arduino Robot + + created 1 May 2013 + by X. Yang + modified 12 May 2013 + by D. Cuartielles + + This example is in the public domain + */ + +#include <ArduinoRobot.h> + +int value; + +void setup() { + // initialize the robot + Robot.begin(); + + // initialize the screen + Robot.beginTFT(); +} +void loop(){ + // read a value + value = analogRead(A4); + + // send the value to the screen + Robot.debugPrint(value); + + delay(40); +} diff --git a/libraries/Robot_Control/examples/learn/LCDPrint/LCDPrint.ino b/libraries/Robot_Control/examples/learn/LCDPrint/LCDPrint.ino new file mode 100644 index 0000000..d34168c --- /dev/null +++ b/libraries/Robot_Control/examples/learn/LCDPrint/LCDPrint.ino @@ -0,0 +1,44 @@ +/* + LCD Print + + Print the reading from a sensor to the screen. + + Circuit: + * Arduino Robot + + created 1 May 2013 + by X. Yang + modified 12 May 2013 + by D. Cuartielles + + This example is in the public domain + */ + +#include <ArduinoRobot.h> + +int value; + +void setup() { + // initialize the robot + Robot.begin(); + + // initialize the robot's screen + Robot.beginLCD(); +} + +void loop() { + // read a analog port + value=Robot.analogRead(TK4); + + // write the sensor value on the screen + Robot.fill(0, 255, 0); + Robot.textSize(1); + Robot.text(value, 0, 0); + + delay(500); + + // erase the previous text on the screen + Robot.fill(255, 255, 255); + Robot.textSize(1); + Robot.text(value, 0, 0); +} diff --git a/libraries/Robot_Control/examples/learn/LCDWriteText/LCDWriteText.ino b/libraries/Robot_Control/examples/learn/LCDWriteText/LCDWriteText.ino new file mode 100644 index 0000000..e34a7d2 --- /dev/null +++ b/libraries/Robot_Control/examples/learn/LCDWriteText/LCDWriteText.ino @@ -0,0 +1,41 @@ +/* + LCD Write Text + + Use the Robot's library function text() to + print out text to the robot's screen. Take + into account that you need to erase the + information before continuing writing. + + Circuit: + * Arduino Robot + + created 1 May 2013 + by X. Yang + modified 12 May 2013 + by D. Cuartielles + + This example is in the public domain + */ + +#include <ArduinoRobot.h> + +void setup() { + // initialize the robot + Robot.begin(); + + // initialize the screen + Robot.beginTFT(); +} +void loop() { + Robot.stroke(0, 0, 0); // choose the color black + Robot.text("Hello World", 0, 0); // print the text + delay(2000); + Robot.stroke(255, 255, 255); // choose the color white + Robot.text("Hello World", 0, 0); // writing text in the same color as the BG erases the text! + + Robot.stroke(0, 0, 0); // choose the color black + Robot.text("I am a robot", 0, 0); // print the text + delay(3000); + Robot.stroke(255, 255, 255); // choose the color black + Robot.text("I am a robot", 0, 0); // print the text +} diff --git a/libraries/Robot_Control/examples/learn/LineFollowWithPause/LineFollowWithPause.ino b/libraries/Robot_Control/examples/learn/LineFollowWithPause/LineFollowWithPause.ino new file mode 100644 index 0000000..a3d3fc0 --- /dev/null +++ b/libraries/Robot_Control/examples/learn/LineFollowWithPause/LineFollowWithPause.ino @@ -0,0 +1,49 @@ +/* + Line Following with Pause + + As the robot has two processors, one to command the motors and one to + take care of the screen and user input, it is possible to write + programs that put one part of the robot to do something and get the + other half to control it. + + This example shows how the Control Board assigns the Motor one to + follow a line, but asks it to stop every 3 seconds. + + Circuit: + * Arduino Robot + + created 1 May 2013 + by X. Yang + modified 12 May 2013 + by D. Cuartielles + + This example is in the public domain + */ + +#include <ArduinoRobot.h> + +void setup() { + // initialize the robot + Robot.begin(); + + // initialize the screen + Robot.beginTFT(); + + // get some time to place the robot on the ground + delay(3000); + + // set the robot in line following mode + Robot.setMode(MODE_LINE_FOLLOW); +} + +void loop() { + // tell the robot to take a break and stop + Robot.pauseMode(true); + Robot.debugPrint('p'); + delay(3000); + + // tell the robot to move on + Robot.pauseMode(false); + Robot.debugPrint('>'); + delay(3000); +} diff --git a/libraries/Robot_Control/examples/learn/Melody/Melody.ino b/libraries/Robot_Control/examples/learn/Melody/Melody.ino new file mode 100644 index 0000000..6c049a7 --- /dev/null +++ b/libraries/Robot_Control/examples/learn/Melody/Melody.ino @@ -0,0 +1,62 @@ +/* + Melody + + Plays a melody stored in a string. + + The notes and durations are encoded as follows: + + NOTES: + c play "C" + C play "#C" + d play "D" + D play "#D" + e play "E" + f play "F" + F play "#F" + g play "G" + G play "#G" + a play "A" + A play "#A" + b play "B" + - silence + + DURATIONS: + 1 Set as full note + 2 Set as half note + 4 Set as quarter note + 8 Set as eigth note + + SPECIAL NOTATION: + . Make the previous note 3/4 the length + + Circuit: + * Arduino Robot + + created 1 May 2013 + by X. Yang + modified 12 May 2013 + by D. Cuartielles + + This example is in the public domain + + This code uses the Squawk sound library designed by STG. For + more information about it check: http://github.com/stg/squawk + */ + +#include <ArduinoRobot.h> + +void setup() { + // initialize the robot + Robot.begin(); + + // initialize the sound library + Robot.beginSpeaker(); +} + +void loop() { + // array containing the melody + char aTinyMelody[] = "8eF-FFga4b.a.g.F.8beee-d2e.1-"; + + // play the melody + Robot.playMelody(aTinyMelody); +} diff --git a/libraries/Robot_Control/examples/learn/MotorTest/MotorTest.ino b/libraries/Robot_Control/examples/learn/MotorTest/MotorTest.ino new file mode 100644 index 0000000..baaaf06 --- /dev/null +++ b/libraries/Robot_Control/examples/learn/MotorTest/MotorTest.ino @@ -0,0 +1,41 @@ +/* + Motor Test + + Just see if the robot can move and turn. + + Circuit: + * Arduino Robot + + created 1 May 2013 + by X. Yang + modified 12 May 2013 + by D. Cuartielles + + This example is in the public domain + */ + +#include <ArduinoRobot.h> + +void setup() { + // initialize the robot + Robot.begin(); +} + +void loop() { + Robot.motorsWrite(255,255); // move forward + delay(2000); + Robot.motorsStop(); // fast stop + delay(1000); + Robot.motorsWrite(-255,-255); // backward + delay(1000); + Robot.motorsWrite(0,0); // slow stop + delay(1000); + Robot.motorsWrite(-255,255); // turn left + delay(2000); + Robot.motorsStop(); // fast stop + delay(1000); + Robot.motorsWrite(255,-255); // turn right + delay(2000); + Robot.motorsStop(); // fast stop + delay(1000); +} diff --git a/libraries/Robot_Control/examples/learn/SpeedByPotentiometer/SpeedByPotentiometer.ino b/libraries/Robot_Control/examples/learn/SpeedByPotentiometer/SpeedByPotentiometer.ino new file mode 100644 index 0000000..e97f48d --- /dev/null +++ b/libraries/Robot_Control/examples/learn/SpeedByPotentiometer/SpeedByPotentiometer.ino @@ -0,0 +1,39 @@ +/* + Speed by Potentiometer + + Control the robot's speed using the on-board + potentiometer. The speed will be printed on + the TFT screen. + + Circuit: + * Arduino Robot + + created 1 May 2013 + by X. Yang + modified 12 May 2013 + by D. Cuartielles + + This example is in the public domain + */ + +#include <ArduinoRobot.h> + +void setup() { + // initialize the robot + Robot.begin(); + + // initialize the screen + Robot.beginTFT(); +} + +void loop() { + // read the value of the potentiometer + int val=map(Robot.knobRead(), 0, 1023, -255, 255); + + // print the value to the TFT screen + Robot.debugPrint(val); + + // set the same speed on both of the robot's wheels + Robot.motorsWrite(val,val); + delay(10); +} diff --git a/libraries/Robot_Control/examples/learn/TurnTest/TurnTest.ino b/libraries/Robot_Control/examples/learn/TurnTest/TurnTest.ino new file mode 100644 index 0000000..543c06c --- /dev/null +++ b/libraries/Robot_Control/examples/learn/TurnTest/TurnTest.ino @@ -0,0 +1,32 @@ +/* + Turn Test + + Check if the robot turns a certain amount of degrees. + + Circuit: + * Arduino Robot + + created 1 May 2013 + by X. Yang + modified 12 May 2013 + by D. Cuartielles + + This example is in the public domain + */ + +#include <ArduinoRobot.h> + +void setup() { + // initialize the robot + Robot.begin(); +} + +void loop(){ + Robot.turn(50); //turn 50 degrees to the right + Robot.motorsStop(); + delay(1000); + + Robot.turn(-100); //turn 100 degrees to the left + Robot.motorsStop(); + delay(1000); +} diff --git a/libraries/Robot_Control/examples/learn/TurnTest/TurnTest.ino.orig b/libraries/Robot_Control/examples/learn/TurnTest/TurnTest.ino.orig new file mode 100644 index 0000000..4e3624f --- /dev/null +++ b/libraries/Robot_Control/examples/learn/TurnTest/TurnTest.ino.orig @@ -0,0 +1,37 @@ +/* + Turn Test + + Check if the robot turns a certain amount of degrees. + + Circuit: + * Arduino Robot + + created 1 May 2013 + by X. Yang + modified 12 May 2013 + by D. Cuartielles + + This example is in the public domain + */ + +#include <ArduinoRobot.h> + +void setup() { + // initialize the robot + Robot.begin(); +} + +<<<<<<< HEAD +void loop() { + Robot.turn(50); //turn 50 degrees to the right +======= +void loop(){ + Robot.turn(50);//turn 50 degrees to the right + Robot.motorsStop(); +>>>>>>> f062f704463222e83390b4a954e211f0f7e6e66f + delay(1000); + + Robot.turn(-100);//turn 100 degrees to the left + Robot.motorsStop(); + delay(1000); +} diff --git a/libraries/Robot_Control/examples/learn/keyboardTest/keyboardTest.ino b/libraries/Robot_Control/examples/learn/keyboardTest/keyboardTest.ino new file mode 100644 index 0000000..5bbc0e5 --- /dev/null +++ b/libraries/Robot_Control/examples/learn/keyboardTest/keyboardTest.ino @@ -0,0 +1,38 @@ +/* + Keyboard Test + + Check how the robot's keyboard works. This example + sends the data about the key pressed through the + serial port. + + All the buttons on the Control Board are tied up to a + single analog input pin, in this way it is possible to multiplex a + whole series of buttons on one single pin. + + It is possible to recalibrate the thresholds of the buttons using + the Robot.keyboardCalibrate() function, that takes a 5 ints long + array as parameter + + Circuit: + * Arduino Robot + + created 1 May 2013 + by X. Yang + modified 12 May 2013 + by D. Cuartielles + + This example is in the public domain + */ + +#include <ArduinoRobot.h> + +void setup() { + // initialize the serial port + Serial.begin(9600); +} + +void loop() { + // print out the keyboard readings + Serial.println(Robot.keyboardRead()); + delay(100); +} diff --git a/libraries/Robot_Control/examples/learn/keyboardTest/keyboardTest.ino.orig b/libraries/Robot_Control/examples/learn/keyboardTest/keyboardTest.ino.orig new file mode 100644 index 0000000..6ee6c05 --- /dev/null +++ b/libraries/Robot_Control/examples/learn/keyboardTest/keyboardTest.ino.orig @@ -0,0 +1,49 @@ +/* + Keyboard Test + + Check how the robot's keyboard works. This example + sends the data about the key pressed through the + serial port. + + All the buttons on the Control Board are tied up to a + single analog input pin, in this way it is possible to multiplex a + whole series of buttons on one single pin. + + It is possible to recalibrate the thresholds of the buttons using + the Robot.keyboardCalibrate() function, that takes a 5 ints long + array as parameter + + Circuit: + * Arduino Robot + + created 1 May 2013 + by X. Yang + modified 12 May 2013 + by D. Cuartielles + + This example is in the public domain + */ + +#include <ArduinoRobot.h> + +<<<<<<< HEAD +// it is possible to use an array to calibrate +//int vals[] = { 0, 133, 305, 481, 724 }; + +void setup() { + // initialize the serial port + Serial.begin(9600); + + // calibrate the keyboard + //Robot.keyboardCalibrate(vals);//For the new robot only. +======= +void setup(){ + Serial.begin(9600); +>>>>>>> f062f704463222e83390b4a954e211f0f7e6e66f +} + +void loop() { + // print out the keyboard readings + Serial.println(Robot.keyboardRead()); + delay(100); +} diff --git a/libraries/Robot_Control/glcdfont.c b/libraries/Robot_Control/glcdfont.c new file mode 100644 index 0000000..abc3631 --- /dev/null +++ b/libraries/Robot_Control/glcdfont.c @@ -0,0 +1,266 @@ +#include <avr/io.h> +#include <avr/pgmspace.h> + +#ifndef FONT5X7_H +#define FONT5X7_H + +// standard ascii 5x7 font + +static unsigned char font[] PROGMEM = { + 0x00, 0x00, 0x00, 0x00, 0x00, + 0x3E, 0x5B, 0x4F, 0x5B, 0x3E, + 0x3E, 0x6B, 0x4F, 0x6B, 0x3E, + 0x1C, 0x3E, 0x7C, 0x3E, 0x1C, + 0x18, 0x3C, 0x7E, 0x3C, 0x18, + 0x1C, 0x57, 0x7D, 0x57, 0x1C, + 0x1C, 0x5E, 0x7F, 0x5E, 0x1C, + 0x00, 0x18, 0x3C, 0x18, 0x00, + 0xFF, 0xE7, 0xC3, 0xE7, 0xFF, + 0x00, 0x18, 0x24, 0x18, 0x00, + 0xFF, 0xE7, 0xDB, 0xE7, 0xFF, + 0x30, 0x48, 0x3A, 0x06, 0x0E, + 0x26, 0x29, 0x79, 0x29, 0x26, + 0x40, 0x7F, 0x05, 0x05, 0x07, + 0x40, 0x7F, 0x05, 0x25, 0x3F, + 0x5A, 0x3C, 0xE7, 0x3C, 0x5A, + 0x7F, 0x3E, 0x1C, 0x1C, 0x08, + 0x08, 0x1C, 0x1C, 0x3E, 0x7F, + 0x14, 0x22, 0x7F, 0x22, 0x14, + 0x5F, 0x5F, 0x00, 0x5F, 0x5F, + 0x06, 0x09, 0x7F, 0x01, 0x7F, + 0x00, 0x66, 0x89, 0x95, 0x6A, + 0x60, 0x60, 0x60, 0x60, 0x60, + 0x94, 0xA2, 0xFF, 0xA2, 0x94, + 0x08, 0x04, 0x7E, 0x04, 0x08, + 0x10, 0x20, 0x7E, 0x20, 0x10, + 0x08, 0x08, 0x2A, 0x1C, 0x08, + 0x08, 0x1C, 0x2A, 0x08, 0x08, + 0x1E, 0x10, 0x10, 0x10, 0x10, + 0x0C, 0x1E, 0x0C, 0x1E, 0x0C, + 0x30, 0x38, 0x3E, 0x38, 0x30, + 0x06, 0x0E, 0x3E, 0x0E, 0x06, + 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x5F, 0x00, 0x00, + 0x00, 0x07, 0x00, 0x07, 0x00, + 0x14, 0x7F, 0x14, 0x7F, 0x14, + 0x24, 0x2A, 0x7F, 0x2A, 0x12, + 0x23, 0x13, 0x08, 0x64, 0x62, + 0x36, 0x49, 0x56, 0x20, 0x50, + 0x00, 0x08, 0x07, 0x03, 0x00, + 0x00, 0x1C, 0x22, 0x41, 0x00, + 0x00, 0x41, 0x22, 0x1C, 0x00, + 0x2A, 0x1C, 0x7F, 0x1C, 0x2A, + 0x08, 0x08, 0x3E, 0x08, 0x08, + 0x00, 0x80, 0x70, 0x30, 0x00, + 0x08, 0x08, 0x08, 0x08, 0x08, + 0x00, 0x00, 0x60, 0x60, 0x00, + 0x20, 0x10, 0x08, 0x04, 0x02, + 0x3E, 0x51, 0x49, 0x45, 0x3E, + 0x00, 0x42, 0x7F, 0x40, 0x00, + 0x72, 0x49, 0x49, 0x49, 0x46, + 0x21, 0x41, 0x49, 0x4D, 0x33, + 0x18, 0x14, 0x12, 0x7F, 0x10, + 0x27, 0x45, 0x45, 0x45, 0x39, + 0x3C, 0x4A, 0x49, 0x49, 0x31, + 0x41, 0x21, 0x11, 0x09, 0x07, + 0x36, 0x49, 0x49, 0x49, 0x36, + 0x46, 0x49, 0x49, 0x29, 0x1E, + 0x00, 0x00, 0x14, 0x00, 0x00, + 0x00, 0x40, 0x34, 0x00, 0x00, + 0x00, 0x08, 0x14, 0x22, 0x41, + 0x14, 0x14, 0x14, 0x14, 0x14, + 0x00, 0x41, 0x22, 0x14, 0x08, + 0x02, 0x01, 0x59, 0x09, 0x06, + 0x3E, 0x41, 0x5D, 0x59, 0x4E, + 0x7C, 0x12, 0x11, 0x12, 0x7C, + 0x7F, 0x49, 0x49, 0x49, 0x36, + 0x3E, 0x41, 0x41, 0x41, 0x22, + 0x7F, 0x41, 0x41, 0x41, 0x3E, + 0x7F, 0x49, 0x49, 0x49, 0x41, + 0x7F, 0x09, 0x09, 0x09, 0x01, + 0x3E, 0x41, 0x41, 0x51, 0x73, + 0x7F, 0x08, 0x08, 0x08, 0x7F, + 0x00, 0x41, 0x7F, 0x41, 0x00, + 0x20, 0x40, 0x41, 0x3F, 0x01, + 0x7F, 0x08, 0x14, 0x22, 0x41, + 0x7F, 0x40, 0x40, 0x40, 0x40, + 0x7F, 0x02, 0x1C, 0x02, 0x7F, + 0x7F, 0x04, 0x08, 0x10, 0x7F, + 0x3E, 0x41, 0x41, 0x41, 0x3E, + 0x7F, 0x09, 0x09, 0x09, 0x06, + 0x3E, 0x41, 0x51, 0x21, 0x5E, + 0x7F, 0x09, 0x19, 0x29, 0x46, + 0x26, 0x49, 0x49, 0x49, 0x32, + 0x03, 0x01, 0x7F, 0x01, 0x03, + 0x3F, 0x40, 0x40, 0x40, 0x3F, + 0x1F, 0x20, 0x40, 0x20, 0x1F, + 0x3F, 0x40, 0x38, 0x40, 0x3F, + 0x63, 0x14, 0x08, 0x14, 0x63, + 0x03, 0x04, 0x78, 0x04, 0x03, + 0x61, 0x59, 0x49, 0x4D, 0x43, + 0x00, 0x7F, 0x41, 0x41, 0x41, + 0x02, 0x04, 0x08, 0x10, 0x20, + 0x00, 0x41, 0x41, 0x41, 0x7F, + 0x04, 0x02, 0x01, 0x02, 0x04, + 0x40, 0x40, 0x40, 0x40, 0x40, + 0x00, 0x03, 0x07, 0x08, 0x00, + 0x20, 0x54, 0x54, 0x78, 0x40, + 0x7F, 0x28, 0x44, 0x44, 0x38, + 0x38, 0x44, 0x44, 0x44, 0x28, + 0x38, 0x44, 0x44, 0x28, 0x7F, + 0x38, 0x54, 0x54, 0x54, 0x18, + 0x00, 0x08, 0x7E, 0x09, 0x02, + 0x18, 0xA4, 0xA4, 0x9C, 0x78, + 0x7F, 0x08, 0x04, 0x04, 0x78, + 0x00, 0x44, 0x7D, 0x40, 0x00, + 0x20, 0x40, 0x40, 0x3D, 0x00, + 0x7F, 0x10, 0x28, 0x44, 0x00, + 0x00, 0x41, 0x7F, 0x40, 0x00, + 0x7C, 0x04, 0x78, 0x04, 0x78, + 0x7C, 0x08, 0x04, 0x04, 0x78, + 0x38, 0x44, 0x44, 0x44, 0x38, + 0xFC, 0x18, 0x24, 0x24, 0x18, + 0x18, 0x24, 0x24, 0x18, 0xFC, + 0x7C, 0x08, 0x04, 0x04, 0x08, + 0x48, 0x54, 0x54, 0x54, 0x24, + 0x04, 0x04, 0x3F, 0x44, 0x24, + 0x3C, 0x40, 0x40, 0x20, 0x7C, + 0x1C, 0x20, 0x40, 0x20, 0x1C, + 0x3C, 0x40, 0x30, 0x40, 0x3C, + 0x44, 0x28, 0x10, 0x28, 0x44, + 0x4C, 0x90, 0x90, 0x90, 0x7C, + 0x44, 0x64, 0x54, 0x4C, 0x44, + 0x00, 0x08, 0x36, 0x41, 0x00, + 0x00, 0x00, 0x77, 0x00, 0x00, + 0x00, 0x41, 0x36, 0x08, 0x00, + 0x02, 0x01, 0x02, 0x04, 0x02, + 0x3C, 0x26, 0x23, 0x26, 0x3C, + 0x1E, 0xA1, 0xA1, 0x61, 0x12, + 0x3A, 0x40, 0x40, 0x20, 0x7A, + 0x38, 0x54, 0x54, 0x55, 0x59, + 0x21, 0x55, 0x55, 0x79, 0x41, + 0x21, 0x54, 0x54, 0x78, 0x41, + 0x21, 0x55, 0x54, 0x78, 0x40, + 0x20, 0x54, 0x55, 0x79, 0x40, + 0x0C, 0x1E, 0x52, 0x72, 0x12, + 0x39, 0x55, 0x55, 0x55, 0x59, + 0x39, 0x54, 0x54, 0x54, 0x59, + 0x39, 0x55, 0x54, 0x54, 0x58, + 0x00, 0x00, 0x45, 0x7C, 0x41, + 0x00, 0x02, 0x45, 0x7D, 0x42, + 0x00, 0x01, 0x45, 0x7C, 0x40, + 0xF0, 0x29, 0x24, 0x29, 0xF0, + 0xF0, 0x28, 0x25, 0x28, 0xF0, + 0x7C, 0x54, 0x55, 0x45, 0x00, + 0x20, 0x54, 0x54, 0x7C, 0x54, + 0x7C, 0x0A, 0x09, 0x7F, 0x49, + 0x32, 0x49, 0x49, 0x49, 0x32, + 0x32, 0x48, 0x48, 0x48, 0x32, + 0x32, 0x4A, 0x48, 0x48, 0x30, + 0x3A, 0x41, 0x41, 0x21, 0x7A, + 0x3A, 0x42, 0x40, 0x20, 0x78, + 0x00, 0x9D, 0xA0, 0xA0, 0x7D, + 0x39, 0x44, 0x44, 0x44, 0x39, + 0x3D, 0x40, 0x40, 0x40, 0x3D, + 0x3C, 0x24, 0xFF, 0x24, 0x24, + 0x48, 0x7E, 0x49, 0x43, 0x66, + 0x2B, 0x2F, 0xFC, 0x2F, 0x2B, + 0xFF, 0x09, 0x29, 0xF6, 0x20, + 0xC0, 0x88, 0x7E, 0x09, 0x03, + 0x20, 0x54, 0x54, 0x79, 0x41, + 0x00, 0x00, 0x44, 0x7D, 0x41, + 0x30, 0x48, 0x48, 0x4A, 0x32, + 0x38, 0x40, 0x40, 0x22, 0x7A, + 0x00, 0x7A, 0x0A, 0x0A, 0x72, + 0x7D, 0x0D, 0x19, 0x31, 0x7D, + 0x26, 0x29, 0x29, 0x2F, 0x28, + 0x26, 0x29, 0x29, 0x29, 0x26, + 0x30, 0x48, 0x4D, 0x40, 0x20, + 0x38, 0x08, 0x08, 0x08, 0x08, + 0x08, 0x08, 0x08, 0x08, 0x38, + 0x2F, 0x10, 0xC8, 0xAC, 0xBA, + 0x2F, 0x10, 0x28, 0x34, 0xFA, + 0x00, 0x00, 0x7B, 0x00, 0x00, + 0x08, 0x14, 0x2A, 0x14, 0x22, + 0x22, 0x14, 0x2A, 0x14, 0x08, + 0xAA, 0x00, 0x55, 0x00, 0xAA, + 0xAA, 0x55, 0xAA, 0x55, 0xAA, + 0x00, 0x00, 0x00, 0xFF, 0x00, + 0x10, 0x10, 0x10, 0xFF, 0x00, + 0x14, 0x14, 0x14, 0xFF, 0x00, + 0x10, 0x10, 0xFF, 0x00, 0xFF, + 0x10, 0x10, 0xF0, 0x10, 0xF0, + 0x14, 0x14, 0x14, 0xFC, 0x00, + 0x14, 0x14, 0xF7, 0x00, 0xFF, + 0x00, 0x00, 0xFF, 0x00, 0xFF, + 0x14, 0x14, 0xF4, 0x04, 0xFC, + 0x14, 0x14, 0x17, 0x10, 0x1F, + 0x10, 0x10, 0x1F, 0x10, 0x1F, + 0x14, 0x14, 0x14, 0x1F, 0x00, + 0x10, 0x10, 0x10, 0xF0, 0x00, + 0x00, 0x00, 0x00, 0x1F, 0x10, + 0x10, 0x10, 0x10, 0x1F, 0x10, + 0x10, 0x10, 0x10, 0xF0, 0x10, + 0x00, 0x00, 0x00, 0xFF, 0x10, + 0x10, 0x10, 0x10, 0x10, 0x10, + 0x10, 0x10, 0x10, 0xFF, 0x10, + 0x00, 0x00, 0x00, 0xFF, 0x14, + 0x00, 0x00, 0xFF, 0x00, 0xFF, + 0x00, 0x00, 0x1F, 0x10, 0x17, + 0x00, 0x00, 0xFC, 0x04, 0xF4, + 0x14, 0x14, 0x17, 0x10, 0x17, + 0x14, 0x14, 0xF4, 0x04, 0xF4, + 0x00, 0x00, 0xFF, 0x00, 0xF7, + 0x14, 0x14, 0x14, 0x14, 0x14, + 0x14, 0x14, 0xF7, 0x00, 0xF7, + 0x14, 0x14, 0x14, 0x17, 0x14, + 0x10, 0x10, 0x1F, 0x10, 0x1F, + 0x14, 0x14, 0x14, 0xF4, 0x14, + 0x10, 0x10, 0xF0, 0x10, 0xF0, + 0x00, 0x00, 0x1F, 0x10, 0x1F, + 0x00, 0x00, 0x00, 0x1F, 0x14, + 0x00, 0x00, 0x00, 0xFC, 0x14, + 0x00, 0x00, 0xF0, 0x10, 0xF0, + 0x10, 0x10, 0xFF, 0x10, 0xFF, + 0x14, 0x14, 0x14, 0xFF, 0x14, + 0x10, 0x10, 0x10, 0x1F, 0x00, + 0x00, 0x00, 0x00, 0xF0, 0x10, + 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, + 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, + 0xFF, 0xFF, 0xFF, 0x00, 0x00, + 0x00, 0x00, 0x00, 0xFF, 0xFF, + 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, + 0x38, 0x44, 0x44, 0x38, 0x44, + 0x7C, 0x2A, 0x2A, 0x3E, 0x14, + 0x7E, 0x02, 0x02, 0x06, 0x06, + 0x02, 0x7E, 0x02, 0x7E, 0x02, + 0x63, 0x55, 0x49, 0x41, 0x63, + 0x38, 0x44, 0x44, 0x3C, 0x04, + 0x40, 0x7E, 0x20, 0x1E, 0x20, + 0x06, 0x02, 0x7E, 0x02, 0x02, + 0x99, 0xA5, 0xE7, 0xA5, 0x99, + 0x1C, 0x2A, 0x49, 0x2A, 0x1C, + 0x4C, 0x72, 0x01, 0x72, 0x4C, + 0x30, 0x4A, 0x4D, 0x4D, 0x30, + 0x30, 0x48, 0x78, 0x48, 0x30, + 0xBC, 0x62, 0x5A, 0x46, 0x3D, + 0x3E, 0x49, 0x49, 0x49, 0x00, + 0x7E, 0x01, 0x01, 0x01, 0x7E, + 0x2A, 0x2A, 0x2A, 0x2A, 0x2A, + 0x44, 0x44, 0x5F, 0x44, 0x44, + 0x40, 0x51, 0x4A, 0x44, 0x40, + 0x40, 0x44, 0x4A, 0x51, 0x40, + 0x00, 0x00, 0xFF, 0x01, 0x03, + 0xE0, 0x80, 0xFF, 0x00, 0x00, + 0x08, 0x08, 0x6B, 0x6B, 0x08, + 0x36, 0x12, 0x36, 0x24, 0x36, + 0x06, 0x0F, 0x09, 0x0F, 0x06, + 0x00, 0x00, 0x18, 0x18, 0x00, + 0x00, 0x00, 0x10, 0x10, 0x00, + 0x30, 0x40, 0xFF, 0x01, 0x01, + 0x00, 0x1F, 0x01, 0x01, 0x1E, + 0x00, 0x19, 0x1D, 0x17, 0x12, + 0x00, 0x3C, 0x3C, 0x3C, 0x3C, + 0x00, 0x00, 0x00, 0x00, 0x00, +}; +#endif diff --git a/libraries/Robot_Control/helper.cpp b/libraries/Robot_Control/helper.cpp new file mode 100644 index 0000000..a7a956a --- /dev/null +++ b/libraries/Robot_Control/helper.cpp @@ -0,0 +1,45 @@ +#include "ArduinoRobot.h" + +void RobotControl::drawBase(){ + Arduino_LCD::drawCircle(64,80,50,foreGround); + Arduino_LCD::drawLine(64,30,64,20,foreGround); +} +void RobotControl::drawDire(int16_t dire){ + static uint8_t x_old; + static uint8_t y_old; + static uint8_t x_t_old; + static uint8_t y_t_old; + + uint8_t x=60*sin(dire/360.0*6.28)+64; + uint8_t x_t=40*sin(dire/360.0*6.28)+64; + uint8_t y=60*cos(dire/360.0*6.28)+80; + uint8_t y_t=40*cos(dire/360.0*6.28)+80; + + Arduino_LCD::drawLine(x_t_old,y_t_old,x_old,y_old,backGround); + Arduino_LCD::drawLine(x_t,y_t,x,y,RED); + + x_old=x; + y_old=y; + x_t_old=x_t; + y_t_old=y_t; +} + +void RobotControl::drawCompass(uint16_t value){ + drawBase(); + drawDire(value); + debugPrint(value,57,76); +} + +//display logos +void RobotControl::displayLogos(){ + _drawBMP("lg0.bmp",0,0); + delay(2000); + _drawBMP("lg1.bmp",0,0); + delay(2000); + clearScreen(); +} + +//wait for a button to be pressed +void RobotControl::waitContinue(uint8_t key){ + while(!(Robot.keyboardRead()==key)); +} diff --git a/libraries/Robot_Control/information.cpp b/libraries/Robot_Control/information.cpp new file mode 100644 index 0000000..c36e9ce --- /dev/null +++ b/libraries/Robot_Control/information.cpp @@ -0,0 +1,41 @@ +/*#include <ArduinoRobot.h> +//0 - 319: pic array, + +//320 - 337 username, +#define ADDRESS_USERNAME 320 +//338 - 355 robotname, +#define ADDRESS_ROBOTNAME 338 +//356 - 373 cityname, +#define ADDRESS_CITYNAME 356 + //374- 391 countryname, +#define ADDRESS_COUNTRYNAME 374 +//508-511 robot info +#define ADDRESS_ROBOTINFO 508 + + +void RobotControl::getMyName(char* container){ + EEPROM_I2C::readBuffer(ADDRESS_USERNAME,(uint8_t*)container,18); +} +void RobotControl::getRobotName(char* container){ + EEPROM_I2C::readBuffer(ADDRESS_ROBOTNAME,(uint8_t*)container,18); +} +void RobotControl::getMyCity(char* container){ + EEPROM_I2C::readBuffer(ADDRESS_CITYNAME,(uint8_t*)container,18); +} +void RobotControl::getMyCountry(char* container){ + EEPROM_I2C::readBuffer(ADDRESS_COUNTRYNAME,(uint8_t*)container,18); +} + +void RobotControl::setMyName(char* text){ + EEPROM_I2C::writePage(ADDRESS_USERNAME,(uint8_t*)text,18); +} +void RobotControl::setRobotName(char* text){ + EEPROM_I2C::writePage(ADDRESS_ROBOTNAME,(uint8_t*)text,18); +} +void RobotControl::setMyCity(char* text){ + EEPROM_I2C::writePage(ADDRESS_CITYNAME,(uint8_t*)text,18); +} +void RobotControl::setMyCountry(char* text){ + EEPROM_I2C::writePage(ADDRESS_COUNTRYNAME,(uint8_t*)text,18); +} +*/
\ No newline at end of file diff --git a/libraries/Robot_Control/keyboard.cpp b/libraries/Robot_Control/keyboard.cpp new file mode 100644 index 0000000..7e647bb --- /dev/null +++ b/libraries/Robot_Control/keyboard.cpp @@ -0,0 +1,65 @@ +#include "ArduinoRobot.h" + +#if ARDUINO >= 100 +#include "Arduino.h" +#else +#include "WProgram.h" +#endif +int pul_min[]={0,133,319,494,732}; +int pul_max[]={10,153,339,514,752}; +/*int pul_min[]={0,123,295,471,714}; +int pul_max[]={0,143,315,491,734};*/ +/* +int pul_min[]={0,133,319,494,732}; +int pul_max[]={10,153,339,514,752}; +*/ +void sort(int* v); + +void RobotControl::keyboardCalibrate(int *vals){ + for(int i=0;i<5;i++){ + pul_min[i]=vals[i]-10; + pul_max[i]=vals[i]+10; + } +} +int8_t RobotControl::keyboardRead(void) +{ + + int lectura_pul; + int8_t conta_pul=0; + static int anterior=0; + + lectura_pul = this->averageAnalogInput(KEY); + + while ((conta_pul < NUMBER_BUTTONS) && !(lectura_pul >= pul_min[conta_pul] && lectura_pul <= pul_max[conta_pul])) + conta_pul++; + + if (conta_pul >= NUMBER_BUTTONS) + conta_pul = -1; + else + delay(100); + + return conta_pul; +} + +int RobotControl::averageAnalogInput(int pinNum) +{ + int vals[5]; + for(int i=0;i<5;i++){ + for(int j=i;j<5;j++){ + vals[j]=::analogRead(pinNum); + } + sort(vals); + } + return vals[0]; +} +void sort(int* v){ + int tmp; + for(int i=0;i<4;i++) + for(int j=i+1;j<5;j++) + if(v[j]<v[i]){ + tmp=v[j]; + v[j]=v[i]; + v[i]=tmp; + } + v[0]=v[3]; +}
\ No newline at end of file diff --git a/libraries/Robot_Control/lcd.cpp b/libraries/Robot_Control/lcd.cpp new file mode 100644 index 0000000..1f9f2ce --- /dev/null +++ b/libraries/Robot_Control/lcd.cpp @@ -0,0 +1,279 @@ +#include "ArduinoRobot.h" +#include "Wire.h" + +#define BUFFPIXEL 20 + +bool cmp(char* str1, char* str2, uint8_t len); +uint16_t read16(Fat16& f); +uint32_t read32(Fat16& f); +//uint16_t color565(uint8_t r, uint8_t g, uint8_t b); + +void RobotControl::beginTFT(uint16_t foreGround, uint16_t backGround){ + //TFT initialization + Arduino_LCD::initB(); + Arduino_LCD::fillScreen(backGround); + Arduino_LCD::setTextColor(foreGround); + Arduino_LCD::setTextSize(1); + this->foreGround=foreGround; + this->backGround=backGround; +} +void RobotControl::_enableLCD(){ + DDRB = DDRB & 0xEF; //pinMode(CS_SD,INPUT); + DDRB = DDRB | 0x20; //pinMode(CS_LCD,OUTPUT); +} +/*void RobotControl::_setErase(uint8_t posX, uint8_t posY){ + Arduino_LCD::setCursor(posX,posY); + Arduino_LCD::setTextColor(backGround); + Arduino_LCD::setTextSize(1); +} +void RobotControl::_setWrite(uint8_t posX, uint8_t posY){ + Arduino_LCD::setCursor(posX,posY); + Arduino_LCD::setTextColor(foreGround); + Arduino_LCD::setTextSize(1); +}*/ +/* +void RobotControl::text(int value, uint8_t posX, uint8_t posY, bool EW){ + if(EW) + _setWrite(posX,posY); + else + _setErase(posX,posY); + Arduino_LCD::print(value); +} +void RobotControl::text(long value, uint8_t posX, uint8_t posY, bool EW){ + if(EW) + _setWrite(posX,posY); + else + _setErase(posX,posY); + Arduino_LCD::print(value); +} +void RobotControl::text(char* value, uint8_t posX, uint8_t posY, bool EW){ + if(EW) + _setWrite(posX,posY); + else + _setErase(posX,posY); + Arduino_LCD::print(value); +} +void RobotControl::text(char value, uint8_t posX, uint8_t posY, bool EW){ + if(EW) + _setWrite(posX,posY); + else + _setErase(posX,posY); + Arduino_LCD::print(value); +} +*/ + +void RobotControl::debugPrint(long value, uint8_t x, uint8_t y){ + static long oldVal=0; + Arduino_LCD::stroke(backGround); + text(oldVal,x,y); + Arduino_LCD::stroke(foreGround); + text(value,x,y); + oldVal=value; +} + +void RobotControl::clearScreen(){ + Arduino_LCD::fillScreen(backGround); +} + +void RobotControl::drawBMP(char* filename, uint8_t x, uint8_t y){ + /*for(int j=0;j<NUM_EEPROM_BMP;j++){ + Serial.println(_eeprom_bmp[j].name); + Serial.print(" "); + Serial.print(_eeprom_bmp[j].address); + Serial.print(" "); + Serial.print(_eeprom_bmp[j].width); + Serial.print(" "); + Serial.println(_eeprom_bmp[j].height); + } + Serial.println();*/ + if(_isEEPROM_BMP_Allocated){ + for(int i=0;i<NUM_EEPROM_BMP;i++){ + if(cmp(_eeprom_bmp[i].name,filename,7)){ + /*Serial.println(_eeprom_bmp[i].name); + Serial.print(" "); + Serial.print(_eeprom_bmp[i].address); + Serial.print(" "); + Serial.print(_eeprom_bmp[i].width); + Serial.print(" "); + Serial.println(_eeprom_bmp[i].height);*/ + _drawBMP(_eeprom_bmp[i].address,x,y,_eeprom_bmp[i].width,_eeprom_bmp[i].height); + return; + } + } + }else{ + _drawBMP(filename,x,y);//goes to SD + } +} +bool cmp(char* str1, char* str2, uint8_t len){ + for(uint8_t i=0;i<len;i++){ + if(str1[i]==' ')break; + if(str1[i]!=str2[i])return false; + } + return true; +} + +void RobotControl::_drawBMP(uint32_t iconOffset, uint8_t x, uint8_t y, uint8_t width, uint8_t height){ + uint8_t screenWidth=Arduino_LCD::width(); + uint8_t screenHeight=Arduino_LCD::height(); + if((x >= screenWidth) || (y >= screenHeight)) return; + + // Crop area to be loaded + if((x+width-1) >= screenWidth) width = screenWidth - x; + if((y+height-1) >= screenHeight) height = screenHeight - y; + + // Set TFT address window to clipped image bounds + Arduino_LCD::setAddrWindow(x, y, x+width-1, y+height-1); + + // launch the reading command + _drawBMP_EEPROM(iconOffset, width, height); +} + +// Draw BMP from SD card through the filename +void RobotControl::_drawBMP(char* filename, uint8_t posX, uint8_t posY){ + uint8_t bmpWidth, bmpHeight; // W+H in pixels + uint8_t bmpDepth; // Bit depth (currently must be 24) + uint32_t bmpImageoffset; // Start of image data in file + uint32_t rowSize; // Not always = bmpWidth; may have padding + uint8_t sdbuffer[3*BUFFPIXEL]; // pixel buffer (R+G+B per pixel) + uint8_t buffidx = sizeof(sdbuffer); // Current position in sdbuffer + bool goodBmp = false; // Set to true on valid header parse + bool flip = true; // BMP is stored bottom-to-top + uint8_t w, h, row, col; + uint8_t r, g, b; + uint32_t pos = 0; + + // Open requested file on SD card + if ((file.open(filename,O_READ)) == NULL) { + return; + } + + // Parse BMP header + if(read16(file) == 0x4D42) { // BMP signature + read32(file);//uint32_t aux = read32(file); + (void)read32(file); // Read & ignore creator bytes + bmpImageoffset = read32(file); // Start of image data + + // Read DIB header + (void)read32(file);//aux = read32(file); + bmpWidth = read32(file); + bmpHeight = read32(file); + + if(read16(file) == 1) { // # planes -- must be '1' + bmpDepth = read16(file); // bits per pixel + if((bmpDepth == 24) && (read32(file) == 0)) { // 0 = uncompressed + goodBmp = true; // Supported BMP format -- proceed! + + // BMP rows are padded (if needed) to 4-byte boundary + rowSize = (bmpWidth * 3 + 3) & ~3; + + // If bmpHeight is negative, image is in top-down order. + // This is not canon but has been observed in the wild. + if(bmpHeight < 0) { + bmpHeight = -bmpHeight; + flip = false; + } + + // Crop area to be loaded + w = bmpWidth; + h = bmpHeight; + + // Start drawing + //_enableLCD(); + Arduino_LCD::setAddrWindow(posX, posY, posX+bmpWidth-1, posY+bmpHeight-1); + + for (row=0; row<h; row++) { // For each scanline... + if(flip) // Bitmap is stored bottom-to-top order (normal BMP) + pos = bmpImageoffset + (bmpHeight - 1 - row) * rowSize; + else // Bitmap is stored top-to-bottom + pos = bmpImageoffset + row * rowSize; + + if(file.curPosition() != pos) { // Need seek? + //_enableSD(); + file.seekSet(pos); + buffidx = sizeof(sdbuffer); // Force buffer reload + //_enableLCD(); + } + for (col=0; col<w; col++) { // For each pixel... + // Time to read more pixel data? + if (buffidx >= sizeof(sdbuffer)) { // Indeed + //_enableSD(); + file.read(sdbuffer, sizeof(sdbuffer)); + buffidx = 0; // Set index to beginning + //_enableLCD(); + } + // Convert pixel from BMP to TFT format, push to display + b = sdbuffer[buffidx++]; + g = sdbuffer[buffidx++]; + r = sdbuffer[buffidx++]; + + int color = Arduino_LCD::Color565(r,g,b); + + Arduino_LCD::pushColor(color); + } // end pixel + } // end scanline + //_enableSD(); + } // end goodBmp*/ + } + } + file.close(); + //_enableLCD(); +} +uint16_t read16(Fat16& f) { + uint16_t result; + f.read(&result,sizeof(result)); + return result; +} +uint32_t read32(Fat16& f) { + uint32_t result; + f.read(&result,sizeof(result)); + return result; +} +/* +uint16_t color565(uint8_t r, uint8_t g, uint8_t b) { + return ((r & 0xF8) << 8) | ((g & 0xFC) << 3) | (b >> 3); +}*/ + + +void RobotControl::_drawBMP_EEPROM(uint16_t address, uint8_t width, uint8_t height){ + uint16_t u16retVal = 0; + EEPROM_I2C::_beginTransmission(address); + EEPROM_I2C::_endTransmission(); + /*Wire.beginTransmission(DEVICEADDRESS); + Wire.write( (address >> 8) & 0xFF ); + Wire.write( (address >> 0) & 0xFF ); + Wire.endTransmission();*/ + + long s = width * height ; + for(long j = 0; j < (long) s >> 4; j++) { // divided by 32, times 2 + Wire.requestFrom(DEVICEADDRESS, 32); + for(int i = 0; i < 32; i+=2) { + u16retVal = Wire.read(); + u16retVal = (u16retVal << 8) + Wire.read(); + Arduino_LCD::pushColor(u16retVal); + } + } + +} +void RobotControl::beginBMPFromEEPROM(){ + _eeprom_bmp=(EEPROM_BMP*)malloc(NUM_EEPROM_BMP*sizeof(EEPROM_BMP)); + EEPROM_I2C::_beginTransmission(0); + EEPROM_I2C::_endTransmission(); + + for(uint8_t j=0;j<NUM_EEPROM_BMP;j++){ + Wire.requestFrom(DEVICEADDRESS, sizeof(EEPROM_BMP)); + for(uint8_t i=0;i<8;i++){ + _eeprom_bmp[j].name[i]=Wire.read();//name + } + _eeprom_bmp[j].width=Wire.read();//width + _eeprom_bmp[j].height=Wire.read();//height + + _eeprom_bmp[j].address=Wire.read(); + _eeprom_bmp[j].address=_eeprom_bmp[j].address + (Wire.read() << 8);//address + } + _isEEPROM_BMP_Allocated=true; + +} +void RobotControl::endBMPFromEEPROM(){ + free(_eeprom_bmp); + _isEEPROM_BMP_Allocated=false; +} diff --git a/libraries/Robot_Control/utility/RobotTextManager.cpp b/libraries/Robot_Control/utility/RobotTextManager.cpp new file mode 100644 index 0000000..b516409 --- /dev/null +++ b/libraries/Robot_Control/utility/RobotTextManager.cpp @@ -0,0 +1,192 @@ +#include <avr/pgmspace.h> +#include <ArduinoRobot.h> +#include "VirtualKeyboard.h" +#include "RobotTextManager.h" +#include "scripts_Hello_User.h" + +const int TextManager::lineHeight=10; +const int TextManager::charWidth=6; + + +void TextManager::setMargin(int margin_left,int margin_top){ + this->margin_left=margin_left; + this->margin_top=margin_top; +} +int TextManager::getLin(int lineNum){ + return lineNum*lineHeight+margin_top; +} + +int TextManager::getCol(int colNum){ + return colNum*charWidth+margin_left; +} + +void TextManager::writeText(int lineNum, int colNum, char* txt, bool onOff){ + if(!onOff) + Robot.setTextColor(WHITE); + + Robot.setCursor(getCol(colNum),getLin(lineNum)); + Robot.print(txt); + + Robot.setTextColor(BLACK); +} + +void TextManager::drawInput(bool onOff){ + if(!onOff) + Robot.setTextColor(WHITE); + + Robot.setCursor(getCol(inputCol),getLin(inputLin)+1); + Robot.print('_'); + + Robot.setTextColor(BLACK); + +} + +void TextManager::mvInput(int dire){ + drawInput(0); + if(dire<0){ + if(inputPos>0){ + inputPos--; + inputCol--; + } + }else{ + if(inputPos<16){ + inputPos++; + inputCol++; + } + } + drawInput(1); +} + +char TextManager::selectLetter(){ + static int oldVal; + char val=map(Robot.knobRead(),0,1023,32,125); + if(val==oldVal){ + return 0; //No changes + }else{ + oldVal=val; + return val; //Current letter + } +} + +void TextManager::refreshCurrentLetter(char letter){ + if(letter){ + writeText(inputLin,inputCol,inputPool+inputPos,false);//erase + inputPool[inputPos]=letter; + writeText(inputLin,inputCol,inputPool+inputPos,true);//write + } +} + + +void TextManager::getInput(int lin, int col){ + writeText(lin,col,">"); //Input indicator + + writeText(lin, col+1, inputPool); + + inputLin=lin; //Ini input cursor + inputCol=col+1; + inputPos=0; + drawInput(true); + + Vkey.display(100);//Vkey is a object of VirtualKeyboard class + + while(true){ + switch(Robot.keyboardRead()){ + case BUTTON_LEFT: + //Robot.beep(BEEP_SIMPLE); + mvInput(-1); + break; + case BUTTON_RIGHT: + //Robot.beep(BEEP_SIMPLE); + mvInput(1); + break; + case BUTTON_MIDDLE: + //Robot.beep(BEEP_DOUBLE); + char selection=Vkey.getSelection(); + if(selection!='\0'){ + refreshCurrentLetter(selection); + mvInput(1); + }else{ + drawInput(false); + return; + } + } + Vkey.run(); + delay(10); + } +} +void TextManager::setInputPool(int code){ + switch(code){ + case USERNAME: + Robot.userNameRead(inputPool); + break; + case ROBOTNAME: + Robot.robotNameRead(inputPool); + break; + case CITYNAME: + Robot.cityNameRead(inputPool); + break; + case COUNTRYNAME: + Robot.countryNameRead(inputPool); + break; + } + for(int i=0;i<18;i++){ + if(inputPool[i]=='\0'){ + for(int j=i;j<18;j++){ + inputPool[j]='\0'; + } + break; + } + } +} +void TextManager::pushInput(int code){ + switch(code){ + case USERNAME: + Robot.userNameWrite(inputPool); + break; + case ROBOTNAME: + Robot.robotNameWrite(inputPool); + break; + case CITYNAME: + Robot.cityNameWrite(inputPool); + break; + case COUNTRYNAME: + Robot.countryNameWrite(inputPool); + break; + } + for(int i=0;i<18;i++){ + inputPool[i]='\0'; + } +} +void TextManager::input(int lin,int col, int code){ + setInputPool(code); + getInput(lin,col); + pushInput(code); +} + +void TextManager::showPicture(char * filename, int posX, int posY){ + Robot.pause(); + Robot._drawBMP(filename,posX,posY); + Robot.play(); +} + +void TextManager::getPGMtext(int seq){ + //It takes a string from program space, and fill it + //in the buffer + //if(in hello user example){ + if(true){ + strcpy_P(PGMbuffer,(char*)pgm_read_word(&(::scripts_Hello_User[seq]))); + } +} + +void TextManager::writeScript(int seq, int line, int col){ + //print a string from program space to a specific line, + //column on the LCD + + //first fill the buffer with text from program space + getPGMtext(seq); + //then print it to the screen + textManager.writeText(line,col,PGMbuffer); +} + + +TextManager textManager=TextManager(); diff --git a/libraries/Robot_Control/utility/RobotTextManager.h b/libraries/Robot_Control/utility/RobotTextManager.h new file mode 100644 index 0000000..6c0b7bd --- /dev/null +++ b/libraries/Robot_Control/utility/RobotTextManager.h @@ -0,0 +1,77 @@ +#ifndef ROBOTTEXTMANAGER_H +#define ROBOTTEXTMANAGER_H + +#define USERNAME 0 +#define ROBOTNAME 1 +#define CITYNAME 2 +#define COUNTRYNAME 3 +#define EMPTY 4 + +class TextManager{ + //The TextManager class is a collection of features specific for Hello + //User example. + // + //- It includes solution for setting text position based on + // line/column. The original Robot.text(), or the more low level + // print() function can only set text position on pixels from left, + // top. + // + //- The process of accepting input with the virtual keyboard, saving + // into or reading from EEPROM is delt with here. + // + //- A workflow for stop the music while displaying image. Trouble + // will happen otherwise. + + public: + //add some margin to the text, left side only atm. + void setMargin(int margin_left,int margin_top); + + //print text based on line, column. + void writeText(int lineNum, int colNum, char* txt, bool onOff=true); + + //print a script from the scripts library + void writeScript(int seq, int line, int col); + + //The whole process of getting input + void input(int lin,int col, int code); + //Print a cursor and virtual keyboard on screen, and save the user's input + void getInput(int lin, int col); + //Get user name, robot name, city name or country name from EEPROM + //and store in the input pool. + void setInputPool(int code); + //save user input to EEPROM + void pushInput(int code); + + //Replaces Robot.drawPicture(), as this one solves collision between + //image and music + void showPicture(char * filename, int posX, int posY); + + private: + int margin_left,margin_top; + int getLin(int lineNum); //Convert line to pixels from top + int getCol(int colNum); //Convert line to pixels from left + + static const int lineHeight;//8+2=10 + static const int charWidth;//5+1=6 + + int inputPos; + int inputLin; + int inputCol; + + void drawInput(bool onOff); + void mvInput(int dire); + + char selectLetter(); + void refreshCurrentLetter(char letter); + + void getPGMtext(int seq); + + char PGMbuffer[85]; //the buffer for storing strings + char inputPool[18]; +}; + +//a trick for removing the need of creating an object of TextManager. +//So you can call me.somefunction() directly in the sketch. +extern TextManager textManager; + +#endif diff --git a/libraries/Robot_Control/utility/VirtualKeyboard.cpp b/libraries/Robot_Control/utility/VirtualKeyboard.cpp new file mode 100644 index 0000000..ad73c75 --- /dev/null +++ b/libraries/Robot_Control/utility/VirtualKeyboard.cpp @@ -0,0 +1,127 @@ +#include "VirtualKeyboard.h" + +int VirtualKeyboard::getColLin(int val){ + uint8_t col,lin; + lin=val/10; + col=val%10; // saving 36 bytes :( + /*if(0<=val && 9>=val){ + col=val; + lin=0; + }else if(10<=val && 19>=val){ + col=val-10; + lin=1; + }else if(20<=val && 29>=val){ + col=val-20; + lin=2; + }else if(30<=val && 39>=val){ + col=val-30; + lin=3; + }*/ + return (col<<8)+lin; //Put col and lin in one int +} +void VirtualKeyboard::run(){ +/** visually select a letter on the keyboard +* The selection boarder is 1px higher than the character, +* 1px on the bottom, 2px to the left and 2px to the right. +* +*/ + if(!onOff)return; + //Serial.println(onOff); + static int oldColLin=0; + uint8_t val=map(Robot.knobRead(),0,1023,0,38); + if(val==38)val=37; //The last value is jumpy when using batteries + int colLin=getColLin(val); + + if(oldColLin!=colLin){ + uint8_t x=(oldColLin>>8 & 0xFF)*11+10;//col*11+1+9 + uint8_t y=(oldColLin & 0xFF)*11+1+top;//lin*11+1+top + uint8_t w=9; + if(oldColLin==1795) //last item "Enter", col=7 lin=3 + w=33; //(5+1)*6-1+2+2 charWidth=5, charMargin=1, count("Enter")=6, lastItem_MarginRight=0, marginLeft==marginRight=2 + Robot.drawRect(x,y,w,9,hideColor); + + + x=(colLin>>8 & 0xFF)*11+10; + y=(colLin & 0xFF)*11+1+top; + w=9; + if(colLin==1795) //last item "Enter", col=7 lin=3 + w=33; //(5+1)*6-1+2+2 charWidth=5, charMargin=1, count("Enter")=6, lastItem_MarginRight=0, marginLeft==marginRight=2 + Robot.drawRect(x,y,w,9,showColor); + oldColLin=colLin; + } +} + +char VirtualKeyboard::getSelection(){ + if(!onOff)return -1; + + uint8_t val=map(Robot.knobRead(),0,1023,0,38); + if(0<=val && 9>=val) + val='0'+val; + else if(10<=val && 35>=val) + val='A'+val-10; + else if(val==36) + val=' '; + else if(val>=37) + val='\0'; + + return val; +} +void VirtualKeyboard::hide(){ + onOff=false; + Robot.fillRect(0,top,128,44,hideColor);//11*4 +} + +void VirtualKeyboard::display(uint8_t top, uint16_t showColor, uint16_t hideColor){ +/** Display the keyboard at y position of top +* formular: +* When text size is 1, one character is 5*7 +* margin-left==margin-right==3, +* margin-top==margin-bottom==2, +* keyWidth=5+3+3==11, +* keyHeight=7+2+2==11, +* keyboard-margin-left=keyboard-margin-right==9 +* so character-x=11*col+9+3=11*col+12 +* character-y=11*lin+2+top +* +**/ + this->top=top; + this->onOff=true; + + this->showColor=showColor; + this->hideColor=hideColor; + + for(uint8_t i=0;i<36;i++){ + Robot.setCursor(i%10*11+12,2+top+i/10*11); + if(i<10) + Robot.print(char('0'+i)); + else + Robot.print(char(55+i));//'A'-10=55 + }//for saving 58 bytes :( + + /*for(int i=0;i<10;i++){ + Robot.setCursor(i*11+12,2+top);//11*0+2+top + Robot.print(char('0'+i));//line_1: 0-9 + } + for(int i=0;i<10;i++){ + Robot.setCursor(i*11+12,13+top);//11*1+2+top + Robot.print(char('A'+i));//line_2: A-J + } + for(int i=0;i<10;i++){ + Robot.setCursor(i*11+12,24+top);//11*2+2+top + Robot.print(char('K'+i));//line_3: K-T + } + for(int i=0;i<6;i++){ + Robot.setCursor(i*11+12,35+top);//11*3+2+top + Robot.print(char('U'+i));//line_4: U-Z + }*/ + //space and enter at the end of the last line. + Robot.setCursor(78,35+top);//6*11+12=78 + Robot.print('_');//_ + + Robot.setCursor(89,35+top);//7*11+12=89 + Robot.print("Enter");//enter +} + + + +VirtualKeyboard Vkey=VirtualKeyboard();
\ No newline at end of file diff --git a/libraries/Robot_Control/utility/VirtualKeyboard.h b/libraries/Robot_Control/utility/VirtualKeyboard.h new file mode 100644 index 0000000..273edb7 --- /dev/null +++ b/libraries/Robot_Control/utility/VirtualKeyboard.h @@ -0,0 +1,28 @@ +#ifndef VIRTUAL_KEYBOARD_H +#define VIRTUAL_KEYBOARD_H + +#include <Arduino.h> +#include <ArduinoRobot.h> + +class VirtualKeyboard{ + public: + //void begin(); + void display(uint8_t top, uint16_t showColor=BLACK, uint16_t hideColor=WHITE); + void hide(); + + char getSelection(); + void run(); + + private: + uint8_t top; + bool onOff; + + uint16_t showColor; + uint16_t hideColor; + + int getColLin(int val); + +}; + +extern VirtualKeyboard Vkey; +#endif
\ No newline at end of file diff --git a/libraries/Robot_Control/utility/scripts_Hello_User.h b/libraries/Robot_Control/utility/scripts_Hello_User.h new file mode 100644 index 0000000..29f085f --- /dev/null +++ b/libraries/Robot_Control/utility/scripts_Hello_User.h @@ -0,0 +1,51 @@ +#include <avr/pgmspace.h> + +//an advanced trick for storing strings inside the program space +//as the ram of Arduino is very tiny, keeping too many string in it +//can kill the program + +prog_char hello_user_script1[] PROGMEM="What's your name?"; +prog_char hello_user_script2[] PROGMEM="Give me a name!"; +prog_char hello_user_script3[] PROGMEM="And the country?"; +prog_char hello_user_script4[] PROGMEM="The city you're in?"; +prog_char hello_user_script5[] PROGMEM=" Plug me to\n\n your computer\n\n and start coding!"; + +prog_char hello_user_script6[] PROGMEM=" Hello User!\n\n It's me, your robot\n\n I'm alive! <3"; +prog_char hello_user_script7[] PROGMEM=" First I need some\n\n input from you!"; +prog_char hello_user_script8[] PROGMEM=" Use the knob\n\n to select letters"; +prog_char hello_user_script9[] PROGMEM=" Use L/R button\n\n to move the cursor,\n\n middle to confirm"; +prog_char hello_user_script10[] PROGMEM=" Press middle key\n to continue..."; +prog_char hello_user_script11[] PROGMEM=" Choose \"enter\" to\n\n finish the input"; + +PROGMEM const char *scripts_Hello_User[]={ + hello_user_script1, + hello_user_script2, + hello_user_script3, + hello_user_script4, + hello_user_script5, + hello_user_script6, + hello_user_script7, + hello_user_script8, + hello_user_script9, + hello_user_script10, + hello_user_script11, +}; + +/* +void getPGMtext(int seq){ + //It takes a string from program space, and fill it + //in the buffer + strcpy_P(buffer,(char*)pgm_read_word(&(scripts[seq]))); +} + +void writeScript(int seq, int line, int col){ + //print a string from program space to a specific line, + //column on the LCD + + //first fill the buffer with text from program space + getPGMtext(seq); + //then print it to the screen + textManager.writeText(line,col,buffer); +} + +*/
\ No newline at end of file diff --git a/libraries/Robot_Control/utility/twi.c b/libraries/Robot_Control/utility/twi.c new file mode 100644 index 0000000..6b2db3c --- /dev/null +++ b/libraries/Robot_Control/utility/twi.c @@ -0,0 +1,527 @@ +/* + twi.c - TWI/I2C library for Wiring & Arduino + Copyright (c) 2006 Nicholas Zambetti. All right reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + + Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts +*/ + +#include <math.h> +#include <stdlib.h> +#include <inttypes.h> +#include <avr/io.h> +#include <avr/interrupt.h> +#include <compat/twi.h> +#include "Arduino.h" // for digitalWrite + +#ifndef cbi +#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) +#endif + +#ifndef sbi +#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) +#endif + +#include "pins_arduino.h" +#include "twi.h" + +static volatile uint8_t twi_state; +static volatile uint8_t twi_slarw; +static volatile uint8_t twi_sendStop; // should the transaction end with a stop +static volatile uint8_t twi_inRepStart; // in the middle of a repeated start + +static void (*twi_onSlaveTransmit)(void); +static void (*twi_onSlaveReceive)(uint8_t*, int); + +static uint8_t twi_masterBuffer[TWI_BUFFER_LENGTH]; +static volatile uint8_t twi_masterBufferIndex; +static volatile uint8_t twi_masterBufferLength; + +static uint8_t twi_txBuffer[TWI_BUFFER_LENGTH]; +static volatile uint8_t twi_txBufferIndex; +static volatile uint8_t twi_txBufferLength; + +static uint8_t twi_rxBuffer[TWI_BUFFER_LENGTH]; +static volatile uint8_t twi_rxBufferIndex; + +static volatile uint8_t twi_error; + +/* + * Function twi_init + * Desc readys twi pins and sets twi bitrate + * Input none + * Output none + */ +void twi_init(void) +{ + // initialize state + twi_state = TWI_READY; + twi_sendStop = true; // default value + twi_inRepStart = false; + + // activate internal pullups for twi. + digitalWrite(SDA, 1); + digitalWrite(SCL, 1); + + // initialize twi prescaler and bit rate + cbi(TWSR, TWPS0); + cbi(TWSR, TWPS1); + TWBR = ((F_CPU / TWI_FREQ) - 16) / 2; + + /* twi bit rate formula from atmega128 manual pg 204 + SCL Frequency = CPU Clock Frequency / (16 + (2 * TWBR)) + note: TWBR should be 10 or higher for master mode + It is 72 for a 16mhz Wiring board with 100kHz TWI */ + + // enable twi module, acks, and twi interrupt + TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA); +} + +/* + * Function twi_slaveInit + * Desc sets slave address and enables interrupt + * Input none + * Output none + */ +void twi_setAddress(uint8_t address) +{ + // set twi slave address (skip over TWGCE bit) + TWAR = address << 1; +} + +/* + * Function twi_readFrom + * Desc attempts to become twi bus master and read a + * series of bytes from a device on the bus + * Input address: 7bit i2c device address + * data: pointer to byte array + * length: number of bytes to read into array + * sendStop: Boolean indicating whether to send a stop at the end + * Output number of bytes read + */ +uint8_t twi_readFrom(uint8_t address, uint8_t* data, uint8_t length, uint8_t sendStop) +{ + uint8_t i; + + // ensure data will fit into buffer + if(TWI_BUFFER_LENGTH < length){ + return 0; + } + + // wait until twi is ready, become master receiver + while(TWI_READY != twi_state){ + continue; + } + twi_state = TWI_MRX; + twi_sendStop = sendStop; + // reset error state (0xFF.. no error occured) + twi_error = 0xFF; + + // initialize buffer iteration vars + twi_masterBufferIndex = 0; + twi_masterBufferLength = length-1; // This is not intuitive, read on... + // On receive, the previously configured ACK/NACK setting is transmitted in + // response to the received byte before the interrupt is signalled. + // Therefor we must actually set NACK when the _next_ to last byte is + // received, causing that NACK to be sent in response to receiving the last + // expected byte of data. + + // build sla+w, slave device address + w bit + twi_slarw = TW_READ; + twi_slarw |= address << 1; + + if (true == twi_inRepStart) { + // if we're in the repeated start state, then we've already sent the start, + // (@@@ we hope), and the TWI statemachine is just waiting for the address byte. + // We need to remove ourselves from the repeated start state before we enable interrupts, + // since the ISR is ASYNC, and we could get confused if we hit the ISR before cleaning + // up. Also, don't enable the START interrupt. There may be one pending from the + // repeated start that we sent outselves, and that would really confuse things. + twi_inRepStart = false; // remember, we're dealing with an ASYNC ISR + TWDR = twi_slarw; + TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE); // enable INTs, but not START + } + else + // send start condition + TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA); + + // wait for read operation to complete + while(TWI_MRX == twi_state){ + continue; + } + + if (twi_masterBufferIndex < length) + length = twi_masterBufferIndex; + + // copy twi buffer to data + for(i = 0; i < length; ++i){ + data[i] = twi_masterBuffer[i]; + } + + return length; +} + +/* + * Function twi_writeTo + * Desc attempts to become twi bus master and write a + * series of bytes to a device on the bus + * Input address: 7bit i2c device address + * data: pointer to byte array + * length: number of bytes in array + * wait: boolean indicating to wait for write or not + * sendStop: boolean indicating whether or not to send a stop at the end + * Output 0 .. success + * 1 .. length to long for buffer + * 2 .. address send, NACK received + * 3 .. data send, NACK received + * 4 .. other twi error (lost bus arbitration, bus error, ..) + */ +uint8_t twi_writeTo(uint8_t address, uint8_t* data, uint8_t length, uint8_t wait, uint8_t sendStop) +{ + uint8_t i; + + // ensure data will fit into buffer + if(TWI_BUFFER_LENGTH < length){ + return 1; + } + + // wait until twi is ready, become master transmitter + while(TWI_READY != twi_state){ + continue; + } + twi_state = TWI_MTX; + twi_sendStop = sendStop; + // reset error state (0xFF.. no error occured) + twi_error = 0xFF; + + // initialize buffer iteration vars + twi_masterBufferIndex = 0; + twi_masterBufferLength = length; + + // copy data to twi buffer + for(i = 0; i < length; ++i){ + twi_masterBuffer[i] = data[i]; + } + + // build sla+w, slave device address + w bit + twi_slarw = TW_WRITE; + twi_slarw |= address << 1; + + // if we're in a repeated start, then we've already sent the START + // in the ISR. Don't do it again. + // + if (true == twi_inRepStart) { + // if we're in the repeated start state, then we've already sent the start, + // (@@@ we hope), and the TWI statemachine is just waiting for the address byte. + // We need to remove ourselves from the repeated start state before we enable interrupts, + // since the ISR is ASYNC, and we could get confused if we hit the ISR before cleaning + // up. Also, don't enable the START interrupt. There may be one pending from the + // repeated start that we sent outselves, and that would really confuse things. + twi_inRepStart = false; // remember, we're dealing with an ASYNC ISR + TWDR = twi_slarw; + TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE); // enable INTs, but not START + } + else + // send start condition + TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE) | _BV(TWSTA); // enable INTs + + // wait for write operation to complete + while(wait && (TWI_MTX == twi_state)){ + continue; + } + + if (twi_error == 0xFF) + return 0; // success + else if (twi_error == TW_MT_SLA_NACK) + return 2; // error: address send, nack received + else if (twi_error == TW_MT_DATA_NACK) + return 3; // error: data send, nack received + else + return 4; // other twi error +} + +/* + * Function twi_transmit + * Desc fills slave tx buffer with data + * must be called in slave tx event callback + * Input data: pointer to byte array + * length: number of bytes in array + * Output 1 length too long for buffer + * 2 not slave transmitter + * 0 ok + */ +uint8_t twi_transmit(const uint8_t* data, uint8_t length) +{ + uint8_t i; + + // ensure data will fit into buffer + if(TWI_BUFFER_LENGTH < length){ + return 1; + } + + // ensure we are currently a slave transmitter + if(TWI_STX != twi_state){ + return 2; + } + + // set length and copy data into tx buffer + twi_txBufferLength = length; + for(i = 0; i < length; ++i){ + twi_txBuffer[i] = data[i]; + } + + return 0; +} + +/* + * Function twi_attachSlaveRxEvent + * Desc sets function called before a slave read operation + * Input function: callback function to use + * Output none + */ +void twi_attachSlaveRxEvent( void (*function)(uint8_t*, int) ) +{ + twi_onSlaveReceive = function; +} + +/* + * Function twi_attachSlaveTxEvent + * Desc sets function called before a slave write operation + * Input function: callback function to use + * Output none + */ +void twi_attachSlaveTxEvent( void (*function)(void) ) +{ + twi_onSlaveTransmit = function; +} + +/* + * Function twi_reply + * Desc sends byte or readys receive line + * Input ack: byte indicating to ack or to nack + * Output none + */ +void twi_reply(uint8_t ack) +{ + // transmit master read ready signal, with or without ack + if(ack){ + TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT) | _BV(TWEA); + }else{ + TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT); + } +} + +/* + * Function twi_stop + * Desc relinquishes bus master status + * Input none + * Output none + */ +void twi_stop(void) +{ + // send stop condition + TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTO); + + // wait for stop condition to be exectued on bus + // TWINT is not set after a stop condition! + while(TWCR & _BV(TWSTO)){ + continue; + } + + // update twi state + twi_state = TWI_READY; +} + +/* + * Function twi_releaseBus + * Desc releases bus control + * Input none + * Output none + */ +void twi_releaseBus(void) +{ + // release bus + TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT); + + // update twi state + twi_state = TWI_READY; +} + +SIGNAL(TWI_vect) +{ + switch(TW_STATUS){ + // All Master + case TW_START: // sent start condition + case TW_REP_START: // sent repeated start condition + // copy device address and r/w bit to output register and ack + TWDR = twi_slarw; + twi_reply(1); + break; + + // Master Transmitter + case TW_MT_SLA_ACK: // slave receiver acked address + case TW_MT_DATA_ACK: // slave receiver acked data + // if there is data to send, send it, otherwise stop + if(twi_masterBufferIndex < twi_masterBufferLength){ + // copy data to output register and ack + TWDR = twi_masterBuffer[twi_masterBufferIndex++]; + twi_reply(1); + }else{ + if (twi_sendStop) + twi_stop(); + else { + twi_inRepStart = true; // we're gonna send the START + // don't enable the interrupt. We'll generate the start, but we + // avoid handling the interrupt until we're in the next transaction, + // at the point where we would normally issue the start. + TWCR = _BV(TWINT) | _BV(TWSTA)| _BV(TWEN) ; + twi_state = TWI_READY; + } + } + break; + case TW_MT_SLA_NACK: // address sent, nack received + twi_error = TW_MT_SLA_NACK; + twi_stop(); + break; + case TW_MT_DATA_NACK: // data sent, nack received + twi_error = TW_MT_DATA_NACK; + twi_stop(); + break; + case TW_MT_ARB_LOST: // lost bus arbitration + twi_error = TW_MT_ARB_LOST; + twi_releaseBus(); + break; + + // Master Receiver + case TW_MR_DATA_ACK: // data received, ack sent + // put byte into buffer + twi_masterBuffer[twi_masterBufferIndex++] = TWDR; + case TW_MR_SLA_ACK: // address sent, ack received + // ack if more bytes are expected, otherwise nack + if(twi_masterBufferIndex < twi_masterBufferLength){ + twi_reply(1); + }else{ + twi_reply(0); + } + break; + case TW_MR_DATA_NACK: // data received, nack sent + // put final byte into buffer + twi_masterBuffer[twi_masterBufferIndex++] = TWDR; + if (twi_sendStop) + twi_stop(); + else { + twi_inRepStart = true; // we're gonna send the START + // don't enable the interrupt. We'll generate the start, but we + // avoid handling the interrupt until we're in the next transaction, + // at the point where we would normally issue the start. + TWCR = _BV(TWINT) | _BV(TWSTA)| _BV(TWEN) ; + twi_state = TWI_READY; + } + break; + case TW_MR_SLA_NACK: // address sent, nack received + twi_stop(); + break; + // TW_MR_ARB_LOST handled by TW_MT_ARB_LOST case + + // Slave Receiver + case TW_SR_SLA_ACK: // addressed, returned ack + case TW_SR_GCALL_ACK: // addressed generally, returned ack + case TW_SR_ARB_LOST_SLA_ACK: // lost arbitration, returned ack + case TW_SR_ARB_LOST_GCALL_ACK: // lost arbitration, returned ack + // enter slave receiver mode + twi_state = TWI_SRX; + // indicate that rx buffer can be overwritten and ack + twi_rxBufferIndex = 0; + twi_reply(1); + break; + case TW_SR_DATA_ACK: // data received, returned ack + case TW_SR_GCALL_DATA_ACK: // data received generally, returned ack + // if there is still room in the rx buffer + if(twi_rxBufferIndex < TWI_BUFFER_LENGTH){ + // put byte in buffer and ack + twi_rxBuffer[twi_rxBufferIndex++] = TWDR; + twi_reply(1); + }else{ + // otherwise nack + twi_reply(0); + } + break; + case TW_SR_STOP: // stop or repeated start condition received + // put a null char after data if there's room + if(twi_rxBufferIndex < TWI_BUFFER_LENGTH){ + twi_rxBuffer[twi_rxBufferIndex] = '\0'; + } + // sends ack and stops interface for clock stretching + twi_stop(); + // callback to user defined callback + twi_onSlaveReceive(twi_rxBuffer, twi_rxBufferIndex); + // since we submit rx buffer to "wire" library, we can reset it + twi_rxBufferIndex = 0; + // ack future responses and leave slave receiver state + twi_releaseBus(); + break; + case TW_SR_DATA_NACK: // data received, returned nack + case TW_SR_GCALL_DATA_NACK: // data received generally, returned nack + // nack back at master + twi_reply(0); + break; + + // Slave Transmitter + case TW_ST_SLA_ACK: // addressed, returned ack + case TW_ST_ARB_LOST_SLA_ACK: // arbitration lost, returned ack + // enter slave transmitter mode + twi_state = TWI_STX; + // ready the tx buffer index for iteration + twi_txBufferIndex = 0; + // set tx buffer length to be zero, to verify if user changes it + twi_txBufferLength = 0; + // request for txBuffer to be filled and length to be set + // note: user must call twi_transmit(bytes, length) to do this + twi_onSlaveTransmit(); + // if they didn't change buffer & length, initialize it + if(0 == twi_txBufferLength){ + twi_txBufferLength = 1; + twi_txBuffer[0] = 0x00; + } + // transmit first byte from buffer, fall + case TW_ST_DATA_ACK: // byte sent, ack returned + // copy data to output register + TWDR = twi_txBuffer[twi_txBufferIndex++]; + // if there is more to send, ack, otherwise nack + if(twi_txBufferIndex < twi_txBufferLength){ + twi_reply(1); + }else{ + twi_reply(0); + } + break; + case TW_ST_DATA_NACK: // received nack, we are done + case TW_ST_LAST_DATA: // received ack, but we are done already! + // ack future responses + twi_reply(1); + // leave slave receiver state + twi_state = TWI_READY; + break; + + // All + case TW_NO_INFO: // no state information + break; + case TW_BUS_ERROR: // bus error, illegal stop/start + twi_error = TW_BUS_ERROR; + twi_stop(); + break; + } +} + diff --git a/libraries/Robot_Control/utility/twi.h b/libraries/Robot_Control/utility/twi.h new file mode 100644 index 0000000..6526593 --- /dev/null +++ b/libraries/Robot_Control/utility/twi.h @@ -0,0 +1,53 @@ +/* + twi.h - TWI/I2C library for Wiring & Arduino + Copyright (c) 2006 Nicholas Zambetti. All right reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef twi_h +#define twi_h + + #include <inttypes.h> + + //#define ATMEGA8 + + #ifndef TWI_FREQ + #define TWI_FREQ 100000L + #endif + + #ifndef TWI_BUFFER_LENGTH + #define TWI_BUFFER_LENGTH 32 + #endif + + #define TWI_READY 0 + #define TWI_MRX 1 + #define TWI_MTX 2 + #define TWI_SRX 3 + #define TWI_STX 4 + + void twi_init(void); + void twi_setAddress(uint8_t); + uint8_t twi_readFrom(uint8_t, uint8_t*, uint8_t, uint8_t); + uint8_t twi_writeTo(uint8_t, uint8_t*, uint8_t, uint8_t, uint8_t); + uint8_t twi_transmit(const uint8_t*, uint8_t); + void twi_attachSlaveRxEvent( void (*)(uint8_t*, int) ); + void twi_attachSlaveTxEvent( void (*)(void) ); + void twi_reply(uint8_t); + void twi_stop(void); + void twi_releaseBus(void); + +#endif + diff --git a/libraries/Robot_Motor/ArduinoRobotMotorBoard.cpp b/libraries/Robot_Motor/ArduinoRobotMotorBoard.cpp new file mode 100644 index 0000000..7740a06 --- /dev/null +++ b/libraries/Robot_Motor/ArduinoRobotMotorBoard.cpp @@ -0,0 +1,265 @@ +#include "ArduinoRobotMotorBoard.h" +#include "EasyTransfer2.h" +#include "Multiplexer.h" +#include "LineFollow.h" + +RobotMotorBoard::RobotMotorBoard(){ + //LineFollow::LineFollow(); +} +/*void RobotMotorBoard::beginIRReceiver(){ + IRrecv::enableIRIn(); +}*/ +void RobotMotorBoard::begin(){ + //initialze communication + Serial1.begin(9600); + messageIn.begin(&Serial1); + messageOut.begin(&Serial1); + + //init MUX + uint8_t MuxPins[]={MUXA,MUXB,MUXC}; + this->IRs.begin(MuxPins,MUX_IN,3); + pinMode(MUXI,INPUT); + digitalWrite(MUXI,LOW); + + isPaused=false; +} + +void RobotMotorBoard::process(){ + if(isPaused)return;//skip process if the mode is paused + + if(mode==MODE_SIMPLE){ + //Serial.println("s"); + //do nothing? Simple mode is just about getting commands + }else if(mode==MODE_LINE_FOLLOW){ + //do line following stuff here. + LineFollow::runLineFollow(); + }else if(mode==MODE_ADJUST_MOTOR){ + //Serial.println('a'); + //motorAdjustment=analogRead(POT); + //setSpeed(255,255); + //delay(100); + } +} +void RobotMotorBoard::pauseMode(bool onOff){ + if(onOff){ + isPaused=true; + }else{ + isPaused=false; + } + stopCurrentActions(); + +} +void RobotMotorBoard::parseCommand(){ + uint8_t modeName; + uint8_t codename; + int value; + int speedL; + int speedR; + if(this->messageIn.receiveData()){ + //Serial.println("data received"); + uint8_t command=messageIn.readByte(); + //Serial.println(command); + switch(command){ + case COMMAND_SWITCH_MODE: + modeName=messageIn.readByte(); + setMode(modeName); + break; + case COMMAND_RUN: + if(mode==MODE_LINE_FOLLOW)break;//in follow line mode, the motor does not follow commands + speedL=messageIn.readInt(); + speedR=messageIn.readInt(); + motorsWrite(speedL,speedR); + break; + case COMMAND_MOTORS_STOP: + motorsStop(); + break; + case COMMAND_ANALOG_WRITE: + codename=messageIn.readByte(); + value=messageIn.readInt(); + _analogWrite(codename,value); + break; + case COMMAND_DIGITAL_WRITE: + codename=messageIn.readByte(); + value=messageIn.readByte(); + _digitalWrite(codename,value); + break; + case COMMAND_ANALOG_READ: + codename=messageIn.readByte(); + _analogRead(codename); + break; + case COMMAND_DIGITAL_READ: + codename=messageIn.readByte(); + _digitalRead(codename); + break; + case COMMAND_READ_IR: + _readIR(); + break; + case COMMAND_READ_TRIM: + _readTrim(); + break; + case COMMAND_PAUSE_MODE: + pauseMode(messageIn.readByte());//onOff state + break; + case COMMAND_LINE_FOLLOW_CONFIG: + LineFollow::config( + messageIn.readByte(), //KP + messageIn.readByte(), //KD + messageIn.readByte(), //robotSpeed + messageIn.readByte() //IntegrationTime + ); + break; + } + } + //delay(5); +} +uint8_t RobotMotorBoard::parseCodename(uint8_t codename){ + switch(codename){ + case B_TK1: + return TK1; + case B_TK2: + return TK2; + case B_TK3: + return TK3; + case B_TK4: + return TK4; + } +} +uint8_t RobotMotorBoard::codenameToAPin(uint8_t codename){ + switch(codename){ + case B_TK1: + return A0; + case B_TK2: + return A1; + case B_TK3: + return A6; + case B_TK4: + return A11; + } +} + +void RobotMotorBoard::setMode(uint8_t mode){ + if(mode==MODE_LINE_FOLLOW){ + LineFollow::calibIRs(); + } + /*if(mode==SET_MOTOR_ADJUSTMENT){ + save_motor_adjustment_to_EEPROM(); + } + */ + /*if(mode==MODE_IR_CONTROL){ + beginIRReceiver(); + }*/ + this->mode=mode; + //stopCurrentActions();//If line following, this should stop the motors +} + +void RobotMotorBoard::stopCurrentActions(){ + motorsStop(); + //motorsWrite(0,0); +} + +void RobotMotorBoard::motorsWrite(int speedL, int speedR){ + /*Serial.print(speedL); + Serial.print(" "); + Serial.println(speedR);*/ + //motor adjustment, using percentage + _refreshMotorAdjustment(); + + if(motorAdjustment<0){ + speedR*=(1+motorAdjustment); + }else{ + speedL*=(1-motorAdjustment); + } + + if(speedL>0){ + analogWrite(IN_A1,speedL); + analogWrite(IN_A2,0); + }else{ + analogWrite(IN_A1,0); + analogWrite(IN_A2,-speedL); + } + + if(speedR>0){ + analogWrite(IN_B1,speedR); + analogWrite(IN_B2,0); + }else{ + analogWrite(IN_B1,0); + analogWrite(IN_B2,-speedR); + } +} +void RobotMotorBoard::motorsWritePct(int speedLpct, int speedRpct){ + //speedLpct, speedRpct ranges from -100 to 100 + motorsWrite(speedLpct*2.55,speedRpct*2.55); +} +void RobotMotorBoard::motorsStop(){ + analogWrite(IN_A1,255); + analogWrite(IN_A2,255); + + analogWrite(IN_B1,255); + analogWrite(IN_B2,255); +} + + +/* +* +* +* Input and Output ports +* +* +*/ +void RobotMotorBoard::_digitalWrite(uint8_t codename,bool value){ + uint8_t pin=parseCodename(codename); + digitalWrite(pin,value); +} +void RobotMotorBoard::_analogWrite(uint8_t codename,int value){ + //There's no PWM available on motor board +} +void RobotMotorBoard::_digitalRead(uint8_t codename){ + uint8_t pin=parseCodename(codename); + bool value=digitalRead(pin); + messageOut.writeByte(COMMAND_DIGITAL_READ_RE); + messageOut.writeByte(codename); + messageOut.writeByte(value); + messageOut.sendData(); +} +void RobotMotorBoard::_analogRead(uint8_t codename){ + uint8_t pin=codenameToAPin(codename); + int value=analogRead(pin); + messageOut.writeByte(COMMAND_ANALOG_READ_RE); + messageOut.writeByte(codename); + messageOut.writeInt(value); + messageOut.sendData(); +} +int RobotMotorBoard::IRread(uint8_t num){ + IRs.selectPin(num-1); //To make consistant with the pins labeled on the board + return IRs.getAnalogValue(); +} + +void RobotMotorBoard::_readIR(){ + //Serial.println("readIR"); + int value; + messageOut.writeByte(COMMAND_READ_IR_RE); + for(int i=1;i<6;i++){ + value=IRread(i); + messageOut.writeInt(value); + } + messageOut.sendData(); +} + +void RobotMotorBoard::_readTrim(){ + int value=analogRead(TRIM); + messageOut.writeByte(COMMAND_READ_TRIM_RE); + messageOut.writeInt(value); + messageOut.sendData(); +} + +void RobotMotorBoard::_refreshMotorAdjustment(){ + motorAdjustment=map(analogRead(TRIM),0,1023,-30,30)/100.0; +} + +void RobotMotorBoard::reportActionDone(){ + setMode(MODE_SIMPLE); + messageOut.writeByte(COMMAND_ACTION_DONE); + messageOut.sendData(); +} + +RobotMotorBoard RobotMotor=RobotMotorBoard();
\ No newline at end of file diff --git a/libraries/Robot_Motor/ArduinoRobotMotorBoard.h b/libraries/Robot_Motor/ArduinoRobotMotorBoard.h new file mode 100644 index 0000000..c1004c4 --- /dev/null +++ b/libraries/Robot_Motor/ArduinoRobotMotorBoard.h @@ -0,0 +1,125 @@ +#ifndef ArduinoRobot_h +#define ArduinoRobot_h + +#include "EasyTransfer2.h" +#include "Multiplexer.h" +#include "LineFollow.h" +//#include "IRremote.h" + +#if ARDUINO >= 100 +#include "Arduino.h" +#else +#include "WProgram.h" +#endif + +//Command code +#define COMMAND_SWITCH_MODE 0 +#define COMMAND_RUN 10 +#define COMMAND_MOTORS_STOP 11 +#define COMMAND_ANALOG_WRITE 20 +#define COMMAND_DIGITAL_WRITE 30 +#define COMMAND_ANALOG_READ 40 +#define COMMAND_ANALOG_READ_RE 41 +#define COMMAND_DIGITAL_READ 50 +#define COMMAND_DIGITAL_READ_RE 51 +#define COMMAND_READ_IR 60 +#define COMMAND_READ_IR_RE 61 +#define COMMAND_ACTION_DONE 70 +#define COMMAND_READ_TRIM 80 +#define COMMAND_READ_TRIM_RE 81 +#define COMMAND_PAUSE_MODE 90 +#define COMMAND_LINE_FOLLOW_CONFIG 100 + + +//component codename +#define CN_LEFT_MOTOR 0 +#define CN_RIGHT_MOTOR 1 +#define CN_IR 2 + +//motor board modes +#define MODE_SIMPLE 0 +#define MODE_LINE_FOLLOW 1 +#define MODE_ADJUST_MOTOR 2 +#define MODE_IR_CONTROL 3 + +//bottom TKs, just for communication purpose +#define B_TK1 201 +#define B_TK2 202 +#define B_TK3 203 +#define B_TK4 204 + +/* +A message structure will be: +switch mode (2): + byte COMMAND_SWITCH_MODE, byte mode +run (5): + byte COMMAND_RUN, int speedL, int speedR +analogWrite (3): + byte COMMAND_ANALOG_WRITE, byte codename, byte value; +digitalWrite (3): + byte COMMAND_DIGITAL_WRITE, byte codename, byte value; +analogRead (2): + byte COMMAND_ANALOG_READ, byte codename; +analogRead _return_ (4): + byte COMMAND_ANALOG_READ_RE, byte codename, int value; +digitalRead (2): + byte COMMAND_DIGITAL_READ, byte codename; +digitalRead _return_ (4): + byte COMMAND_DIGITAL_READ_RE, byte codename, int value; +read IR (1): + byte COMMAND_READ_IR; +read IR _return_ (9): + byte COMMAND_READ_IR_RE, int valueA, int valueB, int valueC, int valueD; + + +*/ + +class RobotMotorBoard:public LineFollow{ + public: + RobotMotorBoard(); + void begin(); + + void process(); + + void parseCommand(); + + int IRread(uint8_t num); + + void setMode(uint8_t mode); + void pauseMode(bool onOff); + + void motorsWrite(int speedL, int speedR); + void motorsWritePct(int speedLpct, int speedRpct);//write motor values in percentage + void motorsStop(); + private: + float motorAdjustment;//-1.0 ~ 1.0, whether left is lowered or right is lowered + + //convert codename to actual pins + uint8_t parseCodename(uint8_t codename); + uint8_t codenameToAPin(uint8_t codename); + + void stopCurrentActions(); + //void sendCommand(byte command,byte codename,int value); + + void _analogWrite(uint8_t codename, int value); + void _digitalWrite(uint8_t codename, bool value); + void _analogRead(uint8_t codename); + void _digitalRead(uint8_t codename); + void _readIR(); + void _readTrim(); + + void _refreshMotorAdjustment(); + + Multiplexer IRs; + uint8_t mode; + uint8_t isPaused; + EasyTransfer2 messageIn; + EasyTransfer2 messageOut; + + //Line Following + void reportActionDone(); +}; + +extern RobotMotorBoard RobotMotor; + +#endif
\ No newline at end of file diff --git a/libraries/Robot_Motor/EasyTransfer2.cpp b/libraries/Robot_Motor/EasyTransfer2.cpp new file mode 100644 index 0000000..24427cc --- /dev/null +++ b/libraries/Robot_Motor/EasyTransfer2.cpp @@ -0,0 +1,152 @@ +#include "EasyTransfer2.h" + + + + +//Captures address and size of struct +void EasyTransfer2::begin(HardwareSerial *theSerial){ + _serial = theSerial; + + //dynamic creation of rx parsing buffer in RAM + //rx_buffer = (uint8_t*) malloc(size); + + resetData(); +} + +void EasyTransfer2::writeByte(uint8_t dat){ + if(position<20) + data[position++]=dat; + size++; +} +void EasyTransfer2::writeInt(int dat){ + if(position<19){ + data[position++]=dat>>8; + data[position++]=dat; + size+=2; + } +} +uint8_t EasyTransfer2::readByte(){ + if(position>=size)return 0; + return data[position++]; +} +int EasyTransfer2::readInt(){ + if(position+1>=size)return 0; + int dat_1=data[position++]<<8; + int dat_2=data[position++]; + int dat= dat_1 | dat_2; + return dat; +} + +void EasyTransfer2::resetData(){ + for(int i=0;i<20;i++){ + data[i]=0; + } + size=0; + position=0; +} + +//Sends out struct in binary, with header, length info and checksum +void EasyTransfer2::sendData(){ + uint8_t CS = size; + _serial->write(0x06); + _serial->write(0x85); + _serial->write(size); + for(int i = 0; i<size; i++){ + CS^=*(data+i); + _serial->write(*(data+i)); + //Serial.print(*(data+i)); + //Serial.print(","); + } + //Serial.println(""); + _serial->write(CS); + + resetData(); +} + +boolean EasyTransfer2::receiveData(){ + + //start off by looking for the header bytes. If they were already found in a previous call, skip it. + if(rx_len == 0){ + //this size check may be redundant due to the size check below, but for now I'll leave it the way it is. + if(_serial->available() >= 3){ + //this will block until a 0x06 is found or buffer size becomes less then 3. + while(_serial->read() != 0x06) { + //This will trash any preamble junk in the serial buffer + //but we need to make sure there is enough in the buffer to process while we trash the rest + //if the buffer becomes too empty, we will escape and try again on the next call + if(_serial->available() < 3) + return false; + } + //Serial.println("head"); + if (_serial->read() == 0x85){ + rx_len = _serial->read(); + //Serial.print("rx_len:"); + //Serial.println(rx_len); + resetData(); + + //make sure the binary structs on both Arduinos are the same size. + /*if(rx_len != size){ + rx_len = 0; + return false; + }*/ + } + } + //Serial.println("nothing"); + } + + //we get here if we already found the header bytes, the struct size matched what we know, and now we are byte aligned. + if(rx_len != 0){ + + while(_serial->available() && rx_array_inx <= rx_len){ + data[rx_array_inx++] = _serial->read(); + } + + if(rx_len == (rx_array_inx-1)){ + //seem to have got whole message + //last uint8_t is CS + calc_CS = rx_len; + //Serial.print("len:"); + //Serial.println(rx_len); + for (int i = 0; i<rx_len; i++){ + calc_CS^=data[i]; + //Serial.print("m"); + //Serial.print(data[i]); + //Serial.print(","); + } + //Serial.println(); + //Serial.print(data[rx_array_inx-1]); + //Serial.print(" "); + //Serial.println(calc_CS); + + if(calc_CS == data[rx_array_inx-1]){//CS good + //resetData(); + //memcpy(data,d,rx_len); + for(int i=0;i<20;i++){ + //Serial.print(data[i]); + //Serial.print(","); + } + //Serial.println(""); + size=rx_len; + rx_len = 0; + rx_array_inx = 0; + return true; + } + + else{ + //Serial.println("CS"); + resetData(); + //failed checksum, need to clear this out anyway + rx_len = 0; + rx_array_inx = 0; + return false; + } + + } + } + //Serial.print(rx_len); + //Serial.print(" "); + //Serial.print(rx_array_inx); + //Serial.print(" "); + //Serial.println("Short"); + return false; +}
\ No newline at end of file diff --git a/libraries/Robot_Motor/EasyTransfer2.h b/libraries/Robot_Motor/EasyTransfer2.h new file mode 100644 index 0000000..3369a51 --- /dev/null +++ b/libraries/Robot_Motor/EasyTransfer2.h @@ -0,0 +1,76 @@ +/****************************************************************** +* EasyTransfer Arduino Library +* details and example sketch: +* http://www.billporter.info/easytransfer-arduino-library/ +* +* Brought to you by: +* Bill Porter +* www.billporter.info +* +* See Readme for other info and version history +* +* +*This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or(at your option) any later version. +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. +<http://www.gnu.org/licenses/> +* +*This work is licensed under the Creative Commons Attribution-ShareAlike 3.0 Unported License. +*To view a copy of this license, visit http://creativecommons.org/licenses/by-sa/3.0/ or +*send a letter to Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA. +******************************************************************/ +#ifndef EasyTransfer2_h +#define EasyTransfer2_h + + +//make it a little prettier on the front end. +#define details(name) (byte*)&name,sizeof(name) + +//Not neccessary, but just in case. +#if ARDUINO > 22 +#include "Arduino.h" +#else +#include "WProgram.h" +#endif +#include "HardwareSerial.h" +//#include <NewSoftSerial.h> +#include <math.h> +#include <stdio.h> +#include <stdint.h> +#include <avr/io.h> + +class EasyTransfer2 { +public: +void begin(HardwareSerial *theSerial); +//void begin(uint8_t *, uint8_t, NewSoftSerial *theSerial); +void sendData(); +boolean receiveData(); + +void writeByte(uint8_t dat); +void writeInt(int dat); +uint8_t readByte(); +int readInt(); + + +private: +HardwareSerial *_serial; + +void resetData(); + +uint8_t data[20]; //data storage, for both read and send +uint8_t position; +uint8_t size; //size of data in bytes. Both for read and send +//uint8_t * address; //address of struct +//uint8_t size; //size of struct +//uint8_t * rx_buffer; //address for temporary storage and parsing buffer +//uint8_t rx_buffer[20]; +uint8_t rx_array_inx; //index for RX parsing buffer +uint8_t rx_len; //RX packet length according to the packet +uint8_t calc_CS; //calculated Chacksum +}; + + + +#endif
\ No newline at end of file diff --git a/libraries/Robot_Motor/LineFollow.h b/libraries/Robot_Motor/LineFollow.h new file mode 100644 index 0000000..608d573 --- /dev/null +++ b/libraries/Robot_Motor/LineFollow.h @@ -0,0 +1,40 @@ +#ifndef LINE_FOLLOW_H +#define LINE_FOLLOW_H + +#if ARDUINO >= 100 + #include "Arduino.h" +#else + #include "WProgram.h" +#endif + +class LineFollow{ + public: + LineFollow(); + + void calibIRs(); + void runLineFollow(); + void config(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime); + + //These are all pure virtual functions, pure VF needs pure specifier "=0" + //virtual void motorsWrite(int speedL, int speedR)=0; + virtual void motorsWritePct(int speedLpct, int speedRpct)=0; + virtual void motorsStop()=0; + virtual int IRread(uint8_t num)=0; + protected: + virtual void reportActionDone()=0; + + private: + void doCalibration(int speedPct, int time); + void ajusta_niveles(); + + uint8_t KP; + uint8_t KD; + uint8_t robotSpeed; //percentage + uint8_t intergrationTime; + + int lectura_sensor[5], last_error, acu; + int sensor_blanco[5]; + int sensor_negro[5]; +}; + +#endif
\ No newline at end of file diff --git a/libraries/Robot_Motor/Multiplexer.cpp b/libraries/Robot_Motor/Multiplexer.cpp new file mode 100644 index 0000000..c0fdd86 --- /dev/null +++ b/libraries/Robot_Motor/Multiplexer.cpp @@ -0,0 +1,37 @@ +#include "Multiplexer.h" + +void Multiplexer::begin(uint8_t* selectors, uint8_t Z, uint8_t length){ + for(uint8_t i=0;i<length;i++){ + this->selectors[i]=selectors[i]; + pinMode(selectors[i],OUTPUT); + } + this->length=length; + this->pin_Z=Z; + pinMode(pin_Z,INPUT); +} + +void Multiplexer::selectPin(uint8_t num){ + for(uint8_t i=0;i<length;i++){ + //Serial.print(bitRead(num,i)); + digitalWrite(selectors[i],bitRead(num,i)); + } + //Serial.println(""); +} + +int Multiplexer::getAnalogValue(){ + return analogRead(pin_Z); +} + +bool Multiplexer::getDigitalValue(){ + return digitalRead(pin_Z); +} + +int Multiplexer::getAnalogValueAt(uint8_t num){ + selectPin(num); + return getAnalogValue(); +} + +bool Multiplexer::getDigitalValueAt(uint8_t num){ + selectPin(num); + return getDigitalValue(); +}
\ No newline at end of file diff --git a/libraries/Robot_Motor/Multiplexer.h b/libraries/Robot_Motor/Multiplexer.h new file mode 100644 index 0000000..a0c4c5c --- /dev/null +++ b/libraries/Robot_Motor/Multiplexer.h @@ -0,0 +1,24 @@ +#ifndef Multiplexer_h +#define Multiplexer_h + +#if ARDUINO >= 100 +#include "Arduino.h" +#else +#include "WProgram.h" +#endif + +class Multiplexer{ + public: + void begin(uint8_t* selectors, uint8_t Z, uint8_t length); + void selectPin(uint8_t num); + int getAnalogValue(); + int getAnalogValueAt(uint8_t num); + bool getDigitalValue(); + bool getDigitalValueAt(uint8_t num); + private: + uint8_t selectors[4]; + uint8_t pin_Z; + uint8_t length; +}; + +#endif diff --git a/libraries/Robot_Motor/examples/Robot_IR_Array_Test/Robot_IR_Array_Test.ino b/libraries/Robot_Motor/examples/Robot_IR_Array_Test/Robot_IR_Array_Test.ino new file mode 100644 index 0000000..e201fd9 --- /dev/null +++ b/libraries/Robot_Motor/examples/Robot_IR_Array_Test/Robot_IR_Array_Test.ino @@ -0,0 +1,26 @@ +/* Motor Board IR Array Test + + This example of the Arduno robot's motor board returns the + values read fron the 5 infrared sendors on the bottom of + the robot. + +*/ +// include the motor board header +#include <ArduinoRobotMotorBoard.h> + +String bar; // string for storing the informaton + +void setup(){ + // start serial communication + Serial.begin(9600); + // initialize the library + RobotMotor.begin(); +} +void loop(){ + bar=String(""); // empty the string + // read the sensors and add them to the string + bar=bar+RobotMotor.readIR(0)+' '+RobotMotor.readIR(1)+' '+RobotMotor.readIR(2)+' '+RobotMotor.readIR(3)+' '+RobotMotor.readIR(4); + // print out the values + Serial.println(bar); + delay(100); +} diff --git a/libraries/Robot_Motor/examples/Robot_Motor_Core/Robot_Motor_Core.ino b/libraries/Robot_Motor/examples/Robot_Motor_Core/Robot_Motor_Core.ino new file mode 100644 index 0000000..f74f30a --- /dev/null +++ b/libraries/Robot_Motor/examples/Robot_Motor_Core/Robot_Motor_Core.ino @@ -0,0 +1,18 @@ +/* Motor Core + + This code for the Arduino Robot's motor board + is the stock firmware. program the motor board with + this sketch whenever you want to return the motor + board to its default state. + +*/ + +#include <ArduinoRobotMotorBoard.h> + +void setup(){ + RobotMotor.begin(); +} +void loop(){ + RobotMotor.parseCommand(); + RobotMotor.process(); +} diff --git a/libraries/Robot_Motor/lineFollow.cpp b/libraries/Robot_Motor/lineFollow.cpp new file mode 100644 index 0000000..d6ebed8 --- /dev/null +++ b/libraries/Robot_Motor/lineFollow.cpp @@ -0,0 +1,152 @@ +//#include <ArduinoRobotMotorBoard.h> +#include "LineFollow.h" + +//#define KP 19 //0.1 units +//#define KD 14 +//#define ROBOT_SPEED 100 //percentage + +//#define KP 11 +//#define KD 5 +//#define ROBOT_SPEED 50 + +//#define INTEGRATION_TIME 10 //En ms + +/*uint8_t KP=11; +uint8_t KD=5; +uint8_t robotSpeed=50; //percentage +uint8_t intergrationTime=10;*/ + +#define NIVEL_PARA_LINEA 50 + +/*int lectura_sensor[5], last_error=0, acu=0; + +//Estos son los arrays que hay que rellenar con los valores de los sensores +//de suelo sobre blanco y negro. +int sensor_blanco[]={ + 0,0,0,0,0}; +int sensor_negro[]={ + 1023,1023,1023,1023,1023}; +*/ +//unsigned long time; + +//void mueve_robot(int vel_izq, int vel_der); +//void para_robot(); +//void doCalibration(int speedPct, int time); +//void ajusta_niveles(); //calibrate values + +LineFollow::LineFollow(){ + /*KP=11; + KD=5; + robotSpeed=50; //percentage + intergrationTime=10;*/ + config(11,5,50,10); + + for(int i=0;i<5;i++){ + sensor_blanco[i]=0; + sensor_negro[i]=1023; + } +} + +void LineFollow::config(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime){ + this->KP=KP; + this->KD=KD; + this->robotSpeed=robotSpeed; + this->intergrationTime=intergrationTime; + /*Serial.print("LFC: "); + Serial.print(KP); + Serial.print(' '); + Serial.print(KD); + Serial.print(' '); + Serial.print(robotSpeed); + Serial.print(' '); + Serial.println(intergrationTime);*/ + +} +void LineFollow::calibIRs(){ + static bool isInited=false;//So only init once + if(isInited)return ; + + delay(1000); + + doCalibration(30,500); + doCalibration(-30,800); + doCalibration(30,500); + + delay(1000); + isInited=true; +} + +void LineFollow::runLineFollow(){ + for(int count=0; count<5; count++) + { + lectura_sensor[count]=map(IRread(count),sensor_negro[count],sensor_blanco[count],0,127); + acu+=lectura_sensor[count]; + } + + //Serial.println(millis()); + if (acu > NIVEL_PARA_LINEA) + { + acu/=5; + + int error = ((lectura_sensor[0]<<6)+(lectura_sensor[1]<<5)-(lectura_sensor[3]<<5)-(lectura_sensor[4]<<6))/acu; + + error = constrain(error,-100,100); + + //Calculamos la correcion de velocidad mediante un filtro PD + int vel = (error * KP)/10 + (error-last_error)*KD; + + last_error = error; + + //Corregimos la velocidad de avance con el error de salida del filtro PD + int motor_left = constrain((robotSpeed + vel),-100,100); + int motor_right =constrain((robotSpeed - vel),-100,100); + + //Movemos el robot + //motorsWritePct(motor_left,motor_right); + motorsWritePct(motor_left,motor_right); + + //Esperamos un poquito a que el robot reaccione + delay(intergrationTime); + } + else + { + //Hemos encontrado una linea negra + //perpendicular a nuestro camino + //paramos el robot + motorsStop(); + + //y detenemos la ejecución del programa + //while(true); + reportActionDone(); + //setMode(MODE_SIMPLE); + } +} + + +void LineFollow::doCalibration(int speedPct, int time){ + motorsWritePct(speedPct, -speedPct); + unsigned long beginTime = millis(); + while((millis()-beginTime)<time) + ajusta_niveles(); + motorsStop(); +} +void LineFollow::ajusta_niveles() +{ + int lectura=0; + + for(int count=0; count<5; count++){ + lectura=IRread(count); + + if (lectura > sensor_blanco[count]) + sensor_blanco[count]=lectura; + + if (lectura < sensor_negro[count]) + sensor_negro[count]=lectura; + } +} + + + + + + diff --git a/libraries/SoftwareSerial/keywords.txt b/libraries/SoftwareSerial/keywords.txt index 90d4c15..3f36dfc 100644 --- a/libraries/SoftwareSerial/keywords.txt +++ b/libraries/SoftwareSerial/keywords.txt @@ -1,12 +1,13 @@ ####################################### -# Syntax Coloring Map for NewSoftSerial +# Syntax Coloring Map for SoftwareSerial +# (formely NewSoftSerial) ####################################### ####################################### # Datatypes (KEYWORD1) ####################################### -NewSoftSerial KEYWORD1 +SoftwareSerial KEYWORD1 ####################################### # Methods and Functions (KEYWORD2) @@ -15,11 +16,13 @@ NewSoftSerial KEYWORD1 begin KEYWORD2 end KEYWORD2 read KEYWORD2 +write KEYWORD2 available KEYWORD2 isListening KEYWORD2 overflow KEYWORD2 flush KEYWORD2 listen KEYWORD2 +peek KEYWORD2 ####################################### # Constants (LITERAL1) diff --git a/libraries/TFT/README.md b/libraries/TFT/README.md new file mode 100644 index 0000000..8489a20 --- /dev/null +++ b/libraries/TFT/README.md @@ -0,0 +1,18 @@ +TFT Library +============ + +An Arduino library for the Arduino TFT LCD screen. + +This library enables an Arduino board to communicate with an Arduino TFT LCD screen. It simplifies the process for drawing shapes, lines, images, and text to the screen. +The Arduino TFT library extends the Adafruit GFX, and Adafruit ST7735 libraries that it is based on. The GFX library is responsible for the drawing routines, while the ST7735 library is specific to the screen on the Arduino GTFT. The Arduino specific additions were designed to work as similarly to the Processing API as possible. + +Onboard the screen is a SD card slot, which can be used through the SD library. + +The TFT library relies on the SPI library for communication with the screen and SD card, and needs to be included in all sketches. + +https://github.com/adafruit/Adafruit-GFX-Library +https://github.com/adafruit/Adafruit-ST7735-Library +http://arduino.cc/en/Reference/SD +http://arduino.cc/en/Reference/SPI + +http://arduino.cc/en/Reference/TFTLibrary
\ No newline at end of file diff --git a/libraries/TFT/TFT.cpp b/libraries/TFT/TFT.cpp new file mode 100644 index 0000000..57f71f2 --- /dev/null +++ b/libraries/TFT/TFT.cpp @@ -0,0 +1,19 @@ +#include "TFT.h" + +#if (USB_VID == 0x2341) && (USB_PID == 0x803C) // are we building for Esplora? +TFT EsploraTFT(7, 0, 1); +#endif + +TFT::TFT(uint8_t CS, uint8_t RS, uint8_t RST) + : Adafruit_ST7735(CS, RS, RST) +{ + // as we already know the orientation (landscape, therefore rotated), + // set default width and height without need to call begin() first. + _width = ST7735_TFTHEIGHT; + _height = ST7735_TFTWIDTH; +} + +void TFT::begin() { + initR(INITR_REDTAB); + setRotation(1); +} diff --git a/libraries/TFT/TFT.h b/libraries/TFT/TFT.h new file mode 100644 index 0000000..06b6ac3 --- /dev/null +++ b/libraries/TFT/TFT.h @@ -0,0 +1,28 @@ + +#ifndef _ARDUINO_TFT_H +#define _ARDUINO_TFT_H + +#include "Arduino.h" +#include "utility/Adafruit_GFX.h" +#include "utility/Adafruit_ST7735.h" + +/// The Arduino LCD is a ST7735-based device. +/// By default, it is mounted horizontally. +/// TFT class follows the convention of other +/// Arduino library classes by adding a begin() method +/// to be called in the setup() routine. +/// @author Enrico Gueli <enrico.gueli@gmail.com> +class TFT : public Adafruit_ST7735 { +public: + TFT(uint8_t CS, uint8_t RS, uint8_t RST); + + void begin(); +}; + +/// Esplora boards have hard-wired connections with +/// the Arduino LCD if mounted on the onboard connector. +#if (USB_VID == 0x2341) && (USB_PID == 0x803C) // are we building for Esplora? +extern TFT EsploraTFT; +#endif + +#endif // _ARDUINO_TFT_H diff --git a/libraries/TFT/examples/Arduino/TFTBitmapLogo/TFTBitmapLogo.ino b/libraries/TFT/examples/Arduino/TFTBitmapLogo/TFTBitmapLogo.ino new file mode 100644 index 0000000..da7a94d --- /dev/null +++ b/libraries/TFT/examples/Arduino/TFTBitmapLogo/TFTBitmapLogo.ino @@ -0,0 +1,108 @@ +/* + + Arduino TFT Bitmap Logo example + + This example reads an image file from a micro-SD card + and draws it on the screen, at random locations. + + In this sketch, the Arduino logo is read from a micro-SD card. + There is a .bmp file included with this sketch. + - open the sketch folder (Ctrl-K or Cmd-K) + - copy the "arduino.bmp" file to a micro-SD + - put the SD into the SD slot of the Arduino TFT module. + + This example code is in the public domain. + + Created 19 April 2013 by Enrico Gueli + + http://arduino.cc/en/Tutorial/TFTBitmapLogo + + */ + +// include the necessary libraries +#include <SPI.h> +#include <SD.h> +#include <TFT.h> // Arduino LCD library + +// pin definition for the Uno +#define sd_cs 4 +#define lcd_cs 10 +#define dc 9 +#define rst 8 + +// pin definition for the Leonardo +//#define sd_cs 8 +//#define lcd_cs 7 +//#define dc 0 +//#define rst 1 + +TFT TFTscreen = TFT(lcd_cs, dc, rst); + +// this variable represents the image to be drawn on screen +PImage logo; + + +void setup() { + // initialize the GLCD and show a message + // asking the user to open the serial line + TFTscreen.begin(); + TFTscreen.background(255, 255, 255); + + TFTscreen.stroke(0, 0, 255); + TFTscreen.println(); + TFTscreen.println("Arduino TFT Bitmap Example"); + TFTscreen.stroke(0, 0, 0); + TFTscreen.println("Open serial monitor"); + TFTscreen.println("to run the sketch"); + + // initialize the serial port: it will be used to + // print some diagnostic info + Serial.begin(9600); + while (!Serial) { + // wait for serial line to be ready + } + + // clear the GLCD screen before starting + TFTscreen.background(255, 255, 255); + + // try to access the SD card. If that fails (e.g. + // no card present), the setup process will stop. + Serial.print("Initializing SD card..."); + if (!SD.begin(sd_cs)) { + Serial.println("failed!"); + return; + } + Serial.println("OK!"); + + // initialize and clear the GLCD screen + TFTscreen.begin(); + TFTscreen.background(255, 255, 255); + + // now that the SD card can be access, try to load the + // image file. + logo = TFTscreen.loadImage("arduino.bmp"); + if (!logo.isValid()) { + Serial.println("error while loading arduino.bmp"); + } +} + +void loop() { + // don't do anything if the image wasn't loaded correctly. + if (logo.isValid() == false) { + return; + } + + Serial.println("drawing image"); + + // get a random location where to draw the image. + // To avoid the image to be draw outside the screen, + // take into account the image size. + int x = random(TFTscreen.width() - logo.width()); + int y = random(TFTscreen.height() - logo.height()); + + // draw the image to the screen + TFTscreen.image(logo, x, y); + + // wait a little bit before drawing again + delay(1500); +} diff --git a/libraries/TFT/examples/Arduino/TFTBitmapLogo/arduino.bmp b/libraries/TFT/examples/Arduino/TFTBitmapLogo/arduino.bmp Binary files differnew file mode 100644 index 0000000..09c670a --- /dev/null +++ b/libraries/TFT/examples/Arduino/TFTBitmapLogo/arduino.bmp diff --git a/libraries/TFT/examples/Arduino/TFTColorPicker/TFTColorPicker.ino b/libraries/TFT/examples/Arduino/TFTColorPicker/TFTColorPicker.ino new file mode 100644 index 0000000..74fc176 --- /dev/null +++ b/libraries/TFT/examples/Arduino/TFTColorPicker/TFTColorPicker.ino @@ -0,0 +1,67 @@ +/* + + TFT Color Picker + + This example for the Arduino screen reads the input of + potentiometers or analog sensors attached to A0, A1, + and A2 and uses the values to change the screen's color. + + This example code is in the public domain. + + Created 15 April 2013 by Scott Fitzgerald + + http://arduino.cc/en/Tutorial/TFTColorPicker + + */ + +// pin definition for the Uno +#define cs 10 +#define dc 9 +#define rst 8 + +// pin definition for the Leonardo +// #define cs 7 +// #define dc 0 +// #define rst 1 + +#include <TFT.h> // Arduino LCD library +#include <SPI.h> + +TFT TFTscreen = TFT(cs, dc, rst); + +void setup() { + // begin serial communication + Serial.begin(9600); + + // initialize the display + TFTscreen.begin(); + + // set the background to white + TFTscreen.background(255, 255, 255); + +} + +void loop() { + + // read the values from your sensors and scale them to 0-255 + int redVal = map(analogRead(A0), 0, 1023, 0, 255); + int greenVal = map(analogRead(A1), 0, 1023, 0, 255); + int blueVal = map(analogRead(A2), 0, 1023, 0, 255); + + // draw the background based on the mapped values + TFTscreen.background(redVal, greenVal, blueVal); + + // send the values to the serial monitor + Serial.print("background("); + Serial.print(redVal); + Serial.print(" , "); + Serial.print(greenVal); + Serial.print(" , "); + Serial.print(blueVal); + Serial.println(")"); + + // wait for a moment + delay(33); + +} + diff --git a/libraries/TFT/examples/Arduino/TFTDisplayText/TFTDisplayText.ino b/libraries/TFT/examples/Arduino/TFTDisplayText/TFTDisplayText.ino new file mode 100644 index 0000000..f482bd1 --- /dev/null +++ b/libraries/TFT/examples/Arduino/TFTDisplayText/TFTDisplayText.ino @@ -0,0 +1,74 @@ +/* + Arduino TFT text example + + This example demonstrates how to draw text on the + TFT with an Arduino. The Arduino reads the value + of an analog sensor attached to pin A0, and writes + the value to the LCD screen, updating every + quarter second. + + This example code is in the public domain + + Created 15 April 2013 by Scott Fitzgerald + + http://arduino.cc/en/Tutorial/TFTDisplayText + + */ + +#include <TFT.h> // Arduino LCD library +#include <SPI.h> + +// pin definition for the Uno +#define cs 10 +#define dc 9 +#define rst 8 + +// pin definition for the Leonardo +// #define cs 7 +// #define dc 0 +// #define rst 1 + +// create an instance of the library +TFT TFTscreen = TFT(cs, dc, rst); + +// char array to print to the screen +char sensorPrintout[4]; + +void setup() { + + // Put this line at the beginning of every sketch that uses the GLCD: + TFTscreen.begin(); + + // clear the screen with a black background + TFTscreen.background(0, 0, 0); + + // write the static text to the screen + // set the font color to white + TFTscreen.stroke(255,255,255); + // set the font size + TFTscreen.setTextSize(2); + // write the text to the top left corner of the screen + TFTscreen.text("Sensor Value :\n ",0,0); + // ste the font size very large for the loop + TFTscreen.setTextSize(5); +} + +void loop() { + + // Read the value of the sensor on A0 + String sensorVal = String(analogRead(A0)); + + // convert the reading to a char array + sensorVal.toCharArray(sensorPrintout, 4); + + // set the font color + TFTscreen.stroke(255,255,255); + // print the sensor value + TFTscreen.text(sensorPrintout, 0, 20); + // wait for a moment + delay(250); + // erase the text you just wrote + TFTscreen.stroke(0,0,0); + TFTscreen.text(sensorPrintout, 0, 20); +} + diff --git a/libraries/TFT/examples/Arduino/TFTEtchASketch/TFTEtchASketch.ino b/libraries/TFT/examples/Arduino/TFTEtchASketch/TFTEtchASketch.ino new file mode 100644 index 0000000..29e3483 --- /dev/null +++ b/libraries/TFT/examples/Arduino/TFTEtchASketch/TFTEtchASketch.ino @@ -0,0 +1,84 @@ +/* + + TFT EtchASketch + + This example for the Arduino screen draws a white point + on the GLCD based on the values of 2 potentiometers. + To clear the screen, press a button attached to pin 2. + + This example code is in the public domain. + + Created 15 April 2013 by Scott Fitzgerald + + http://arduino.cc/en/Tutorial/TFTEtchASketch + + */ + +#include <TFT.h> // Arduino LCD library +#include <SPI.h> + +// pin definition for the Uno +#define cs 10 +#define dc 9 +#define rst 8 + +// pin definition for the Leonardo +// #define cs 7 +// #define dc 0 +// #define rst 1 + +TFT TFTscreen = TFT(cs, dc, rst); + +// initial position of the cursor +int xPos = TFTscreen.width()/2; +int yPos = TFTscreen.height()/2; + +// pin the erase switch is connected to +int erasePin = 2; + +void setup() { + // declare inputs + pinMode(erasePin, INPUT); + // initialize the screen + TFTscreen.begin(); + // make the background black + TFTscreen.background(0,0,0); +} + +void loop() +{ + // read the potentiometers on A0 and A1 + int xValue = analogRead(A0); + int yValue = analogRead(A1); + + // map the values and update the position + xPos = xPos + (map(xValue, 0, 1023, 2, -2)); + yPos = yPos + (map(yValue, 0, 1023, -2, 2)); + +// don't let the point go past the screen edges + if(xPos > 159){ + (xPos = 159); + } + + if(xPos < 0){ + (xPos = 0); + } + if(yPos > 127){ + (yPos = 127); + } + + if(yPos < 0){ + (yPos = 0); + } + + // draw the point + TFTscreen.stroke(255,255,255); + TFTscreen.point(xPos,yPos); + + // read the value of the pin, and erase the screen if pressed + if(digitalRead(erasePin) == HIGH){ + TFTscreen.background(0,0,0); + } + + delay(33); +} diff --git a/libraries/TFT/examples/Arduino/TFTGraph/TFTGraph.ino b/libraries/TFT/examples/Arduino/TFTGraph/TFTGraph.ino new file mode 100644 index 0000000..39ae49b --- /dev/null +++ b/libraries/TFT/examples/Arduino/TFTGraph/TFTGraph.ino @@ -0,0 +1,71 @@ +/* + + TFT Graph + + This example for an Arduino screen reads + the value of an analog sensor on A0, and + graphs the values on the screen. + + This example code is in the public domain. + + Created 15 April 2013 by Scott Fitzgerald + + http://arduino.cc/en/Tutorial/TFTGraph + + */ + +#include <TFT.h> // Arduino LCD library +#include <SPI.h> + + // pin definition for the Uno +#define cs 10 +#define dc 9 +#define rst 8 + +// pin definition for the Leonardo +// #define cs 7 +// #define dc 0 +// #define rst 1 + +TFT TFTscreen = TFT(cs, dc, rst); + +// position of the line on screen +int xPos = 0; + +void setup(){ + // initialize the serial port + Serial.begin(9600); + + // initialize the display + TFTscreen.begin(); + + // clear the screen with a pretty color + TFTscreen.background(250,16,200); +} + +void loop(){ + // read the sensor and map it to the screen height + int sensor = analogRead(A0); + int drawHeight = map(sensor,0,1023,0,TFTscreen.height()); + + // print out the height to the serial monitor + Serial.println(drawHeight); + + // draw a line in a nice color + TFTscreen.stroke(250,180,10); + TFTscreen.line(xPos, TFTscreen.height()-drawHeight, xPos, TFTscreen.height()); + + // if the graph has reached the screen edge + // erase the screen and start again + if (xPos >= 160) { + xPos = 0; + TFTscreen.background(250,16,200); + } + else { + // increment the horizontal position: + xPos++; + } + + delay(16); +} + diff --git a/libraries/TFT/examples/Arduino/TFTPong/TFTPong.ino b/libraries/TFT/examples/Arduino/TFTPong/TFTPong.ino new file mode 100644 index 0000000..02ea11c --- /dev/null +++ b/libraries/TFT/examples/Arduino/TFTPong/TFTPong.ino @@ -0,0 +1,135 @@ +/* + + TFT Pong + + This example for the Arduino screen reads the values + of 2 potentiometers to move a rectangular platform + on the x and y axes. The platform can intersect + with a ball causing it to bounce. + + This example code is in the public domain. + + Created by Tom Igoe December 2012 + Modified 15 April 2013 by Scott Fitzgerald + + http://arduino.cc/en/Tutorial/TFTPong + + */ + +#include <TFT.h> // Arduino LCD library +#include <SPI.h> + +// pin definition for the Uno +#define cs 10 +#define dc 9 +#define rst 8 + +// pin definition for the Leonardo +// #define cs 7 +// #define dc 0 +// #define rst 1 + +TFT TFTscreen = TFT(cs, dc, rst); + +// variables for the position of the ball and paddle +int paddleX = 0; +int paddleY = 0; +int oldPaddleX, oldPaddleY; +int ballDirectionX = 1; +int ballDirectionY = 1; + +int ballSpeed = 10; // lower numbers are faster + +int ballX, ballY, oldBallX, oldBallY; + +void setup() { + // initialize the display + TFTscreen.begin(); + // black background + TFTscreen.background(0,0,0); +} + +void loop() { + + // save the width and height of the screen + int myWidth = TFTscreen.width(); + int myHeight = TFTscreen.height(); + + // map the paddle's location to the position of the potentiometers + paddleX = map(analogRead(A0), 512, -512, 0, myWidth) - 20/2; + paddleY = map(analogRead(A1), 512, -512, 0, myHeight) - 5/2; + + // set the fill color to black and erase the previous + // position of the paddle if different from present + TFTscreen.fill(0,0,0); + + if (oldPaddleX != paddleX || oldPaddleY != paddleY) { + TFTscreen.rect(oldPaddleX, oldPaddleY, 20, 5); + } + + // draw the paddle on screen, save the current position + // as the previous. + TFTscreen.fill(255,255,255); + + TFTscreen.rect(paddleX, paddleY, 20, 5); + oldPaddleX = paddleX; + oldPaddleY = paddleY; + + // update the ball's position and draw it on screen + if (millis() % ballSpeed < 2) { + moveBall(); + } +} + +// this function determines the ball's position on screen +void moveBall() { + // if the ball goes offscreen, reverse the direction: + if (ballX > TFTscreen.width() || ballX < 0) { + ballDirectionX = -ballDirectionX; + } + + if (ballY > TFTscreen.height() || ballY < 0) { + ballDirectionY = -ballDirectionY; + } + + // check if the ball and the paddle occupy the same space on screen + if (inPaddle(ballX, ballY, paddleX, paddleY, 20, 5)) { + ballDirectionX = -ballDirectionX; + ballDirectionY = -ballDirectionY; + } + + // update the ball's position + ballX += ballDirectionX; + ballY += ballDirectionY; + +// erase the ball's previous position + TFTscreen.fill(0,0,0); + + if (oldBallX != ballX || oldBallY != ballY) { + TFTscreen.rect(oldBallX, oldBallY, 5, 5); + } + + + // draw the ball's current position + TFTscreen.fill(255,255,255); + TFTscreen.rect(ballX, ballY, 5, 5); + + oldBallX = ballX; + oldBallY = ballY; + +} + +// this function checks the position of the ball +// to see if it intersects with the paddle +boolean inPaddle(int x, int y, int rectX, int rectY, int rectWidth, int rectHeight) { + boolean result = false; + + if ((x >= rectX && x <= (rectX + rectWidth)) && + (y >= rectY && y <= (rectY + rectHeight))) { + result = true; + } + +return result; +} + + diff --git a/libraries/TFT/examples/Esplora/EsploraTFTBitmapLogo/EsploraTFTBitmapLogo.ino b/libraries/TFT/examples/Esplora/EsploraTFTBitmapLogo/EsploraTFTBitmapLogo.ino new file mode 100644 index 0000000..3d3f230 --- /dev/null +++ b/libraries/TFT/examples/Esplora/EsploraTFTBitmapLogo/EsploraTFTBitmapLogo.ino @@ -0,0 +1,101 @@ +/* + + Esplora TFT Bitmap Logos + + This example for the Arduino TFT screen is for use + with an Arduino Esplora. + + This example reads an image file from a micro-SD card + and draws it on the screen, at random locations. + + There is a .bmp file included with this sketch. + - open the sketch folder (Ctrl-K or Cmd-K) + - copy the "arduino.bmp" file to a micro-SD + - put the SD into the SD slot of the Arduino LCD module. + + This example code is in the public domain. + + Created 19 April 2013 by Enrico Gueli + + http://arduino.cc/en/Tutorial/EsploraTFTBitmapLogo + + */ + +// include the necessary libraries +#include <Esplora.h> +#include <SPI.h> +#include <SD.h> +#include <TFT.h> // Arduino LCD library + +// the Esplora pin connected to the chip select line for SD card +#define SD_CS 8 + +// this variable represents the image to be drawn on screen +PImage logo; + +void setup() { + // initialize the GLCD and show a message + // asking the user to open the serial line + EsploraTFT.begin(); + EsploraTFT.background(255, 255, 255); + + EsploraTFT.stroke(0, 0, 255); + EsploraTFT.println(); + EsploraTFT.println("Arduino LCD Bitmap Example"); + EsploraTFT.stroke(0, 0, 0); + EsploraTFT.println("Open serial monitor"); + EsploraTFT.println("to run the sketch"); + + // initialize the serial port: it will be used to + // print some diagnostic info + Serial.begin(9600); + while (!Serial) { + // wait for serial monitor to be open + } + + // try to access the SD card. If that fails (e.g. + // no card present), the Esplora's LED will turn red. + Serial.print("Initializing SD card..."); + if (!SD.begin(SD_CS)) { + Serial.println("failed!"); + Esplora.writeRed(255); + return; + } + Serial.println("OK!"); + + // clear the GLCD screen before starting + EsploraTFT.background(255, 255, 255); + + // now that the SD card can be access, try to load the + // image file. The Esplora LED will turn green or red if + // the loading went OK or not. + Esplora.writeRGB(0, 0, 0); + logo = EsploraTFT.loadImage("arduino.bmp"); + if (logo.isValid()) { + Esplora.writeGreen(255); + } + else + Esplora.writeRed(255); + +} + +void loop() { + // don't do anything if the image wasn't loaded correctly. + if (logo.isValid() == false) { + return; + } + + Serial.println("drawing image"); + + // get a random location where to draw the image. + // To avoid the image to be draw outside the screen, + // take into account the image size. + int x = random(EsploraTFT.width() - logo.width()); + int y = random(EsploraTFT.height() - logo.height()); + + // draw the image to the screen + EsploraTFT.image(logo, x, y); + + // wait a little bit before drawing again + delay(1500); +} diff --git a/libraries/TFT/examples/Esplora/EsploraTFTBitmapLogo/arduino.bmp b/libraries/TFT/examples/Esplora/EsploraTFTBitmapLogo/arduino.bmp Binary files differnew file mode 100644 index 0000000..09c670a --- /dev/null +++ b/libraries/TFT/examples/Esplora/EsploraTFTBitmapLogo/arduino.bmp diff --git a/libraries/TFT/examples/Esplora/EsploraTFTColorPicker/EsploraTFTColorPicker.ino b/libraries/TFT/examples/Esplora/EsploraTFTColorPicker/EsploraTFTColorPicker.ino new file mode 100644 index 0000000..63a0ee2 --- /dev/null +++ b/libraries/TFT/examples/Esplora/EsploraTFTColorPicker/EsploraTFTColorPicker.ino @@ -0,0 +1,54 @@ +/* + + Esplora TFT Color Picker + + This example for the Esplora with an Arduino TFT reads + the input of the joystick and slider, using the values + to change the screen's color. + + This example code is in the public domain. + + Created 15 April 2013 by Scott Fitzgerald + + http://arduino.cc/en/Tutorial/TFTColorPicker + + */ + +#include <Esplora.h> +#include <TFT.h> // Arduino LCD library +#include <SPI.h> + +void setup() { + Serial.begin(9600); + + // initialize the LCD + EsploraTFT.begin(); + + // start out with a white screen + EsploraTFT.background(255, 255, 255); + +} + +void loop() { + + // map the values from sensors + int xValue = map(Esplora.readJoystickX(), -512, 512, 0, 255); // read the joystick's X position + int yValue = map(Esplora.readJoystickY(), -512, 512, 0, 255); // read the joystick's Y position + int slider = map(Esplora.readSlider(), 0, 1023, 0, 255); // read the slider's position + + // change the background color based on the mapped values + EsploraTFT.background(xValue, yValue, slider); + + // print the mapped values to the Serial monitor + Serial.print("background("); + Serial.print(xValue); + Serial.print(" , "); + Serial.print(yValue); + Serial.print(" , "); + Serial.print(slider); + Serial.println(")"); + + delay(33); + +} + diff --git a/libraries/TFT/examples/Esplora/EsploraTFTEtchASketch/EsploraTFTEtchASketch.ino b/libraries/TFT/examples/Esplora/EsploraTFTEtchASketch/EsploraTFTEtchASketch.ino new file mode 100644 index 0000000..a1430d3 --- /dev/null +++ b/libraries/TFT/examples/Esplora/EsploraTFTEtchASketch/EsploraTFTEtchASketch.ino @@ -0,0 +1,83 @@ +/* + + Esplora TFT EtchASketch + + This example for the Arduino TFT and Esplora draws + a white line on the screen, based on the position + of the joystick. To clear the screen, shake the + Esplora, using the values from the accelerometer. + + This example code is in the public domain. + + Created 15 April 2013 by Scott Fitzgerald + + http://arduino.cc/en/Tutorial/EsploraTFTEtchASketch + + */ + +#include <Esplora.h> +#include <TFT.h> // Arduino LCD library +#include <SPI.h> + +// initial position of the cursor +int xPos = EsploraTFT.width()/2; +int yPos = EsploraTFT.height()/2; + +void setup() { + // initialize the display + EsploraTFT.begin(); + + // clear the background + EsploraTFT.background(0,0,0); +} + +void loop() +{ + + int xAxis = Esplora.readJoystickX(); // read the X axis + int yAxis = Esplora.readJoystickY(); // read the Y axis + + // update the position of the line + // depending on the position of the joystick + if (xAxis<10 && xAxis>-10){ + xPos=xPos; + } + else{ + xPos = xPos + (map(xAxis, -512, 512, 2, -2)); + } + if (yAxis<10 && yAxis>-10){ + yAxis=yAxis; + } + else{ + yPos = yPos + (map(yAxis, -512, 512, -2, 2)); + } + +// don't let the point go past the screen edges + if(xPos > 159){ + (xPos = 159); + } + + if(xPos < 0){ + (xPos = 0); + } + if(yPos > 127){ + (yPos = 127); + } + + if(yPos < 0){ + (yPos = 0); + } + + // draw the point + EsploraTFT.stroke(255,255,255); + EsploraTFT.point(xPos,yPos); + + // check the accelerometer values and clear + // the screen if it is being shaken + if(abs(Esplora.readAccelerometer(X_AXIS))>200 || abs(Esplora.readAccelerometer(Y_AXIS))>200){ + EsploraTFT.background(0,0,0); + } + + delay(33); +} + diff --git a/libraries/TFT/examples/Esplora/EsploraTFTGraph/EsploraTFTGraph.ino b/libraries/TFT/examples/Esplora/EsploraTFTGraph/EsploraTFTGraph.ino new file mode 100644 index 0000000..7f2a427 --- /dev/null +++ b/libraries/TFT/examples/Esplora/EsploraTFTGraph/EsploraTFTGraph.ino @@ -0,0 +1,56 @@ +/* + + Esplora TFT Graph + + This example for the Esplora with an Arduino TFT reads + the value of the light sensor, and graphs the values on + the screen. + + This example code is in the public domain. + + Created 15 April 2013 by Scott Fitzgerald + + http://arduino.cc/en/Tutorial/EsploraTFTGraph + + */ + +#include <Esplora.h> +#include <TFT.h> // Arduino LCD library +#include <SPI.h> + +// position of the line on screen +int xPos = 0; + +void setup(){ + + // initialize the screen + EsploraTFT.begin(); + + // clear the screen with a nice color + EsploraTFT.background(250,16,200); +} + +void loop(){ + + // read the sensor value + int sensor = Esplora.readLightSensor(); + // map the sensor value to the height of the screen + int graphHeight = map(sensor,0,1023,0,EsploraTFT.height()); + + // draw the line in a pretty color + EsploraTFT.stroke(250,180,10); + EsploraTFT.line(xPos, EsploraTFT.height() - graphHeight, xPos, EsploraTFT.height()); + + // if the graph reaches the edge of the screen + // erase it and start over from the other side + if (xPos >= 160) { + xPos = 0; + EsploraTFT.background(250,16,200); + } + else { + // increment the horizontal position: + xPos++; + } + + delay(16); +} diff --git a/libraries/TFT/examples/Esplora/EsploraTFTHorizon/EsploraTFTHorizon.ino b/libraries/TFT/examples/Esplora/EsploraTFTHorizon/EsploraTFTHorizon.ino new file mode 100644 index 0000000..a7945c9 --- /dev/null +++ b/libraries/TFT/examples/Esplora/EsploraTFTHorizon/EsploraTFTHorizon.ino @@ -0,0 +1,63 @@ +/* + + Esplora TFT Horizon + + This example for the Arduino TFT and Esplora draws + a line on the screen that stays level with the ground + as you tile the Esplora side to side + + This example code is in the public domain. + + Created 15 April 2013 by Scott Fitzgerald + + http://arduino.cc/en/Tutorial/EsploraTFTHorizon + + */ + +#include <Esplora.h> +#include <TFT.h> // Arduino LCD library +#include <SPI.h> + +// horizontal start and end positions +int yStart = EsploraTFT.height()/2; +int yEnd = EsploraTFT.height()/2; + +// previous start and end positions +int oldEndY; +int oldStartY; + +void setup() { + // initialize the display + EsploraTFT.begin(); + // make the background black + EsploraTFT.background(0,0,0); +} + +void loop() +{ + // read the x-axis of te accelerometer + int tilt = Esplora.readAccelerometer(X_AXIS); + + // the values are 100 when tilted to the left + // and -100 when tilted to the right + // map these values to the start and end points + yStart = map(tilt,-100,100,EsploraTFT.height(),0); + yEnd = map(tilt,-100,100,0,EsploraTFT.height()); + + // if the previous values are different than the current values + // erase the previous line + if (oldStartY != yStart || oldEndY != yEnd) { + EsploraTFT.stroke(0,0,0); + EsploraTFT.line(0, oldStartY, EsploraTFT.width(), oldEndY); + } + + // draw the line in magenta + EsploraTFT.stroke(255,0,255); + EsploraTFT.line(0,yStart,EsploraTFT.width(),yEnd); + + // save the current start and end points + // to compare int he next loop + oldStartY= yStart; + oldEndY = yEnd; + delay(10); +} diff --git a/libraries/TFT/examples/Esplora/EsploraTFTPong/EsploraTFTPong.ino b/libraries/TFT/examples/Esplora/EsploraTFTPong/EsploraTFTPong.ino new file mode 100644 index 0000000..e3422d4 --- /dev/null +++ b/libraries/TFT/examples/Esplora/EsploraTFTPong/EsploraTFTPong.ino @@ -0,0 +1,126 @@ +/* + + Esplora TFT Pong + + This example for the Esplora with an Arduino TFT screen reads + the value of the joystick to move a rectangular platform + on the x and y axes. The platform can intersect with a ball + causing it to bounce. The Esplora's slider adjusts the speed + of the ball. + + This example code is in the public domain. + + Created by Tom Igoe December 2012 + Modified 15 April 2013 by Scott Fitzgerald + + http://arduino.cc/en/Tutorial/EsploraTFTPong + + */ + +#include <Esplora.h> +#include <TFT.h> // Arduino LCD library +#include <SPI.h> + +// variables for the position of the ball and paddle +int paddleX = 0; +int paddleY = 0; +int oldPaddleX, oldPaddleY; +int ballDirectionX = 1; +int ballDirectionY = 1; + +int ballX, ballY, oldBallX, oldBallY; + +void setup() { + + Serial.begin(9600); + + // initialize the display + EsploraTFT.begin(); + // set the background the black + EsploraTFT.background(0,0,0); +} + +void loop() { + // save the width and height of the screen + int myWidth = EsploraTFT.width(); + int myHeight = EsploraTFT.height(); + + // map the paddle's location to the joystick's position + paddleX = map(Esplora.readJoystickX(), 512, -512, 0, myWidth) - 20/2; + paddleY = map(Esplora.readJoystickY(), -512, 512, 0, myHeight) - 5/2; + Serial.print(paddleX); + Serial.print(" "); + Serial.println(paddleY); + + // set the fill color to black and erase the previous + // position of the paddle if different from present + EsploraTFT.fill(0,0,0); + + if (oldPaddleX != paddleX || oldPaddleY != paddleY) { + EsploraTFT.rect(oldPaddleX, oldPaddleY, 20, 5); + } + + // draw the paddle on screen, save the current position + // as the previous. + EsploraTFT.fill(255,255,255); + EsploraTFT.rect(paddleX, paddleY, 20, 5); + oldPaddleX = paddleX; + oldPaddleY = paddleY; + + // read the slider to determinde the speed of the ball + int ballSpeed = map(Esplora.readSlider(), 0, 1023, 0, 80)+1; + if (millis() % ballSpeed < 2) { + moveBall(); + } +} + + +// this function determines the ball's position on screen +void moveBall() { + // if the ball goes offscreen, reverse the direction: + if (ballX > EsploraTFT.width() || ballX < 0) { + ballDirectionX = -ballDirectionX; + } + + if (ballY > EsploraTFT.height() || ballY < 0) { + ballDirectionY = -ballDirectionY; + } + + // check if the ball and the paddle occupy the same space on screen + if (inPaddle(ballX, ballY, paddleX, paddleY, 20, 5)) { + ballDirectionY = -ballDirectionY; + } + + // update the ball's position + ballX += ballDirectionX; + ballY += ballDirectionY; + + // erase the ball's previous position + EsploraTFT.fill(0,0,0); + + if (oldBallX != ballX || oldBallY != ballY) { + EsploraTFT.rect(oldBallX, oldBallY, 5, 5); + } + + // draw the ball's current position + EsploraTFT.fill(255,255,255); + + EsploraTFT.rect(ballX, ballY, 5, 5); + + oldBallX = ballX; + oldBallY = ballY; + +} + +// this function checks the position of the ball +// to see if it intersects with the paddle +boolean inPaddle(int x, int y, int rectX, int rectY, int rectWidth, int rectHeight) { + boolean result = false; + + if ((x >= rectX && x <= (rectX + rectWidth)) && + (y >= rectY && y <= (rectY + rectHeight))) { + result = true; + } + + return result; +} diff --git a/libraries/TFT/examples/Esplora/EsploraTFTTemp/EsploraTFTTemp.ino b/libraries/TFT/examples/Esplora/EsploraTFTTemp/EsploraTFTTemp.ino new file mode 100644 index 0000000..b475d2d --- /dev/null +++ b/libraries/TFT/examples/Esplora/EsploraTFTTemp/EsploraTFTTemp.ino @@ -0,0 +1,64 @@ +/* + + Esplora TFT Temperature Display + + This example for the Arduino TFT screen is for use + with an Arduino Esplora. + + This example reads the temperature of the Esplora's + on board thermisistor and displays it on an attached + LCD screen, updating every second. + + This example code is in the public domain. + + Created 15 April 2013 by Scott Fitzgerald + + http://arduino.cc/en/Tutorial/EsploraTFTTemp + + */ + +// include the necessary libraries +#include <Esplora.h> +#include <TFT.h> // Arduino LCD library +#include <SPI.h> + +char tempPrintout[3]; // array to hold the temperature data + +void setup() { + + // Put this line at the beginning of every sketch that uses the GLCD + EsploraTFT.begin(); + + // clear the screen with a black background + EsploraTFT.background(0,0,0); + + // set the text color to magenta + EsploraTFT.stroke(200,20,180); + // set the text to size 2 + EsploraTFT.setTextSize(2); + // start the text at the top left of the screen + // this text is going to remain static + EsploraTFT.text("Degrees in C :\n ",0,0); + + // set the text in the loop to size 5 + EsploraTFT.setTextSize(5); +} + +void loop() { + + // read the temperature in Celcius and store it in a String + String temperature = String(Esplora.readTemperature(DEGREES_C)); + + // convert the string to a char array + temperature.toCharArray(tempPrintout, 3); + + // set the text color to white + EsploraTFT.stroke(255,255,255); + // print the temperature one line below the static text + EsploraTFT.text(tempPrintout, 0, 30); + + delay(1000); + // erase the text for the next loop + EsploraTFT.stroke(0,0,0); + EsploraTFT.text(tempPrintout, 0, 30); +} diff --git a/libraries/TFT/keywords.txt b/libraries/TFT/keywords.txt new file mode 100644 index 0000000..0ddb3b5 --- /dev/null +++ b/libraries/TFT/keywords.txt @@ -0,0 +1,20 @@ +####################################### +# Syntax Coloring Map For Arduino GLCD +####################################### + +####################################### +# Datatypes (KEYWORD1) +####################################### + +TFT KEYWORD1 + +####################################### +# Methods and Functions (KEYWORD2) +####################################### + + +####################################### +# Constants (LITERAL1) +####################################### + +EsploraTFT LITERAL1 diff --git a/libraries/TFT/utility/Adafruit-README.txt b/libraries/TFT/utility/Adafruit-README.txt new file mode 100644 index 0000000..6f3b682 --- /dev/null +++ b/libraries/TFT/utility/Adafruit-README.txt @@ -0,0 +1,21 @@ +This is a library for the Adafruit 1.8" SPI display. +This library works with the Adafruit 1.8" TFT Breakout w/SD card + ----> http://www.adafruit.com/products/358 +as well as Adafruit raw 1.8" TFT display + ----> http://www.adafruit.com/products/618 + +Check out the links above for our tutorials and wiring diagrams. +These displays use SPI to communicate, 4 or 5 pins are required +to interface (RST is optional). +Adafruit invests time and resources providing this open source code, +please support Adafruit and open-source hardware by purchasing +products from Adafruit! + +Written by Limor Fried/Ladyada for Adafruit Industries. +MIT license, all text above must be included in any redistribution + +To download. click the DOWNLOADS button in the top right corner, rename the uncompressed folder Adafruit_ST7735. Check that the Adafruit_ST7735 folder contains Adafruit_ST7735.cpp and Adafruit_ST7735. + +Place the Adafruit_ST7735 library folder your <arduinosketchfolder>/libraries/ folder. You may need to create the libraries subfolder if its your first library. Restart the IDE + +Also requires the Adafruit_GFX library for Arduino. diff --git a/libraries/TFT/utility/Adafruit-license.txt b/libraries/TFT/utility/Adafruit-license.txt new file mode 100644 index 0000000..4bbfa39 --- /dev/null +++ b/libraries/TFT/utility/Adafruit-license.txt @@ -0,0 +1,25 @@ +Software License Agreement (BSD License) + +Copyright (c) 2012, Adafruit Industries. All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: +1. Redistributions of source code must retain the above copyright +notice, this list of conditions and the following disclaimer. +2. Redistributions in binary form must reproduce the above copyright +notice, this list of conditions and the following disclaimer in the +documentation and/or other materials provided with the distribution. +3. Neither the name of the copyright holders nor the names of its +contributors may be used to endorse or promote products derived from +this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY +EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/libraries/TFT/utility/Adafruit_GFX.cpp b/libraries/TFT/utility/Adafruit_GFX.cpp new file mode 100644 index 0000000..a7a541c --- /dev/null +++ b/libraries/TFT/utility/Adafruit_GFX.cpp @@ -0,0 +1,671 @@ +/****************************************************************** + This is the core graphics library for all our displays, providing + basic graphics primitives (points, lines, circles, etc.). It needs + to be paired with a hardware-specific library for each display + device we carry (handling the lower-level functions). + + Adafruit invests time and resources providing this open + source code, please support Adafruit and open-source hardware + by purchasing products from Adafruit! + + Written by Limor Fried/Ladyada for Adafruit Industries. + BSD license, check license.txt for more information. + All text above must be included in any redistribution. + ******************************************************************/ + +#include "Adafruit_GFX.h" +#include "glcdfont.c" +#include <avr/pgmspace.h> + +void Adafruit_GFX::constructor(int16_t w, int16_t h) { + _width = WIDTH = w; + _height = HEIGHT = h; + + rotation = 0; + cursor_y = cursor_x = 0; + textsize = 1; + textcolor = textbgcolor = 0xFFFF; + wrap = true; + + strokeColor = 0; + useStroke = true; + fillColor = 0; + useFill = false; + +} + + +// draw a circle outline +void Adafruit_GFX::drawCircle(int16_t x0, int16_t y0, int16_t r, + uint16_t color) { + int16_t f = 1 - r; + int16_t ddF_x = 1; + int16_t ddF_y = -2 * r; + int16_t x = 0; + int16_t y = r; + + drawPixel(x0, y0+r, color); + drawPixel(x0, y0-r, color); + drawPixel(x0+r, y0, color); + drawPixel(x0-r, y0, color); + + while (x<y) { + if (f >= 0) { + y--; + ddF_y += 2; + f += ddF_y; + } + x++; + ddF_x += 2; + f += ddF_x; + + drawPixel(x0 + x, y0 + y, color); + drawPixel(x0 - x, y0 + y, color); + drawPixel(x0 + x, y0 - y, color); + drawPixel(x0 - x, y0 - y, color); + drawPixel(x0 + y, y0 + x, color); + drawPixel(x0 - y, y0 + x, color); + drawPixel(x0 + y, y0 - x, color); + drawPixel(x0 - y, y0 - x, color); + + } +} + +void Adafruit_GFX::drawCircleHelper( int16_t x0, int16_t y0, + int16_t r, uint8_t cornername, uint16_t color) { + int16_t f = 1 - r; + int16_t ddF_x = 1; + int16_t ddF_y = -2 * r; + int16_t x = 0; + int16_t y = r; + + while (x<y) { + if (f >= 0) { + y--; + ddF_y += 2; + f += ddF_y; + } + x++; + ddF_x += 2; + f += ddF_x; + if (cornername & 0x4) { + drawPixel(x0 + x, y0 + y, color); + drawPixel(x0 + y, y0 + x, color); + } + if (cornername & 0x2) { + drawPixel(x0 + x, y0 - y, color); + drawPixel(x0 + y, y0 - x, color); + } + if (cornername & 0x8) { + drawPixel(x0 - y, y0 + x, color); + drawPixel(x0 - x, y0 + y, color); + } + if (cornername & 0x1) { + drawPixel(x0 - y, y0 - x, color); + drawPixel(x0 - x, y0 - y, color); + } + } +} + +void Adafruit_GFX::fillCircle(int16_t x0, int16_t y0, int16_t r, + uint16_t color) { + drawFastVLine(x0, y0-r, 2*r+1, color); + fillCircleHelper(x0, y0, r, 3, 0, color); +} + +// used to do circles and roundrects! +void Adafruit_GFX::fillCircleHelper(int16_t x0, int16_t y0, int16_t r, + uint8_t cornername, int16_t delta, uint16_t color) { + + int16_t f = 1 - r; + int16_t ddF_x = 1; + int16_t ddF_y = -2 * r; + int16_t x = 0; + int16_t y = r; + + while (x<y) { + if (f >= 0) { + y--; + ddF_y += 2; + f += ddF_y; + } + x++; + ddF_x += 2; + f += ddF_x; + + if (cornername & 0x1) { + drawFastVLine(x0+x, y0-y, 2*y+1+delta, color); + drawFastVLine(x0+y, y0-x, 2*x+1+delta, color); + } + if (cornername & 0x2) { + drawFastVLine(x0-x, y0-y, 2*y+1+delta, color); + drawFastVLine(x0-y, y0-x, 2*x+1+delta, color); + } + } +} + +// bresenham's algorithm - thx wikpedia +void Adafruit_GFX::drawLine(int16_t x0, int16_t y0, + int16_t x1, int16_t y1, + uint16_t color) { + int16_t steep = abs(y1 - y0) > abs(x1 - x0); + if (steep) { + swap(x0, y0); + swap(x1, y1); + } + + if (x0 > x1) { + swap(x0, x1); + swap(y0, y1); + } + + int16_t dx, dy; + dx = x1 - x0; + dy = abs(y1 - y0); + + int16_t err = dx / 2; + int16_t ystep; + + if (y0 < y1) { + ystep = 1; + } else { + ystep = -1; + } + + for (; x0<=x1; x0++) { + if (steep) { + drawPixel(y0, x0, color); + } else { + drawPixel(x0, y0, color); + } + err -= dy; + if (err < 0) { + y0 += ystep; + err += dx; + } + } +} + + +// draw a rectangle +void Adafruit_GFX::drawRect(int16_t x, int16_t y, + int16_t w, int16_t h, + uint16_t color) { + drawFastHLine(x, y, w, color); + drawFastHLine(x, y+h-1, w, color); + drawFastVLine(x, y, h, color); + drawFastVLine(x+w-1, y, h, color); +} + +void Adafruit_GFX::drawFastVLine(int16_t x, int16_t y, + int16_t h, uint16_t color) { + // stupidest version - update in subclasses if desired! + drawLine(x, y, x, y+h-1, color); +} + + +void Adafruit_GFX::drawFastHLine(int16_t x, int16_t y, + int16_t w, uint16_t color) { + // stupidest version - update in subclasses if desired! + drawLine(x, y, x+w-1, y, color); +} + +void Adafruit_GFX::fillRect(int16_t x, int16_t y, int16_t w, int16_t h, + uint16_t color) { + // stupidest version - update in subclasses if desired! + for (int16_t i=x; i<x+w; i++) { + drawFastVLine(i, y, h, color); + } +} + + +void Adafruit_GFX::fillScreen(uint16_t color) { + fillRect(0, 0, _width, _height, color); +} + +// draw a rounded rectangle! +void Adafruit_GFX::drawRoundRect(int16_t x, int16_t y, int16_t w, + int16_t h, int16_t r, uint16_t color) { + // smarter version + drawFastHLine(x+r , y , w-2*r, color); // Top + drawFastHLine(x+r , y+h-1, w-2*r, color); // Bottom + drawFastVLine( x , y+r , h-2*r, color); // Left + drawFastVLine( x+w-1, y+r , h-2*r, color); // Right + // draw four corners + drawCircleHelper(x+r , y+r , r, 1, color); + drawCircleHelper(x+w-r-1, y+r , r, 2, color); + drawCircleHelper(x+w-r-1, y+h-r-1, r, 4, color); + drawCircleHelper(x+r , y+h-r-1, r, 8, color); +} + +// fill a rounded rectangle! +void Adafruit_GFX::fillRoundRect(int16_t x, int16_t y, int16_t w, + int16_t h, int16_t r, uint16_t color) { + // smarter version + fillRect(x+r, y, w-2*r, h, color); + + // draw four corners + fillCircleHelper(x+w-r-1, y+r, r, 1, h-2*r-1, color); + fillCircleHelper(x+r , y+r, r, 2, h-2*r-1, color); +} + +// draw a triangle! +void Adafruit_GFX::drawTriangle(int16_t x0, int16_t y0, + int16_t x1, int16_t y1, + int16_t x2, int16_t y2, uint16_t color) { + drawLine(x0, y0, x1, y1, color); + drawLine(x1, y1, x2, y2, color); + drawLine(x2, y2, x0, y0, color); +} + +// fill a triangle! +void Adafruit_GFX::fillTriangle ( int16_t x0, int16_t y0, + int16_t x1, int16_t y1, + int16_t x2, int16_t y2, uint16_t color) { + + int16_t a, b, y, last; + + // Sort coordinates by Y order (y2 >= y1 >= y0) + if (y0 > y1) { + swap(y0, y1); swap(x0, x1); + } + if (y1 > y2) { + swap(y2, y1); swap(x2, x1); + } + if (y0 > y1) { + swap(y0, y1); swap(x0, x1); + } + + if(y0 == y2) { // Handle awkward all-on-same-line case as its own thing + a = b = x0; + if(x1 < a) a = x1; + else if(x1 > b) b = x1; + if(x2 < a) a = x2; + else if(x2 > b) b = x2; + drawFastHLine(a, y0, b-a+1, color); + return; + } + + int16_t + dx01 = x1 - x0, + dy01 = y1 - y0, + dx02 = x2 - x0, + dy02 = y2 - y0, + dx12 = x2 - x1, + dy12 = y2 - y1, + sa = 0, + sb = 0; + + // For upper part of triangle, find scanline crossings for segments + // 0-1 and 0-2. If y1=y2 (flat-bottomed triangle), the scanline y1 + // is included here (and second loop will be skipped, avoiding a /0 + // error there), otherwise scanline y1 is skipped here and handled + // in the second loop...which also avoids a /0 error here if y0=y1 + // (flat-topped triangle). + if(y1 == y2) last = y1; // Include y1 scanline + else last = y1-1; // Skip it + + for(y=y0; y<=last; y++) { + a = x0 + sa / dy01; + b = x0 + sb / dy02; + sa += dx01; + sb += dx02; + /* longhand: + a = x0 + (x1 - x0) * (y - y0) / (y1 - y0); + b = x0 + (x2 - x0) * (y - y0) / (y2 - y0); + */ + if(a > b) swap(a,b); + drawFastHLine(a, y, b-a+1, color); + } + + // For lower part of triangle, find scanline crossings for segments + // 0-2 and 1-2. This loop is skipped if y1=y2. + sa = dx12 * (y - y1); + sb = dx02 * (y - y0); + for(; y<=y2; y++) { + a = x1 + sa / dy12; + b = x0 + sb / dy02; + sa += dx12; + sb += dx02; + /* longhand: + a = x1 + (x2 - x1) * (y - y1) / (y2 - y1); + b = x0 + (x2 - x0) * (y - y0) / (y2 - y0); + */ + if(a > b) swap(a,b); + drawFastHLine(a, y, b-a+1, color); + } +} + +void Adafruit_GFX::drawBitmap(int16_t x, int16_t y, + const uint8_t *bitmap, int16_t w, int16_t h, + uint16_t color) { + + int16_t i, j, byteWidth = (w + 7) / 8; + + for(j=0; j<h; j++) { + for(i=0; i<w; i++ ) { + if(pgm_read_byte(bitmap + j * byteWidth + i / 8) & (128 >> (i & 7))) { + drawPixel(x+i, y+j, color); + } + } + } +} + + +#if ARDUINO >= 100 +size_t Adafruit_GFX::write(uint8_t c) { +#else +void Adafruit_GFX::write(uint8_t c) { +#endif + if (c == '\n') { + cursor_y += textsize*8; + cursor_x = 0; + } else if (c == '\r') { + // skip em + } else { + drawChar(cursor_x, cursor_y, c, textcolor, textbgcolor, textsize); + cursor_x += textsize*6; + if (wrap && (cursor_x > (_width - textsize*6))) { + cursor_y += textsize*8; + cursor_x = 0; + } + } +#if ARDUINO >= 100 + return 1; +#endif +} + +// draw a character +void Adafruit_GFX::drawChar(int16_t x, int16_t y, unsigned char c, + uint16_t color, uint16_t bg, uint8_t size) { + + if((x >= _width) || // Clip right + (y >= _height) || // Clip bottom + ((x + 5 * size - 1) < 0) || // Clip left + ((y + 8 * size - 1) < 0)) // Clip top + return; + + for (int8_t i=0; i<6; i++ ) { + uint8_t line; + if (i == 5) + line = 0x0; + else + line = pgm_read_byte(font+(c*5)+i); + for (int8_t j = 0; j<8; j++) { + if (line & 0x1) { + if (size == 1) // default size + drawPixel(x+i, y+j, color); + else { // big size + fillRect(x+(i*size), y+(j*size), size, size, color); + } + } else if (bg != color) { + if (size == 1) // default size + drawPixel(x+i, y+j, bg); + else { // big size + fillRect(x+i*size, y+j*size, size, size, bg); + } + } + line >>= 1; + } + } +} + +void Adafruit_GFX::setCursor(int16_t x, int16_t y) { + cursor_x = x; + cursor_y = y; +} + + +void Adafruit_GFX::setTextSize(uint8_t s) { + textsize = (s > 0) ? s : 1; +} + + +void Adafruit_GFX::setTextColor(uint16_t c) { + textcolor = c; + textbgcolor = c; + // for 'transparent' background, we'll set the bg + // to the same as fg instead of using a flag +} + + void Adafruit_GFX::setTextColor(uint16_t c, uint16_t b) { + textcolor = c; + textbgcolor = b; + } + +void Adafruit_GFX::setTextWrap(boolean w) { + wrap = w; +} + +uint8_t Adafruit_GFX::getRotation(void) { + rotation %= 4; + return rotation; +} + +void Adafruit_GFX::setRotation(uint8_t x) { + x %= 4; // cant be higher than 3 + rotation = x; + switch (x) { + case 0: + case 2: + _width = WIDTH; + _height = HEIGHT; + break; + case 1: + case 3: + _width = HEIGHT; + _height = WIDTH; + break; + } +} + +void Adafruit_GFX::invertDisplay(boolean i) { + // do nothing, can be subclassed +} + + +// return the size of the display which depends on the rotation! +int16_t Adafruit_GFX::width(void) { + return _width; +} + +int16_t Adafruit_GFX::height(void) { + return _height; +} + + + +uint16_t Adafruit_GFX::newColor(uint8_t r, uint8_t g, uint8_t b) { + return ((r & 0xF8) << 8) | ((g & 0xFC) << 3) | (b >> 3); +} + + +void Adafruit_GFX::background(uint8_t red, uint8_t green, uint8_t blue) { + background(newColor(red, green, blue)); +} + +void Adafruit_GFX::background(color c) { + fillScreen(c); +} + +void Adafruit_GFX::stroke(uint8_t red, uint8_t green, uint8_t blue) { + stroke(newColor(red, green, blue)); +} + +void Adafruit_GFX::stroke(color c) { + useStroke = true; + strokeColor = c; + setTextColor(c); +} + +void Adafruit_GFX::noStroke() { + useStroke = false; +} + +void Adafruit_GFX::noFill() { + useFill = false; +} + +void Adafruit_GFX::fill(uint8_t red, uint8_t green, uint8_t blue) { + fill(newColor(red, green, blue)); +} + +void Adafruit_GFX::fill(color c) { + useFill = true; + fillColor = c; +} + + +void Adafruit_GFX::text(const char * text, int16_t x, int16_t y) { + if (!useStroke) + return; + + setTextWrap(false); + setTextColor(strokeColor); + setCursor(x, y); + print(text); +} + +void Adafruit_GFX::textWrap(const char * text, int16_t x, int16_t y) { + if (!useStroke) + return; + + setTextWrap(true); + setTextColor(strokeColor); + setCursor(x, y); + print(text); +} + + +void Adafruit_GFX::textSize(uint8_t size) { + setTextSize(size); +} + +void Adafruit_GFX::point(int16_t x, int16_t y) { + if (!useStroke) + return; + + drawPixel(x, y, strokeColor); +} + +void Adafruit_GFX::line(int16_t x1, int16_t y1, int16_t x2, int16_t y2) { + if (!useStroke) + return; + + if (x1 == x2) { + if (y1 < y2) + drawFastVLine(x1, y1, y2 - y1, strokeColor); + else + drawFastVLine(x1, y2, y1 - y2, strokeColor); + } + else if (y1 == y2) { + if (x1 < x2) + drawFastHLine(x1, y1, x2 - x1, strokeColor); + else + drawFastHLine(x2, y1, x1 - x2, strokeColor); + } + else { + drawLine(x1, y1, x2, y2, strokeColor); + } +} + +void Adafruit_GFX::rect(int16_t x, int16_t y, int16_t width, int16_t height) { + if (useFill) { + fillRect(x, y, width, height, fillColor); + } + if (useStroke) { + drawRect(x, y, width, height, strokeColor); + } +} + +void Adafruit_GFX::rect(int16_t x, int16_t y, int16_t width, int16_t height, int16_t radius) { + if (radius == 0) { + rect(x, y, width, height); + } + if (useFill) { + fillRoundRect(x, y, width, height, radius, fillColor); + } + if (useStroke) { + drawRoundRect(x, y, width, height, radius, strokeColor); + } +} + +void Adafruit_GFX::circle(int16_t x, int16_t y, int16_t r) { + if (r == 0) + return; + + if (useFill) { + fillCircle(x, y, r, fillColor); + } + if (useStroke) { + drawCircle(x, y, r, strokeColor); + } +} + +void Adafruit_GFX::triangle(int16_t x1, int16_t y1, int16_t x2, int16_t y2, int16_t x3, int16_t y3) { + if (useFill) { + fillTriangle(x1, y1, x2, y2, x3, y3, fillColor); + } + if (useStroke) { + drawTriangle(x1, y1, x2, y2, x3, y3, strokeColor); + } +} + +#if defined(__SD_H__) // Arduino SD library + +#define BUFFPIXEL 20 + +void Adafruit_GFX::image(PImage & img, uint16_t x, uint16_t y) { + int w, h, row, col; + uint8_t r, g, b; + uint32_t pos = 0; + uint8_t sdbuffer[3*BUFFPIXEL]; // pixel buffer (R+G+B per pixel) + uint8_t buffidx = sizeof(sdbuffer); // Current position in sdbuffer + + // Crop area to be loaded + w = img._bmpWidth; + h = img._bmpHeight; + if((x+w-1) >= width()) w = width() - x; + if((y+h-1) >= height()) h = height() - y; + + /* + // Set TFT address window to clipped image bounds + setAddrWindow(x, y, x+w-1, y+h-1); + */ + + for (row=0; row<h; row++) { // For each scanline... + // Seek to start of scan line. It might seem labor- + // intensive to be doing this on every line, but this + // method covers a lot of gritty details like cropping + // and scanline padding. Also, the seek only takes + // place if the file position actually needs to change + // (avoids a lot of cluster math in SD library). + if(img._flip) // Bitmap is stored bottom-to-top order (normal BMP) + pos = img._bmpImageoffset + (img._bmpHeight - 1 - row) * img._rowSize; + else // Bitmap is stored top-to-bottom + pos = img._bmpImageoffset + row * img._rowSize; + if(img._bmpFile.position() != pos) { // Need seek? + img._bmpFile.seek(pos); + buffidx = sizeof(sdbuffer); // Force buffer reload + } + + for (col=0; col<w; col++) { // For each pixel... + // Time to read more pixel data? + if (buffidx >= sizeof(sdbuffer)) { // Indeed + img._bmpFile.read(sdbuffer, sizeof(sdbuffer)); + buffidx = 0; // Set index to beginning + } + + // Convert pixel from BMP to TFT format, push to display + b = sdbuffer[buffidx++]; + g = sdbuffer[buffidx++]; + r = sdbuffer[buffidx++]; + //pushColor(tft.Color565(r,g,b)); + drawPixel(x + col, y + row, newColor(r, g, b)); + + } // end pixel + } // end scanline + +} + +#endif
\ No newline at end of file diff --git a/libraries/TFT/utility/Adafruit_GFX.h b/libraries/TFT/utility/Adafruit_GFX.h new file mode 100644 index 0000000..b49aa0f --- /dev/null +++ b/libraries/TFT/utility/Adafruit_GFX.h @@ -0,0 +1,367 @@ +/****************************************************************** + This is the core graphics library for all our displays, providing + basic graphics primitives (points, lines, circles, etc.). It needs + to be paired with a hardware-specific library for each display + device we carry (handling the lower-level functions). + + Adafruit invests time and resources providing this open + source code, please support Adafruit and open-source hardware + by purchasing products from Adafruit! + + Written by Limor Fried/Ladyada for Adafruit Industries. + Processing-like API written by Enrico Gueli for Officine Arduino. + BSD license, check license.txt for more information. + All text above must be included in any redistribution. + ******************************************************************/ + +#ifndef _ADAFRUIT_GFX_H +#define _ADAFRUIT_GFX_H + +#if ARDUINO >= 100 + #include "Arduino.h" + #include "Print.h" +#else + #include "WProgram.h" +#endif + +/* + * This library can work with or without the presence of an SD + * reading library (to load images). At the moment, only the + * Arduino SD library is supported; it is included in + * standard Arduino libraries. + * + * The presence of the SD library is detected by looking at the + * __SD_H__ preprocessor variable, defined into + * Arduino SD library to avoid double inclusion. This means + * that in order to use the image-related API of Adafruit_GFX, + * SD.h *must* be included before Adafruit_GFX. + * + * The bottom part of this include file contains the actual image + * loading code; if it was in a separate .cpp file, there were no + * way to check if the SD library was present or not. + * + * A partial solution was to include SD.h anyway, see if that works + * (i.e. it is found in the include search path) and act accordingly. + * But this solution relied on the preprocessor to issue only a + * warning when an include file is not found. Avr-gcc, used for + * Arduino 8-bit MCUs, does that, but the standard gcc-4.4, used for + * Arduino Due, issues a fatal error and stops compilation. + * + * The best solution so far is to put the code here. It works if this + * include is used only in one .cpp file in the build (this is the + * case of most Arduino sketches); if used in multiple .cpp files, + * the linker may complain about duplicate definitions. + * + */ + +#if defined(__SD_H__) // Arduino SD library +# include "PImage.h" +#else +# warning "The SD library was not found. loadImage() and image() won't be supported." +#endif + +#define swap(a, b) { int16_t t = a; a = b; b = t; } + +/* TODO +enum RectMode { + CORNER, + CORNERS, + RADIUS, + CENTER +}; +*/ + +typedef uint16_t color; + +class Adafruit_GFX : public Print { + public: + + //Adafruit_GFX(); + // i have no idea why we have to formally call the constructor. kinda sux + void constructor(int16_t w, int16_t h); + + // this must be defined by the subclass + virtual void drawPixel(int16_t x, int16_t y, uint16_t color); + virtual void invertDisplay(boolean i); + + // these are 'generic' drawing functions, so we can share them! + virtual void drawLine(int16_t x0, int16_t y0, int16_t x1, int16_t y1, + uint16_t color); + virtual void drawFastVLine(int16_t x, int16_t y, int16_t h, uint16_t color); + virtual void drawFastHLine(int16_t x, int16_t y, int16_t w, uint16_t color); + virtual void drawRect(int16_t x, int16_t y, int16_t w, int16_t h, + uint16_t color); + virtual void fillRect(int16_t x, int16_t y, int16_t w, int16_t h, + uint16_t color); + virtual void fillScreen(uint16_t color); + + void drawCircle(int16_t x0, int16_t y0, int16_t r, uint16_t color); + void drawCircleHelper(int16_t x0, int16_t y0, + int16_t r, uint8_t cornername, uint16_t color); + void fillCircle(int16_t x0, int16_t y0, int16_t r, uint16_t color); + void fillCircleHelper(int16_t x0, int16_t y0, int16_t r, + uint8_t cornername, int16_t delta, uint16_t color); + + void drawTriangle(int16_t x0, int16_t y0, int16_t x1, int16_t y1, + int16_t x2, int16_t y2, uint16_t color); + void fillTriangle(int16_t x0, int16_t y0, int16_t x1, int16_t y1, + int16_t x2, int16_t y2, uint16_t color); + void drawRoundRect(int16_t x0, int16_t y0, int16_t w, int16_t h, + int16_t radius, uint16_t color); + void fillRoundRect(int16_t x0, int16_t y0, int16_t w, int16_t h, + int16_t radius, uint16_t color); + + void drawBitmap(int16_t x, int16_t y, + const uint8_t *bitmap, int16_t w, int16_t h, + uint16_t color); + void drawChar(int16_t x, int16_t y, unsigned char c, + uint16_t color, uint16_t bg, uint8_t size); +#if ARDUINO >= 100 + virtual size_t write(uint8_t); +#else + virtual void write(uint8_t); +#endif + void setCursor(int16_t x, int16_t y); + void setTextColor(uint16_t c); + void setTextColor(uint16_t c, uint16_t bg); + void setTextSize(uint8_t s); + void setTextWrap(boolean w); + + int16_t height(void); + int16_t width(void); + + void setRotation(uint8_t r); + uint8_t getRotation(void); + + + /* + * Processing-like graphics primitives + */ + + /// transforms a color in 16-bit form given the RGB components. + /// The default implementation makes a 5-bit red, a 6-bit + /// green and a 5-bit blue (MSB to LSB). Devices that use + /// different scheme should override this. + virtual uint16_t newColor(uint8_t red, uint8_t green, uint8_t blue); + + + // http://processing.org/reference/background_.html + void background(uint8_t red, uint8_t green, uint8_t blue); + void background(color c); + + // http://processing.org/reference/fill_.html + void fill(uint8_t red, uint8_t green, uint8_t blue); + void fill(color c); + + // http://processing.org/reference/noFill_.html + void noFill(); + + // http://processing.org/reference/stroke_.html + void stroke(uint8_t red, uint8_t green, uint8_t blue); + void stroke(color c); + + // http://processing.org/reference/noStroke_.html + void noStroke(); + + void text (const char * text, int16_t x, int16_t y); + void textWrap(const char * text, int16_t x, int16_t y); + + void textSize(uint8_t size); + + // similar to ellipse() in Processing, but with + // a single radius. + // http://processing.org/reference/ellipse_.html + void circle(int16_t x, int16_t y, int16_t r); + + void point(int16_t x, int16_t y); + + void line(int16_t x1, int16_t y1, int16_t x2, int16_t y2); + + void quad(int16_t x1, int16_t y1, int16_t x2, int16_t y2, int16_t x3, int16_t y3, int16_t x4, int16_t y4); + + void rect(int16_t x, int16_t y, int16_t width, int16_t height); + + void rect(int16_t x, int16_t y, int16_t width, int16_t height, int16_t radius); + + void triangle(int16_t x1, int16_t y1, int16_t x2, int16_t y2, int16_t x3, int16_t y3); + + /* TODO + void rectMode(RectMode mode); + + void pushStyle(); + void popStyle(); + */ + +#if defined(__SD_H__) // Arduino SD library + PImage loadImage(const char * fileName) { return PImage::loadImage(fileName); } + + void image(PImage & img, uint16_t x, uint16_t y); +#endif + + protected: + int16_t WIDTH, HEIGHT; // this is the 'raw' display w/h - never changes + int16_t _width, _height; // dependent on rotation + int16_t cursor_x, cursor_y; + uint16_t textcolor, textbgcolor; + uint8_t textsize; + uint8_t rotation; + boolean wrap; // If set, 'wrap' text at right edge of display + + /* + * Processing-style graphics state + */ + + color strokeColor; + bool useStroke; + color fillColor; + bool useFill; +}; + +#if defined(__SD_H__) // Arduino SD library + +#define BUFFPIXEL 20 + +void Adafruit_GFX::image(PImage & img, uint16_t x, uint16_t y) { + int w, h, row, col; + uint8_t r, g, b; + uint32_t pos = 0; + uint8_t sdbuffer[3*BUFFPIXEL]; // pixel buffer (R+G+B per pixel) + uint8_t buffidx = sizeof(sdbuffer); // Current position in sdbuffer + + // Crop area to be loaded + w = img._bmpWidth; + h = img._bmpHeight; + if((x+w-1) >= width()) w = width() - x; + if((y+h-1) >= height()) h = height() - y; + + /* + // Set TFT address window to clipped image bounds + setAddrWindow(x, y, x+w-1, y+h-1); + */ + + for (row=0; row<h; row++) { // For each scanline... + // Seek to start of scan line. It might seem labor- + // intensive to be doing this on every line, but this + // method covers a lot of gritty details like cropping + // and scanline padding. Also, the seek only takes + // place if the file position actually needs to change + // (avoids a lot of cluster math in SD library). + if(img._flip) // Bitmap is stored bottom-to-top order (normal BMP) + pos = img._bmpImageoffset + (img._bmpHeight - 1 - row) * img._rowSize; + else // Bitmap is stored top-to-bottom + pos = img._bmpImageoffset + row * img._rowSize; + if(img._bmpFile.position() != pos) { // Need seek? + img._bmpFile.seek(pos); + buffidx = sizeof(sdbuffer); // Force buffer reload + } + + for (col=0; col<w; col++) { // For each pixel... + // Time to read more pixel data? + if (buffidx >= sizeof(sdbuffer)) { // Indeed + img._bmpFile.read(sdbuffer, sizeof(sdbuffer)); + buffidx = 0; // Set index to beginning + } + + // Convert pixel from BMP to TFT format, push to display + b = sdbuffer[buffidx++]; + g = sdbuffer[buffidx++]; + r = sdbuffer[buffidx++]; + //pushColor(tft.Color565(r,g,b)); + drawPixel(x + col, y + row, newColor(r, g, b)); + + } // end pixel + } // end scanline + +} + + + + +// These read 16- and 32-bit types from the SD card file. +// BMP data is stored little-endian, Arduino is little-endian too. +// May need to reverse subscript order if porting elsewhere. + +uint16_t PImage::read16(File f) { + uint16_t result; + ((uint8_t *)&result)[0] = f.read(); // LSB + ((uint8_t *)&result)[1] = f.read(); // MSB + return result; +} + +uint32_t PImage::read32(File f) { + uint32_t result; + ((uint8_t *)&result)[0] = f.read(); // LSB + ((uint8_t *)&result)[1] = f.read(); + ((uint8_t *)&result)[2] = f.read(); + ((uint8_t *)&result)[3] = f.read(); // MSB + return result; +} + + +PImage PImage::loadImage(const char * fileName) { + File bmpFile; + int bmpWidth, bmpHeight; // W+H in pixels + uint8_t bmpDepth; // Bit depth (currently must be 24) + uint32_t bmpImageoffset; // Start of image data in file + uint32_t rowSize; // Not always = bmpWidth; may have padding + bool flip = true; // BMP is stored bottom-to-top + + + // Open requested file on SD card + if ((bmpFile = SD.open(fileName)) == NULL) { + Serial.print("loadImage: file not found: "); + Serial.println(fileName); + return PImage(); // load error + } + + + + // Parse BMP header + if(read16(bmpFile) != 0x4D42) { // BMP signature + Serial.println("loadImage: file doesn't look like a BMP"); + return PImage(); + } + + Serial.print("File size: "); Serial.println(read32(bmpFile)); + (void)read32(bmpFile); // Read & ignore creator bytes + bmpImageoffset = read32(bmpFile); // Start of image data + Serial.print("Image Offset: "); Serial.println(bmpImageoffset, DEC); + // Read DIB header + Serial.print("Header size: "); Serial.println(read32(bmpFile)); + bmpWidth = read32(bmpFile); + bmpHeight = read32(bmpFile); + if(read16(bmpFile) != 1) { // # planes -- must be '1' + Serial.println("loadImage: invalid n. of planes"); + return PImage(); + } + + bmpDepth = read16(bmpFile); // bits per pixel + Serial.print("Bit Depth: "); Serial.println(bmpDepth); + if((bmpDepth != 24) || (read32(bmpFile) != 0)) { // 0 = uncompressed { + Serial.println("loadImage: invalid pixel format"); + return PImage(); + } + + Serial.print("Image size: "); + Serial.print(bmpWidth); + Serial.print('x'); + Serial.println(bmpHeight); + + // BMP rows are padded (if needed) to 4-byte boundary + rowSize = (bmpWidth * 3 + 3) & ~3; + + // If bmpHeight is negative, image is in top-down order. + // This is not canon but has been observed in the wild. + if(bmpHeight < 0) { + bmpHeight = -bmpHeight; + flip = false; + } + + return PImage(bmpFile, bmpWidth, bmpHeight, bmpDepth, bmpImageoffset, rowSize, flip); +} + +#endif + + + +#endif diff --git a/libraries/TFT/utility/Adafruit_ST7735.cpp b/libraries/TFT/utility/Adafruit_ST7735.cpp new file mode 100755 index 0000000..ed57bf7 --- /dev/null +++ b/libraries/TFT/utility/Adafruit_ST7735.cpp @@ -0,0 +1,603 @@ +/*************************************************** + This is a library for the Adafruit 1.8" SPI display. + This library works with the Adafruit 1.8" TFT Breakout w/SD card + ----> http://www.adafruit.com/products/358 + as well as Adafruit raw 1.8" TFT display + ----> http://www.adafruit.com/products/618 + + Check out the links above for our tutorials and wiring diagrams + These displays use SPI to communicate, 4 or 5 pins are required to + interface (RST is optional) + Adafruit invests time and resources providing this open source code, + please support Adafruit and open-source hardware by purchasing + products from Adafruit! + + Written by Limor Fried/Ladyada for Adafruit Industries. + MIT license, all text above must be included in any redistribution + ****************************************************/ + +#include "Adafruit_ST7735.h" +#include <avr/pgmspace.h> +#include <limits.h> +#include "pins_arduino.h" +#include "wiring_private.h" +#include <SPI.h> + +inline uint16_t swapcolor(uint16_t x) { + return (x << 11) | (x & 0x07E0) | (x >> 11); +} + + +// Constructor when using software SPI. All output pins are configurable. +Adafruit_ST7735::Adafruit_ST7735(uint8_t cs, uint8_t rs, uint8_t sid, + uint8_t sclk, uint8_t rst) { + _cs = cs; + _rs = rs; + _sid = sid; + _sclk = sclk; + _rst = rst; + hwSPI = false; +} + + +// Constructor when using hardware SPI. Faster, but must use SPI pins +// specific to each board type (e.g. 11,13 for Uno, 51,52 for Mega, etc.) +Adafruit_ST7735::Adafruit_ST7735(uint8_t cs, uint8_t rs, uint8_t rst) { + _cs = cs; + _rs = rs; + _rst = rst; + hwSPI = true; + _sid = _sclk = 0; +} + + +inline void Adafruit_ST7735::spiwrite(uint8_t c) { + + //Serial.println(c, HEX); + + if (hwSPI) { + SPI.transfer(c); + } else { + // Fast SPI bitbang swiped from LPD8806 library + for(uint8_t bit = 0x80; bit; bit >>= 1) { + if(c & bit) *dataport |= datapinmask; + else *dataport &= ~datapinmask; + *clkport |= clkpinmask; + *clkport &= ~clkpinmask; + } + } +} + + +void Adafruit_ST7735::writecommand(uint8_t c) { + *rsport &= ~rspinmask; + *csport &= ~cspinmask; + + //Serial.print("C "); + spiwrite(c); + + *csport |= cspinmask; +} + + +void Adafruit_ST7735::writedata(uint8_t c) { + *rsport |= rspinmask; + *csport &= ~cspinmask; + + //Serial.print("D "); + spiwrite(c); + + *csport |= cspinmask; +} + + +// Rather than a bazillion writecommand() and writedata() calls, screen +// initialization commands and arguments are organized in these tables +// stored in PROGMEM. The table may look bulky, but that's mostly the +// formatting -- storage-wise this is hundreds of bytes more compact +// than the equivalent code. Companion function follows. +#define DELAY 0x80 +PROGMEM static prog_uchar + Bcmd[] = { // Initialization commands for 7735B screens + 18, // 18 commands in list: + ST7735_SWRESET, DELAY, // 1: Software reset, no args, w/delay + 50, // 50 ms delay + ST7735_SLPOUT , DELAY, // 2: Out of sleep mode, no args, w/delay + 255, // 255 = 500 ms delay + ST7735_COLMOD , 1+DELAY, // 3: Set color mode, 1 arg + delay: + 0x05, // 16-bit color + 10, // 10 ms delay + ST7735_FRMCTR1, 3+DELAY, // 4: Frame rate control, 3 args + delay: + 0x00, // fastest refresh + 0x06, // 6 lines front porch + 0x03, // 3 lines back porch + 10, // 10 ms delay + ST7735_MADCTL , 1 , // 5: Memory access ctrl (directions), 1 arg: + 0x08, // Row addr/col addr, bottom to top refresh + ST7735_DISSET5, 2 , // 6: Display settings #5, 2 args, no delay: + 0x15, // 1 clk cycle nonoverlap, 2 cycle gate + // rise, 3 cycle osc equalize + 0x02, // Fix on VTL + ST7735_INVCTR , 1 , // 7: Display inversion control, 1 arg: + 0x0, // Line inversion + ST7735_PWCTR1 , 2+DELAY, // 8: Power control, 2 args + delay: + 0x02, // GVDD = 4.7V + 0x70, // 1.0uA + 10, // 10 ms delay + ST7735_PWCTR2 , 1 , // 9: Power control, 1 arg, no delay: + 0x05, // VGH = 14.7V, VGL = -7.35V + ST7735_PWCTR3 , 2 , // 10: Power control, 2 args, no delay: + 0x01, // Opamp current small + 0x02, // Boost frequency + ST7735_VMCTR1 , 2+DELAY, // 11: Power control, 2 args + delay: + 0x3C, // VCOMH = 4V + 0x38, // VCOML = -1.1V + 10, // 10 ms delay + ST7735_PWCTR6 , 2 , // 12: Power control, 2 args, no delay: + 0x11, 0x15, + ST7735_GMCTRP1,16 , // 13: Magical unicorn dust, 16 args, no delay: + 0x09, 0x16, 0x09, 0x20, // (seriously though, not sure what + 0x21, 0x1B, 0x13, 0x19, // these config values represent) + 0x17, 0x15, 0x1E, 0x2B, + 0x04, 0x05, 0x02, 0x0E, + ST7735_GMCTRN1,16+DELAY, // 14: Sparkles and rainbows, 16 args + delay: + 0x0B, 0x14, 0x08, 0x1E, // (ditto) + 0x22, 0x1D, 0x18, 0x1E, + 0x1B, 0x1A, 0x24, 0x2B, + 0x06, 0x06, 0x02, 0x0F, + 10, // 10 ms delay + ST7735_CASET , 4 , // 15: Column addr set, 4 args, no delay: + 0x00, 0x02, // XSTART = 2 + 0x00, 0x81, // XEND = 129 + ST7735_RASET , 4 , // 16: Row addr set, 4 args, no delay: + 0x00, 0x02, // XSTART = 1 + 0x00, 0x81, // XEND = 160 + ST7735_NORON , DELAY, // 17: Normal display on, no args, w/delay + 10, // 10 ms delay + ST7735_DISPON , DELAY, // 18: Main screen turn on, no args, w/delay + 255 }, // 255 = 500 ms delay + + Rcmd1[] = { // Init for 7735R, part 1 (red or green tab) + 15, // 15 commands in list: + ST7735_SWRESET, DELAY, // 1: Software reset, 0 args, w/delay + 150, // 150 ms delay + ST7735_SLPOUT , DELAY, // 2: Out of sleep mode, 0 args, w/delay + 255, // 500 ms delay + ST7735_FRMCTR1, 3 , // 3: Frame rate ctrl - normal mode, 3 args: + 0x01, 0x2C, 0x2D, // Rate = fosc/(1x2+40) * (LINE+2C+2D) + ST7735_FRMCTR2, 3 , // 4: Frame rate control - idle mode, 3 args: + 0x01, 0x2C, 0x2D, // Rate = fosc/(1x2+40) * (LINE+2C+2D) + ST7735_FRMCTR3, 6 , // 5: Frame rate ctrl - partial mode, 6 args: + 0x01, 0x2C, 0x2D, // Dot inversion mode + 0x01, 0x2C, 0x2D, // Line inversion mode + ST7735_INVCTR , 1 , // 6: Display inversion ctrl, 1 arg, no delay: + 0x07, // No inversion + ST7735_PWCTR1 , 3 , // 7: Power control, 3 args, no delay: + 0xA2, + 0x02, // -4.6V + 0x84, // AUTO mode + ST7735_PWCTR2 , 1 , // 8: Power control, 1 arg, no delay: + 0xC5, // VGH25 = 2.4C VGSEL = -10 VGH = 3 * AVDD + ST7735_PWCTR3 , 2 , // 9: Power control, 2 args, no delay: + 0x0A, // Opamp current small + 0x00, // Boost frequency + ST7735_PWCTR4 , 2 , // 10: Power control, 2 args, no delay: + 0x8A, // BCLK/2, Opamp current small & Medium low + 0x2A, + ST7735_PWCTR5 , 2 , // 11: Power control, 2 args, no delay: + 0x8A, 0xEE, + ST7735_VMCTR1 , 1 , // 12: Power control, 1 arg, no delay: + 0x0E, + ST7735_INVOFF , 0 , // 13: Don't invert display, no args, no delay + ST7735_MADCTL , 1 , // 14: Memory access control (directions), 1 arg: + 0xC8, // row addr/col addr, bottom to top refresh + ST7735_COLMOD , 1 , // 15: set color mode, 1 arg, no delay: + 0x05 }, // 16-bit color + + Rcmd2green[] = { // Init for 7735R, part 2 (green tab only) + 2, // 2 commands in list: + ST7735_CASET , 4 , // 1: Column addr set, 4 args, no delay: + 0x00, 0x02, // XSTART = 0 + 0x00, 0x7F+0x02, // XEND = 127 + ST7735_RASET , 4 , // 2: Row addr set, 4 args, no delay: + 0x00, 0x01, // XSTART = 0 + 0x00, 0x9F+0x01 }, // XEND = 159 + Rcmd2red[] = { // Init for 7735R, part 2 (red tab only) + 2, // 2 commands in list: + ST7735_CASET , 4 , // 1: Column addr set, 4 args, no delay: + 0x00, 0x00, // XSTART = 0 + 0x00, 0x7F, // XEND = 127 + ST7735_RASET , 4 , // 2: Row addr set, 4 args, no delay: + 0x00, 0x00, // XSTART = 0 + 0x00, 0x9F }, // XEND = 159 + + Rcmd3[] = { // Init for 7735R, part 3 (red or green tab) + 4, // 4 commands in list: + ST7735_GMCTRP1, 16 , // 1: Magical unicorn dust, 16 args, no delay: + 0x02, 0x1c, 0x07, 0x12, + 0x37, 0x32, 0x29, 0x2d, + 0x29, 0x25, 0x2B, 0x39, + 0x00, 0x01, 0x03, 0x10, + ST7735_GMCTRN1, 16 , // 2: Sparkles and rainbows, 16 args, no delay: + 0x03, 0x1d, 0x07, 0x06, + 0x2E, 0x2C, 0x29, 0x2D, + 0x2E, 0x2E, 0x37, 0x3F, + 0x00, 0x00, 0x02, 0x10, + ST7735_NORON , DELAY, // 3: Normal display on, no args, w/delay + 10, // 10 ms delay + ST7735_DISPON , DELAY, // 4: Main screen turn on, no args w/delay + 100 }; // 100 ms delay + + +// Companion code to the above tables. Reads and issues +// a series of LCD commands stored in PROGMEM byte array. +void Adafruit_ST7735::commandList(uint8_t *addr) { + + uint8_t numCommands, numArgs; + uint16_t ms; + + numCommands = pgm_read_byte(addr++); // Number of commands to follow + while(numCommands--) { // For each command... + writecommand(pgm_read_byte(addr++)); // Read, issue command + numArgs = pgm_read_byte(addr++); // Number of args to follow + ms = numArgs & DELAY; // If hibit set, delay follows args + numArgs &= ~DELAY; // Mask out delay bit + while(numArgs--) { // For each argument... + writedata(pgm_read_byte(addr++)); // Read, issue argument + } + + if(ms) { + ms = pgm_read_byte(addr++); // Read post-command delay time (ms) + if(ms == 255) ms = 500; // If 255, delay for 500 ms + delay(ms); + } + } +} + + +// Initialization code common to both 'B' and 'R' type displays +void Adafruit_ST7735::commonInit(uint8_t *cmdList) { + + constructor(ST7735_TFTWIDTH, ST7735_TFTHEIGHT); + colstart = rowstart = 0; // May be overridden in init func + + pinMode(_rs, OUTPUT); + pinMode(_cs, OUTPUT); + csport = portOutputRegister(digitalPinToPort(_cs)); + cspinmask = digitalPinToBitMask(_cs); + rsport = portOutputRegister(digitalPinToPort(_rs)); + rspinmask = digitalPinToBitMask(_rs); + + if(hwSPI) { // Using hardware SPI + SPI.begin(); +#if defined(ARDUINO_ARCH_SAM) + SPI.setClockDivider(24); // 4 MHz (half speed) +#else + SPI.setClockDivider(SPI_CLOCK_DIV4); // 4 MHz (half speed) +#endif + SPI.setBitOrder(MSBFIRST); + SPI.setDataMode(SPI_MODE0); + } else { + pinMode(_sclk, OUTPUT); + pinMode(_sid , OUTPUT); + clkport = portOutputRegister(digitalPinToPort(_sclk)); + clkpinmask = digitalPinToBitMask(_sclk); + dataport = portOutputRegister(digitalPinToPort(_sid)); + datapinmask = digitalPinToBitMask(_sid); + *clkport &= ~clkpinmask; + *dataport &= ~datapinmask; + } + + // toggle RST low to reset; CS low so it'll listen to us + *csport &= ~cspinmask; + if (_rst) { + pinMode(_rst, OUTPUT); + digitalWrite(_rst, HIGH); + delay(500); + digitalWrite(_rst, LOW); + delay(500); + digitalWrite(_rst, HIGH); + delay(500); + } + + if(cmdList) commandList(cmdList); +} + + +// Initialization for ST7735B screens +void Adafruit_ST7735::initB(void) { + commonInit(Bcmd); +} + + +// Initialization for ST7735R screens (green or red tabs) +void Adafruit_ST7735::initR(uint8_t options) { + commonInit(Rcmd1); + if(options == INITR_GREENTAB) { + commandList(Rcmd2green); + colstart = 2; + rowstart = 1; + } else { + // colstart, rowstart left at default '0' values + commandList(Rcmd2red); + } + commandList(Rcmd3); + tabcolor = options; +} + + +void Adafruit_ST7735::setAddrWindow(uint8_t x0, uint8_t y0, uint8_t x1, + uint8_t y1) { + + writecommand(ST7735_CASET); // Column addr set + writedata(0x00); + writedata(x0+colstart); // XSTART + writedata(0x00); + writedata(x1+colstart); // XEND + + writecommand(ST7735_RASET); // Row addr set + writedata(0x00); + writedata(y0+rowstart); // YSTART + writedata(0x00); + writedata(y1+rowstart); // YEND + + writecommand(ST7735_RAMWR); // write to RAM +} + + +void Adafruit_ST7735::pushColor(uint16_t color) { + *rsport |= rspinmask; + *csport &= ~cspinmask; + + if (tabcolor == INITR_BLACKTAB) color = swapcolor(color); + spiwrite(color >> 8); + spiwrite(color); + + *csport |= cspinmask; +} + +void Adafruit_ST7735::drawPixel(int16_t x, int16_t y, uint16_t color) { + + if((x < 0) ||(x >= _width) || (y < 0) || (y >= _height)) return; + + setAddrWindow(x,y,x+1,y+1); + + *rsport |= rspinmask; + *csport &= ~cspinmask; + + if (tabcolor == INITR_BLACKTAB) color = swapcolor(color); + + spiwrite(color >> 8); + spiwrite(color); + + *csport |= cspinmask; +} + + +void Adafruit_ST7735::drawFastVLine(int16_t x, int16_t y, int16_t h, + uint16_t color) { + + // Rudimentary clipping + if((x >= _width) || (y >= _height)) return; + if((y+h-1) >= _height) h = _height-y; + setAddrWindow(x, y, x, y+h-1); + + if (tabcolor == INITR_BLACKTAB) color = swapcolor(color); + + uint8_t hi = color >> 8, lo = color; + *rsport |= rspinmask; + *csport &= ~cspinmask; + while (h--) { + spiwrite(hi); + spiwrite(lo); + } + *csport |= cspinmask; +} + + +void Adafruit_ST7735::drawFastHLine(int16_t x, int16_t y, int16_t w, + uint16_t color) { + + // Rudimentary clipping + if((x >= _width) || (y >= _height)) return; + if((x+w-1) >= _width) w = _width-x; + setAddrWindow(x, y, x+w-1, y); + + if (tabcolor == INITR_BLACKTAB) color = swapcolor(color); + + uint8_t hi = color >> 8, lo = color; + *rsport |= rspinmask; + *csport &= ~cspinmask; + while (w--) { + spiwrite(hi); + spiwrite(lo); + } + *csport |= cspinmask; +} + + + +void Adafruit_ST7735::fillScreen(uint16_t color) { + fillRect(0, 0, _width, _height, color); +} + + + +// fill a rectangle +void Adafruit_ST7735::fillRect(int16_t x, int16_t y, int16_t w, int16_t h, + uint16_t color) { + + // rudimentary clipping (drawChar w/big text requires this) + if((x >= _width) || (y >= _height)) return; + if((x + w - 1) >= _width) w = _width - x; + if((y + h - 1) >= _height) h = _height - y; + + if (tabcolor == INITR_BLACKTAB) color = swapcolor(color); + + setAddrWindow(x, y, x+w-1, y+h-1); + + uint8_t hi = color >> 8, lo = color; + *rsport |= rspinmask; + *csport &= ~cspinmask; + for(y=h; y>0; y--) { + for(x=w; x>0; x--) { + spiwrite(hi); + spiwrite(lo); + } + } + + *csport |= cspinmask; +} + + +#define MADCTL_MY 0x80 +#define MADCTL_MX 0x40 +#define MADCTL_MV 0x20 +#define MADCTL_ML 0x10 +#define MADCTL_RGB 0x08 +#define MADCTL_MH 0x04 + +void Adafruit_ST7735::setRotation(uint8_t m) { + + writecommand(ST7735_MADCTL); + rotation = m % 4; // can't be higher than 3 + switch (rotation) { + case 0: + writedata(MADCTL_MX | MADCTL_MY | MADCTL_RGB); + _width = ST7735_TFTWIDTH; + _height = ST7735_TFTHEIGHT; + break; + case 1: + writedata(MADCTL_MY | MADCTL_MV | MADCTL_RGB); + _width = ST7735_TFTHEIGHT; + _height = ST7735_TFTWIDTH; + break; + case 2: + writedata(MADCTL_RGB); + _width = ST7735_TFTWIDTH; + _height = ST7735_TFTHEIGHT; + break; + case 3: + writedata(MADCTL_MX | MADCTL_MV | MADCTL_RGB); + _width = ST7735_TFTHEIGHT; + _height = ST7735_TFTWIDTH; + break; + } +} + + +void Adafruit_ST7735::invertDisplay(boolean i) { + writecommand(i ? ST7735_INVON : ST7735_INVOFF); +} + + +////////// stuff not actively being used, but kept for posterity +/* + + uint8_t Adafruit_ST7735::spiread(void) { + uint8_t r = 0; + if (_sid > 0) { + r = shiftIn(_sid, _sclk, MSBFIRST); + } else { + //SID_DDR &= ~_BV(SID); + //int8_t i; + //for (i=7; i>=0; i--) { + // SCLK_PORT &= ~_BV(SCLK); + // r <<= 1; + // r |= (SID_PIN >> SID) & 0x1; + // SCLK_PORT |= _BV(SCLK); + //} + //SID_DDR |= _BV(SID); + + } + return r; + } + + + void Adafruit_ST7735::dummyclock(void) { + + if (_sid > 0) { + digitalWrite(_sclk, LOW); + digitalWrite(_sclk, HIGH); + } else { + // SCLK_PORT &= ~_BV(SCLK); + //SCLK_PORT |= _BV(SCLK); + } + } + uint8_t Adafruit_ST7735::readdata(void) { + *portOutputRegister(rsport) |= rspin; + + *portOutputRegister(csport) &= ~ cspin; + + uint8_t r = spiread(); + + *portOutputRegister(csport) |= cspin; + + return r; + + } + + uint8_t Adafruit_ST7735::readcommand8(uint8_t c) { + digitalWrite(_rs, LOW); + + *portOutputRegister(csport) &= ~ cspin; + + spiwrite(c); + + digitalWrite(_rs, HIGH); + pinMode(_sid, INPUT); // input! + digitalWrite(_sid, LOW); // low + spiread(); + uint8_t r = spiread(); + + + *portOutputRegister(csport) |= cspin; + + + pinMode(_sid, OUTPUT); // back to output + return r; + } + + + uint16_t Adafruit_ST7735::readcommand16(uint8_t c) { + digitalWrite(_rs, LOW); + if (_cs) + digitalWrite(_cs, LOW); + + spiwrite(c); + pinMode(_sid, INPUT); // input! + uint16_t r = spiread(); + r <<= 8; + r |= spiread(); + if (_cs) + digitalWrite(_cs, HIGH); + + pinMode(_sid, OUTPUT); // back to output + return r; + } + + uint32_t Adafruit_ST7735::readcommand32(uint8_t c) { + digitalWrite(_rs, LOW); + if (_cs) + digitalWrite(_cs, LOW); + spiwrite(c); + pinMode(_sid, INPUT); // input! + + dummyclock(); + dummyclock(); + + uint32_t r = spiread(); + r <<= 8; + r |= spiread(); + r <<= 8; + r |= spiread(); + r <<= 8; + r |= spiread(); + if (_cs) + digitalWrite(_cs, HIGH); + + pinMode(_sid, OUTPUT); // back to output + return r; + } + + */ diff --git a/libraries/TFT/utility/Adafruit_ST7735.h b/libraries/TFT/utility/Adafruit_ST7735.h new file mode 100755 index 0000000..c0d5de0 --- /dev/null +++ b/libraries/TFT/utility/Adafruit_ST7735.h @@ -0,0 +1,150 @@ +/*************************************************** + This is a library for the Adafruit 1.8" SPI display. + This library works with the Adafruit 1.8" TFT Breakout w/SD card + ----> http://www.adafruit.com/products/358 + as well as Adafruit raw 1.8" TFT display + ----> http://www.adafruit.com/products/618 + + Check out the links above for our tutorials and wiring diagrams + These displays use SPI to communicate, 4 or 5 pins are required to + interface (RST is optional) + Adafruit invests time and resources providing this open source code, + please support Adafruit and open-source hardware by purchasing + products from Adafruit! + + Written by Limor Fried/Ladyada for Adafruit Industries. + MIT license, all text above must be included in any redistribution + ****************************************************/ + +#ifndef _ADAFRUIT_ST7735H_ +#define _ADAFRUIT_ST7735H_ + +#if ARDUINO >= 100 + #include "Arduino.h" + #include "Print.h" +#else + #include "WProgram.h" +#endif +#include <Adafruit_GFX.h> +#include <avr/pgmspace.h> + +// some flags for initR() :( +#define INITR_GREENTAB 0x0 +#define INITR_REDTAB 0x1 +#define INITR_BLACKTAB 0x2 + +#define ST7735_TFTWIDTH 128 +#define ST7735_TFTHEIGHT 160 + +#define ST7735_NOP 0x00 +#define ST7735_SWRESET 0x01 +#define ST7735_RDDID 0x04 +#define ST7735_RDDST 0x09 + +#define ST7735_SLPIN 0x10 +#define ST7735_SLPOUT 0x11 +#define ST7735_PTLON 0x12 +#define ST7735_NORON 0x13 + +#define ST7735_INVOFF 0x20 +#define ST7735_INVON 0x21 +#define ST7735_DISPOFF 0x28 +#define ST7735_DISPON 0x29 +#define ST7735_CASET 0x2A +#define ST7735_RASET 0x2B +#define ST7735_RAMWR 0x2C +#define ST7735_RAMRD 0x2E + +#define ST7735_PTLAR 0x30 +#define ST7735_COLMOD 0x3A +#define ST7735_MADCTL 0x36 + +#define ST7735_FRMCTR1 0xB1 +#define ST7735_FRMCTR2 0xB2 +#define ST7735_FRMCTR3 0xB3 +#define ST7735_INVCTR 0xB4 +#define ST7735_DISSET5 0xB6 + +#define ST7735_PWCTR1 0xC0 +#define ST7735_PWCTR2 0xC1 +#define ST7735_PWCTR3 0xC2 +#define ST7735_PWCTR4 0xC3 +#define ST7735_PWCTR5 0xC4 +#define ST7735_VMCTR1 0xC5 + +#define ST7735_RDID1 0xDA +#define ST7735_RDID2 0xDB +#define ST7735_RDID3 0xDC +#define ST7735_RDID4 0xDD + +#define ST7735_PWCTR6 0xFC + +#define ST7735_GMCTRP1 0xE0 +#define ST7735_GMCTRN1 0xE1 + +// Color definitions +#define ST7735_BLACK 0x0000 +#define ST7735_BLUE 0x001F +#define ST7735_RED 0xF800 +#define ST7735_GREEN 0x07E0 +#define ST7735_CYAN 0x07FF +#define ST7735_MAGENTA 0xF81F +#define ST7735_YELLOW 0xFFE0 +#define ST7735_WHITE 0xFFFF + + +class Adafruit_ST7735 : public Adafruit_GFX { + + public: + + Adafruit_ST7735(uint8_t CS, uint8_t RS, uint8_t SID, uint8_t SCLK, + uint8_t RST); + Adafruit_ST7735(uint8_t CS, uint8_t RS, uint8_t RST); + + void initB(void), // for ST7735B displays + initR(uint8_t options = INITR_GREENTAB), // for ST7735R + setAddrWindow(uint8_t x0, uint8_t y0, uint8_t x1, uint8_t y1), + pushColor(uint16_t color), + fillScreen(uint16_t color), + drawPixel(int16_t x, int16_t y, uint16_t color), + drawFastVLine(int16_t x, int16_t y, int16_t h, uint16_t color), + drawFastHLine(int16_t x, int16_t y, int16_t w, uint16_t color), + fillRect(int16_t x, int16_t y, int16_t w, int16_t h, + uint16_t color), + setRotation(uint8_t r), + invertDisplay(boolean i); + uint16_t Color565(uint8_t r, uint8_t g, uint8_t b) { return newColor(r, g, b);} + + /* These are not for current use, 8-bit protocol only! + uint8_t readdata(void), + readcommand8(uint8_t); + uint16_t readcommand16(uint8_t); + uint32_t readcommand32(uint8_t); + void dummyclock(void); + */ + + private: + uint8_t tabcolor; + + void spiwrite(uint8_t), + writecommand(uint8_t c), + writedata(uint8_t d), + commandList(uint8_t *addr), + commonInit(uint8_t *cmdList); +//uint8_t spiread(void); + + boolean hwSPI; + #if defined(ARDUINO_ARCH_SAM) + volatile uint32_t *dataport, *clkport, *csport, *rsport; + uint32_t _cs, _rs, _rst, _sid, _sclk, + datapinmask, clkpinmask, cspinmask, rspinmask, + colstart, rowstart; // some displays need this changed + #else + volatile uint8_t *dataport, *clkport, *csport, *rsport; + uint8_t _cs, _rs, _rst, _sid, _sclk, + datapinmask, clkpinmask, cspinmask, rspinmask, + colstart, rowstart; // some displays need this changed + #endif +}; + +#endif diff --git a/libraries/TFT/utility/PImage.h b/libraries/TFT/utility/PImage.h new file mode 100644 index 0000000..d37bf71 --- /dev/null +++ b/libraries/TFT/utility/PImage.h @@ -0,0 +1,64 @@ + + +#ifndef _PIMAGE_H +#define _PIMAGE_H + +class Adafruit_GFX; + +#if defined(__SD_H__) // Arduino SD library + + +/// This class mimics Processing's PImage, but with fewer +/// capabilities. It allows an image stored in the SD card to be +/// drawn to the display. +/// @author Enrico Gueli <enrico.gueli@gmail.com> +class PImage { +public: + PImage() : + _valid(false), + _bmpWidth(0), + _bmpHeight(0) { } + + void draw(Adafruit_GFX & glcd, int16_t x, int16_t y); + + static PImage loadImage(const char * fileName); + + + bool isValid() { return _valid; } + + int width() { return _bmpWidth; } + int height() { return _bmpHeight; } + +private: + friend class Adafruit_GFX; + + File _bmpFile; + int _bmpWidth, _bmpHeight; // W+H in pixels + uint8_t _bmpDepth; // Bit depth (currently must be 24) + uint32_t _bmpImageoffset; // Start of image data in file + uint32_t _rowSize; // Not always = bmpWidth; may have padding + bool _flip; + + bool _valid; + + PImage(File & bmpFile, int bmpWidth, int bmpHeight, uint8_t bmpDepth, uint32_t bmpImageoffset, uint32_t rowSize, bool flip) : + _bmpFile(bmpFile), + _bmpWidth(bmpWidth), + _bmpHeight(bmpHeight), + _bmpDepth(bmpDepth), + _bmpImageoffset(bmpImageoffset), + _rowSize(rowSize), + _flip(flip), + _valid(true) // since Adafruit_GFX is friend, we could just let it write the variables and save some CPU cycles + { } + + static uint16_t read16(File f); + static uint32_t read32(File f); + + // TODO close the file in ~PImage and PImage(const PImage&) + +}; + +#endif + +#endif // _PIMAGE_H diff --git a/libraries/TFT/utility/glcdfont.c b/libraries/TFT/utility/glcdfont.c new file mode 100644 index 0000000..a325057 --- /dev/null +++ b/libraries/TFT/utility/glcdfont.c @@ -0,0 +1,268 @@ +#ifndef ARDUINO_ARCH_SAM +#include <avr/io.h> +#endif +#include <avr/pgmspace.h> + +#ifndef FONT5X7_H +#define FONT5X7_H + +// standard ascii 5x7 font + +static unsigned char font[] PROGMEM = { + 0x00, 0x00, 0x00, 0x00, 0x00, + 0x3E, 0x5B, 0x4F, 0x5B, 0x3E, + 0x3E, 0x6B, 0x4F, 0x6B, 0x3E, + 0x1C, 0x3E, 0x7C, 0x3E, 0x1C, + 0x18, 0x3C, 0x7E, 0x3C, 0x18, + 0x1C, 0x57, 0x7D, 0x57, 0x1C, + 0x1C, 0x5E, 0x7F, 0x5E, 0x1C, + 0x00, 0x18, 0x3C, 0x18, 0x00, + 0xFF, 0xE7, 0xC3, 0xE7, 0xFF, + 0x00, 0x18, 0x24, 0x18, 0x00, + 0xFF, 0xE7, 0xDB, 0xE7, 0xFF, + 0x30, 0x48, 0x3A, 0x06, 0x0E, + 0x26, 0x29, 0x79, 0x29, 0x26, + 0x40, 0x7F, 0x05, 0x05, 0x07, + 0x40, 0x7F, 0x05, 0x25, 0x3F, + 0x5A, 0x3C, 0xE7, 0x3C, 0x5A, + 0x7F, 0x3E, 0x1C, 0x1C, 0x08, + 0x08, 0x1C, 0x1C, 0x3E, 0x7F, + 0x14, 0x22, 0x7F, 0x22, 0x14, + 0x5F, 0x5F, 0x00, 0x5F, 0x5F, + 0x06, 0x09, 0x7F, 0x01, 0x7F, + 0x00, 0x66, 0x89, 0x95, 0x6A, + 0x60, 0x60, 0x60, 0x60, 0x60, + 0x94, 0xA2, 0xFF, 0xA2, 0x94, + 0x08, 0x04, 0x7E, 0x04, 0x08, + 0x10, 0x20, 0x7E, 0x20, 0x10, + 0x08, 0x08, 0x2A, 0x1C, 0x08, + 0x08, 0x1C, 0x2A, 0x08, 0x08, + 0x1E, 0x10, 0x10, 0x10, 0x10, + 0x0C, 0x1E, 0x0C, 0x1E, 0x0C, + 0x30, 0x38, 0x3E, 0x38, 0x30, + 0x06, 0x0E, 0x3E, 0x0E, 0x06, + 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x5F, 0x00, 0x00, + 0x00, 0x07, 0x00, 0x07, 0x00, + 0x14, 0x7F, 0x14, 0x7F, 0x14, + 0x24, 0x2A, 0x7F, 0x2A, 0x12, + 0x23, 0x13, 0x08, 0x64, 0x62, + 0x36, 0x49, 0x56, 0x20, 0x50, + 0x00, 0x08, 0x07, 0x03, 0x00, + 0x00, 0x1C, 0x22, 0x41, 0x00, + 0x00, 0x41, 0x22, 0x1C, 0x00, + 0x2A, 0x1C, 0x7F, 0x1C, 0x2A, + 0x08, 0x08, 0x3E, 0x08, 0x08, + 0x00, 0x80, 0x70, 0x30, 0x00, + 0x08, 0x08, 0x08, 0x08, 0x08, + 0x00, 0x00, 0x60, 0x60, 0x00, + 0x20, 0x10, 0x08, 0x04, 0x02, + 0x3E, 0x51, 0x49, 0x45, 0x3E, + 0x00, 0x42, 0x7F, 0x40, 0x00, + 0x72, 0x49, 0x49, 0x49, 0x46, + 0x21, 0x41, 0x49, 0x4D, 0x33, + 0x18, 0x14, 0x12, 0x7F, 0x10, + 0x27, 0x45, 0x45, 0x45, 0x39, + 0x3C, 0x4A, 0x49, 0x49, 0x31, + 0x41, 0x21, 0x11, 0x09, 0x07, + 0x36, 0x49, 0x49, 0x49, 0x36, + 0x46, 0x49, 0x49, 0x29, 0x1E, + 0x00, 0x00, 0x14, 0x00, 0x00, + 0x00, 0x40, 0x34, 0x00, 0x00, + 0x00, 0x08, 0x14, 0x22, 0x41, + 0x14, 0x14, 0x14, 0x14, 0x14, + 0x00, 0x41, 0x22, 0x14, 0x08, + 0x02, 0x01, 0x59, 0x09, 0x06, + 0x3E, 0x41, 0x5D, 0x59, 0x4E, + 0x7C, 0x12, 0x11, 0x12, 0x7C, + 0x7F, 0x49, 0x49, 0x49, 0x36, + 0x3E, 0x41, 0x41, 0x41, 0x22, + 0x7F, 0x41, 0x41, 0x41, 0x3E, + 0x7F, 0x49, 0x49, 0x49, 0x41, + 0x7F, 0x09, 0x09, 0x09, 0x01, + 0x3E, 0x41, 0x41, 0x51, 0x73, + 0x7F, 0x08, 0x08, 0x08, 0x7F, + 0x00, 0x41, 0x7F, 0x41, 0x00, + 0x20, 0x40, 0x41, 0x3F, 0x01, + 0x7F, 0x08, 0x14, 0x22, 0x41, + 0x7F, 0x40, 0x40, 0x40, 0x40, + 0x7F, 0x02, 0x1C, 0x02, 0x7F, + 0x7F, 0x04, 0x08, 0x10, 0x7F, + 0x3E, 0x41, 0x41, 0x41, 0x3E, + 0x7F, 0x09, 0x09, 0x09, 0x06, + 0x3E, 0x41, 0x51, 0x21, 0x5E, + 0x7F, 0x09, 0x19, 0x29, 0x46, + 0x26, 0x49, 0x49, 0x49, 0x32, + 0x03, 0x01, 0x7F, 0x01, 0x03, + 0x3F, 0x40, 0x40, 0x40, 0x3F, + 0x1F, 0x20, 0x40, 0x20, 0x1F, + 0x3F, 0x40, 0x38, 0x40, 0x3F, + 0x63, 0x14, 0x08, 0x14, 0x63, + 0x03, 0x04, 0x78, 0x04, 0x03, + 0x61, 0x59, 0x49, 0x4D, 0x43, + 0x00, 0x7F, 0x41, 0x41, 0x41, + 0x02, 0x04, 0x08, 0x10, 0x20, + 0x00, 0x41, 0x41, 0x41, 0x7F, + 0x04, 0x02, 0x01, 0x02, 0x04, + 0x40, 0x40, 0x40, 0x40, 0x40, + 0x00, 0x03, 0x07, 0x08, 0x00, + 0x20, 0x54, 0x54, 0x78, 0x40, + 0x7F, 0x28, 0x44, 0x44, 0x38, + 0x38, 0x44, 0x44, 0x44, 0x28, + 0x38, 0x44, 0x44, 0x28, 0x7F, + 0x38, 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0x54, 0x78, 0x41, + 0x21, 0x55, 0x54, 0x78, 0x40, + 0x20, 0x54, 0x55, 0x79, 0x40, + 0x0C, 0x1E, 0x52, 0x72, 0x12, + 0x39, 0x55, 0x55, 0x55, 0x59, + 0x39, 0x54, 0x54, 0x54, 0x59, + 0x39, 0x55, 0x54, 0x54, 0x58, + 0x00, 0x00, 0x45, 0x7C, 0x41, + 0x00, 0x02, 0x45, 0x7D, 0x42, + 0x00, 0x01, 0x45, 0x7C, 0x40, + 0xF0, 0x29, 0x24, 0x29, 0xF0, + 0xF0, 0x28, 0x25, 0x28, 0xF0, + 0x7C, 0x54, 0x55, 0x45, 0x00, + 0x20, 0x54, 0x54, 0x7C, 0x54, + 0x7C, 0x0A, 0x09, 0x7F, 0x49, + 0x32, 0x49, 0x49, 0x49, 0x32, + 0x32, 0x48, 0x48, 0x48, 0x32, + 0x32, 0x4A, 0x48, 0x48, 0x30, + 0x3A, 0x41, 0x41, 0x21, 0x7A, + 0x3A, 0x42, 0x40, 0x20, 0x78, + 0x00, 0x9D, 0xA0, 0xA0, 0x7D, + 0x39, 0x44, 0x44, 0x44, 0x39, + 0x3D, 0x40, 0x40, 0x40, 0x3D, + 0x3C, 0x24, 0xFF, 0x24, 0x24, + 0x48, 0x7E, 0x49, 0x43, 0x66, + 0x2B, 0x2F, 0xFC, 0x2F, 0x2B, + 0xFF, 0x09, 0x29, 0xF6, 0x20, + 0xC0, 0x88, 0x7E, 0x09, 0x03, + 0x20, 0x54, 0x54, 0x79, 0x41, + 0x00, 0x00, 0x44, 0x7D, 0x41, + 0x30, 0x48, 0x48, 0x4A, 0x32, + 0x38, 0x40, 0x40, 0x22, 0x7A, + 0x00, 0x7A, 0x0A, 0x0A, 0x72, + 0x7D, 0x0D, 0x19, 0x31, 0x7D, + 0x26, 0x29, 0x29, 0x2F, 0x28, + 0x26, 0x29, 0x29, 0x29, 0x26, + 0x30, 0x48, 0x4D, 0x40, 0x20, + 0x38, 0x08, 0x08, 0x08, 0x08, + 0x08, 0x08, 0x08, 0x08, 0x38, + 0x2F, 0x10, 0xC8, 0xAC, 0xBA, + 0x2F, 0x10, 0x28, 0x34, 0xFA, + 0x00, 0x00, 0x7B, 0x00, 0x00, + 0x08, 0x14, 0x2A, 0x14, 0x22, + 0x22, 0x14, 0x2A, 0x14, 0x08, + 0xAA, 0x00, 0x55, 0x00, 0xAA, + 0xAA, 0x55, 0xAA, 0x55, 0xAA, + 0x00, 0x00, 0x00, 0xFF, 0x00, + 0x10, 0x10, 0x10, 0xFF, 0x00, + 0x14, 0x14, 0x14, 0xFF, 0x00, + 0x10, 0x10, 0xFF, 0x00, 0xFF, + 0x10, 0x10, 0xF0, 0x10, 0xF0, + 0x14, 0x14, 0x14, 0xFC, 0x00, + 0x14, 0x14, 0xF7, 0x00, 0xFF, + 0x00, 0x00, 0xFF, 0x00, 0xFF, + 0x14, 0x14, 0xF4, 0x04, 0xFC, + 0x14, 0x14, 0x17, 0x10, 0x1F, + 0x10, 0x10, 0x1F, 0x10, 0x1F, + 0x14, 0x14, 0x14, 0x1F, 0x00, + 0x10, 0x10, 0x10, 0xF0, 0x00, + 0x00, 0x00, 0x00, 0x1F, 0x10, + 0x10, 0x10, 0x10, 0x1F, 0x10, + 0x10, 0x10, 0x10, 0xF0, 0x10, + 0x00, 0x00, 0x00, 0xFF, 0x10, + 0x10, 0x10, 0x10, 0x10, 0x10, + 0x10, 0x10, 0x10, 0xFF, 0x10, + 0x00, 0x00, 0x00, 0xFF, 0x14, + 0x00, 0x00, 0xFF, 0x00, 0xFF, + 0x00, 0x00, 0x1F, 0x10, 0x17, + 0x00, 0x00, 0xFC, 0x04, 0xF4, + 0x14, 0x14, 0x17, 0x10, 0x17, + 0x14, 0x14, 0xF4, 0x04, 0xF4, + 0x00, 0x00, 0xFF, 0x00, 0xF7, + 0x14, 0x14, 0x14, 0x14, 0x14, + 0x14, 0x14, 0xF7, 0x00, 0xF7, + 0x14, 0x14, 0x14, 0x17, 0x14, + 0x10, 0x10, 0x1F, 0x10, 0x1F, + 0x14, 0x14, 0x14, 0xF4, 0x14, + 0x10, 0x10, 0xF0, 0x10, 0xF0, + 0x00, 0x00, 0x1F, 0x10, 0x1F, + 0x00, 0x00, 0x00, 0x1F, 0x14, + 0x00, 0x00, 0x00, 0xFC, 0x14, + 0x00, 0x00, 0xF0, 0x10, 0xF0, + 0x10, 0x10, 0xFF, 0x10, 0xFF, + 0x14, 0x14, 0x14, 0xFF, 0x14, + 0x10, 0x10, 0x10, 0x1F, 0x00, + 0x00, 0x00, 0x00, 0xF0, 0x10, + 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, + 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, + 0xFF, 0xFF, 0xFF, 0x00, 0x00, + 0x00, 0x00, 0x00, 0xFF, 0xFF, + 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, + 0x38, 0x44, 0x44, 0x38, 0x44, + 0x7C, 0x2A, 0x2A, 0x3E, 0x14, + 0x7E, 0x02, 0x02, 0x06, 0x06, + 0x02, 0x7E, 0x02, 0x7E, 0x02, + 0x63, 0x55, 0x49, 0x41, 0x63, + 0x38, 0x44, 0x44, 0x3C, 0x04, + 0x40, 0x7E, 0x20, 0x1E, 0x20, + 0x06, 0x02, 0x7E, 0x02, 0x02, + 0x99, 0xA5, 0xE7, 0xA5, 0x99, + 0x1C, 0x2A, 0x49, 0x2A, 0x1C, + 0x4C, 0x72, 0x01, 0x72, 0x4C, + 0x30, 0x4A, 0x4D, 0x4D, 0x30, + 0x30, 0x48, 0x78, 0x48, 0x30, + 0xBC, 0x62, 0x5A, 0x46, 0x3D, + 0x3E, 0x49, 0x49, 0x49, 0x00, + 0x7E, 0x01, 0x01, 0x01, 0x7E, + 0x2A, 0x2A, 0x2A, 0x2A, 0x2A, + 0x44, 0x44, 0x5F, 0x44, 0x44, + 0x40, 0x51, 0x4A, 0x44, 0x40, + 0x40, 0x44, 0x4A, 0x51, 0x40, + 0x00, 0x00, 0xFF, 0x01, 0x03, + 0xE0, 0x80, 0xFF, 0x00, 0x00, + 0x08, 0x08, 0x6B, 0x6B, 0x08, + 0x36, 0x12, 0x36, 0x24, 0x36, + 0x06, 0x0F, 0x09, 0x0F, 0x06, + 0x00, 0x00, 0x18, 0x18, 0x00, + 0x00, 0x00, 0x10, 0x10, 0x00, + 0x30, 0x40, 0xFF, 0x01, 0x01, + 0x00, 0x1F, 0x01, 0x01, 0x1E, + 0x00, 0x19, 0x1D, 0x17, 0x12, + 0x00, 0x3C, 0x3C, 0x3C, 0x3C, + 0x00, 0x00, 0x00, 0x00, 0x00, +}; +#endif diff --git a/libraries/TFT/utility/keywords.txt b/libraries/TFT/utility/keywords.txt new file mode 100644 index 0000000..9614847 --- /dev/null +++ b/libraries/TFT/utility/keywords.txt @@ -0,0 +1,70 @@ +####################################### +# Syntax Coloring Map For Adafruit_GFX +# and Adafruit_ST7735 +####################################### + +####################################### +# Datatypes (KEYWORD1) +####################################### + +Adafruit_GFX KEYWORD1 +Adafruit_ST7735 KEYWORD1 +PImage KEYWORD1 + +####################################### +# Methods and Functions (KEYWORD2) +####################################### + +drawPixel KEYWORD2 +invertDisplay KEYWORD2 +drawLine KEYWORD2 +drawFastVLine KEYWORD2 +drawFastHLine KEYWORD2 +drawRect KEYWORD2 +fillRect KEYWORD2 +fillScreen KEYWORD2 +drawCircle KEYWORD2 +drawCircleHelper KEYWORD2 +fillCircle KEYWORD2 +fillCircleHelper KEYWORD2 +drawTriangle KEYWORD2 +fillTriangle KEYWORD2 +drawRoundRect KEYWORD2 +fillRoundRect KEYWORD2 +drawBitmap KEYWORD2 +drawChar KEYWORD2 +setCursor KEYWORD2 +setTextColor KEYWORD2 +setTextSize KEYWORD2 +setTextWrap KEYWORD2 +height KEYWORD2 +width KEYWORD2 +setRotation KEYWORD2 +getRotation KEYWORD2 + + + +newColor KEYWORD2 +background KEYWORD2 +fill KEYWORD2 +noFill KEYWORD2 +stroke KEYWORD2 +noStroke KEYWORD2 +text KEYWORD2 +textWrap KEYWORD2 +textSize KEYWORD2 +circle KEYWORD2 +point KEYWORD2 +quad KEYWORD2 +rect KEYWORD2 +triangle KEYWORD2 +loadImage KEYWORD2 +image KEYWORD2 + +draw KEYWORD2 +isValid KEYWORD2 + +####################################### +# Constants (LITERAL1) +####################################### + diff --git a/variants/robot_control/pins_arduino.h b/variants/robot_control/pins_arduino.h new file mode 100644 index 0000000..d7ecae5 --- /dev/null +++ b/variants/robot_control/pins_arduino.h @@ -0,0 +1,274 @@ +/* + pins_arduino.h - Pin definition functions for Arduino Robot Control Board + Part of Arduino - http://www.arduino.cc/ + + Copyright (c) 2913 D. Cuartielles, X. Yang (Arduino Verkstad) + Copyright (c) 2012 D. Cuartielles, N. de la Riva, I. Gallego, E. Gallego + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General + Public License along with this library; if not, write to the + Free Software Foundation, Inc., 59 Temple Place, Suite 330, + Boston, MA 02111-1307 USA + + $Id: pins_arduino.h 1 2013-03-16 20:47:51Z cuartielles $ +*/ + +#ifndef Pins_Arduino_h +#define Pins_Arduino_h + +#include <avr/pgmspace.h> + +#define ARDUINO_MODEL_USB_PID 0x0038 + +#define TX_RX_LED_INIT DDRD |= (1<<5), DDRB |= (1<<0) +#define TXLED0 PORTD |= (1<<5) +#define TXLED1 PORTD &= ~(1<<5) +#define RXLED0 PORTB |= (1<<0) +#define RXLED1 PORTB &= ~(1<<0) + +static const uint8_t RX = 0; +static const uint8_t TX = 1; +static const uint8_t SDA = 2; +static const uint8_t SCL = 3; + +// Map SPI port to 'new' pins D14..D17 +static const uint8_t SS = 17; +static const uint8_t MOSI = 16; +static const uint8_t MISO = 14; +static const uint8_t SCK = 15; + +// Mapping of analog pins as digital I/O +// A6-A11 share with digital pins +static const uint8_t A0 = 18; +static const uint8_t A1 = 19; +static const uint8_t A2 = 20; +static const uint8_t A3 = 21; +static const uint8_t A4 = 22; +static const uint8_t A5 = 23; +static const uint8_t A6 = 24; // D4 +static const uint8_t A7 = 25; // D6 +static const uint8_t A8 = 26; // D8 +static const uint8_t A9 = 27; // D9 +static const uint8_t A10 = 28; // D10 +static const uint8_t A11 = 29; // D12 + +// Specific Mapping for the Control Board +static const uint8_t KEY = 18; // AD0 +static const uint8_t MUX_IN = 24; // ADC8 - A6 +static const uint8_t MUXA = 6; // D5 - TKD4 +static const uint8_t MUXB = 11; // D11 +static const uint8_t MUXC = 12; // D12 - TKD5 +static const uint8_t MUXD = 13; // D13 +static const uint8_t BUZZ = 5; // D5 +static const uint8_t POT = 23; // AD5 +static const uint8_t DC_LCD = 10; // D10 +static const uint8_t LCD_CS = 9; // D9 +static const uint8_t RST_LCD = 7; // D6 +static const uint8_t CARD_CS = 8; // D8 +static const uint8_t TKD0 = 19; // ADC6 - A1 +static const uint8_t TKD1 = 20; // ADC5 - A2 +static const uint8_t TKD2 = 21; // ADC4 - A3 +static const uint8_t TKD3 = 22; // ADC1 - A4 +static const uint8_t TKD4 = 6; // D5 - MUXA +static const uint8_t TKD5 = 12; // D12 - MUXC +static const uint8_t LED1 = 17; // D17 - RX_Led + +// __AVR_ATmega32U4__ has an unusual mapping of pins to channels +extern const uint8_t PROGMEM analog_pin_to_channel_PGM[]; +#define analogPinToChannel(P) ( pgm_read_byte( analog_pin_to_channel_PGM + (P) ) ) + +#ifdef ARDUINO_MAIN + +// On the Arduino board, digital pins are also used +// for the analog output (software PWM). Analog input +// pins are a separate set. + +// ARDUINO LEONARDO / ARDUINO ROBOT CONTROL / ATMEGA 32U4 / FUNCTION / REGISTER +// +// D0 RX PD2 RX RXD1/INT2 +// D1 TX PD3 TX TXD1/INT3 +// D2 SDA PD1 SDA SDA/INT1 +// D3# SCL PD0 PWM8/SCL OC0B/SCL/INT0 +// D4 MUX_IN A6 PD4 ADC8 +// D5# BUZZ PC6 ??? OC3A/#OC4A +// D6# MUXA/TKD4 A7 PD7 FastPWM #OC4D/ADC10 +// D7 RST_LCD PE6 INT6/AIN0 +// +// D8 CARD_CS A8 PB4 ADC11/PCINT4 +// D9# LCD_CS A9 PB5 PWM16 OC1A/#OC4B/ADC12/PCINT5 +// D10# DC_LCD A10 PB6 PWM16 OC1B/0c4B/ADC13/PCINT6 +// D11# MUXB PB7 PWM8/16 0C0A/OC1C/#RTS/PCINT7 +// D12 MUXC/TKD5 A11 PD6 T1/#OC4D/ADC9 +// D13# MUXD PC7 PWM10 CLK0/OC4A +// +// A0 KEY D18 PF7 ADC7 +// A1 TKD0 D19 PF6 ADC6 +// A2 TKD1 D20 PF5 ADC5 +// A3 TKD2 D21 PF4 ADC4 +// A4 TKD3 D22 PF1 ADC1 +// A5 POT D23 PF0 ADC0 +// +// MISO MISO D14 PB3 MISO,PCINT3 +// SCK SCK D15 PB1 SCK,PCINT1 +// MOSI MOSI D16 PB2 MOSI,PCINT2 +// SS RX_LED D17 PB0 RXLED,SS/PCINT0 +// +// TXLED TX_LED PD5 +// HWB PE2 HWB + +// these arrays map port names (e.g. port B) to the +// appropriate addresses for various functions (e.g. reading +// and writing) +const uint16_t PROGMEM port_to_mode_PGM[] = { + NOT_A_PORT, + NOT_A_PORT, + (uint16_t) &DDRB, + (uint16_t) &DDRC, + (uint16_t) &DDRD, + (uint16_t) &DDRE, + (uint16_t) &DDRF, +}; + +const uint16_t PROGMEM port_to_output_PGM[] = { + NOT_A_PORT, + NOT_A_PORT, + (uint16_t) &PORTB, + (uint16_t) &PORTC, + (uint16_t) &PORTD, + (uint16_t) &PORTE, + (uint16_t) &PORTF, +}; + +const uint16_t PROGMEM port_to_input_PGM[] = { + NOT_A_PORT, + NOT_A_PORT, + (uint16_t) &PINB, + (uint16_t) &PINC, + (uint16_t) &PIND, + (uint16_t) &PINE, + (uint16_t) &PINF, +}; + +const uint8_t PROGMEM digital_pin_to_port_PGM[30] = { + PD, // D0 - PD2 + PD, // D1 - PD3 + PD, // D2 - PD1 + PD, // D3 - PD0 + PD, // D4 - PD4 + PC, // D5 - PC6 + PD, // D6 - PD7 + PE, // D7 - PE6 + + PB, // D8 - PB4 + PB, // D9 - PB5 + PB, // D10 - PB6 + PB, // D11 - PB7 + PD, // D12 - PD6 + PC, // D13 - PC7 + + PB, // D14 - MISO - PB3 + PB, // D15 - SCK - PB1 + PB, // D16 - MOSI - PB2 + PB, // D17 - SS - PB0 + + PF, // D18 - A0 - PF7 + PF, // D19 - A1 - PF6 + PF, // D20 - A2 - PF5 + PF, // D21 - A3 - PF4 + PF, // D22 - A4 - PF1 + PF, // D23 - A5 - PF0 + + PD, // D24 / D4 - A6 - PD4 + PD, // D25 / D6 - A7 - PD7 + PB, // D26 / D8 - A8 - PB4 + PB, // D27 / D9 - A9 - PB5 + PB, // D28 / D10 - A10 - PB6 + PD, // D29 / D12 - A11 - PD6 +}; + +const uint8_t PROGMEM digital_pin_to_bit_mask_PGM[30] = { + _BV(2), // D0 - PD2 + _BV(3), // D1 - PD3 + _BV(1), // D2 - PD1 + _BV(0), // D3 - PD0 + _BV(4), // D4 - PD4 + _BV(6), // D5 - PC6 + _BV(7), // D6 - PD7 + _BV(6), // D7 - PE6 + + _BV(4), // D8 - PB4 + _BV(5), // D9 - PB5 + _BV(6), // D10 - PB6 + _BV(7), // D11 - PB7 + _BV(6), // D12 - PD6 + _BV(7), // D13 - PC7 + + _BV(3), // D14 - MISO - PB3 + _BV(1), // D15 - SCK - PB1 + _BV(2), // D16 - MOSI - PB2 + _BV(0), // D17 - SS - PB0 + + _BV(7), // D18 - A0 - PF7 + _BV(6), // D19 - A1 - PF6 + _BV(5), // D20 - A2 - PF5 + _BV(4), // D21 - A3 - PF4 + _BV(1), // D22 - A4 - PF1 + _BV(0), // D23 - A5 - PF0 + + _BV(4), // D24 / D4 - A6 - PD4 + _BV(7), // D25 / D6 - A7 - PD7 + _BV(4), // D26 / D8 - A8 - PB4 + _BV(5), // D27 / D9 - A9 - PB5 + _BV(6), // D28 / D10 - A10 - PB6 + _BV(6), // D29 / D12 - A11 - PD6 +}; + +const uint8_t PROGMEM digital_pin_to_timer_PGM[18] = { + NOT_ON_TIMER, + NOT_ON_TIMER, + NOT_ON_TIMER, + TIMER0B, /* 3 */ + NOT_ON_TIMER, + TIMER3A, /* 5 */ + TIMER4D, /* 6 */ + NOT_ON_TIMER, + + NOT_ON_TIMER, + TIMER1A, /* 9 */ + TIMER1B, /* 10 */ + TIMER0A, /* 11 */ + + NOT_ON_TIMER, + TIMER4A, /* 13 */ + + NOT_ON_TIMER, + NOT_ON_TIMER, +}; + +const uint8_t PROGMEM analog_pin_to_channel_PGM[12] = { + 7, // A0 PF7 ADC7 + 6, // A1 PF6 ADC6 + 5, // A2 PF5 ADC5 + 4, // A3 PF4 ADC4 + 1, // A4 PF1 ADC1 + 0, // A5 PF0 ADC0 + 8, // A6 D4 PD4 ADC8 + 10, // A7 D6 PD7 ADC10 + 11, // A8 D8 PB4 ADC11 + 12, // A9 D9 PB5 ADC12 + 13, // A10 D10 PB6 ADC13 + 9 // A11 D12 PD6 ADC9 +}; + +#endif /* ARDUINO_MAIN */ +#endif /* Pins_Arduino_h */ diff --git a/variants/robot_motor/pins_arduino.h b/variants/robot_motor/pins_arduino.h new file mode 100644 index 0000000..902d424 --- /dev/null +++ b/variants/robot_motor/pins_arduino.h @@ -0,0 +1,271 @@ +/* + pins_arduino.h - Pin definition functions for Arduino Robot Control Board + Part of Arduino - http://www.arduino.cc/ + + Copyright (c) 2913 D. Cuartielles, X. Yang (Arduino Verkstad) + Copyright (c) 2012 D. Cuartielles, N. de la Riva, I. Gallego, E. Gallego + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General + Public License along with this library; if not, write to the + Free Software Foundation, Inc., 59 Temple Place, Suite 330, + Boston, MA 02111-1307 USA + + $Id: pins_arduino.h 1 2013-03-16 20:47:51Z cuartielles $ +*/ + +#ifndef Pins_Arduino_h +#define Pins_Arduino_h + +#include <avr/pgmspace.h> + +#define ARDUINO_MODEL_USB_PID 0x0039 + +#define TX_RX_LED_INIT DDRD |= (1<<5), DDRB |= (1<<0) +#define TXLED0 PORTD |= (1<<5) +#define TXLED1 PORTD &= ~(1<<5) +#define RXLED0 PORTB |= (1<<0) +#define RXLED1 PORTB &= ~(1<<0) + +static const uint8_t RX = 0; +static const uint8_t TX = 1; +static const uint8_t SDA = 2; +static const uint8_t SCL = 3; + +// Map SPI port to 'new' pins D14..D17 +static const uint8_t SS = 17; +static const uint8_t MOSI = 16; +static const uint8_t MISO = 14; +static const uint8_t SCK = 15; + +// Mapping of analog pins as digital I/O +// A6-A11 share with digital pins +static const uint8_t A0 = 18; +static const uint8_t A1 = 19; +static const uint8_t A2 = 20; +static const uint8_t A3 = 21; +static const uint8_t A4 = 22; +static const uint8_t A5 = 23; +static const uint8_t A6 = 24; // D4 +static const uint8_t A7 = 25; // D6 +static const uint8_t A8 = 26; // D8 +static const uint8_t A9 = 27; // D9 +static const uint8_t A10 = 28; // D10 +static const uint8_t A11 = 29; // D12 + +// Specific Mapping for the Motor Board +static const uint8_t MUX_IN = 20; // A2 +static const uint8_t MUXA = 7; // D7 +static const uint8_t MUXB = 8; // D8 +static const uint8_t MUXC = 11; // D11 +static const uint8_t MUXI = 13; // D13 +static const uint8_t TRIM = 21; // A3 +static const uint8_t SENSE_A = 22; // A4 +static const uint8_t SENSE_B = 23; // A5 +static const uint8_t IN_A1 = 6; // D6 - A7 +static const uint8_t IN_A2 = 5; // D5 +static const uint8_t IN_B1 = 10; // D10 +static const uint8_t IN_B2 = 9; // D9 +static const uint8_t TK1 = 18; // A0 +static const uint8_t TK2 = 19; // A1 +static const uint8_t TK3 = 4; // A6 +static const uint8_t TK4 = 12; // A11 + +// __AVR_ATmega32U4__ has an unusual mapping of pins to channels +extern const uint8_t PROGMEM analog_pin_to_channel_PGM[]; +#define analogPinToChannel(P) ( pgm_read_byte( analog_pin_to_channel_PGM + (P) ) ) + +#ifdef ARDUINO_MAIN + +// On the Arduino board, digital pins are also used +// for the analog output (software PWM). Analog input +// pins are a separate set. + +// ARDUINO LEONARDO / ARDUINO ROBOT CONTROL / ATMEGA 32U4 / FUNCTION / REGISTER +// +// D0 RX PD2 RX RXD1/INT2 +// D1 TX PD3 TX TXD1/INT3 +// D2 SDA PD1 SDA SDA/INT1 +// D3# SCL PD0 PWM8/SCL OC0B/SCL/INT0 +// D4 TK3 A6 PD4 ADC8 +// D5# INA2 PC6 ??? OC3A/#OC4A +// D6# INA1 A7 PD7 FastPWM #OC4D/ADC10 +// D7 MUXA PE6 INT6/AIN0 +// +// D8 MUXB A8 PB4 ADC11/PCINT4 +// D9# INB2 A9 PB5 PWM16 OC1A/#OC4B/ADC12/PCINT5 +// D10# INB1 A10 PB6 PWM16 OC1B/0c4B/ADC13/PCINT6 +// D11# MUXC PB7 PWM8/16 0C0A/OC1C/#RTS/PCINT7 +// D12 TK4 A11 PD6 T1/#OC4D/ADC9 +// D13# MUXI PC7 PWM10 CLK0/OC4A +// +// A0 TK1 D18 PF7 ADC7 +// A1 TK2 D19 PF6 ADC6 +// A2 MUX_IN D20 PF5 ADC5 +// A3 TRIM D21 PF4 ADC4 +// A4 SENSE_A D22 PF1 ADC1 +// A5 SENSE_B D23 PF0 ADC0 +// +// MISO MISO D14 PB3 MISO,PCINT3 +// SCK SCK D15 PB1 SCK,PCINT1 +// MOSI MOSI D16 PB2 MOSI,PCINT2 +// SS RX_LED D17 PB0 RXLED,SS/PCINT0 +// +// TXLED TX_LED PD5 +// HWB PE2 HWB + +// these arrays map port names (e.g. port B) to the +// appropriate addresses for various functions (e.g. reading +// and writing) +const uint16_t PROGMEM port_to_mode_PGM[] = { + NOT_A_PORT, + NOT_A_PORT, + (uint16_t) &DDRB, + (uint16_t) &DDRC, + (uint16_t) &DDRD, + (uint16_t) &DDRE, + (uint16_t) &DDRF, +}; + +const uint16_t PROGMEM port_to_output_PGM[] = { + NOT_A_PORT, + NOT_A_PORT, + (uint16_t) &PORTB, + (uint16_t) &PORTC, + (uint16_t) &PORTD, + (uint16_t) &PORTE, + (uint16_t) &PORTF, +}; + +const uint16_t PROGMEM port_to_input_PGM[] = { + NOT_A_PORT, + NOT_A_PORT, + (uint16_t) &PINB, + (uint16_t) &PINC, + (uint16_t) &PIND, + (uint16_t) &PINE, + (uint16_t) &PINF, +}; + +const uint8_t PROGMEM digital_pin_to_port_PGM[30] = { + PD, // D0 - PD2 + PD, // D1 - PD3 + PD, // D2 - PD1 + PD, // D3 - PD0 + PD, // D4 - PD4 + PC, // D5 - PC6 + PD, // D6 - PD7 + PE, // D7 - PE6 + + PB, // D8 - PB4 + PB, // D9 - PB5 + PB, // D10 - PB6 + PB, // D11 - PB7 + PD, // D12 - PD6 + PC, // D13 - PC7 + + PB, // D14 - MISO - PB3 + PB, // D15 - SCK - PB1 + PB, // D16 - MOSI - PB2 + PB, // D17 - SS - PB0 + + PF, // D18 - A0 - PF7 + PF, // D19 - A1 - PF6 + PF, // D20 - A2 - PF5 + PF, // D21 - A3 - PF4 + PF, // D22 - A4 - PF1 + PF, // D23 - A5 - PF0 + + PD, // D24 / D4 - A6 - PD4 + PD, // D25 / D6 - A7 - PD7 + PB, // D26 / D8 - A8 - PB4 + PB, // D27 / D9 - A9 - PB5 + PB, // D28 / D10 - A10 - PB6 + PD, // D29 / D12 - A11 - PD6 +}; + +const uint8_t PROGMEM digital_pin_to_bit_mask_PGM[30] = { + _BV(2), // D0 - PD2 + _BV(3), // D1 - PD3 + _BV(1), // D2 - PD1 + _BV(0), // D3 - PD0 + _BV(4), // D4 - PD4 + _BV(6), // D5 - PC6 + _BV(7), // D6 - PD7 + _BV(6), // D7 - PE6 + + _BV(4), // D8 - PB4 + _BV(5), // D9 - PB5 + _BV(6), // D10 - PB6 + _BV(7), // D11 - PB7 + _BV(6), // D12 - PD6 + _BV(7), // D13 - PC7 + + _BV(3), // D14 - MISO - PB3 + _BV(1), // D15 - SCK - PB1 + _BV(2), // D16 - MOSI - PB2 + _BV(0), // D17 - SS - PB0 + + _BV(7), // D18 - A0 - PF7 + _BV(6), // D19 - A1 - PF6 + _BV(5), // D20 - A2 - PF5 + _BV(4), // D21 - A3 - PF4 + _BV(1), // D22 - A4 - PF1 + _BV(0), // D23 - A5 - PF0 + + _BV(4), // D24 / D4 - A6 - PD4 + _BV(7), // D25 / D6 - A7 - PD7 + _BV(4), // D26 / D8 - A8 - PB4 + _BV(5), // D27 / D9 - A9 - PB5 + _BV(6), // D28 / D10 - A10 - PB6 + _BV(6), // D29 / D12 - A11 - PD6 +}; + +const uint8_t PROGMEM digital_pin_to_timer_PGM[18] = { + NOT_ON_TIMER, + NOT_ON_TIMER, + NOT_ON_TIMER, + TIMER0B, /* 3 */ + NOT_ON_TIMER, + TIMER3A, /* 5 */ + TIMER4D, /* 6 */ + NOT_ON_TIMER, + + NOT_ON_TIMER, + TIMER1A, /* 9 */ + TIMER1B, /* 10 */ + TIMER0A, /* 11 */ + + NOT_ON_TIMER, + TIMER4A, /* 13 */ + + NOT_ON_TIMER, + NOT_ON_TIMER, +}; + +const uint8_t PROGMEM analog_pin_to_channel_PGM[12] = { + 7, // A0 PF7 ADC7 + 6, // A1 PF6 ADC6 + 5, // A2 PF5 ADC5 + 4, // A3 PF4 ADC4 + 1, // A4 PF1 ADC1 + 0, // A5 PF0 ADC0 + 8, // A6 D4 PD4 ADC8 + 10, // A7 D6 PD7 ADC10 + 11, // A8 D8 PB4 ADC11 + 12, // A9 D9 PB5 ADC12 + 13, // A10 D10 PB6 ADC13 + 9 // A11 D12 PD6 ADC9 +}; + +#endif /* ARDUINO_MAIN */ +#endif /* Pins_Arduino_h */ |
