diff options
33 files changed, 2136 insertions, 739 deletions
@@ -1,6 +1,6 @@ ############################################################## -atmega328.name=Arduino Duemilanove w/ ATmega328 +atmega328.name=Arduino Duemilanove or Nano w/ ATmega328 atmega328.upload.protocol=stk500 atmega328.upload.maximum_size=30720 @@ -20,7 +20,7 @@ atmega328.build.core=arduino ############################################################## -diecimila.name=Arduino Diecimila or Duemilanove w/ ATmega168 +diecimila.name=Arduino Diecimila, Duemilanove, or Nano w/ ATmega168 diecimila.upload.protocol=stk500 diecimila.upload.maximum_size=14336 @@ -80,26 +80,6 @@ mini.build.core=arduino ############################################################## -nano.name=Arduino Nano - -nano.upload.protocol=stk500 -nano.upload.maximum_size=14336 -nano.upload.speed=19200 - -nano.bootloader.low_fuses=0xff -nano.bootloader.high_fuses=0xdd -nano.bootloader.extended_fuses=0x00 -nano.bootloader.path=atmega -nano.bootloader.file=ATmegaBOOT_168_diecimila.hex -nano.bootloader.unlock_bits=0x3F -nano.bootloader.lock_bits=0x0F - -nano.build.mcu=atmega168 -nano.build.f_cpu=16000000L -nano.build.core=arduino - -############################################################## - bt.name=Arduino BT bt.upload.protocol=stk500 diff --git a/cores/arduino/HardwareSerial.cpp b/cores/arduino/HardwareSerial.cpp index f8a959a..1af6a66 100755 --- a/cores/arduino/HardwareSerial.cpp +++ b/cores/arduino/HardwareSerial.cpp @@ -49,41 +49,41 @@ ring_buffer rx_buffer3 = { { 0 }, 0, 0 }; inline void store_char(unsigned char c, ring_buffer *rx_buffer) { - int i = (rx_buffer->head + 1) % RX_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 != rx_buffer->tail) { - rx_buffer->buffer[rx_buffer->head] = c; - rx_buffer->head = i; - } + int i = (rx_buffer->head + 1) % RX_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 != rx_buffer->tail) { + rx_buffer->buffer[rx_buffer->head] = c; + rx_buffer->head = i; + } } #if defined(__AVR_ATmega1280__) SIGNAL(SIG_USART0_RECV) { - unsigned char c = UDR0; + unsigned char c = UDR0; store_char(c, &rx_buffer); } SIGNAL(SIG_USART1_RECV) { - unsigned char c = UDR1; + unsigned char c = UDR1; store_char(c, &rx_buffer1); } SIGNAL(SIG_USART2_RECV) { - unsigned char c = UDR2; + unsigned char c = UDR2; store_char(c, &rx_buffer2); } SIGNAL(SIG_USART3_RECV) { - unsigned char c = UDR3; + unsigned char c = UDR3; store_char(c, &rx_buffer3); } @@ -96,9 +96,9 @@ SIGNAL(USART_RX_vect) #endif { #if defined(__AVR_ATmega8__) - unsigned char c = UDR; + unsigned char c = UDR; #else - unsigned char c = UDR0; + unsigned char c = UDR0; #endif store_char(c, &rx_buffer); } @@ -111,7 +111,7 @@ HardwareSerial::HardwareSerial(ring_buffer *rx_buffer, volatile uint8_t *ubrrh, volatile uint8_t *ubrrl, volatile uint8_t *ucsra, volatile uint8_t *ucsrb, volatile uint8_t *udr, - uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udre) + uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udre, uint8_t u2x) { _rx_buffer = rx_buffer; _ubrrh = ubrrh; @@ -123,14 +123,43 @@ HardwareSerial::HardwareSerial(ring_buffer *rx_buffer, _txen = txen; _rxcie = rxcie; _udre = udre; + _u2x = u2x; } // Public Methods ////////////////////////////////////////////////////////////// -void HardwareSerial::begin(long speed) +void HardwareSerial::begin(long baud) { - *_ubrrh = ((F_CPU / 16 + speed / 2) / speed - 1) >> 8; - *_ubrrl = ((F_CPU / 16 + speed / 2) / speed - 1); + uint16_t baud_setting; + bool use_u2x; + + // U2X mode is needed for baud rates higher than (CPU Hz / 16) + if (baud > F_CPU / 16) { + use_u2x = true; + } else { + // figure out if U2X mode would allow for a better connection + + // calculate the percent difference between the baud-rate specified and + // the real baud rate for both U2X and non-U2X mode (0-255 error percent) + uint8_t nonu2x_baud_error = abs((int)(255-((F_CPU/(16*(((F_CPU/8/baud-1)/2)+1))*255)/baud))); + uint8_t u2x_baud_error = abs((int)(255-((F_CPU/(8*(((F_CPU/4/baud-1)/2)+1))*255)/baud))); + + // prefer non-U2X mode because it handles clock skew better + use_u2x = (nonu2x_baud_error > u2x_baud_error); + } + + 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; + } + + // assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register) + *_ubrrh = baud_setting >> 8; + *_ubrrl = baud_setting; + sbi(*_ucsrb, _rxen); sbi(*_ucsrb, _txen); sbi(*_ucsrb, _rxcie); @@ -138,54 +167,53 @@ void HardwareSerial::begin(long speed) uint8_t HardwareSerial::available(void) { - return (RX_BUFFER_SIZE + _rx_buffer->head - _rx_buffer->tail) % RX_BUFFER_SIZE; + return (RX_BUFFER_SIZE + _rx_buffer->head - _rx_buffer->tail) % RX_BUFFER_SIZE; } 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 = (_rx_buffer->tail + 1) % RX_BUFFER_SIZE; - return c; - } + // 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 = (_rx_buffer->tail + 1) % RX_BUFFER_SIZE; + return c; + } } void HardwareSerial::flush() { - // don't reverse this or there may be problems if the RX interrupt - // occurs after reading the value of rx_buffer_head but before writing - // the value to rx_buffer_tail; the previous value of rx_buffer_head - // may be written to rx_buffer_tail, making it appear as if the buffer - // don't reverse this or there may be problems if the RX interrupt - // occurs after reading the value of rx_buffer_head but before writing - // the value to rx_buffer_tail; the previous value of rx_buffer_head - // may be written to rx_buffer_tail, making it appear as if the buffer - // were full, not empty. - _rx_buffer->head = _rx_buffer->tail; + // don't reverse this or there may be problems if the RX interrupt + // occurs after reading the value of rx_buffer_head but before writing + // the value to rx_buffer_tail; the previous value of rx_buffer_head + // may be written to rx_buffer_tail, making it appear as if the buffer + // don't reverse this or there may be problems if the RX interrupt + // occurs after reading the value of rx_buffer_head but before writing + // the value to rx_buffer_tail; the previous value of rx_buffer_head + // may be written to rx_buffer_tail, making it appear as if the buffer + // were full, not empty. + _rx_buffer->head = _rx_buffer->tail; } void HardwareSerial::write(uint8_t c) { - while (!((*_ucsra) & (1 << _udre))) - ; + while (!((*_ucsra) & (1 << _udre))) + ; - *_udr = c; + *_udr = c; } // Preinstantiate Objects ////////////////////////////////////////////////////// #if defined(__AVR_ATmega8__) -HardwareSerial Serial(&rx_buffer, &UBRRH, &UBRRL, &UCSRA, &UCSRB, &UDR, RXEN, TXEN, RXCIE, UDRE); +HardwareSerial Serial(&rx_buffer, &UBRRH, &UBRRL, &UCSRA, &UCSRB, &UDR, RXEN, TXEN, RXCIE, UDRE, U2X); #else -HardwareSerial Serial(&rx_buffer, &UBRR0H, &UBRR0L, &UCSR0A, &UCSR0B, &UDR0, RXEN0, TXEN0, RXCIE0, UDRE0); +HardwareSerial Serial(&rx_buffer, &UBRR0H, &UBRR0L, &UCSR0A, &UCSR0B, &UDR0, RXEN0, TXEN0, RXCIE0, UDRE0, U2X0); #endif #if defined(__AVR_ATmega1280__) -HardwareSerial Serial1(&rx_buffer1, &UBRR1H, &UBRR1L, &UCSR1A, &UCSR1B, &UDR1, RXEN1, TXEN1, RXCIE1, UDRE1); -HardwareSerial Serial2(&rx_buffer2, &UBRR2H, &UBRR2L, &UCSR2A, &UCSR2B, &UDR2, RXEN2, TXEN2, RXCIE2, UDRE2); -HardwareSerial Serial3(&rx_buffer3, &UBRR3H, &UBRR3L, &UCSR3A, &UCSR3B, &UDR3, RXEN3, TXEN3, RXCIE3, UDRE3); +HardwareSerial Serial1(&rx_buffer1, &UBRR1H, &UBRR1L, &UCSR1A, &UCSR1B, &UDR1, RXEN1, TXEN1, RXCIE1, UDRE1, U2X1); +HardwareSerial Serial2(&rx_buffer2, &UBRR2H, &UBRR2L, &UCSR2A, &UCSR2B, &UDR2, RXEN2, TXEN2, RXCIE2, UDRE2, U2X2); +HardwareSerial Serial3(&rx_buffer3, &UBRR3H, &UBRR3L, &UCSR3A, &UCSR3B, &UDR3, RXEN3, TXEN3, RXCIE3, UDRE3, U2X3); #endif - diff --git a/cores/arduino/HardwareSerial.h b/cores/arduino/HardwareSerial.h index 8610f5a..f975ccd 100755 --- a/cores/arduino/HardwareSerial.h +++ b/cores/arduino/HardwareSerial.h @@ -39,12 +39,13 @@ class HardwareSerial : public Print uint8_t _txen; uint8_t _rxcie; uint8_t _udre; + uint8_t _u2x; public: HardwareSerial(ring_buffer *rx_buffer, volatile uint8_t *ubrrh, volatile uint8_t *ubrrl, volatile uint8_t *ucsra, volatile uint8_t *ucsrb, volatile uint8_t *udr, - uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udre); + uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udre, uint8_t u2x); void begin(long); uint8_t available(void); int read(void); @@ -62,4 +63,3 @@ extern HardwareSerial Serial3; #endif #endif - diff --git a/cores/arduino/wiring.h b/cores/arduino/wiring.h index 619e695..f0ba04c 100755 --- a/cores/arduino/wiring.h +++ b/cores/arduino/wiring.h @@ -86,8 +86,8 @@ extern "C"{ #define clockCyclesToMicroseconds(a) ( (a) / clockCyclesPerMicrosecond() ) #define microsecondsToClockCycles(a) ( (a) * clockCyclesPerMicrosecond() ) -#define lowByte(w) ((w) & 0xff) -#define highByte(w) ((w) >> 8) +#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))) diff --git a/cores/arduino/wiring_analog.c b/cores/arduino/wiring_analog.c index 529ad52..782a0bd 100755 --- a/cores/arduino/wiring_analog.c +++ b/cores/arduino/wiring_analog.c @@ -42,7 +42,7 @@ int analogRead(uint8_t pin) // 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). - ADMUX = (analog_reference << 6) | (pin & 0x07); + ADMUX = (analog_reference << 6) | (pin & 0x0f); #if defined(__AVR_ATmega1280__) // the MUX5 bit of ADCSRB selects whether we're reading from channels diff --git a/libraries/Ethernet/Client.cpp b/libraries/Ethernet/Client.cpp index ebbb08d..0511c7b 100644 --- a/libraries/Ethernet/Client.cpp +++ b/libraries/Ethernet/Client.cpp @@ -113,13 +113,21 @@ void Client::stop() { } uint8_t Client::connected() { - uint8_t s = status(); - return !(s == SOCK_LISTEN || s == SOCK_CLOSED || s == SOCK_FIN_WAIT || - (s == SOCK_CLOSE_WAIT && !available())); + if (_sock == 255) { + return 0; + } else { + uint8_t s = status(); + return !(s == SOCK_LISTEN || s == SOCK_CLOSED || s == SOCK_FIN_WAIT || + (s == SOCK_CLOSE_WAIT && !available())); + } } uint8_t Client::status() { - return getSn_SR(_sock); + if (_sock == 255) { + return SOCK_CLOSED; + } else { + return getSn_SR(_sock); + } } // the next three functions are a hack so we can compare the client returned diff --git a/libraries/Ethernet/keywords.txt b/libraries/Ethernet/keywords.txt new file mode 100644 index 0000000..ebc5793 --- /dev/null +++ b/libraries/Ethernet/keywords.txt @@ -0,0 +1,30 @@ +####################################### +# Syntax Coloring Map For Ethernet +####################################### + +####################################### +# Datatypes (KEYWORD1) +####################################### + +Ethernet KEYWORD1 +Client KEYWORD1 +Server KEYWORD1 + +####################################### +# Methods and Functions (KEYWORD2) +####################################### + +status KEYWORD2 +connect KEYWORD2 +write KEYWORD2 +available KEYWORD2 +read KEYWORD2 +flush KEYWORD2 +stop KEYWORD2 +connected KEYWORD2 +begin KEYWORD2 + +####################################### +# Constants (LITERAL1) +####################################### + diff --git a/libraries/Firmata/Firmata.cpp b/libraries/Firmata/Firmata.cpp index 4e59d27..9a18615 100644 --- a/libraries/Firmata/Firmata.cpp +++ b/libraries/Firmata/Firmata.cpp @@ -29,18 +29,18 @@ extern "C" { void sendValueAsTwo7bitBytes(int value) { - Serial.print(value & B01111111, BYTE); // LSB - Serial.print(value >> 7 & B01111111, BYTE); // MSB + Serial.print(value & B01111111, BYTE); // LSB + Serial.print(value >> 7 & B01111111, BYTE); // MSB } void startSysex(void) { - Serial.print(START_SYSEX, BYTE); + Serial.print(START_SYSEX, BYTE); } void endSysex(void) { - Serial.print(END_SYSEX, BYTE); + Serial.print(END_SYSEX, BYTE); } //****************************************************************************** @@ -49,8 +49,8 @@ void endSysex(void) FirmataClass::FirmataClass(void) { - firmwareVersionCount = 0; - systemReset(); + firmwareVersionCount = 0; + systemReset(); } //****************************************************************************** @@ -60,83 +60,83 @@ FirmataClass::FirmataClass(void) /* begin method for overriding default serial bitrate */ void FirmataClass::begin(void) { - Serial.begin(115200); - blinkVersion(); - delay(300); - printVersion(); + Serial.begin(57600); + blinkVersion(); + delay(300); + printVersion(); } /* begin method for overriding default serial bitrate */ void FirmataClass::begin(long speed) { - blinkVersion(); + blinkVersion(); #if defined(__AVR_ATmega128__) // Wiring - Serial.begin((uint32_t)speed); + Serial.begin((uint32_t)speed); #else - Serial.begin(speed); + Serial.begin(speed); #endif - delay(300); - printVersion(); - printFirmwareVersion(); + delay(300); + printVersion(); + printFirmwareVersion(); } // output the protocol version message to the serial port void FirmataClass::printVersion(void) { - Serial.print(REPORT_VERSION, BYTE); - Serial.print(FIRMATA_MAJOR_VERSION, BYTE); - Serial.print(FIRMATA_MINOR_VERSION, BYTE); + Serial.print(REPORT_VERSION, BYTE); + Serial.print(FIRMATA_MAJOR_VERSION, BYTE); + Serial.print(FIRMATA_MINOR_VERSION, BYTE); } void FirmataClass::blinkVersion(void) { - // flash the pin with the protocol version - pinMode(VERSION_BLINK_PIN,OUTPUT); - pin13strobe(FIRMATA_MAJOR_VERSION, 200, 400); - delay(300); - pin13strobe(2,1,4); // separator, a quick burst - delay(300); - pin13strobe(FIRMATA_MINOR_VERSION, 200, 400); + // flash the pin with the protocol version + pinMode(VERSION_BLINK_PIN,OUTPUT); + pin13strobe(FIRMATA_MAJOR_VERSION, 200, 400); + delay(300); + pin13strobe(2,1,4); // separator, a quick burst + delay(300); + pin13strobe(FIRMATA_MINOR_VERSION, 200, 400); } void FirmataClass::printFirmwareVersion(void) { - byte i; - - if(firmwareVersionCount) { // make sure that the name has been set before reporting - startSysex(); - Serial.print(REPORT_FIRMWARE, BYTE); - Serial.print(firmwareVersionVector[0]); // major version number - Serial.print(firmwareVersionVector[1]); // minor version number - for(i=2; i<firmwareVersionCount; ++i) { - sendValueAsTwo7bitBytes(firmwareVersionVector[i]); - } - endSysex(); + byte i; + + if(firmwareVersionCount) { // make sure that the name has been set before reporting + startSysex(); + Serial.print(REPORT_FIRMWARE, BYTE); + Serial.print(firmwareVersionVector[0]); // major version number + Serial.print(firmwareVersionVector[1]); // minor version number + for(i=2; i<firmwareVersionCount; ++i) { + sendValueAsTwo7bitBytes(firmwareVersionVector[i]); } + endSysex(); + } } void FirmataClass::setFirmwareNameAndVersion(const char *name, byte major, byte minor) { - const char *filename; - char *extension; - -// parse out ".cpp" and "applet/" that comes from using __FILE__ - extension = strstr(name, ".cpp"); - filename = strrchr(name, '/') + 1; //points to slash, +1 gets to start of filename - // add two bytes for version numbers - if(extension && filename) { - firmwareVersionCount = extension - filename + 2; - } else { - firmwareVersionCount = strlen(name) + 2; - filename = name; - } - firmwareVersionVector = (byte *) malloc(firmwareVersionCount); - firmwareVersionVector[firmwareVersionCount] = 0; - firmwareVersionVector[0] = major; - firmwareVersionVector[1] = minor; - strncpy((char*)firmwareVersionVector + 2, filename, firmwareVersionCount - 2); -// alas, no snprintf on Arduino -// snprintf(firmwareVersionVector, MAX_DATA_BYTES, "%c%c%s", -// (char)major, (char)minor, firmwareVersionVector); + const char *filename; + char *extension; + + // parse out ".cpp" and "applet/" that comes from using __FILE__ + extension = strstr(name, ".cpp"); + filename = strrchr(name, '/') + 1; //points to slash, +1 gets to start of filename + // add two bytes for version numbers + if(extension && filename) { + firmwareVersionCount = extension - filename + 2; + } else { + firmwareVersionCount = strlen(name) + 2; + filename = name; + } + firmwareVersionVector = (byte *) malloc(firmwareVersionCount); + firmwareVersionVector[firmwareVersionCount] = 0; + firmwareVersionVector[0] = major; + firmwareVersionVector[1] = minor; + strncpy((char*)firmwareVersionVector + 2, filename, firmwareVersionCount - 2); + // alas, no snprintf on Arduino + // snprintf(firmwareVersionVector, MAX_DATA_BYTES, "%c%c%s", + // (char)major, (char)minor, firmwareVersionVector); } //------------------------------------------------------------------------------ @@ -144,123 +144,123 @@ void FirmataClass::setFirmwareNameAndVersion(const char *name, byte major, byte int FirmataClass::available(void) { - return Serial.available(); + return Serial.available(); } void FirmataClass::processSysexMessage(void) { - switch(storedInputData[0]) { //first byte in buffer is command - case REPORT_FIRMWARE: - printFirmwareVersion(); - break; - case FIRMATA_STRING: - if(currentStringCallback) { - byte bufferLength = (sysexBytesRead - 1) / 2; - char *buffer = (char*)malloc(bufferLength * sizeof(char)); - byte i = 1; - byte j = 0; - while(j < bufferLength) { - buffer[j] = (char)storedInputData[i]; - i++; - buffer[j] += (char)(storedInputData[i] << 7); - i++; - j++; - } - (*currentStringCallback)(buffer); - } - break; - default: - if(currentSysexCallback) - (*currentSysexCallback)(storedInputData[0], sysexBytesRead - 1, storedInputData + 1); + switch(storedInputData[0]) { //first byte in buffer is command + case REPORT_FIRMWARE: + printFirmwareVersion(); + break; + case STRING_DATA: + if(currentStringCallback) { + byte bufferLength = (sysexBytesRead - 1) / 2; + char *buffer = (char*)malloc(bufferLength * sizeof(char)); + byte i = 1; + byte j = 0; + while(j < bufferLength) { + buffer[j] = (char)storedInputData[i]; + i++; + buffer[j] += (char)(storedInputData[i] << 7); + i++; + j++; + } + (*currentStringCallback)(buffer); } + break; + default: + if(currentSysexCallback) + (*currentSysexCallback)(storedInputData[0], sysexBytesRead - 1, storedInputData + 1); + } } void FirmataClass::processInput(void) { - int inputData = Serial.read(); // this is 'int' to handle -1 when no data - int command; + int inputData = Serial.read(); // this is 'int' to handle -1 when no data + int command; - // TODO make sure it handles -1 properly - - if (parsingSysex) { - if(inputData == END_SYSEX) { - //stop sysex byte - parsingSysex = false; - //fire off handler function - processSysexMessage(); - } else { - //normal data byte - add to buffer - storedInputData[sysexBytesRead] = inputData; - sysexBytesRead++; - } - } else if( (waitForData > 0) && (inputData < 128) ) { - waitForData--; - storedInputData[waitForData] = inputData; - if( (waitForData==0) && executeMultiByteCommand ) { // got the whole message - switch(executeMultiByteCommand) { - case ANALOG_MESSAGE: - if(currentAnalogCallback) { - (*currentAnalogCallback)(multiByteChannel, - (storedInputData[0] << 7) - + storedInputData[1]); - } - break; - case DIGITAL_MESSAGE: - if(currentDigitalCallback) { - (*currentDigitalCallback)(multiByteChannel, - (storedInputData[0] << 7) - + storedInputData[1]); - } - break; - case SET_PIN_MODE: - if(currentPinModeCallback) - (*currentPinModeCallback)(storedInputData[1], storedInputData[0]); - break; - case REPORT_ANALOG: - if(currentReportAnalogCallback) - (*currentReportAnalogCallback)(multiByteChannel,storedInputData[0]); - break; - case REPORT_DIGITAL: - if(currentReportDigitalCallback) - (*currentReportDigitalCallback)(multiByteChannel,storedInputData[0]); - break; - } - executeMultiByteCommand = 0; - } + // TODO make sure it handles -1 properly + + if (parsingSysex) { + if(inputData == END_SYSEX) { + //stop sysex byte + parsingSysex = false; + //fire off handler function + processSysexMessage(); } else { - // remove channel info from command byte if less than 0xF0 - if(inputData < 0xF0) { - command = inputData & 0xF0; - multiByteChannel = inputData & 0x0F; - } else { - command = inputData; - // commands in the 0xF* range don't use channel data + //normal data byte - add to buffer + storedInputData[sysexBytesRead] = inputData; + sysexBytesRead++; + } + } else if( (waitForData > 0) && (inputData < 128) ) { + waitForData--; + storedInputData[waitForData] = inputData; + if( (waitForData==0) && executeMultiByteCommand ) { // got the whole message + switch(executeMultiByteCommand) { + case ANALOG_MESSAGE: + if(currentAnalogCallback) { + (*currentAnalogCallback)(multiByteChannel, + (storedInputData[0] << 7) + + storedInputData[1]); } - switch (command) { - case ANALOG_MESSAGE: - case DIGITAL_MESSAGE: - case SET_PIN_MODE: - waitForData = 2; // two data bytes needed - executeMultiByteCommand = command; - break; - case REPORT_ANALOG: - case REPORT_DIGITAL: - waitForData = 1; // two data bytes needed - executeMultiByteCommand = command; - break; - case START_SYSEX: - parsingSysex = true; - sysexBytesRead = 0; - break; - case SYSTEM_RESET: - systemReset(); - break; - case REPORT_VERSION: - Firmata.printVersion(); - break; + break; + case DIGITAL_MESSAGE: + if(currentDigitalCallback) { + (*currentDigitalCallback)(multiByteChannel, + (storedInputData[0] << 7) + + storedInputData[1]); } + break; + case SET_PIN_MODE: + if(currentPinModeCallback) + (*currentPinModeCallback)(storedInputData[1], storedInputData[0]); + break; + case REPORT_ANALOG: + if(currentReportAnalogCallback) + (*currentReportAnalogCallback)(multiByteChannel,storedInputData[0]); + break; + case REPORT_DIGITAL: + if(currentReportDigitalCallback) + (*currentReportDigitalCallback)(multiByteChannel,storedInputData[0]); + break; + } + executeMultiByteCommand = 0; + } + } else { + // remove channel info from command byte if less than 0xF0 + if(inputData < 0xF0) { + command = inputData & 0xF0; + multiByteChannel = inputData & 0x0F; + } else { + command = inputData; + // commands in the 0xF* range don't use channel data } + switch (command) { + case ANALOG_MESSAGE: + case DIGITAL_MESSAGE: + case SET_PIN_MODE: + waitForData = 2; // two data bytes needed + executeMultiByteCommand = command; + break; + case REPORT_ANALOG: + case REPORT_DIGITAL: + waitForData = 1; // two data bytes needed + executeMultiByteCommand = command; + break; + case START_SYSEX: + parsingSysex = true; + sysexBytesRead = 0; + break; + case SYSTEM_RESET: + systemReset(); + break; + case REPORT_VERSION: + Firmata.printVersion(); + break; + } + } } //------------------------------------------------------------------------------ @@ -269,31 +269,31 @@ void FirmataClass::processInput(void) // send an analog message void FirmataClass::sendAnalog(byte pin, int value) { - // pin can only be 0-15, so chop higher bits - Serial.print(ANALOG_MESSAGE | (pin & 0xF), BYTE); - sendValueAsTwo7bitBytes(value); + // pin can only be 0-15, so chop higher bits + Serial.print(ANALOG_MESSAGE | (pin & 0xF), BYTE); + sendValueAsTwo7bitBytes(value); } // send a single digital pin in a digital message void FirmataClass::sendDigital(byte pin, int value) { - /* TODO add single pin digital messages to the protocol, this needs to - * track the last digital data sent so that it can be sure to change just - * one bit in the packet. This is complicated by the fact that the - * numbering of the pins will probably differ on Arduino, Wiring, and - * other boards. The DIGITAL_MESSAGE sends 14 bits at a time, but it is - * probably easier to send 8 bit ports for any board with more than 14 - * digital pins. - */ - - // TODO: the digital message should not be sent on the serial port every - // time sendDigital() is called. Instead, it should add it to an int - // which will be sent on a schedule. If a pin changes more than once - // before the digital message is sent on the serial port, it should send a - // digital message for each change. - -// if(value == 0) -// sendDigitalPortPair(); + /* TODO add single pin digital messages to the protocol, this needs to + * track the last digital data sent so that it can be sure to change just + * one bit in the packet. This is complicated by the fact that the + * numbering of the pins will probably differ on Arduino, Wiring, and + * other boards. The DIGITAL_MESSAGE sends 14 bits at a time, but it is + * probably easier to send 8 bit ports for any board with more than 14 + * digital pins. + */ + + // TODO: the digital message should not be sent on the serial port every + // time sendDigital() is called. Instead, it should add it to an int + // which will be sent on a schedule. If a pin changes more than once + // before the digital message is sent on the serial port, it should send a + // digital message for each change. + + // if(value == 0) + // sendDigitalPortPair(); } @@ -301,33 +301,33 @@ void FirmataClass::sendDigital(byte pin, int value) // send an 8-bit port in a single digital message (protocol v2) void FirmataClass::sendDigitalPort(byte portNumber, int portData) { - Serial.print(DIGITAL_MESSAGE | (portNumber & 0xF),BYTE); - Serial.print(portData % 128, BYTE); // Tx bits 0-6 - Serial.print(portData >> 7, BYTE); // Tx bits 7-13 + Serial.print(DIGITAL_MESSAGE | (portNumber & 0xF),BYTE); + Serial.print(portData % 128, BYTE); // Tx bits 0-6 + Serial.print(portData >> 7, BYTE); // Tx bits 7-13 } void FirmataClass::sendSysex(byte command, byte bytec, byte* bytev) { - byte i; - startSysex(); - Serial.print(command, BYTE); - for(i=0; i<bytec; i++) { - sendValueAsTwo7bitBytes(bytev[i]); - } - endSysex(); + byte i; + startSysex(); + Serial.print(command, BYTE); + for(i=0; i<bytec; i++) { + sendValueAsTwo7bitBytes(bytev[i]); + } + endSysex(); } void FirmataClass::sendString(byte command, const char* string) { - sendSysex(command, strlen(string), (byte *)string); + sendSysex(command, strlen(string), (byte *)string); } // send a string as the protocol string type void FirmataClass::sendString(const char* string) { - sendString(FIRMATA_STRING, string); + sendString(STRING_DATA, string); } @@ -336,43 +336,43 @@ void FirmataClass::sendString(const char* string) // generic callbacks void FirmataClass::attach(byte command, callbackFunction newFunction) { - switch(command) { - case ANALOG_MESSAGE: currentAnalogCallback = newFunction; break; - case DIGITAL_MESSAGE: currentDigitalCallback = newFunction; break; - case REPORT_ANALOG: currentReportAnalogCallback = newFunction; break; - case REPORT_DIGITAL: currentReportDigitalCallback = newFunction; break; - case SET_PIN_MODE: currentPinModeCallback = newFunction; break; - } + switch(command) { + case ANALOG_MESSAGE: currentAnalogCallback = newFunction; break; + case DIGITAL_MESSAGE: currentDigitalCallback = newFunction; break; + case REPORT_ANALOG: currentReportAnalogCallback = newFunction; break; + case REPORT_DIGITAL: currentReportDigitalCallback = newFunction; break; + case SET_PIN_MODE: currentPinModeCallback = newFunction; break; + } } void FirmataClass::attach(byte command, systemResetCallbackFunction newFunction) { - switch(command) { - case SYSTEM_RESET: currentSystemResetCallback = newFunction; break; - } + switch(command) { + case SYSTEM_RESET: currentSystemResetCallback = newFunction; break; + } } void FirmataClass::attach(byte command, stringCallbackFunction newFunction) { - switch(command) { - case FIRMATA_STRING: currentStringCallback = newFunction; break; - } + switch(command) { + case STRING_DATA: currentStringCallback = newFunction; break; + } } void FirmataClass::attach(byte command, sysexCallbackFunction newFunction) { - currentSysexCallback = newFunction; + currentSysexCallback = newFunction; } void FirmataClass::detach(byte command) { - switch(command) { - case SYSTEM_RESET: currentSystemResetCallback = NULL; break; - case FIRMATA_STRING: currentStringCallback = NULL; break; - case START_SYSEX: currentSysexCallback = NULL; break; - default: - attach(command, (callbackFunction)NULL); - } + switch(command) { + case SYSTEM_RESET: currentSystemResetCallback = NULL; break; + case STRING_DATA: currentStringCallback = NULL; break; + case START_SYSEX: currentSysexCallback = NULL; break; + default: + attach(command, (callbackFunction)NULL); + } } // sysex callbacks @@ -402,24 +402,24 @@ void FirmataClass::detach(byte command) // resets the system state upon a SYSTEM_RESET message from the host software void FirmataClass::systemReset(void) { - byte i; + byte i; - waitForData = 0; // this flag says the next serial input will be data - executeMultiByteCommand = 0; // execute this after getting multi-byte data - multiByteChannel = 0; // channel data for multiByteCommands + waitForData = 0; // this flag says the next serial input will be data + executeMultiByteCommand = 0; // execute this after getting multi-byte data + multiByteChannel = 0; // channel data for multiByteCommands - for(i=0; i<MAX_DATA_BYTES; i++) { - storedInputData[i] = 0; - } + for(i=0; i<MAX_DATA_BYTES; i++) { + storedInputData[i] = 0; + } - parsingSysex = false; - sysexBytesRead = 0; + parsingSysex = false; + sysexBytesRead = 0; - if(currentSystemResetCallback) - (*currentSystemResetCallback)(); + if(currentSystemResetCallback) + (*currentSystemResetCallback)(); - //flush(); //TODO uncomment when Firmata is a subclass of HardwareSerial + //flush(); //TODO uncomment when Firmata is a subclass of HardwareSerial } @@ -428,14 +428,14 @@ void FirmataClass::systemReset(void) // used for flashing the pin for the version number void FirmataClass::pin13strobe(int count, int onInterval, int offInterval) { - byte i; - pinMode(VERSION_BLINK_PIN, OUTPUT); - for(i=0; i<count; i++) { - delay(offInterval); - digitalWrite(VERSION_BLINK_PIN, HIGH); - delay(onInterval); - digitalWrite(VERSION_BLINK_PIN, LOW); - } + byte i; + pinMode(VERSION_BLINK_PIN, OUTPUT); + for(i=0; i<count; i++) { + delay(offInterval); + digitalWrite(VERSION_BLINK_PIN, HIGH); + delay(onInterval); + digitalWrite(VERSION_BLINK_PIN, LOW); + } } diff --git a/libraries/Firmata/Firmata.h b/libraries/Firmata/Firmata.h index a926462..2732fd6 100644 --- a/libraries/Firmata/Firmata.h +++ b/libraries/Firmata/Firmata.h @@ -22,8 +22,7 @@ * software can test whether it will be compatible with the currently * installed firmware. */ #define FIRMATA_MAJOR_VERSION 2 // for non-compatible changes -#define FIRMATA_MINOR_VERSION 0 // for backwards compatible changes -#define VERSION_BLINK_PIN 13 // digital pin to blink version on +#define FIRMATA_MINOR_VERSION 1 // for backwards compatible changes #define MAX_DATA_BYTES 32 // max number of data bytes in non-Sysex messages @@ -42,12 +41,22 @@ #define END_SYSEX 0xF7 // end a MIDI Sysex message // extended command set using sysex (0-127/0x00-0x7F) -/* 0x00-0x0F reserved for custom commands */ +/* 0x00-0x0F reserved for user-defined commands */ #define SERVO_CONFIG 0x70 // set max angle, minPulse, maxPulse, freq -#define FIRMATA_STRING 0x71 // a string message with 14-bits per char +#define STRING_DATA 0x71 // a string message with 14-bits per char +#define SHIFT_DATA 0x75 // a bitstream to/from a shift register +#define I2C_REQUEST 0x76 // send an I2C read/write request +#define I2C_REPLY 0x77 // a reply to an I2C read request +#define I2C_CONFIG 0x78 // config I2C settings such as delay times and power pins #define REPORT_FIRMWARE 0x79 // report name and version of the firmware +#define SAMPLING_INTERVAL 0x7A // set the poll rate of the main loop #define SYSEX_NON_REALTIME 0x7E // MIDI Reserved for non-realtime messages #define SYSEX_REALTIME 0x7F // MIDI Reserved for realtime messages +// these are DEPRECATED to make the naming more consistent +#define FIRMATA_STRING 0x71 // same as STRING_DATA +#define SYSEX_I2C_REQUEST 0x76 // same as I2C_REQUEST +#define SYSEX_I2C_REPLY 0x77 // same as I2C_REPLY +#define SYSEX_SAMPLING_INTERVAL 0x7A // same as SAMPLING_INTERVAL // pin modes //#define INPUT 0x00 // defined in wiring.h @@ -55,7 +64,8 @@ #define ANALOG 0x02 // analog pin in analogInput mode #define PWM 0x03 // digital pin in PWM output mode #define SERVO 0x04 // digital pin in Servo output mode - +#define SHIFT 0x05 // shiftIn/shiftOut mode +#define I2C 0x06 // pin included in I2C setup extern "C" { // callback function types @@ -146,21 +156,71 @@ extern FirmataClass Firmata; #define TOTAL_DIGITAL_PINS 22 // 14 digital + 8 analog #define TOTAL_PORTS 3 // total number of ports for the board #define ANALOG_PORT 2 // port# of analog used as digital +#define FIRST_ANALOG_PIN 14 // pin# corresponding to analog 0 +#define VERSION_BLINK_PIN 13 // digital pin to blink version on #elif defined(__AVR_ATmega8__) // old Arduinos #define TOTAL_ANALOG_PINS 6 #define TOTAL_DIGITAL_PINS 20 // 14 digital + 6 analog #define TOTAL_PORTS 3 // total number of ports for the board #define ANALOG_PORT 2 // port# of analog used as digital +#define FIRST_ANALOG_PIN 14 // pin# corresponding to analog 0 +#define VERSION_BLINK_PIN 13 // digital pin to blink version on +#elif defined(__AVR_ATmega1280__)// Arduino Mega +#define TOTAL_ANALOG_PINS 16 +#define TOTAL_DIGITAL_PINS 70 // 54 digital + 16 analog +#define TOTAL_PORTS 9 // total number of ports for the board +#define ANALOG_PORT 8 // port# of analog used as digital +#define FIRST_ANALOG_PIN 54 // pin# corresponding to analog 0 +#define VERSION_BLINK_PIN 13 // digital pin to blink version on #elif defined(__AVR_ATmega128__)// Wiring #define TOTAL_ANALOG_PINS 8 #define TOTAL_DIGITAL_PINS 51 +#define TOTAL_PORTS 7 // total number of ports for the board +#define ANALOG_PORT 5 // port# of analog used as digital +#define FIRST_ANALOG_PIN 40 // pin# corresponding to analog 0 +#define VERSION_BLINK_PIN 13 // digital pin to blink version on +#elif defined(__AVR_AT90USB162__) // Teensy +#define TOTAL_ANALOG_PINS 0 +#define TOTAL_DIGITAL_PINS 21 // 21 digital + no analog +#define TOTAL_PORTS 4 // total number of ports for the board +#define ANALOG_PORT 3 // port# of analog used as digital +#define FIRST_ANALOG_PIN 21 // pin# corresponding to analog 0 +#define VERSION_BLINK_PIN 6 // digital pin to blink version on +#elif defined(__AVR_ATmega32U4__) // Teensy +#define TOTAL_ANALOG_PINS 12 +#define TOTAL_DIGITAL_PINS 25 // 11 digital + 12 analog +#define TOTAL_PORTS 4 // total number of ports for the board +#define ANALOG_PORT 3 // port# of analog used as digital +#define FIRST_ANALOG_PIN 11 // pin# corresponding to analog 0 +#define VERSION_BLINK_PIN 11 // digital pin to blink version on +#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__) // Teensy++ +#define TOTAL_ANALOG_PINS 8 +#define TOTAL_DIGITAL_PINS 46 // 38 digital + 8 analog #define TOTAL_PORTS 6 // total number of ports for the board -#define ANALOG_PORT 2 // port# of analog used as digital +#define ANALOG_PORT 5 // port# of analog used as digital +#define FIRST_ANALOG_PIN 38 // pin# corresponding to analog 0 +#define VERSION_BLINK_PIN 6 // digital pin to blink version on +#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__) // Sanguino +#define TOTAL_ANALOG_PINS 8 +#define TOTAL_DIGITAL_PINS 32 // 24 digital + 8 analog +#define TOTAL_PORTS 4 // total number of ports for the board +#define ANALOG_PORT 3 // port# of analog used as digital +#define FIRST_ANALOG_PIN 24 // pin# corresponding to analog 0 +#define VERSION_BLINK_PIN 0 // digital pin to blink version on +#elif defined(__AVR_ATmega645__) // Illuminato +#define TOTAL_ANALOG_PINS 6 +#define TOTAL_DIGITAL_PINS 42 // 36 digital + 6 analog +#define TOTAL_PORTS 6 // total number of ports for the board +#define ANALOG_PORT 4 // port# of analog used as digital +#define FIRST_ANALOG_PIN 36 // pin# corresponding to analog 0 +#define VERSION_BLINK_PIN 13 // digital pin to blink version on #else // anything else #define TOTAL_ANALOG_PINS 6 #define TOTAL_DIGITAL_PINS 14 #define TOTAL_PORTS 3 // total number of ports for the board #define ANALOG_PORT 2 // port# of analog used as digital +#define FIRST_ANALOG_PIN 14 // pin# corresponding to analog 0 +#define VERSION_BLINK_PIN 13 // digital pin to blink version on #endif diff --git a/libraries/Firmata/examples/AnalogFirmata/AnalogFirmata.pde b/libraries/Firmata/examples/AnalogFirmata/AnalogFirmata.pde index fcd8e5e..ab83726 100644 --- a/libraries/Firmata/examples/AnalogFirmata/AnalogFirmata.pde +++ b/libraries/Firmata/examples/AnalogFirmata/AnalogFirmata.pde @@ -61,7 +61,7 @@ void setup() servo9.attach(9); servo10.attach(10); - Firmata.begin(); + Firmata.begin(57600); } /*============================================================================== diff --git a/libraries/Firmata/examples/EchoString/EchoString.pde b/libraries/Firmata/examples/EchoString/EchoString.pde index ed13ad8..6559ae1 100644 --- a/libraries/Firmata/examples/EchoString/EchoString.pde +++ b/libraries/Firmata/examples/EchoString/EchoString.pde @@ -25,9 +25,9 @@ void sysexCallback(byte command, byte argc, byte*argv) void setup() { Firmata.setFirmwareVersion(0, 1); - Firmata.attach(FIRMATA_STRING, stringCallback); + Firmata.attach(STRING_DATA, stringCallback); Firmata.attach(START_SYSEX, sysexCallback); - Firmata.begin(); + Firmata.begin(57600); } void loop() diff --git a/libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde b/libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde new file mode 100644 index 0000000..796a8d5 --- /dev/null +++ b/libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde @@ -0,0 +1,217 @@ +/* + Copyright (C) 2009 Jeff Hoefs. All rights reserved. + Copyright (C) 2009 Shigeru Kobayashi. All rights 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. + + See file LICENSE.txt for further informations on licensing terms. + */ + +#include <Wire.h> +#include <Firmata.h> + + +#define I2C_WRITE B00000000 +#define I2C_READ B00001000 +#define I2C_READ_CONTINUOUSLY B00010000 +#define I2C_STOP_READING B00011000 +#define I2C_READ_WRITE_MODE_MASK B00011000 + +#define MAX_QUERIES 8 + +unsigned long currentMillis; // store the current value from millis() +unsigned long nextExecuteMillis; // for comparison with currentMillis +unsigned int samplingInterval = 32; // default sampling interval is 33ms +unsigned int i2cReadDelayTime = 0; // default delay time between i2c read request and Wire.requestFrom() +unsigned int powerPinsEnabled = 0; // use as boolean to prevent enablePowerPins from being called more than once + +#define MINIMUM_SAMPLING_INTERVAL 10 + +#define REGISTER_NOT_SPECIFIED -1 + +struct i2c_device_info { + byte addr; + byte reg; + byte bytes; +}; + +i2c_device_info query[MAX_QUERIES]; + +byte i2cRxData[32]; +boolean readingContinuously = false; +byte queryIndex = 0; + +void readAndReportData(byte address, int theRegister, byte numBytes) +{ + if (theRegister != REGISTER_NOT_SPECIFIED) { + Wire.beginTransmission(address); + Wire.send((byte)theRegister); + Wire.endTransmission(); + delayMicroseconds(i2cReadDelayTime); // delay is necessary for some devices such as WiiNunchuck + } + else { + theRegister = 0; // fill the register with a dummy value + } + + Wire.requestFrom(address, numBytes); + + // check to be sure correct number of bytes were returned by slave + if(numBytes == Wire.available()) { + i2cRxData[0] = address; + i2cRxData[1] = theRegister; + for (int i = 0; i < numBytes; i++) { + i2cRxData[2 + i] = Wire.receive(); + } + // send slave address, register and received bytes + Firmata.sendSysex(I2C_REPLY, numBytes + 2, i2cRxData); + } + else { + if(numBytes > Wire.available()) { + Firmata.sendString("I2C Read Error: Too many bytes received"); + } else { + Firmata.sendString("I2C Read Error: Too few bytes received"); + } + } + +} + +void sysexCallback(byte command, byte argc, byte *argv) +{ + byte mode; + byte slaveAddress; + byte slaveRegister; + byte data; + int delayTime; + + if (command == I2C_REQUEST) { + mode = argv[1] & I2C_READ_WRITE_MODE_MASK; + slaveAddress = argv[0]; + + switch(mode) { + case I2C_WRITE: + Wire.beginTransmission(slaveAddress); + for (byte i = 2; i < argc; i += 2) { + data = argv[i] + (argv[i + 1] << 7); + Wire.send(data); + } + Wire.endTransmission(); + delayMicroseconds(70); // TODO is this needed? + break; + case I2C_READ: + if (argc == 6) { + // a slave register is specified + slaveRegister = argv[2] + (argv[3] << 7); + data = argv[4] + (argv[5] << 7); // bytes to read + readAndReportData(slaveAddress, (int)slaveRegister, data); + } + else { + // a slave register is NOT specified + data = argv[2] + (argv[3] << 7); // bytes to read + readAndReportData(slaveAddress, (int)REGISTER_NOT_SPECIFIED, data); + } + break; + case I2C_READ_CONTINUOUSLY: + if ((queryIndex + 1) >= MAX_QUERIES) { + // too many queries, just ignore + Firmata.sendString("too many queries"); + break; + } + query[queryIndex].addr = slaveAddress; + query[queryIndex].reg = argv[2] + (argv[3] << 7); + query[queryIndex].bytes = argv[4] + (argv[5] << 7); + readingContinuously = true; + queryIndex++; + break; + case I2C_STOP_READING: + readingContinuously = false; + queryIndex = 0; + break; + default: + break; + } + } + else if (command == SAMPLING_INTERVAL) { + samplingInterval = argv[0] + (argv[1] << 7); + + if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) { + samplingInterval = MINIMUM_SAMPLING_INTERVAL; + } + + samplingInterval -= 1; + Firmata.sendString("sampling interval"); + } + + else if (command == I2C_CONFIG) { + delayTime = (argv[4] + (argv[5] << 7)); // MSB + delayTime = (delayTime << 8) + (argv[2] + (argv[3] << 7)); // add LSB + + if((argv[0] + (argv[1] << 7)) > 0) { + enablePowerPins(PORTC3, PORTC2); + } + + if(delayTime > 0) { + i2cReadDelayTime = delayTime; + } + + if(argc > 6) { + // If you extend I2C_Config, handle your data here + } + + } +} + +void systemResetCallback() +{ + readingContinuously = false; + queryIndex = 0; +} + +/* reference: BlinkM_funcs.h by Tod E. Kurt, ThingM, http://thingm.com/ */ +// Enables Pins A2 and A3 to be used as GND and Power +// so that I2C devices can be plugged directly +// into Arduino header (pins A2 - A5) +static void enablePowerPins(byte pwrpin, byte gndpin) +{ + if(powerPinsEnabled == 0) { + DDRC |= _BV(pwrpin) | _BV(gndpin); + PORTC &=~ _BV(gndpin); + PORTC |= _BV(pwrpin); + powerPinsEnabled = 1; + Firmata.sendString("Power pins enabled"); + delay(100); + } +} + +void setup() +{ + Firmata.setFirmwareVersion(2, 0); + + Firmata.attach(START_SYSEX, sysexCallback); + Firmata.attach(SYSTEM_RESET, systemResetCallback); + + for (int i = 0; i < TOTAL_DIGITAL_PINS; ++i) { + pinMode(i, OUTPUT); + } + + Firmata.begin(57600); + Wire.begin(); +} + +void loop() +{ + while (Firmata.available()) { + Firmata.processInput(); + } + + currentMillis = millis(); + if (currentMillis > nextExecuteMillis) { + nextExecuteMillis = currentMillis + samplingInterval; + + for (byte i = 0; i < queryIndex; i++) { + readAndReportData(query[i].addr, query[i].reg, query[i].bytes); + } + } +} diff --git a/libraries/Firmata/examples/ServoFirmata/ServoFirmata.pde b/libraries/Firmata/examples/ServoFirmata/ServoFirmata.pde index a3c609c..fa48e2b 100644 --- a/libraries/Firmata/examples/ServoFirmata/ServoFirmata.pde +++ b/libraries/Firmata/examples/ServoFirmata/ServoFirmata.pde @@ -28,7 +28,7 @@ void setup() servo9.attach(9); servo10.attach(10); - Firmata.begin(); + Firmata.begin(57600); } void loop() diff --git a/libraries/Firmata/examples/SimpleAnalogFirmata/SimpleAnalogFirmata.pde b/libraries/Firmata/examples/SimpleAnalogFirmata/SimpleAnalogFirmata.pde index 2950c01..430d0d0 100644 --- a/libraries/Firmata/examples/SimpleAnalogFirmata/SimpleAnalogFirmata.pde +++ b/libraries/Firmata/examples/SimpleAnalogFirmata/SimpleAnalogFirmata.pde @@ -16,7 +16,7 @@ void setup() { Firmata.setFirmwareVersion(0, 1); Firmata.attach(ANALOG_MESSAGE, analogWriteCallback); - Firmata.begin(); + Firmata.begin(57600); } void loop() diff --git a/libraries/Firmata/examples/SimpleDigitalFirmata/SimpleDigitalFirmata.pde b/libraries/Firmata/examples/SimpleDigitalFirmata/SimpleDigitalFirmata.pde index 1104a92..9c4e05d 100644 --- a/libraries/Firmata/examples/SimpleDigitalFirmata/SimpleDigitalFirmata.pde +++ b/libraries/Firmata/examples/SimpleDigitalFirmata/SimpleDigitalFirmata.pde @@ -45,7 +45,7 @@ void setup() Firmata.setFirmwareVersion(0, 1); Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback); Firmata.attach(SET_PIN_MODE, setPinModeCallback); - Firmata.begin(); + Firmata.begin(57600); } void loop() diff --git a/libraries/Firmata/examples/StandardFirmata/Makefile b/libraries/Firmata/examples/StandardFirmata/Makefile index 55ca8c2..835187a 100644 --- a/libraries/Firmata/examples/StandardFirmata/Makefile +++ b/libraries/Firmata/examples/StandardFirmata/Makefile @@ -50,14 +50,20 @@ TARGET := $(shell pwd | sed 's|.*/\(.*\)|\1|') ARDUINO = /Applications/arduino ARDUINO_SRC = $(ARDUINO)/hardware/cores/arduino ARDUINO_LIB_SRC = $(ARDUINO)/hardware/libraries +ARDUINO_TOOLS = $(ARDUINO)/hardware/tools INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/hardware/tools/avr/avr/include \ -I$(ARDUINO_LIB_SRC)/EEPROM \ -I$(ARDUINO_LIB_SRC)/Firmata \ + -I$(ARDUINO_LIB_SRC)/Matrix \ + -I$(ARDUINO_LIB_SRC)/Servo \ + -I$(ARDUINO_LIB_SRC)/Wire \ -I$(ARDUINO_LIB_SRC) SRC = $(wildcard $(ARDUINO_SRC)/*.c) CXXSRC = applet/$(TARGET).cpp $(ARDUINO_SRC)/HardwareSerial.cpp \ $(ARDUINO_LIB_SRC)/EEPROM/EEPROM.cpp \ $(ARDUINO_LIB_SRC)/Firmata/Firmata.cpp \ + $(ARDUINO_LIB_SRC)/Servo/Servo.cpp \ + $(ARDUINO_SRC)/Print.cpp \ $(ARDUINO_SRC)/WMath.cpp HEADERS = $(wildcard $(ARDUINO_SRC)/*.h) $(wildcard $(ARDUINO_LIB_SRC)/*/*.h) @@ -106,12 +112,14 @@ AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \ -b $(UPLOAD_RATE) -q -V # Program settings -CC = avr-gcc -CXX = avr-g++ -OBJCOPY = avr-objcopy -OBJDUMP = avr-objdump -SIZE = avr-size -NM = avr-nm +ARDUINO_AVR_BIN = $(ARDUINO_TOOLS)/avr/bin +CC = $(ARDUINO_AVR_BIN)/avr-gcc +CXX = $(ARDUINO_AVR_BIN)/avr-g++ +OBJCOPY = $(ARDUINO_AVR_BIN)/avr-objcopy +OBJDUMP = $(ARDUINO_AVR_BIN)/avr-objdump +SIZE = $(ARDUINO_AVR_BIN)/avr-size +NM = $(ARDUINO_AVR_BIN)/avr-nm +#AVRDUDE = $(ARDUINO_AVR_BIN)/avrdude AVRDUDE = avrdude REMOVE = rm -f MV = mv -f @@ -204,7 +212,8 @@ applet/$(TARGET).cpp: $(TARGET).pde # Link: create ELF output file from object files. applet/$(TARGET).elf: applet/$(TARGET).cpp $(OBJ) - $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) + $(CC) $(ALL_CFLAGS) $(OBJ) -lm --output $@ $(LDFLAGS) +# $(CC) $(ALL_CFLAGS) $(OBJ) $(ARDUINO_TOOLS)/avr/avr/lib/avr5/crtm168.o --output $@ $(LDFLAGS) pd_close_serial: echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true @@ -258,4 +267,7 @@ etags_MINGW: # etags -a /usr/include/*.h /usr/include/sys/*.h +path: + echo $(PATH) + echo $$PATH diff --git a/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde b/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde index 4cc8539..16c8b87 100644 --- a/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde +++ b/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde @@ -1,21 +1,24 @@ /* Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights 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. See file LICENSE.txt for further informations on licensing terms. - */ + + formatted using the GNU C formatting and indenting +*/ + /* - * TODO: add Servo support using setPinMode(pin, SERVO); + * TODO: add Servo support using setPinModeCallback(pin, SERVO); * TODO: use Program Control to load stored profiles from EEPROM */ -#include <EEPROM.h> #include <Firmata.h> +#include <Servo.h> /*============================================================================== * GLOBAL VARIABLES @@ -34,37 +37,45 @@ byte portStatus[TOTAL_PORTS]; /* timer variables */ unsigned long currentMillis; // store the current value from millis() unsigned long nextExecuteMillis; // for comparison with currentMillis +int samplingInterval = 19; // how often to run the main loop (in ms) +Servo servos[2]; // the servo library can control servos on pins 9 and 10 only /*============================================================================== - * FUNCTIONS + * FUNCTIONS *============================================================================*/ void outputPort(byte portNumber, byte portValue) { portValue = portValue &~ portStatus[portNumber]; if(previousPINs[portNumber] != portValue) { - Firmata.sendDigitalPort(portNumber, portValue); - previousPINs[portNumber] = portValue; - Firmata.sendDigitalPort(portNumber, portValue); - } + Firmata.sendDigitalPort(portNumber, portValue); + previousPINs[portNumber] = portValue; + Firmata.sendDigitalPort(portNumber, portValue); + } } /* ----------------------------------------------------------------------------- * check all the active digital inputs for change of state, then add any events * to the Serial output queue using Serial.print() */ -void checkDigitalInputs(void) +void checkDigitalInputs(void) { - byte i, tmp; - for(i=0; i < TOTAL_PORTS; i++) { - if(reportPINs[i]) { - switch(i) { - case 0: outputPort(0, PIND &~ B00000011); break; // ignore Rx/Tx 0/1 - case 1: outputPort(1, PINB); break; - case ANALOG_PORT: outputPort(ANALOG_PORT, PINC); break; - } - } + byte i, tmp; + for(i=0; i < TOTAL_PORTS; i++) { + if(reportPINs[i]) { + switch(i) { + case 0: + outputPort(0, PIND &~ B00000011); // ignore Rx/Tx 0/1 + break; + case 1: + outputPort(1, PINB); + break; + case ANALOG_PORT: + outputPort(ANALOG_PORT, PINC); + break; + } } + } } // ----------------------------------------------------------------------------- @@ -72,61 +83,88 @@ void checkDigitalInputs(void) * two bit-arrays that track Digital I/O and PWM status */ void setPinModeCallback(byte pin, int mode) { - byte port = 0; - byte offset = 0; - - if (pin < 8) { - port = 0; - offset = 0; - } else if (pin < 14) { - port = 1; - offset = 8; - } else if (pin < 22) { - port = 2; - offset = 14; - } + byte port = 0; + byte offset = 0; - if(pin > 1) { // ignore RxTx (pins 0 and 1) + // TODO: abstract for different boards + if (pin < 8) { + port = 0; + offset = 0; + } else if (pin < 14) { + port = 1; + offset = 8; + } else if (pin < 22) { + port = 2; + offset = 14; + } + + if(pin > 1) { // ignore RxTx (pins 0 and 1) + if(pin > 13) + reportAnalogCallback(pin - 14, mode == ANALOG ? 1 : 0); // turn on/off reporting + switch(mode) { + case ANALOG: + digitalWrite(pin, LOW); // disable internal pull-ups and fall thru to 'case INPUT:' + case INPUT: + pinStatus[pin] = mode; + pinMode(pin, INPUT); + portStatus[port] = portStatus[port] &~ (1 << (pin - offset)); + break; + case OUTPUT: + digitalWrite(pin, LOW); // disable PWM and fall thru to 'case PWM:' + case PWM: + pinStatus[pin] = mode; + pinMode(pin, OUTPUT); + portStatus[port] = portStatus[port] | (1 << (pin - offset)); + break; + case SERVO: + if((pin == 9 || pin == 10)) pinStatus[pin] = mode; - switch(mode) { - case INPUT: - pinMode(pin, INPUT); - portStatus[port] = portStatus[port] &~ (1 << (pin - offset)); - break; - case OUTPUT: - digitalWrite(pin, LOW); // disable PWM - case PWM: - pinMode(pin, OUTPUT); - portStatus[port] = portStatus[port] | (1 << (pin - offset)); - break; - //case ANALOG: // TODO figure this out - default: - Firmata.sendString(""); - } - // TODO: save status to EEPROM here, if changed + else + Firmata.sendString("Servo only on pins 9 and 10"); + break; + case I2C: + pinStatus[pin] = mode; + Firmata.sendString("I2C mode not yet supported"); + break; + default: + Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM } + // TODO: save status to EEPROM here, if changed + } } void analogWriteCallback(byte pin, int value) { - setPinModeCallback(pin,PWM); + switch(pinStatus[pin]) { + case SERVO: + if(pin == 9) servos[0].write(value); + if(pin == 10) servos[1].write(value); + break; + case PWM: analogWrite(pin, value); + break; + } } void digitalWriteCallback(byte port, int value) { - switch(port) { - case 0: // pins 2-7 (don't change Rx/Tx, pins 0 and 1) - // 0xFF03 == B1111111100000011 0x03 == B00000011 - PORTD = (value &~ 0xFF03) | (PORTD & 0x03); - break; - case 1: // pins 8-13 (14,15 are disabled for the crystal) - PORTB = (byte)value; - break; - case 2: // analog pins used as digital - PORTC = (byte)value; - break; - } + switch(port) { + case 0: // pins 2-7 (don't change Rx/Tx, pins 0 and 1) + // 0xFF03 == B1111111100000011 0x03 == B00000011 + PORTD = (value &~ 0xFF03) | (PORTD & 0x03); + break; + case 1: // pins 8-13 (14,15 are disabled for the crystal) + PORTB = (byte)value; + break; + case 2: // analog pins used as digital + byte pin; + byte pinModeMask; + for(pin=0; pin<8; pin++) + if(pinStatus[pin] == OUTPUT) + pinModeMask += 1 << pin; + PORTC = (byte)value & pinModeMask; + break; + } } // ----------------------------------------------------------------------------- @@ -136,64 +174,93 @@ void digitalWriteCallback(byte port, int value) //} void reportAnalogCallback(byte pin, int value) { - if(value == 0) { - analogInputsToReport = analogInputsToReport &~ (1 << pin); - } - else { // everything but 0 enables reporting of that pin - analogInputsToReport = analogInputsToReport | (1 << pin); - } - // TODO: save status to EEPROM here, if changed + if(value == 0) { + analogInputsToReport = analogInputsToReport &~ (1 << pin); + } + else { // everything but 0 enables reporting of that pin + analogInputsToReport = analogInputsToReport | (1 << pin); + setPinModeCallback(pin, ANALOG); + } + // TODO: save status to EEPROM here, if changed } void reportDigitalCallback(byte port, int value) { - reportPINs[port] = (byte)value; - if(port == ANALOG_PORT) // turn off analog reporting when used as digital - analogInputsToReport = 0; + reportPINs[port] = (byte)value; + if(port == ANALOG_PORT) // turn off analog reporting when used as digital + analogInputsToReport = 0; +} + +/*============================================================================== + * SYSEX-BASED commands + *============================================================================*/ + +void sysexCallback(byte command, byte argc, byte *argv) +{ + switch(command) { + case SERVO_CONFIG: + if(argc > 4) { + // these vars are here for clarity, they'll optimized away by the compiler + byte pin = argv[0] - 9; // servos are pins 9 and 10, so offset for array + int minPulse = argv[1] + (argv[2] << 7); + int maxPulse = argv[3] + (argv[4] << 7); + servos[pin].attach(argv[0], minPulse, maxPulse); + // TODO does the Servo have to be detach()ed before reconfiguring? + setPinModeCallback(pin, SERVO); + } + break; + case SAMPLING_INTERVAL: + if (argc > 1) + samplingInterval = argv[0] + (argv[1] << 7); + else + Firmata.sendString("Not enough data"); + break; + } } + /*============================================================================== * SETUP() *============================================================================*/ void setup() { - byte i; + byte i; - Firmata.setFirmwareVersion(2, 0); + Firmata.setFirmwareVersion(2, 1); - Firmata.attach(ANALOG_MESSAGE, analogWriteCallback); - Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback); - Firmata.attach(REPORT_ANALOG, reportAnalogCallback); - Firmata.attach(REPORT_DIGITAL, reportDigitalCallback); - Firmata.attach(SET_PIN_MODE, setPinModeCallback); + Firmata.attach(ANALOG_MESSAGE, analogWriteCallback); + Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback); + Firmata.attach(REPORT_ANALOG, reportAnalogCallback); + Firmata.attach(REPORT_DIGITAL, reportDigitalCallback); + Firmata.attach(SET_PIN_MODE, setPinModeCallback); + Firmata.attach(START_SYSEX, sysexCallback); - portStatus[0] = B00000011; // ignore Tx/RX pins - portStatus[1] = B11000000; // ignore 14/15 pins - portStatus[2] = B00000000; + portStatus[0] = B00000011; // ignore Tx/RX pins + portStatus[1] = B11000000; // ignore 14/15 pins + portStatus[2] = B00000000; -// for(i=0; i<TOTAL_DIGITAL_PINS; ++i) { // TODO make this work with analogs - for(i=0; i<14; ++i) { - setPinModeCallback(i,OUTPUT); - } - // set all outputs to 0 to make sure internal pull-up resistors are off - PORTB = 0; // pins 8-15 - PORTC = 0; // analog port - PORTD = 0; // pins 0-7 - - // TODO rethink the init, perhaps it should report analog on default - for(i=0; i<TOTAL_PORTS; ++i) { - reportPINs[i] = false; - } - // TODO: load state from EEPROM here + for(i=0; i<TOTAL_DIGITAL_PINS; ++i) { // TODO make this work with analogs + setPinModeCallback(i,OUTPUT); + } + // set all outputs to 0 to make sure internal pull-up resistors are off + PORTB = 0; // pins 8-15 + PORTC = 0; // analog port + PORTD = 0; // pins 0-7 + + // TODO rethink the init, perhaps it should report analog on default + for(i=0; i<TOTAL_PORTS; ++i) { + reportPINs[i] = false; + } + // TODO: load state from EEPROM here - /* send digital inputs here, if enabled, to set the initial state on the - * host computer, since once in the loop(), this firmware will only send - * digital data on change. */ - if(reportPINs[0]) outputPort(0, PIND &~ B00000011); // ignore Rx/Tx 0/1 - if(reportPINs[1]) outputPort(1, PINB); - if(reportPINs[ANALOG_PORT]) outputPort(ANALOG_PORT, PINC); + /* send digital inputs here, if enabled, to set the initial state on the + * host computer, since once in the loop(), this firmware will only send + * digital data on change. */ + if(reportPINs[0]) outputPort(0, PIND &~ B00000011); // ignore Rx/Tx 0/1 + if(reportPINs[1]) outputPort(1, PINB); + if(reportPINs[ANALOG_PORT]) outputPort(ANALOG_PORT, PINC); - Firmata.begin(); + Firmata.begin(57600); } /*============================================================================== @@ -201,26 +268,26 @@ void setup() *============================================================================*/ void loop() { -/* DIGITALREAD - as fast as possible, check for changes and output them to the - * FTDI buffer using Serial.print() */ - checkDigitalInputs(); - currentMillis = millis(); - if(currentMillis > nextExecuteMillis) { - nextExecuteMillis = currentMillis + 19; // run this every 20ms - /* SERIALREAD - Serial.read() uses a 128 byte circular buffer, so handle - * all serialReads at once, i.e. empty the buffer */ - while(Firmata.available()) - Firmata.processInput(); - /* SEND FTDI WRITE BUFFER - make sure that the FTDI buffer doesn't go over - * 60 bytes. use a timer to sending an event character every 4 ms to - * trigger the buffer to dump. */ + /* DIGITALREAD - as fast as possible, check for changes and output them to the + * FTDI buffer using Serial.print() */ + checkDigitalInputs(); + currentMillis = millis(); + if(currentMillis > nextExecuteMillis) { + nextExecuteMillis = currentMillis + samplingInterval; + /* SERIALREAD - Serial.read() uses a 128 byte circular buffer, so handle + * all serialReads at once, i.e. empty the buffer */ + while(Firmata.available()) + Firmata.processInput(); + /* SEND FTDI WRITE BUFFER - make sure that the FTDI buffer doesn't go over + * 60 bytes. use a timer to sending an event character every 4 ms to + * trigger the buffer to dump. */ - /* ANALOGREAD - right after the event character, do all of the - * analogReads(). These only need to be done every 4ms. */ - for(analogPin=0;analogPin<TOTAL_ANALOG_PINS;analogPin++) { - if( analogInputsToReport & (1 << analogPin) ) { - Firmata.sendAnalog(analogPin, analogRead(analogPin)); - } - } + /* ANALOGREAD - right after the event character, do all of the + * analogReads(). These only need to be done every 4ms. */ + for(analogPin=0;analogPin<TOTAL_ANALOG_PINS;analogPin++) { + if( analogInputsToReport & (1 << analogPin) ) { + Firmata.sendAnalog(analogPin, analogRead(analogPin)); + } } + } } diff --git a/libraries/LiquidCrystal/LiquidCrystal.cpp b/libraries/LiquidCrystal/LiquidCrystal.cpp index b5f2cd4..b66f107 100755 --- a/libraries/LiquidCrystal/LiquidCrystal.cpp +++ b/libraries/LiquidCrystal/LiquidCrystal.cpp @@ -25,10 +25,39 @@ // LiquidCrystal constructor is called). LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable, - uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3, - uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7) : - _four_bit_mode(0), _rs_pin(rs), _rw_pin(rw), _enable_pin(enable) + uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3, + uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7) { + init(0, rs, rw, enable, d0, d1, d2, d3, d4, d5, d6, d7); +} + +LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t enable, + uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3, + uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7) +{ + init(0, rs, -1, enable, d0, d1, d2, d3, d4, d5, d6, d7); +} + +LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable, + uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3) +{ + init(1, rs, rw, enable, d0, d1, d2, d3, 0, 0, 0, 0); +} + +LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t enable, + uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3) +{ + init(1, rs, -1, enable, d0, d1, d2, d3, 0, 0, 0, 0); +} + +void LiquidCrystal::init(uint8_t fourbitmode, uint8_t rs, uint8_t rw, uint8_t enable, + uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3, + uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7) +{ + _rs_pin = rs; + _rw_pin = rw; + _enable_pin = enable; + _data_pins[0] = d0; _data_pins[1] = d1; _data_pins[2] = d2; @@ -37,92 +66,244 @@ LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable, _data_pins[5] = d5; _data_pins[6] = d6; _data_pins[7] = d7; - + pinMode(_rs_pin, OUTPUT); - pinMode(_rw_pin, OUTPUT); + // we can save 1 pin by not using RW. Indicate by passing -1 instead of pin# + if (_rw_pin != -1) { + pinMode(_rw_pin, OUTPUT); + } pinMode(_enable_pin, OUTPUT); - for (int i = 0; i < 8; i++) - pinMode(_data_pins[i], OUTPUT); - - command(0x38); // function set: 8 bits, 1 line, 5x8 dots - command(0x0C); // display control: turn display on, cursor off, no blinking - command(0x06); // entry mode set: increment automatically, display shift, right shift - clear(); + if (fourbitmode) + _displayfunction = LCD_4BITMODE | LCD_1LINE | LCD_5x8DOTS; + else + _displayfunction = LCD_8BITMODE | LCD_1LINE | LCD_5x8DOTS; + + begin(16, 1); } -LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable, - uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3) : - _four_bit_mode(1), _rs_pin(rs), _rw_pin(rw), _enable_pin(enable) -{ - _data_pins[0] = d0; - _data_pins[1] = d1; - _data_pins[2] = d2; - _data_pins[3] = d3; - - pinMode(_rs_pin, OUTPUT); - pinMode(_rw_pin, OUTPUT); - pinMode(_enable_pin, OUTPUT); +void LiquidCrystal::begin(uint8_t cols, uint8_t lines, uint8_t dotsize) { + if (lines > 1) { + _displayfunction |= LCD_2LINE; + } + _numlines = lines; + _currline = 0; + + // for some 1 line displays you can select a 10 pixel high font + if ((dotsize != 0) && (lines == 1)) { + _displayfunction |= LCD_5x10DOTS; + } + + // SEE PAGE 45/46 FOR INITIALIZATION SPECIFICATION! + // according to datasheet, we need at least 40ms after power rises above 2.7V + // before sending commands. Arduino can turn on way befer 4.5V so we'll wait 50 + delayMicroseconds(50000); + // Now we pull both RS and R/W low to begin commands + digitalWrite(_rs_pin, LOW); + digitalWrite(_enable_pin, LOW); + if (_rw_pin != -1) { + digitalWrite(_rw_pin, LOW); + } - for (int i = 0; i < 4; i++) - pinMode(_data_pins[i], OUTPUT); - - command(0x28); // function set: 4 bits, 1 line, 5x8 dots - command(0x0C); // display control: turn display on, cursor off, no blinking - command(0x06); // entry mode set: increment automatically, display shift, right shift + //put the LCD into 4 bit or 8 bit mode + if (! (_displayfunction & LCD_8BITMODE)) { + // this is according to the hitachi HD44780 datasheet + // figure 24, pg 46 + + // we start in 8bit mode, try to set 4 bit mode + write4bits(0x03); + delayMicroseconds(4500); // wait min 4.1ms + + // second try + write4bits(0x03); + delayMicroseconds(4500); // wait min 4.1ms + + // third go! + write4bits(0x03); + delayMicroseconds(150); + + // finally, set to 8-bit interface + write4bits(0x02); + } else { + // this is according to the hitachi HD44780 datasheet + // page 45 figure 23 + + // Send function set command sequence + command(LCD_FUNCTIONSET | _displayfunction); + delayMicroseconds(4500); // wait more than 4.1ms + + // second try + command(LCD_FUNCTIONSET | _displayfunction); + delayMicroseconds(150); + + // third go + command(LCD_FUNCTIONSET | _displayfunction); + } + + // finally, set # lines, font size, etc. + command(LCD_FUNCTIONSET | _displayfunction); + + // turn the display on with no cursor or blinking default + _displaycontrol = LCD_DISPLAYON | LCD_CURSOROFF | LCD_BLINKOFF; + display(); + + // clear it off clear(); + + // Initialize to default text direction (for romance languages) + _displaymode = LCD_ENTRYLEFT | LCD_ENTRYSHIFTDECREMENT; + // set the entry mode + command(LCD_ENTRYMODESET | _displaymode); + } +/********** high level commands, for the user! */ void LiquidCrystal::clear() { - command(0x01); // clear display, set cursor position to zero - delayMicroseconds(2000); + command(LCD_CLEARDISPLAY); // clear display, set cursor position to zero + delayMicroseconds(2000); // this command takes a long time! } void LiquidCrystal::home() { - command(0x02); // set cursor position to zero - delayMicroseconds(2000); + command(LCD_RETURNHOME); // set cursor position to zero + delayMicroseconds(2000); // this command takes a long time! } -void LiquidCrystal::setCursor(int col, int row) +void LiquidCrystal::setCursor(uint8_t col, uint8_t row) { int row_offsets[] = { 0x00, 0x40, 0x14, 0x54 }; - command(0x80 | (col + row_offsets[row])); + if ( row > _numlines ) { + row = _numlines-1; // we count rows starting w/0 + } + + command(LCD_SETDDRAMADDR | (col + row_offsets[row])); +} + +// Turn the display on/off (quickly) +void LiquidCrystal::noDisplay() { + _displaycontrol &= ~LCD_DISPLAYON; + command(LCD_DISPLAYCONTROL | _displaycontrol); +} +void LiquidCrystal::display() { + _displaycontrol |= LCD_DISPLAYON; + command(LCD_DISPLAYCONTROL | _displaycontrol); +} + +// Turns the underline cursor on/off +void LiquidCrystal::noCursor() { + _displaycontrol &= ~LCD_CURSORON; + command(LCD_DISPLAYCONTROL | _displaycontrol); +} +void LiquidCrystal::cursor() { + _displaycontrol |= LCD_CURSORON; + command(LCD_DISPLAYCONTROL | _displaycontrol); +} + +// Turn on and off the blinking cursor +void LiquidCrystal::noBlink() { + _displaycontrol &= ~LCD_BLINKON; + command(LCD_DISPLAYCONTROL | _displaycontrol); +} +void LiquidCrystal::blink() { + _displaycontrol |= LCD_BLINKON; + command(LCD_DISPLAYCONTROL | _displaycontrol); +} + +// These commands scroll the display without changing the RAM +void LiquidCrystal::scrollDisplayLeft(void) { + command(LCD_CURSORSHIFT | LCD_DISPLAYMOVE | LCD_MOVELEFT); +} +void LiquidCrystal::scrollDisplayRight(void) { + command(LCD_CURSORSHIFT | LCD_DISPLAYMOVE | LCD_MOVERIGHT); +} + +// This is for text that flows Left to Right +void LiquidCrystal::leftToRight(void) { + _displaymode |= LCD_ENTRYLEFT; + command(LCD_ENTRYMODESET | _displaymode); +} + +// This is for text that flows Right to Left +void LiquidCrystal::rightToLeft(void) { + _displaymode &= ~LCD_ENTRYLEFT; + command(LCD_ENTRYMODESET | _displaymode); +} + +// This will 'right justify' text from the cursor +void LiquidCrystal::autoscroll(void) { + _displaymode |= LCD_ENTRYSHIFTINCREMENT; + command(LCD_ENTRYMODESET | _displaymode); } -void LiquidCrystal::command(uint8_t value) { +// This will 'left justify' text from the cursor +void LiquidCrystal::noAutoscroll(void) { + _displaymode &= ~LCD_ENTRYSHIFTINCREMENT; + command(LCD_ENTRYMODESET | _displaymode); +} + +// Allows us to fill the first 8 CGRAM locations +// with custom characters +void LiquidCrystal::createChar(uint8_t location, uint8_t charmap[]) { + location &= 0x7; // we only have 8 locations 0-7 + command(LCD_SETCGRAMADDR | (location << 3)); + for (int i=0; i<8; i++) { + write(charmap[i]); + } +} + +/*********** mid level commands, for sending data/cmds */ + +inline void LiquidCrystal::command(uint8_t value) { send(value, LOW); } -void LiquidCrystal::write(uint8_t value) { +inline void LiquidCrystal::write(uint8_t value) { send(value, HIGH); } +/************ low level data pushing commands **********/ + +// write either command or data, with automatic 4/8-bit selection void LiquidCrystal::send(uint8_t value, uint8_t mode) { digitalWrite(_rs_pin, mode); - digitalWrite(_rw_pin, LOW); - - if (_four_bit_mode) { - for (int i = 0; i < 4; i++) { - digitalWrite(_data_pins[i], (value >> (i + 4)) & 0x01); - } - - digitalWrite(_enable_pin, HIGH); - digitalWrite(_enable_pin, LOW); - - for (int i = 0; i < 4; i++) { - digitalWrite(_data_pins[i], (value >> i) & 0x01); - } - digitalWrite(_enable_pin, HIGH); - digitalWrite(_enable_pin, LOW); + // if there is a RW pin indicated, set it low to Write + if (_rw_pin != -1) { + digitalWrite(_rw_pin, LOW); + } + + if (_displayfunction & LCD_8BITMODE) { + write8bits(value); } else { - for (int i = 0; i < 8; i++) { - digitalWrite(_data_pins[i], (value >> i) & 0x01); - } + write4bits(value>>4); + write4bits(value); + } +} + +void LiquidCrystal::pulseEnable(void) { + digitalWrite(_enable_pin, LOW); + delayMicroseconds(1); + digitalWrite(_enable_pin, HIGH); + delayMicroseconds(1); // enable pulse must be >450ns + digitalWrite(_enable_pin, LOW); + delayMicroseconds(100); // commands need > 37us to settle +} - digitalWrite(_enable_pin, HIGH); - digitalWrite(_enable_pin, LOW); +void LiquidCrystal::write4bits(uint8_t value) { + for (int i = 0; i < 4; i++) { + pinMode(_data_pins[i], OUTPUT); + digitalWrite(_data_pins[i], (value >> i) & 0x01); } + + pulseEnable(); +} + +void LiquidCrystal::write8bits(uint8_t value) { + for (int i = 0; i < 8; i++) { + pinMode(_data_pins[i], OUTPUT); + digitalWrite(_data_pins[i], (value >> i) & 0x01); + } + + pulseEnable(); } diff --git a/libraries/LiquidCrystal/LiquidCrystal.h b/libraries/LiquidCrystal/LiquidCrystal.h index a5edc5f..f66ec1b 100755 --- a/libraries/LiquidCrystal/LiquidCrystal.h +++ b/libraries/LiquidCrystal/LiquidCrystal.h @@ -4,28 +4,101 @@ #include <inttypes.h> #include "Print.h" +// commands +#define LCD_CLEARDISPLAY 0x01 +#define LCD_RETURNHOME 0x02 +#define LCD_ENTRYMODESET 0x04 +#define LCD_DISPLAYCONTROL 0x08 +#define LCD_CURSORSHIFT 0x10 +#define LCD_FUNCTIONSET 0x20 +#define LCD_SETCGRAMADDR 0x40 +#define LCD_SETDDRAMADDR 0x80 + +// flags for display entry mode +#define LCD_ENTRYRIGHT 0x00 +#define LCD_ENTRYLEFT 0x02 +#define LCD_ENTRYSHIFTINCREMENT 0x01 +#define LCD_ENTRYSHIFTDECREMENT 0x00 + +// flags for display on/off control +#define LCD_DISPLAYON 0x04 +#define LCD_DISPLAYOFF 0x00 +#define LCD_CURSORON 0x02 +#define LCD_CURSOROFF 0x00 +#define LCD_BLINKON 0x01 +#define LCD_BLINKOFF 0x00 + +// flags for display/cursor shift +#define LCD_DISPLAYMOVE 0x08 +#define LCD_CURSORMOVE 0x00 +#define LCD_MOVERIGHT 0x04 +#define LCD_MOVELEFT 0x00 + +// flags for function set +#define LCD_8BITMODE 0x10 +#define LCD_4BITMODE 0x00 +#define LCD_2LINE 0x08 +#define LCD_1LINE 0x00 +#define LCD_5x10DOTS 0x04 +#define LCD_5x8DOTS 0x00 + class LiquidCrystal : public Print { public: - LiquidCrystal(uint8_t, uint8_t, uint8_t, uint8_t, uint8_t, uint8_t, uint8_t); - LiquidCrystal(uint8_t, uint8_t, uint8_t, uint8_t, uint8_t, uint8_t, uint8_t, - uint8_t, uint8_t, uint8_t, uint8_t); + LiquidCrystal(uint8_t rs, uint8_t enable, + uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3, + uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7); + LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable, + uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3, + uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7); + LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable, + uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3); + LiquidCrystal(uint8_t rs, uint8_t enable, + uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3); + + void init(uint8_t fourbitmode, uint8_t rs, uint8_t rw, uint8_t enable, + uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3, + uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7); + + void begin(uint8_t cols, uint8_t rows, uint8_t charsize = LCD_5x8DOTS); + void clear(); void home(); - void setCursor(int, int); - /* - void shiftDisplayLeft(); - void shiftDisplayRight(); - */ + + void noDisplay(); + void display(); + void noBlink(); + void blink(); + void noCursor(); + void cursor(); + void scrollDisplayLeft(); + void scrollDisplayRight(); + void leftToRight(); + void rightToLeft(); + void autoscroll(); + void noAutoscroll(); + + void createChar(uint8_t, uint8_t[]); + void setCursor(uint8_t, uint8_t); virtual void write(uint8_t); void command(uint8_t); private: void send(uint8_t, uint8_t); - - uint8_t _four_bit_mode; + void write4bits(uint8_t); + void write8bits(uint8_t); + void pulseEnable(); + uint8_t _rs_pin; // LOW: command. HIGH: character. uint8_t _rw_pin; // LOW: write to LCD. HIGH: read from LCD. uint8_t _enable_pin; // activated by a HIGH pulse. uint8_t _data_pins[8]; + + uint8_t _displayfunction; + uint8_t _displaycontrol; + uint8_t _displaymode; + + uint8_t _initialized; + + uint8_t _numlines,_currline; }; #endif diff --git a/libraries/LiquidCrystal/examples/Autoscroll/Autoscroll.pde b/libraries/LiquidCrystal/examples/Autoscroll/Autoscroll.pde new file mode 100644 index 0000000..bf33743 --- /dev/null +++ b/libraries/LiquidCrystal/examples/Autoscroll/Autoscroll.pde @@ -0,0 +1,70 @@ +/* + LiquidCrystal Library - Autoscroll + + Demonstrates the use a 16x2 LCD display. The LiquidCrystal + library works with all LCD displays that are compatible with the + Hitachi HD44780 driver. There are many of them out there, and you + can usually tell them by the 16-pin interface. + + This sketch demonstrates the use of the autoscroll() + and noAutoscroll() functions to make new text scroll or not. + + The circuit: + * LCD RS pin to digital pin 12 + * LCD Enable pin to digital pin 11 + * LCD D4 pin to digital pin 5 + * LCD D5 pin to digital pin 4 + * LCD D6 pin to digital pin 3 + * LCD D7 pin to digital pin 2 + * 10K resistor: + * ends to +5V and ground + * wiper to LCD VO pin (pin 3) + + Library originally added 18 Apr 2008 + by David A. Mellis + library modified 5 Jul 2009 + by Limor Fried (http://www.ladyada.net) + example added 9 Jul 2009 + by Tom Igoe + modified 25 July 2009 + by David A. Mellis + + http://www.arduino.cc/en/Tutorial/LiquidCrystal + */ + +// include the library code: +#include <LiquidCrystal.h> + +// initialize the library with the numbers of the interface pins +LiquidCrystal lcd(12, 11, 5, 4, 3, 2); + +void setup() { + // set up the LCD's number of columns and rows: + lcd.begin(16,2); +} + +void loop() { + // set the cursor to (0,0): + lcd.setCursor(0, 0); + // print from 0 to 9: + for (int thisChar = 0; thisChar < 10; thisChar++) { + lcd.print(thisChar); + delay(500); + } + + // set the cursor to (16,1): + lcd.setCursor(16,1); + // set the display to automatically scroll: + lcd.autoscroll(); + // print from 0 to 9: + for (int thisChar = 0; thisChar < 10; thisChar++) { + lcd.print(thisChar); + delay(500); + } + // turn off automatic scrolling + lcd.noAutoscroll(); + + // clear screen for the next loop: + lcd.clear(); +} + diff --git a/libraries/LiquidCrystal/examples/Blink/Blink.pde b/libraries/LiquidCrystal/examples/Blink/Blink.pde new file mode 100644 index 0000000..83c79b4 --- /dev/null +++ b/libraries/LiquidCrystal/examples/Blink/Blink.pde @@ -0,0 +1,58 @@ +/* + LiquidCrystal Library - Blink + + Demonstrates the use a 16x2 LCD display. The LiquidCrystal + library works with all LCD displays that are compatible with the + Hitachi HD44780 driver. There are many of them out there, and you + can usually tell them by the 16-pin interface. + + This sketch prints "Hello World!" to the LCD and makes the + cursor block blink. + + The circuit: + * LCD RS pin to digital pin 12 + * LCD Enable pin to digital pin 11 + * LCD D4 pin to digital pin 5 + * LCD D5 pin to digital pin 4 + * LCD D6 pin to digital pin 3 + * LCD D7 pin to digital pin 2 + * 10K resistor: + * ends to +5V and ground + * wiper to LCD VO pin (pin 3) + + Library originally added 18 Apr 2008 + by David A. Mellis + library modified 5 Jul 2009 + by Limor Fried (http://www.ladyada.net) + example added 9 Jul 2009 + by Tom Igoe + modified 25 July 2009 + by David A. Mellis + + http://www.arduino.cc/en/Tutorial/LiquidCrystal + + */ + +// include the library code: +#include <LiquidCrystal.h> + +// initialize the library with the numbers of the interface pins +LiquidCrystal lcd(12, 11, 5, 4, 3, 2); + +void setup() { + // set up the LCD's number of rows and columns: + lcd.begin(16, 2); + // Print a message to the LCD. + lcd.print("hello, world!"); +} + +void loop() { + // Turn off the blinking cursor: + lcd.noBlink(); + delay(3000); + // Turn on the blinking cursor: + lcd.blink(); + delay(3000); +} + + diff --git a/libraries/LiquidCrystal/examples/Cursor/Cursor.pde b/libraries/LiquidCrystal/examples/Cursor/Cursor.pde new file mode 100644 index 0000000..c0273f4 --- /dev/null +++ b/libraries/LiquidCrystal/examples/Cursor/Cursor.pde @@ -0,0 +1,58 @@ +/* + LiquidCrystal Library - Cursor + + Demonstrates the use a 16x2 LCD display. The LiquidCrystal + library works with all LCD displays that are compatible with the + Hitachi HD44780 driver. There are many of them out there, and you + can usually tell them by the 16-pin interface. + + This sketch prints "Hello World!" to the LCD and + uses the cursor() and noCursor() methods to turn + on and off the cursor. + + The circuit: + * LCD RS pin to digital pin 12 + * LCD Enable pin to digital pin 11 + * LCD D4 pin to digital pin 5 + * LCD D5 pin to digital pin 4 + * LCD D6 pin to digital pin 3 + * LCD D7 pin to digital pin 2 + * 10K resistor: + * ends to +5V and ground + * wiper to LCD VO pin (pin 3) + + Library originally added 18 Apr 2008 + by David A. Mellis + library modified 5 Jul 2009 + by Limor Fried (http://www.ladyada.net) + example added 9 Jul 2009 + by Tom Igoe + modified 25 July 2009 + by David A. Mellis + + + http://www.arduino.cc/en/Tutorial/LiquidCrystal + */ + +// include the library code: +#include <LiquidCrystal.h> + +// initialize the library with the numbers of the interface pins +LiquidCrystal lcd(12, 11, 5, 4, 3, 2); + +void setup() { + // set up the LCD's number of rows and columns: + lcd.begin(16, 2); + // Print a message to the LCD. + lcd.print("hello, world!"); +} + +void loop() { + // Turn off the cursor: + lcd.noCursor(); + delay(500); + // Turn on the cursor: + lcd.cursor(); + delay(500); +} + diff --git a/libraries/LiquidCrystal/examples/Display/Display.pde b/libraries/LiquidCrystal/examples/Display/Display.pde new file mode 100644 index 0000000..b430539 --- /dev/null +++ b/libraries/LiquidCrystal/examples/Display/Display.pde @@ -0,0 +1,58 @@ +/* + LiquidCrystal Library - display() and noDisplay() + + Demonstrates the use a 16x2 LCD display. The LiquidCrystal + library works with all LCD displays that are compatible with the + Hitachi HD44780 driver. There are many of them out there, and you + can usually tell them by the 16-pin interface. + + This sketch prints "Hello World!" to the LCD and uses the + display() and noDisplay() functions to turn on and off + the display. + + The circuit: + * LCD RS pin to digital pin 12 + * LCD Enable pin to digital pin 11 + * LCD D4 pin to digital pin 5 + * LCD D5 pin to digital pin 4 + * LCD D6 pin to digital pin 3 + * LCD D7 pin to digital pin 2 + * 10K resistor: + * ends to +5V and ground + * wiper to LCD VO pin (pin 3) + + Library originally added 18 Apr 2008 + by David A. Mellis + library modified 5 Jul 2009 + by Limor Fried (http://www.ladyada.net) + example added 9 Jul 2009 + by Tom Igoe + modified 25 July 2009 + by David A. Mellis + + + http://www.arduino.cc/en/Tutorial/LiquidCrystal + */ + +// include the library code: +#include <LiquidCrystal.h> + +// initialize the library with the numbers of the interface pins +LiquidCrystal lcd(12, 11, 5, 4, 3, 2); + +void setup() { + // set up the LCD's number of rows and columns: + lcd.begin(16, 2); + // Print a message to the LCD. + lcd.print("hello, world!"); +} + +void loop() { + // Turn off the display: + lcd.noDisplay(); + delay(500); + // Turn on the display: + lcd.display(); + delay(500); +} + diff --git a/libraries/LiquidCrystal/examples/HelloWorld/HelloWorld.pde b/libraries/LiquidCrystal/examples/HelloWorld/HelloWorld.pde index 2f244d0..76cd746 100644 --- a/libraries/LiquidCrystal/examples/HelloWorld/HelloWorld.pde +++ b/libraries/LiquidCrystal/examples/HelloWorld/HelloWorld.pde @@ -1,18 +1,56 @@ +/* + LiquidCrystal Library - Hello World + + Demonstrates the use a 16x2 LCD display. The LiquidCrystal + library works with all LCD displays that are compatible with the + Hitachi HD44780 driver. There are many of them out there, and you + can usually tell them by the 16-pin interface. + + This sketch prints "Hello World!" to the LCD + and shows the time. + + The circuit: + * LCD RS pin to digital pin 12 + * LCD Enable pin to digital pin 11 + * LCD D4 pin to digital pin 5 + * LCD D5 pin to digital pin 4 + * LCD D6 pin to digital pin 3 + * LCD D7 pin to digital pin 2 + * 10K resistor: + * ends to +5V and ground + * wiper to LCD VO pin (pin 3) + + Library originally added 18 Apr 2008 + by David A. Mellis + library modified 5 Jul 2009 + by Limor Fried (http://www.ladyada.net) + example added 9 Jul 2009 + by Tom Igoe + modified 25 July 2009 + by David A. Mellis + + + http://www.arduino.cc/en/Tutorial/LiquidCrystal + */ + +// include the library code: #include <LiquidCrystal.h> -// LiquidCrystal display with: -// rs on pin 12 -// rw on pin 11 -// enable on pin 10 -// d4, d5, d6, d7 on pins 5, 4, 3, 2 -LiquidCrystal lcd(12, 11, 10, 5, 4, 3, 2); +// initialize the library with the numbers of the interface pins +LiquidCrystal lcd(12, 11, 5, 4, 3, 2); -void setup() -{ +void setup() { + // set up the LCD's number of rows and columns: + lcd.begin(16, 2); // Print a message to the LCD. lcd.print("hello, world!"); } -void loop() -{ +void loop() { + // set the cursor to column 0, line 1 + // (note: line 1 is the second row, since counting begins with 0): + lcd.setCursor(0, 1); + // print the number of seconds since reset: + lcd.print(millis()/1000); } + diff --git a/libraries/LiquidCrystal/examples/Scroll/Scroll.pde b/libraries/LiquidCrystal/examples/Scroll/Scroll.pde new file mode 100644 index 0000000..9276553 --- /dev/null +++ b/libraries/LiquidCrystal/examples/Scroll/Scroll.pde @@ -0,0 +1,83 @@ +/* + LiquidCrystal Library - scrollDisplayLeft() and scrollDisplayRight() + + Demonstrates the use a 16x2 LCD display. The LiquidCrystal + library works with all LCD displays that are compatible with the + Hitachi HD44780 driver. There are many of them out there, and you + can usually tell them by the 16-pin interface. + + This sketch prints "Hello World!" to the LCD and uses the + scrollDisplayLeft() and scrollDisplayRight() methods to scroll + the text. + + The circuit: + * LCD RS pin to digital pin 12 + * LCD Enable pin to digital pin 11 + * LCD D4 pin to digital pin 5 + * LCD D5 pin to digital pin 4 + * LCD D6 pin to digital pin 3 + * LCD D7 pin to digital pin 2 + * 10K resistor: + * ends to +5V and ground + * wiper to LCD VO pin (pin 3) + + Library originally added 18 Apr 2008 + by David A. Mellis + library modified 5 Jul 2009 + by Limor Fried (http://www.ladyada.net) + example added 9 Jul 2009 + by Tom Igoe + modified 25 July 2009 + by David A. Mellis + + http://www.arduino.cc/en/Tutorial/LiquidCrystal + */ + +// include the library code: +#include <LiquidCrystal.h> + +// initialize the library with the numbers of the interface pins +LiquidCrystal lcd(12, 11, 5, 4, 3, 2); + +void setup() { + // set up the LCD's number of rows and columns: + lcd.begin(16, 2); + //lcd.setCursor(0,7); + // Print a message to the LCD. + lcd.print("hello, world!"); + delay(1000); +} + +void loop() { + // scroll 13 positions (string length) to the left + // to move it offscreen left: + for (int positionCounter = 0; positionCounter < 13; positionCounter++) { + // scroll one position left: + lcd.scrollDisplayLeft(); + // wait a bit: + delay(150); + } + + // scroll 29 positions (string length + display length) to the right + // to move it offscreen right: + for (int positionCounter = 0; positionCounter < 29; positionCounter++) { + // scroll one position right: + lcd.scrollDisplayRight(); + // wait a bit: + delay(150); + } + + // scroll 16 positions (display length + string length) to the left + // to move it back to center: + for (int positionCounter = 0; positionCounter < 16; positionCounter++) { + // scroll one position left: + lcd.scrollDisplayLeft(); + // wait a bit: + delay(150); + } + + // delay at the end of the full loop: + delay(1000); + +} + diff --git a/libraries/LiquidCrystal/examples/SerialDisplay/SerialDisplay.pde b/libraries/LiquidCrystal/examples/SerialDisplay/SerialDisplay.pde index 0c4ce35..a094c24 100644 --- a/libraries/LiquidCrystal/examples/SerialDisplay/SerialDisplay.pde +++ b/libraries/LiquidCrystal/examples/SerialDisplay/SerialDisplay.pde @@ -1,19 +1,47 @@ /* - * Displays text sent over the serial port (e.g. from the Serial Monitor) on - * an attached LCD. + LiquidCrystal Library - Serial Input + + Demonstrates the use a 16x2 LCD display. The LiquidCrystal + library works with all LCD displays that are compatible with the + Hitachi HD44780 driver. There are many of them out there, and you + can usually tell them by the 16-pin interface. + + This sketch displays text sent over the serial port + (e.g. from the Serial Monitor) on an attached LCD. + + The circuit: + * LCD RS pin to digital pin 12 + * LCD Enable pin to digital pin 11 + * LCD D4 pin to digital pin 5 + * LCD D5 pin to digital pin 4 + * LCD D6 pin to digital pin 3 + * LCD D7 pin to digital pin 2 + * 10K resistor: + * ends to +5V and ground + * wiper to LCD VO pin (pin 3) + + Library originally added 18 Apr 2008 + by David A. Mellis + library modified 5 Jul 2009 + by Limor Fried (http://www.ladyada.net) + example added 9 Jul 2009 + by Tom Igoe +modified 25 July 2009 + by David A. Mellis + + http://www.arduino.cc/en/Tutorial/LiquidCrystal */ +// include the library code: #include <LiquidCrystal.h> -// LiquidCrystal display with: -// rs on pin 12 -// rw on pin 11 -// enable on pin 10 -// d4, d5, d6, d7 on pins 5, 4, 3, 2 -LiquidCrystal lcd(12, 11, 10, 5, 4, 3, 2); +// initialize the library with the numbers of the interface pins +LiquidCrystal lcd(12, 11, 5, 4, 3, 2); -void setup() -{ +void setup(){ + // set up the LCD's number of rows and columns: + lcd.begin(16, 2); + // initialize the serial communications: Serial.begin(9600); } diff --git a/libraries/LiquidCrystal/examples/TextDirection/TextDirection.pde b/libraries/LiquidCrystal/examples/TextDirection/TextDirection.pde new file mode 100644 index 0000000..725eb0d --- /dev/null +++ b/libraries/LiquidCrystal/examples/TextDirection/TextDirection.pde @@ -0,0 +1,84 @@ + /* + LiquidCrystal Library - TextDirection + + Demonstrates the use a 16x2 LCD display. The LiquidCrystal + library works with all LCD displays that are compatible with the + Hitachi HD44780 driver. There are many of them out there, and you + can usually tell them by the 16-pin interface. + + This sketch demonstrates how to use leftToRight() and rightToLeft() + to move the cursor. + + The circuit: + * LCD RS pin to digital pin 12 + * LCD Enable pin to digital pin 11 + * LCD D4 pin to digital pin 5 + * LCD D5 pin to digital pin 4 + * LCD D6 pin to digital pin 3 + * LCD D7 pin to digital pin 2 + * 10K resistor: + * ends to +5V and ground + * wiper to LCD VO pin (pin 3) + + Library originally added 18 Apr 2008 + by David A. Mellis + library modified 5 Jul 2009 + by Limor Fried (http://www.ladyada.net) + example added 9 Jul 2009 + by Tom Igoe + modified 25 July 2009 + by David A. Mellis + + http://www.arduino.cc/en/Tutorial/LiquidCrystal + + */ + +// include the library code: +#include <LiquidCrystal.h> + +// initialize the library with the numbers of the interface pins +LiquidCrystal lcd(12, 11, 5, 4, 3, 2); + +int thisChar = 'a'; + +void setup() { + // set up the LCD's number of rows and columns: + lcd.begin(16, 2); + // turn on the cursor: + lcd.cursor(); + Serial.begin(9600); +} + +void loop() { + // reverse directions at 'm': + if (thisChar == 'm') { + // go right for the next letter + lcd.rightToLeft(); + } + // reverse again at 's': + if (thisChar == 's') { + // go left for the next letter + lcd.leftToRight(); + } + // reset at 'z': + if (thisChar > 'z') { + // go to (0,0): + lcd.home(); + // start again at 0 + thisChar = 'a'; + } + // print the character + lcd.print(thisChar, BYTE); + // wait a second: + delay(1000); + // increment the letter: + thisChar++; +} + + + + + + + + diff --git a/libraries/LiquidCrystal/examples/setCursor/setCursor.pde b/libraries/LiquidCrystal/examples/setCursor/setCursor.pde new file mode 100644 index 0000000..edd2e77 --- /dev/null +++ b/libraries/LiquidCrystal/examples/setCursor/setCursor.pde @@ -0,0 +1,68 @@ +/* + LiquidCrystal Library - setCursor + + Demonstrates the use a 16x2 LCD display. The LiquidCrystal + library works with all LCD displays that are compatible with the + Hitachi HD44780 driver. There are many of them out there, and you + can usually tell them by the 16-pin interface. + + This sketch prints to all the positions of the LCD using the + setCursor(0 method: + + The circuit: + * LCD RS pin to digital pin 12 + * LCD Enable pin to digital pin 11 + * LCD D4 pin to digital pin 5 + * LCD D5 pin to digital pin 4 + * LCD D6 pin to digital pin 3 + * LCD D7 pin to digital pin 2 + * 10K resistor: + * ends to +5V and ground + * wiper to LCD VO pin (pin 3) + + Library originally added 18 Apr 2008 + by David A. Mellis + library modified 5 Jul 2009 + by Limor Fried (http://www.ladyada.net) + example added 9 Jul 2009 + by Tom Igoe + modified 25 July 2009 + by David A. Mellis + + http://www.arduino.cc/en/Tutorial/LiquidCrystal + */ + +// include the library code: +#include <LiquidCrystal.h> + +// these constants won't change. But you can change the size of +// your LCD using them: +const int numRows = 2; +const int numCols = 16; + +// initialize the library with the numbers of the interface pins +LiquidCrystal lcd(12, 11, 5, 4, 3, 2); + +void setup() { + // set up the LCD's number of rows and columns: + lcd.begin(numRows, numCols); +} + +void loop() { + // loop from ASCII 'a' to ASCII 'z': + for (int thisLetter = 'a'; thisLetter <= 'z'; thisLetter++) { + // loop over the columns: + for (int thisCol = 0; thisCol < numRows; thisCol++) { + // loop over the rows: + for (int thisRow = 0; thisRow < numCols; thisRow++) { + // set the cursor position: + lcd.setCursor(thisRow,thisCol); + // print the letter: + lcd.print(thisLetter, BYTE); + delay(200); + } + } + } +} + + diff --git a/libraries/LiquidCrystal/keywords.txt b/libraries/LiquidCrystal/keywords.txt index 367ab1f..132845c 100755 --- a/libraries/LiquidCrystal/keywords.txt +++ b/libraries/LiquidCrystal/keywords.txt @@ -12,10 +12,24 @@ LiquidCrystal KEYWORD1 # Methods and Functions (KEYWORD2) ####################################### +begin KEYWORD2 clear KEYWORD2 home KEYWORD2 print KEYWORD2 setCursor KEYWORD2 +cursor KEYWORD2 +noCursor KEYWORD2 +blink KEYWORD2 +noBlink KEYWORD2 +display KEYWORD2 +noDisplay KEYWORD2 +autoscroll KEYWORD2 +noAutoscroll KEYWORD2 +leftToRight KEYWORD2 +rightToLeft KEYWORD2 +scrollDisplayLeft KEYWORD2 +scrollDisplayRight KEYWORD2 +createChar KEYWORD2 ####################################### # Constants (LITERAL1) diff --git a/libraries/Servo/Servo.cpp b/libraries/Servo/Servo.cpp index 8578fef..9f58d64 100755 --- a/libraries/Servo/Servo.cpp +++ b/libraries/Servo/Servo.cpp @@ -1,133 +1,268 @@ -#include <avr/interrupt.h> -#include <wiring.h> -#include <Servo.h> - -/* - Servo.h - Hardware Servo Timer Library - Author: Jim Studt, jim@federated.com - Copyright (c) 2007 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 -*/ - - -uint8_t Servo::attached9 = 0; -uint8_t Servo::attached10 = 0; - -void Servo::seizeTimer1() -{ - uint8_t oldSREG = SREG; - - cli(); - TCCR1A = _BV(WGM11); /* Fast PWM, ICR1 is top */ - TCCR1B = _BV(WGM13) | _BV(WGM12) /* Fast PWM, ICR1 is top */ - | _BV(CS11) /* div 8 clock prescaler */ - ; - OCR1A = 3000; - OCR1B = 3000; - ICR1 = clockCyclesPerMicrosecond()*(20000L/8); // 20000 uS is a bit fast for the refresh, 20ms, but - // it keeps us from overflowing ICR1 at 20MHz clocks - // That "/8" at the end is the prescaler. -#if defined(__AVR_ATmega8__) - TIMSK &= ~(_BV(TICIE1) | _BV(OCIE1A) | _BV(OCIE1B) | _BV(TOIE1) ); -#else - TIMSK1 &= ~(_BV(OCIE1A) | _BV(OCIE1B) | _BV(TOIE1) ); -#endif - - SREG = oldSREG; // undo cli() -} - -void Servo::releaseTimer1() {} - -#define NO_ANGLE (0xff) - -Servo::Servo() : pin(0), angle(NO_ANGLE) {} - -uint8_t Servo::attach(int pinArg) -{ - return attach(pinArg, 544, 2400); -} - -uint8_t Servo::attach(int pinArg, int min, int max) -{ - if (pinArg != 9 && pinArg != 10) return 0; - - min16 = min / 16; - max16 = max / 16; - - pin = pinArg; - angle = NO_ANGLE; - digitalWrite(pin, LOW); - pinMode(pin, OUTPUT); - - if (!attached9 && !attached10) seizeTimer1(); - - if (pin == 9) { - attached9 = 1; - TCCR1A = (TCCR1A & ~_BV(COM1A0)) | _BV(COM1A1); - } - - if (pin == 10) { - attached10 = 1; - TCCR1A = (TCCR1A & ~_BV(COM1B0)) | _BV(COM1B1); - } - return 1; -} - -void Servo::detach() -{ - // muck with timer flags - if (pin == 9) { - attached9 = 0; - TCCR1A = TCCR1A & ~_BV(COM1A0) & ~_BV(COM1A1); - pinMode(pin, INPUT); - } - - if (pin == 10) { - attached10 = 0; - TCCR1A = TCCR1A & ~_BV(COM1B0) & ~_BV(COM1B1); - pinMode(pin, INPUT); - } - - if (!attached9 && !attached10) releaseTimer1(); -} - -void Servo::write(int angleArg) -{ - uint16_t p; - - if (angleArg < 0) angleArg = 0; - if (angleArg > 180) angleArg = 180; - angle = angleArg; - - // bleh, have to use longs to prevent overflow, could be tricky if always a 16MHz clock, but not true - // That 8L on the end is the TCNT1 prescaler, it will need to change if the clock's prescaler changes, - // but then there will likely be an overflow problem, so it will have to be handled by a human. - p = (min16*16L*clockCyclesPerMicrosecond() + (max16-min16)*(16L*clockCyclesPerMicrosecond())*angle/180L)/8L; - if (pin == 9) OCR1A = p; - if (pin == 10) OCR1B = p; -} - -uint8_t Servo::read() -{ - return angle; -} - -uint8_t Servo::attached() -{ - if (pin == 9 && attached9) return 1; - if (pin == 10 && attached10) return 1; - return 0; -} +/*
+ Servo.cpp - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
+ Copyright (c) 2009 Michael Margolis. 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
+ */
+
+/*
+
+ A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
+ The servos are pulsed in the background using the value most recently written using the write() method
+
+ Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
+ Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
+
+ The methods are:
+
+ Servo - Class for manipulating servo motors connected to Arduino pins.
+
+ attach(pin ) - Attaches a servo motor to an i/o pin.
+ attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds
+ default min is 544, max is 2400
+
+ write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)
+ writeMicroseconds() - Sets the servo pulse width in microseconds
+ read() - Gets the last written servo pulse width as an angle between 0 and 180.
+ readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
+ attached() - Returns true if there is a servo attached.
+ detach() - Stops an attached servos from pulsing its i/o pin.
+
+*/
+
+#include <avr/interrupt.h>
+#include <WProgram.h>
+
+
+#include "Servo.h"
+
+#define TICKS_PER_uS (clockCyclesPerMicrosecond() / 8) // number of timer ticks per microsecond with prescale of 8
+
+#define SERVOS_PER_TIMER 12 // the maximum number of servos controlled by one timer
+#define TRIM_DURATION (SERVOS_PER_TIMER/2) // compensation ticks to trim adjust for digitalWrite delays
+
+#define NBR_TIMERS (MAX_SERVOS / SERVOS_PER_TIMER)
+
+static servo_t servos[MAX_SERVOS]; // static array of servo structures
+static volatile int8_t Channel[NBR_TIMERS]; // counter for the servo being pulsed for each timer (or -1 if refresh interval)
+#if defined(__AVR_ATmega1280__)
+typedef enum { _timer5, _timer1, _timer3, _timer4 } servoTimer_t; // this is the sequence for timer utilization on mega
+#else
+typedef enum { _timer1 } servoTimer_t; // this is the sequence for timer utilization on other controllers
+#endif
+
+uint8_t ServoCount = 0; // the total number of attached servos
+
+// convenience macros
+#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((servoTimer_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo
+#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER) // returns the index of the servo on this timer
+#define SERVO_INDEX(_timer,_channel) ((_timer*SERVOS_PER_TIMER) + _channel) // macro to access servo index by timer and channel
+#define SERVO(_timer,_channel) (servos[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel
+
+#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in uS for this servo
+#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in uS for this servo
+
+/************ static functions common to all instances ***********************/
+
+static inline void handle_interrupts(servoTimer_t timer, volatile uint16_t *TCNTn, volatile uint16_t* OCRnA)
+{
+ if( Channel[timer] < 0 )
+ *TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer
+ else{
+ if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && SERVO(timer,Channel[timer]).Pin.isActive == true )
+ digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,LOW); // pulse this channel low if activated
+ }
+
+ Channel[timer]++; // increment to the next channel
+ if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
+ *OCRnA = *TCNTn + SERVO(timer,Channel[timer]).ticks;
+ if(SERVO(timer,Channel[timer]).Pin.isActive == true) // check if activated
+ digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,HIGH); // its an active channel so pulse it high
+ }
+ else {
+ // finished all channels so wait for the refresh period to expire before starting over
+ if( (unsigned)*TCNTn < (((unsigned int)REFRESH_INTERVAL * TICKS_PER_uS) + 4) ) // allow a few ticks to ensure the next OCR1A not missed
+ *OCRnA = (unsigned int)REFRESH_INTERVAL * TICKS_PER_uS;
+ else
+ *OCRnA = *TCNTn + 4; // at least REFRESH_INTERVAL has elapsed
+ Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
+ }
+}
+
+SIGNAL (TIMER1_COMPA_vect)
+{
+ handle_interrupts(_timer1, &TCNT1, &OCR1A);
+}
+
+#if defined(__AVR_ATmega1280__)
+SIGNAL (TIMER3_COMPA_vect)
+{
+ handle_interrupts(_timer3, &TCNT3, &OCR3A);
+}
+SIGNAL (TIMER4_COMPA_vect)
+{
+ handle_interrupts(_timer4, &TCNT4, &OCR4A);
+}
+SIGNAL (TIMER5_COMPA_vect)
+{
+ handle_interrupts(_timer5, &TCNT5, &OCR5A);
+}
+#endif
+
+static void initISR(servoTimer_t timer)
+{
+ if(timer == _timer1) {
+ TCCR1A = 0; // normal counting mode
+ TCCR1B = _BV(CS11); // set prescaler of 8
+ TCNT1 = 0; // clear the timer count
+#if defined(__AVR_ATmega8__)
+ TIFR |= _BV(OCF1A); // clear any pending interrupts;
+ TIMSK |= _BV(OCIE1A) ; // enable the output compare interrupt
+#else
+ TIFR1 |= _BV(OCF1A); // clear any pending interrupts;
+ TIMSK1 |= _BV(OCIE1A) ; // enable the output compare interrupt
+#endif
+ }
+#if defined(__AVR_ATmega1280__)
+ else if(timer == _timer3) {
+ TCCR3A = 0; // normal counting mode
+ TCCR3B = _BV(CS31); // set prescaler of 8
+ TCNT3 = 0; // clear the timer count
+ TIFR3 = _BV(OCF3A); // clear any pending interrupts;
+ TIMSK3 = _BV(OCIE3A) ; // enable the output compare interrupt
+ }
+ else if(timer == _timer4) {
+ TCCR4A = 0; // normal counting mode
+ TCCR4B = _BV(CS41); // set prescaler of 8
+ TCNT4 = 0; // clear the timer count
+ TIFR4 = _BV(OCF4A); // clear any pending interrupts;
+ TIMSK4 = _BV(OCIE4A) ; // enable the output compare interrupt
+ }
+ else if(timer == _timer5) {
+ TCCR5A = 0; // normal counting mode
+ TCCR5B = _BV(CS51); // set prescaler of 8
+ TCNT5 = 0; // clear the timer count
+ TIFR5 = _BV(OCF5A); // clear any pending interrupts;
+ TIMSK5 = _BV(OCIE5A) ; // enable the output compare interrupt
+ }
+#endif
+}
+
+static boolean isTimerActive(servoTimer_t timer)
+{
+ // returns true if any servo is active on this timer
+ for(uint8_t channel=0; channel < SERVOS_PER_TIMER; channel++) {
+ if(SERVO(timer,channel).Pin.isActive == true)
+ return true;
+ }
+ return false;
+}
+
+
+/****************** end of static functions ******************************/
+
+Servo::Servo()
+{
+ if( ServoCount < MAX_SERVOS) {
+ this->servoIndex = ServoCount++; // assign a servo index to this instance
+ servos[this->servoIndex].ticks = DEFAULT_PULSE_WIDTH * TICKS_PER_uS; // store default values
+ }
+ else
+ this->servoIndex = INVALID_SERVO ; // too many servos
+}
+
+uint8_t Servo::attach(int pin)
+{
+ return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
+}
+
+uint8_t Servo::attach(int pin, int min, int max)
+{
+ if(this->servoIndex < MAX_SERVOS ) {
+ pinMode( pin, OUTPUT) ; // set servo pin to output
+ servos[this->servoIndex].Pin.nbr = pin;
+ // todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
+ this->min = (MIN_PULSE_WIDTH - min)/4; //resolution of min/max is 4 uS
+ this->max = (MAX_PULSE_WIDTH - max)/4;
+ // initialize the timer if it has not already been initialized
+ servoTimer_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
+ if(isTimerActive(timer) == false)
+ initISR(timer);
+ servos[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
+ }
+ return this->servoIndex ;
+}
+
+void Servo::detach()
+{
+ servos[this->servoIndex].Pin.isActive = false;
+
+#ifdef FREE_TIMERS
+ if(isTimerActive(SERVO_INDEX_TO_TIMER(servoIndex)) == false) {
+ ;// call to unimplimented function in wiring.c to re-init timer (set timer back to PWM mode) TODO?
+ }
+#endif
+}
+
+void Servo::write(int value)
+{
+ if(value < MIN_PULSE_WIDTH)
+ { // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
+ if(value < 0) value = 0;
+ if(value > 180) value = 180;
+ value = map(value, 0, 180, SERVO_MIN(), SERVO_MAX());
+ }
+ this->writeMicroseconds(value);
+}
+
+void Servo::writeMicroseconds(int value)
+{
+ // calculate and store the values for the given channel
+ byte channel = this->servoIndex;
+ if( (channel >= 0) && (channel < MAX_SERVOS) ) // ensure channel is valid
+ {
+ if( value < SERVO_MIN() ) // ensure pulse width is valid
+ value = SERVO_MIN();
+ else if( value > SERVO_MAX() )
+ value = SERVO_MAX();
+
+ value = (value-TRIM_DURATION) * TICKS_PER_uS; // convert to ticks after compensating for interrupt overhead
+ uint8_t oldSREG = SREG;
+ cli();
+ servos[channel].ticks = value;
+ SREG = oldSREG;
+ }
+}
+
+int Servo::read() // return the value as degrees
+{
+ return map( this->readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180);
+}
+
+int Servo::readMicroseconds()
+{
+ unsigned int pulsewidth;
+ if( this->servoIndex != INVALID_SERVO )
+ pulsewidth = (servos[this->servoIndex].ticks / TICKS_PER_uS) + TRIM_DURATION ;
+ else
+ pulsewidth = 0;
+
+ return pulsewidth;
+}
+
+bool Servo::attached()
+{
+ return servos[this->servoIndex].Pin.isActive ;
+}
diff --git a/libraries/Servo/Servo.h b/libraries/Servo/Servo.h index 0b0e8db..9a25c65 100755 --- a/libraries/Servo/Servo.h +++ b/libraries/Servo/Servo.h @@ -1,10 +1,6 @@ -#ifndef Servo_h -#define Servo_h - /* - Servo.h - Hardware Servo Timer Library - Author: Jim Studt, jim@federated.com - Copyright (c) 2007 David A. Mellis. All right reserved. + Servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2 + Copyright (c) 2009 Michael Margolis. 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 @@ -21,32 +17,76 @@ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ +/* + + A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method. + The servos are pulsed in the background using the value most recently written using the write() method + + Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached. + Timers are siezed as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four. + + The methods are: + + Servo - Class for manipulating servo motors connected to Arduino pins. + + attach(pin ) - Attaches a servo motor to an i/o pin. + attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds + default min is 544, max is 2400 + + write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds) + writeMicroseconds() - Sets the servo pulse width in microseconds + read() - Gets the last written servo pulse width as an angle between 0 and 180. + readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release) + attached() - Returns true if there is a servo attached. + detach() - Stops an attached servos from pulsing its i/o pin. + */ + +#ifndef Servo_h +#define Servo_h + #include <inttypes.h> +#define Servo_VERSION 2 // software version of this library + +#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo +#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo +#define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached +#define REFRESH_INTERVAL 20000 // minumim time to refresh servos in microseconds + +#if defined(__AVR_ATmega1280__) +#define MAX_SERVOS 48 // the maximum number of servos (valid range is from 1 to 48) +#else +#define MAX_SERVOS 12 // this library supports up to 12 on a standard Arduino +#endif + +#define INVALID_SERVO 255 // flag indicating an invalid servo index + +typedef struct { + uint8_t nbr :6 ; // a pin number from 0 to 63 + uint8_t isActive :1 ; // true if this channel is enabled, pin not pulsed if false +} ServoPin_t ; + +typedef struct { + ServoPin_t Pin; + unsigned int ticks; +} servo_t; + class Servo { - private: - uint8_t pin; - uint8_t angle; // in degrees - uint8_t min16; // minimum pulse, 16uS units (default is 34) - uint8_t max16; // maximum pulse, 16uS units, 0-4ms range (default is 150) - static void seizeTimer1(); - static void releaseTimer1(); - static uint8_t attached9; - static uint8_t attached10; - public: - Servo(); - uint8_t attach(int); - // pulse length for 0 degrees in microseconds, 544uS default - // pulse length for 180 degrees in microseconds, 2400uS default - uint8_t attach(int, int, int); - // attach to a pin, sets pinMode, returns 0 on failure, won't - // position the servo until a subsequent write() happens - // Only works for 9 and 10. - void detach(); - void write(int); // specify the angle in degrees, 0 to 180 - uint8_t read(); - uint8_t attached(); +public: + Servo(); + uint8_t attach(int pin); // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure + uint8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes. + void detach(); + void write(int value); // if value is < 200 its treated as an angle, otherwise as pulse width in microseconds + void writeMicroseconds(int value); // Write pulse width in microseconds + int read(); // returns current pulse width as an angle between 0 and 180 degrees + int readMicroseconds(); // returns current pulse width in microseconds for this servo (was read_us() in first release) + bool attached(); // return true if this servo is attached, otherwise false +private: + uint8_t servoIndex; // index into the channel data for this servo + int8_t min; // minimum is this value times 4 added to MIN_PULSE_WIDTH + int8_t max; // maximum is this value times 4 added to MAX_PULSE_WIDTH }; -#endif +#endif
\ No newline at end of file diff --git a/libraries/Servo/keywords.txt b/libraries/Servo/keywords.txt index 918c46a..ca5ba79 100755 --- a/libraries/Servo/keywords.txt +++ b/libraries/Servo/keywords.txt @@ -6,16 +6,18 @@ # Datatypes (KEYWORD1) ####################################### -Servo KEYWORD1 +Servo KEYWORD1 ####################################### # Methods and Functions (KEYWORD2) ####################################### -attach KEYWORD2 -detach KEYWORD2 -write KEYWORD2 -read KEYWORD2 -attached KEYWORD2 +attach KEYWORD2 +detach KEYWORD2 +write KEYWORD2 +read KEYWORD2 +attached KEYWORD2 +writeMicroseconds KEYWORD2 +readMicroseconds KEYWORD2 ####################################### # Constants (LITERAL1) diff --git a/libraries/Wire/utility/twi.c b/libraries/Wire/utility/twi.c index 82a25c0..2ad2a71 100644 --- a/libraries/Wire/utility/twi.c +++ b/libraries/Wire/utility/twi.c @@ -87,9 +87,9 @@ void twi_init(void) 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); + TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA); - // allocate buffers + // allocate buffers twi_masterBuffer = (uint8_t*) calloc(TWI_BUFFER_LENGTH, sizeof(uint8_t)); twi_txBuffer = (uint8_t*) calloc(TWI_BUFFER_LENGTH, sizeof(uint8_t)); twi_rxBuffer = (uint8_t*) calloc(TWI_BUFFER_LENGTH, sizeof(uint8_t)); @@ -135,29 +135,34 @@ uint8_t twi_readFrom(uint8_t address, uint8_t* data, uint8_t length) // initialize buffer iteration vars twi_masterBufferIndex = 0; - twi_masterBufferLength = length; + 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; + twi_slarw |= address << 1; // send start condition - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA); + TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA); - // wait for read operation to complete - while(TWI_MRX == twi_state){ - continue; - } + // wait for read operation to complete + while(TWI_MRX == twi_state){ + continue; + } if (twi_masterBufferIndex < length) - length = twi_masterBufferIndex; + length = twi_masterBufferIndex; // copy twi buffer to data for(i = 0; i < length; ++i){ data[i] = twi_masterBuffer[i]; } - return length; + return length; } /* @@ -202,24 +207,24 @@ uint8_t twi_writeTo(uint8_t address, uint8_t* data, uint8_t length, uint8_t wait // build sla+w, slave device address + w bit twi_slarw = TW_WRITE; - twi_slarw |= address << 1; + twi_slarw |= address << 1; // send start condition - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA); + TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA); - // 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 + // 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 } /* @@ -285,9 +290,9 @@ void twi_attachSlaveTxEvent( void (*function)(void) ) */ 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); + // 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); } |