diff options
114 files changed, 4535 insertions, 7931 deletions
@@ -1,567 +1,737 @@ # See: http://code.google.com/p/arduino/wiki/Platforms +menu.cpu=Processor + +############################################################## + +yun.name=Arduino Yún +yun.upload.via_ssh=true + +yun.vid.0=0x2341 +yun.pid.0=0x0041 +yun.vid.1=0x2341 +yun.pid.1=0x8041 +yun.upload.tool=avrdude +yun.upload.protocol=avr109 +yun.upload.maximum_size=28672 +yun.upload.maximum_data_size=2560 +yun.upload.speed=57600 +yun.upload.disable_flushing=true +yun.upload.use_1200bps_touch=true +yun.upload.wait_for_upload_port=true + +yun.bootloader.tool=avrdude +yun.bootloader.low_fuses=0xff +yun.bootloader.high_fuses=0xd8 +yun.bootloader.extended_fuses=0xfb +yun.bootloader.file=caterina/Caterina-Yun.hex +yun.bootloader.unlock_bits=0x3F +yun.bootloader.lock_bits=0x2F + +yun.build.mcu=atmega32u4 +yun.build.f_cpu=16000000L +yun.build.vid=0x2341 +yun.build.pid=0x8041 +yun.build.usb_product="Arduino Yun" +yun.build.board=AVR_YUN +yun.build.core=arduino +yun.build.variant=yun +yun.build.extra_flags={build.usb_flags} + ############################################################## uno.name=Arduino Uno + +uno.vid.0=0x2341 +uno.pid.0=0x0043 +uno.vid.1=0x2341 +uno.pid.1=0x0001 + +uno.upload.tool=avrdude uno.upload.protocol=arduino uno.upload.maximum_size=32256 +uno.upload.maximum_data_size=2048 uno.upload.speed=115200 -uno.bootloader.low_fuses=0xff -uno.bootloader.high_fuses=0xde + +uno.bootloader.tool=avrdude +uno.bootloader.low_fuses=0xFF +uno.bootloader.high_fuses=0xDE uno.bootloader.extended_fuses=0x05 -uno.bootloader.path=optiboot -uno.bootloader.file=optiboot_atmega328.hex uno.bootloader.unlock_bits=0x3F uno.bootloader.lock_bits=0x0F +uno.bootloader.file=optiboot/optiboot_atmega328.hex + uno.build.mcu=atmega328p uno.build.f_cpu=16000000L +uno.build.board=AVR_UNO uno.build.core=arduino uno.build.variant=standard ############################################################## -atmega328.name=Arduino Duemilanove w/ ATmega328 - -atmega328.upload.protocol=arduino -atmega328.upload.maximum_size=30720 -atmega328.upload.speed=57600 - -atmega328.bootloader.low_fuses=0xFF -atmega328.bootloader.high_fuses=0xDA -atmega328.bootloader.extended_fuses=0x05 -atmega328.bootloader.path=atmega -atmega328.bootloader.file=ATmegaBOOT_168_atmega328.hex -atmega328.bootloader.unlock_bits=0x3F -atmega328.bootloader.lock_bits=0x0F - -atmega328.build.mcu=atmega328p -atmega328.build.f_cpu=16000000L -atmega328.build.core=arduino -atmega328.build.variant=standard - -############################################################## - -diecimila.name=Arduino Diecimila or Duemilanove w/ ATmega168 +diecimila.name=Arduino Duemilanove or Diecimila +diecimila.upload.tool=avrdude diecimila.upload.protocol=arduino -diecimila.upload.maximum_size=14336 -diecimila.upload.speed=19200 - -diecimila.bootloader.low_fuses=0xff -diecimila.bootloader.high_fuses=0xdd -diecimila.bootloader.extended_fuses=0x00 -diecimila.bootloader.path=atmega -diecimila.bootloader.file=ATmegaBOOT_168_diecimila.hex + +diecimila.bootloader.tool=avrdude +diecimila.bootloader.low_fuses=0xFF diecimila.bootloader.unlock_bits=0x3F diecimila.bootloader.lock_bits=0x0F -diecimila.build.mcu=atmega168 diecimila.build.f_cpu=16000000L +diecimila.build.board=AVR_DUEMILANOVE diecimila.build.core=arduino diecimila.build.variant=standard -############################################################## +## Arduino Duemilanove or Diecimila w/ ATmega328 +## --------------------------------------------- +diecimila.menu.cpu.atmega328=ATmega328 + +diecimila.menu.cpu.atmega328.upload.maximum_size=30720 +diecimila.menu.cpu.atmega328.upload.maximum_data_size=2048 +diecimila.menu.cpu.atmega328.upload.speed=57600 -nano328.name=Arduino Nano w/ ATmega328 +diecimila.menu.cpu.atmega328.bootloader.high_fuses=0xDA +diecimila.menu.cpu.atmega328.bootloader.extended_fuses=0x05 +diecimila.menu.cpu.atmega328.bootloader.file=atmega/ATmegaBOOT_168_atmega328.hex -nano328.upload.protocol=arduino -nano328.upload.maximum_size=30720 -nano328.upload.speed=57600 +diecimila.menu.cpu.atmega328.build.mcu=atmega328p -nano328.bootloader.low_fuses=0xFF -nano328.bootloader.high_fuses=0xDA -nano328.bootloader.extended_fuses=0x05 -nano328.bootloader.path=atmega -nano328.bootloader.file=ATmegaBOOT_168_atmega328.hex -nano328.bootloader.unlock_bits=0x3F -nano328.bootloader.lock_bits=0x0F +## Arduino Duemilanove or Diecimila w/ ATmega168 +## --------------------------------------------- +diecimila.menu.cpu.atmega168=ATmega168 -nano328.build.mcu=atmega328p -nano328.build.f_cpu=16000000L -nano328.build.core=arduino -nano328.build.variant=eightanaloginputs +diecimila.menu.cpu.atmega168.upload.maximum_size=14336 +diecimila.menu.cpu.atmega168.upload.maximum_data_size=1024 +diecimila.menu.cpu.atmega168.upload.speed=19200 + +diecimila.menu.cpu.atmega168.bootloader.high_fuses=0xdd +diecimila.menu.cpu.atmega168.bootloader.extended_fuses=0x00 +diecimila.menu.cpu.atmega168.bootloader.file=atmega/ATmegaBOOT_168_diecimila.hex + +diecimila.menu.cpu.atmega168.build.mcu=atmega168 ############################################################## -nano.name=Arduino Nano w/ ATmega168 +nano.name=Arduino Nano +nano.upload.tool=avrdude nano.upload.protocol=arduino -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.tool=avrdude nano.bootloader.unlock_bits=0x3F nano.bootloader.lock_bits=0x0F -nano.build.mcu=atmega168 nano.build.f_cpu=16000000L +nano.build.board=AVR_NANO nano.build.core=arduino nano.build.variant=eightanaloginputs -############################################################## +## Arduino Nano w/ ATmega328 +## ------------------------- +nano.menu.cpu.atmega328=ATmega328 + +nano.menu.cpu.atmega328.upload.maximum_size=30720 +nano.menu.cpu.atmega328.upload.maximum_data_size=2048 +nano.menu.cpu.atmega328.upload.speed=57600 -mega2560.name=Arduino Mega 2560 or Mega ADK +nano.menu.cpu.atmega328.bootloader.low_fuses=0xFF +nano.menu.cpu.atmega328.bootloader.high_fuses=0xDA +nano.menu.cpu.atmega328.bootloader.extended_fuses=0x05 +nano.menu.cpu.atmega328.bootloader.file=atmega/ATmegaBOOT_168_atmega328.hex -mega2560.upload.protocol=wiring -mega2560.upload.maximum_size=258048 -mega2560.upload.speed=115200 +nano.menu.cpu.atmega328.build.mcu=atmega328p -mega2560.bootloader.low_fuses=0xFF -mega2560.bootloader.high_fuses=0xD8 -mega2560.bootloader.extended_fuses=0xFD -mega2560.bootloader.path=stk500v2 -mega2560.bootloader.file=stk500boot_v2_mega2560.hex -mega2560.bootloader.unlock_bits=0x3F -mega2560.bootloader.lock_bits=0x0F +## Arduino Nano w/ ATmega168 +## ------------------------- +nano.menu.cpu.atmega168=ATmega168 -mega2560.build.mcu=atmega2560 -mega2560.build.f_cpu=16000000L -mega2560.build.core=arduino -mega2560.build.variant=mega +nano.menu.cpu.atmega168.upload.maximum_size=14336 +nano.menu.cpu.atmega168.upload.maximum_data_size=1024 +nano.menu.cpu.atmega168.upload.speed=19200 + +nano.menu.cpu.atmega168.bootloader.low_fuses=0xff +nano.menu.cpu.atmega168.bootloader.high_fuses=0xdd +nano.menu.cpu.atmega168.bootloader.extended_fuses=0x00 +nano.menu.cpu.atmega168.bootloader.file=atmega/ATmegaBOOT_168_diecimila.hex + +nano.menu.cpu.atmega168.build.mcu=atmega168 ############################################################## -mega.name=Arduino Mega (ATmega1280) +mega.name=Arduino Mega or Mega 2560 -mega.upload.protocol=arduino -mega.upload.maximum_size=126976 -mega.upload.speed=57600 +mega.vid.0=0x2341 +mega.pid.0=0x0010 +mega.vid.1=0x2341 +mega.pid.1=0x0042 +mega.upload.tool=avrdude +mega.upload.maximum_data_size=8192 + +mega.bootloader.tool=avrdude mega.bootloader.low_fuses=0xFF -mega.bootloader.high_fuses=0xDA -mega.bootloader.extended_fuses=0xF5 -mega.bootloader.path=atmega -mega.bootloader.file=ATmegaBOOT_168_atmega1280.hex mega.bootloader.unlock_bits=0x3F mega.bootloader.lock_bits=0x0F -mega.build.mcu=atmega1280 mega.build.f_cpu=16000000L mega.build.core=arduino mega.build.variant=mega +# default board may be overridden by the cpu menu +mega.build.board=AVR_MEGA2560 + +## Arduino Mega w/ ATmega2560 +## ------------------------- +mega.menu.cpu.atmega2560=ATmega2560 (Mega 2560) + +mega.menu.cpu.atmega2560.upload.protocol=wiring +mega.menu.cpu.atmega2560.upload.maximum_size=258048 +mega.menu.cpu.atmega2560.upload.speed=115200 + +mega.menu.cpu.atmega2560.bootloader.high_fuses=0xD8 +mega.menu.cpu.atmega2560.bootloader.extended_fuses=0xFD +mega.menu.cpu.atmega2560.bootloader.file=stk500v2/stk500boot_v2_mega2560.hex + +mega.menu.cpu.atmega2560.build.mcu=atmega2560 +mega.menu.cpu.atmega2560.build.board=AVR_MEGA2560 + +## Arduino Mega w/ ATmega1280 +## ------------------------- +mega.menu.cpu.atmega1280=ATmega1280 + +mega.menu.cpu.atmega1280.upload.protocol=arduino +mega.menu.cpu.atmega1280.upload.maximum_size=126976 +mega.menu.cpu.atmega1280.upload.speed=57600 + +mega.menu.cpu.atmega1280.bootloader.high_fuses=0xDA +mega.menu.cpu.atmega1280.bootloader.extended_fuses=0xF5 +mega.menu.cpu.atmega1280.bootloader.file=atmega/ATmegaBOOT_168_atmega1280.hex + +mega.menu.cpu.atmega1280.build.mcu=atmega1280 +mega.menu.cpu.atmega1280.build.board=AVR_MEGA + +############################################################## + +megaADK.name=Arduino Mega ADK + +megaADK.vid.0=0x2341 +megaADK.pid.0=0x003f +megaADK.vid.1=0x2341 +megaADK.pid.1=0x0044 + +megaADK.upload.tool=avrdude +megaADK.upload.protocol=wiring +megaADK.upload.maximum_size=258048 +megaADK.upload.maximum_data_size=8192 +megaADK.upload.speed=115200 + +megaADK.bootloader.tool=avrdude +megaADK.bootloader.low_fuses=0xFF +megaADK.bootloader.high_fuses=0xD8 +megaADK.bootloader.extended_fuses=0xFD +megaADK.bootloader.file=stk500v2/stk500boot_v2_mega2560.hex +megaADK.bootloader.unlock_bits=0x3F +megaADK.bootloader.lock_bits=0x0F + +megaADK.build.mcu=atmega2560 +megaADK.build.f_cpu=16000000L +megaADK.build.board=AVR_ADK +megaADK.build.core=arduino +megaADK.build.variant=mega ############################################################## leonardo.name=Arduino Leonardo +leonardo.vid.0=0x2341 +leonardo.pid.0=0x0036 +leonardo.vid.1=0x2341 +leonardo.pid.1=0x8036 +leonardo.upload.tool=avrdude leonardo.upload.protocol=avr109 leonardo.upload.maximum_size=28672 +leonardo.upload.maximum_data_size=2560 leonardo.upload.speed=57600 leonardo.upload.disable_flushing=true +leonardo.upload.use_1200bps_touch=true +leonardo.upload.wait_for_upload_port=true + +leonardo.bootloader.tool=avrdude leonardo.bootloader.low_fuses=0xff leonardo.bootloader.high_fuses=0xd8 leonardo.bootloader.extended_fuses=0xcb -leonardo.bootloader.path=caterina -leonardo.bootloader.file=Caterina-Leonardo.hex +leonardo.bootloader.file=caterina/Caterina-Leonardo.hex leonardo.bootloader.unlock_bits=0x3F leonardo.bootloader.lock_bits=0x2F + leonardo.build.mcu=atmega32u4 leonardo.build.f_cpu=16000000L leonardo.build.vid=0x2341 leonardo.build.pid=0x8036 +leonardo.build.usb_product="Arduino Leonardo" +leonardo.build.board=AVR_LEONARDO leonardo.build.core=arduino leonardo.build.variant=leonardo - -############################################################## - -esplora.name=Arduino Esplora -esplora.upload.protocol=avr109 -esplora.upload.maximum_size=28672 -esplora.upload.speed=57600 -esplora.upload.disable_flushing=true -esplora.bootloader.low_fuses=0xff -esplora.bootloader.high_fuses=0xd8 -esplora.bootloader.extended_fuses=0xcb -esplora.bootloader.path=caterina -esplora.bootloader.file=Caterina-Esplora.hex -esplora.bootloader.unlock_bits=0x3F -esplora.bootloader.lock_bits=0x2F -esplora.build.mcu=atmega32u4 -esplora.build.f_cpu=16000000L -esplora.build.vid=0x2341 -esplora.build.pid=0x803C -esplora.build.core=arduino -esplora.build.variant=leonardo +leonardo.build.extra_flags={build.usb_flags} ############################################################## micro.name=Arduino Micro +micro.upload.tool=avrdude micro.upload.protocol=avr109 micro.upload.maximum_size=28672 +micro.upload.maximum_data_size=2560 micro.upload.speed=57600 micro.upload.disable_flushing=true +micro.upload.use_1200bps_touch=true +micro.upload.wait_for_upload_port=true + +micro.bootloader.tool=avrdude micro.bootloader.low_fuses=0xff micro.bootloader.high_fuses=0xd8 micro.bootloader.extended_fuses=0xcb -micro.bootloader.path=caterina -micro.bootloader.file=Caterina-Micro.hex +micro.bootloader.file=caterina/Caterina-Micro.hex micro.bootloader.unlock_bits=0x3F micro.bootloader.lock_bits=0x2F + micro.build.mcu=atmega32u4 micro.build.f_cpu=16000000L micro.build.vid=0x2341 micro.build.pid=0x8037 +micro.build.usb_product="Arduino Micro" +micro.build.board=AVR_MICRO micro.build.core=arduino micro.build.variant=micro +micro.build.extra_flags={build.usb_flags} ############################################################## -mini328.name=Arduino Mini w/ ATmega328 - -mini328.upload.protocol=arduino -mini328.upload.maximum_size=28672 -mini328.upload.speed=115200 +esplora.name=Arduino Esplora +esplora.vid.0=0x2341 +esplora.pid.0=0x003c +esplora.vid.1=0x2341 +esplora.pid.1=0x803c +esplora.upload.tool=avrdude +esplora.upload.protocol=avr109 +esplora.upload.maximum_size=28672 +esplora.upload.maximum_data_size=2560 +esplora.upload.speed=57600 +esplora.upload.disable_flushing=true +esplora.upload.use_1200bps_touch=true +esplora.upload.wait_for_upload_port=true -mini328.bootloader.low_fuses=0xff -mini328.bootloader.high_fuses=0xd8 -mini328.bootloader.extended_fuses=0x05 -mini328.bootloader.path=optiboot -mini328.bootloader.file=optiboot_atmega328-Mini.hex -mini328.bootloader.unlock_bits=0x3F -mini328.bootloader.lock_bits=0x0F +esplora.bootloader.tool=avrdude +esplora.bootloader.low_fuses=0xff +esplora.bootloader.high_fuses=0xd8 +esplora.bootloader.extended_fuses=0xcb +esplora.bootloader.file=caterina/Caterina-Esplora.hex +esplora.bootloader.unlock_bits=0x3F +esplora.bootloader.lock_bits=0x2F -mini328.build.mcu=atmega328p -mini328.build.f_cpu=16000000L -mini328.build.core=arduino -mini328.build.variant=eightanaloginputs +esplora.build.mcu=atmega32u4 +esplora.build.f_cpu=16000000L +esplora.build.vid=0x2341 +esplora.build.pid=0x803c +esplora.build.usb_product="Arduino Esplora" +esplora.build.board=AVR_ESPLORA +esplora.build.core=arduino +esplora.build.variant=leonardo +esplora.build.extra_flags={build.usb_flags} ############################################################## -mini.name=Arduino Mini w/ ATmega168 +mini.name=Arduino Mini +mini.upload.tool=avrdude mini.upload.protocol=arduino -mini.upload.maximum_size=14336 -mini.upload.speed=19200 +mini.bootloader.tool=avrdude mini.bootloader.low_fuses=0xff -mini.bootloader.high_fuses=0xdd -mini.bootloader.extended_fuses=0x00 -mini.bootloader.path=atmega -mini.bootloader.file=ATmegaBOOT_168_ng.hex mini.bootloader.unlock_bits=0x3F mini.bootloader.lock_bits=0x0F -mini.build.mcu=atmega168 mini.build.f_cpu=16000000L +mini.build.board=AVR_MINI mini.build.core=arduino mini.build.variant=eightanaloginputs +## Arduino Mini w/ ATmega328 +## ------------------------- +mini.menu.cpu.atmega328=ATmega328 + +mini.menu.cpu.atmega328.upload.maximum_size=28672 +mini.menu.cpu.atmega328.upload.maximum_data_size=2048 +mini.menu.cpu.atmega328.upload.speed=115200 + +mini.menu.cpu.atmega328.bootloader.high_fuses=0xd8 +mini.menu.cpu.atmega328.bootloader.extended_fuses=0x05 +mini.menu.cpu.atmega328.bootloader.file=optiboot/optiboot_atmega328-Mini.hex + +mini.menu.cpu.atmega328.build.mcu=atmega328p + +## Arduino Mini w/ ATmega168 +## ------------------------- +mini.menu.cpu.atmega168=ATmega168 + +mini.menu.cpu.atmega168.upload.maximum_size=14336 +mini.menu.cpu.atmega168.upload.maximum_data_size=1024 +mini.menu.cpu.atmega168.upload.speed=19200 + +mini.menu.cpu.atmega168.bootloader.high_fuses=0xdd +mini.menu.cpu.atmega168.bootloader.extended_fuses=0x00 +mini.menu.cpu.atmega168.bootloader.file=atmega/ATmegaBOOT_168_ng.hex + +mini.menu.cpu.atmega168.build.mcu=atmega168 + ############################################################## ethernet.name=Arduino Ethernet +ethernet.upload.tool=avrdude ethernet.upload.protocol=arduino ethernet.upload.maximum_size=32256 +ethernet.upload.maximum_data_size=2048 ethernet.upload.speed=115200 +ethernet.bootloader.tool=avrdude ethernet.bootloader.low_fuses=0xff ethernet.bootloader.high_fuses=0xde ethernet.bootloader.extended_fuses=0x05 -ethernet.bootloader.path=optiboot -ethernet.bootloader.file=optiboot_atmega328.hex +ethernet.bootloader.file=optiboot/optiboot_atmega328.hex ethernet.bootloader.unlock_bits=0x3F ethernet.bootloader.lock_bits=0x0F ethernet.build.variant=ethernet ethernet.build.mcu=atmega328p ethernet.build.f_cpu=16000000L +ethernet.build.board=AVR_ETHERNET ethernet.build.core=arduino ############################################################## fio.name=Arduino Fio +fio.upload.tool=avrdude fio.upload.protocol=arduino fio.upload.maximum_size=30720 +fio.upload.maximum_data_size=2048 fio.upload.speed=57600 +fio.bootloader.tool=avrdude fio.bootloader.low_fuses=0xFF fio.bootloader.high_fuses=0xDA fio.bootloader.extended_fuses=0x05 -fio.bootloader.path=arduino:atmega -fio.bootloader.file=ATmegaBOOT_168_atmega328_pro_8MHz.hex +fio.bootloader.file=atmega/ATmegaBOOT_168_atmega328_pro_8MHz.hex fio.bootloader.unlock_bits=0x3F fio.bootloader.lock_bits=0x0F fio.build.mcu=atmega328p fio.build.f_cpu=8000000L +fio.build.board=AVR_FIO fio.build.core=arduino fio.build.variant=eightanaloginputs ############################################################## -bt328.name=Arduino BT w/ ATmega328 - -bt328.upload.protocol=arduino -bt328.upload.maximum_size=28672 -bt328.upload.speed=19200 -bt328.upload.disable_flushing=true - -bt328.bootloader.low_fuses=0xff -bt328.bootloader.high_fuses=0xd8 -bt328.bootloader.extended_fuses=0x05 -bt328.bootloader.path=bt -bt328.bootloader.file=ATmegaBOOT_168_atmega328_bt.hex -bt328.bootloader.unlock_bits=0x3F -bt328.bootloader.lock_bits=0x0F - -bt328.build.mcu=atmega328p -bt328.build.f_cpu=16000000L -bt328.build.core=arduino -bt328.build.variant=eightanaloginputs - -############################################################## - -bt.name=Arduino BT w/ ATmega168 +bt.name=Arduino BT +bt.upload.tool=avrdude bt.upload.protocol=arduino -bt.upload.maximum_size=14336 bt.upload.speed=19200 bt.upload.disable_flushing=true +bt.bootloader.tool=avrdude bt.bootloader.low_fuses=0xff -bt.bootloader.high_fuses=0xdd -bt.bootloader.extended_fuses=0x00 -bt.bootloader.path=bt -bt.bootloader.file=ATmegaBOOT_168.hex bt.bootloader.unlock_bits=0x3F bt.bootloader.lock_bits=0x0F -bt.build.mcu=atmega168 bt.build.f_cpu=16000000L +bt.build.board=AVR_BT bt.build.core=arduino bt.build.variant=eightanaloginputs +## Arduino BT w/ ATmega328 +## ----------------------- +bt.menu.cpu.atmega328=ATmega328 +bt.menu.cpu.atmega328.upload.maximum_size=28672 +bt.menu.cpu.atmega328.upload.maximum_data_size=2048 + +bt.menu.cpu.atmega328.bootloader.high_fuses=0xd8 +bt.menu.cpu.atmega328.bootloader.extended_fuses=0x05 +bt.menu.cpu.atmega328.bootloader.file=bt/ATmegaBOOT_168_atmega328_bt.hex + +bt.menu.cpu.atmega328.build.mcu=atmega328p + +## Arduino BT w/ ATmega168 +## ----------------------- +bt.menu.cpu.atmega168=ATmega168 +bt.menu.cpu.atmega168.upload.maximum_size=14336 +bt.menu.cpu.atmega168.upload.maximum_data_size=1024 + +bt.menu.cpu.atmega168.bootloader.high_fuses=0xdd +bt.menu.cpu.atmega168.bootloader.extended_fuses=0x00 +bt.menu.cpu.atmega168.bootloader.file=bt/ATmegaBOOT_168.hex + +bt.menu.cpu.atmega168.build.mcu=atmega168 + ############################################################## LilyPadUSB.name=LilyPad Arduino USB + +LilyPadUSB.upload.tool=avrdude LilyPadUSB.upload.protocol=avr109 LilyPadUSB.upload.maximum_size=28672 +LilyPadUSB.upload.maximum_data_size=2560 LilyPadUSB.upload.speed=57600 LilyPadUSB.upload.disable_flushing=true +LilyPadUSB.upload.use_1200bps_touch=true +LilyPadUSB.upload.wait_for_upload_port=true + +LilyPadUSB.bootloader.tool=avrdude LilyPadUSB.bootloader.low_fuses=0xff LilyPadUSB.bootloader.high_fuses=0xd8 LilyPadUSB.bootloader.extended_fuses=0xce -LilyPadUSB.bootloader.path=caterina-LilyPadUSB -LilyPadUSB.bootloader.file=Caterina-LilyPadUSB.hex +LilyPadUSB.bootloader.file=caterina-LilyPadUSB/Caterina-LilyPadUSB.hex LilyPadUSB.bootloader.unlock_bits=0x3F LilyPadUSB.bootloader.lock_bits=0x2F + LilyPadUSB.build.mcu=atmega32u4 LilyPadUSB.build.f_cpu=8000000L LilyPadUSB.build.vid=0x1B4F LilyPadUSB.build.pid=0x9208 +LilyPadUSB.build.usb_product="LilyPad USB" +LilyPadUSB.build.board=AVR_LILYPAD_USB LilyPadUSB.build.core=arduino LilyPadUSB.build.variant=leonardo +LilyPadUSB.build.extra_flags={build.usb_flags} ############################################################## -lilypad328.name=LilyPad Arduino w/ ATmega328 - -lilypad328.upload.protocol=arduino -lilypad328.upload.maximum_size=30720 -lilypad328.upload.speed=57600 - -lilypad328.bootloader.low_fuses=0xFF -lilypad328.bootloader.high_fuses=0xDA -lilypad328.bootloader.extended_fuses=0x05 -lilypad328.bootloader.path=atmega -lilypad328.bootloader.file=ATmegaBOOT_168_atmega328_pro_8MHz.hex -lilypad328.bootloader.unlock_bits=0x3F -lilypad328.bootloader.lock_bits=0x0F - -lilypad328.build.mcu=atmega328p -lilypad328.build.f_cpu=8000000L -lilypad328.build.core=arduino -lilypad328.build.variant=standard - -############################################################## - -lilypad.name=LilyPad Arduino w/ ATmega168 +lilypad.name=LilyPad Arduino +lilypad.upload.tool=avrdude lilypad.upload.protocol=arduino -lilypad.upload.maximum_size=14336 -lilypad.upload.speed=19200 - -lilypad.bootloader.low_fuses=0xe2 -lilypad.bootloader.high_fuses=0xdd -lilypad.bootloader.extended_fuses=0x00 -lilypad.bootloader.path=lilypad -lilypad.bootloader.file=LilyPadBOOT_168.hex + +lilypad.bootloader.tool=avrdude lilypad.bootloader.unlock_bits=0x3F lilypad.bootloader.lock_bits=0x0F -lilypad.build.mcu=atmega168 lilypad.build.f_cpu=8000000L +lilypad.build.board=AVR_LILYPAD lilypad.build.core=arduino lilypad.build.variant=standard -############################################################## +## LilyPad Arduino w/ ATmega328 +## ---------------------------- +lilypad.menu.cpu.atmega328=ATmega328 + +lilypad.menu.cpu.atmega328.upload.maximum_size=30720 +lilypad.menu.cpu.atmega328.upload.maximum_data_size=2048 +lilypad.menu.cpu.atmega328.upload.speed=57600 + +lilypad.menu.cpu.atmega328.bootloader.low_fuses=0xFF +lilypad.menu.cpu.atmega328.bootloader.high_fuses=0xDA +lilypad.menu.cpu.atmega328.bootloader.extended_fuses=0x05 +lilypad.menu.cpu.atmega328.bootloader.file=atmega/ATmegaBOOT_168_atmega328_pro_8MHz.hex -pro5v328.name=Arduino Pro or Pro Mini (5V, 16 MHz) w/ ATmega328 +lilypad.menu.cpu.atmega328.build.mcu=atmega328p -pro5v328.upload.protocol=arduino -pro5v328.upload.maximum_size=30720 -pro5v328.upload.speed=57600 +## LilyPad Arduino w/ ATmega168 +## ---------------------------- +lilypad.menu.cpu.atmega168=ATmega168 -pro5v328.bootloader.low_fuses=0xFF -pro5v328.bootloader.high_fuses=0xDA -pro5v328.bootloader.extended_fuses=0x05 -pro5v328.bootloader.path=atmega -pro5v328.bootloader.file=ATmegaBOOT_168_atmega328.hex -pro5v328.bootloader.unlock_bits=0x3F -pro5v328.bootloader.lock_bits=0x0F +lilypad.menu.cpu.atmega168.upload.maximum_size=14336 +lilypad.menu.cpu.atmega168.upload.maximum_data_size=1024 +lilypad.menu.cpu.atmega168.upload.speed=19200 -pro5v328.build.mcu=atmega328p -pro5v328.build.f_cpu=16000000L -pro5v328.build.core=arduino -pro5v328.build.variant=standard +lilypad.menu.cpu.atmega168.bootloader.low_fuses=0xe2 +lilypad.menu.cpu.atmega168.bootloader.high_fuses=0xdd +lilypad.menu.cpu.atmega168.bootloader.extended_fuses=0x00 +lilypad.menu.cpu.atmega168.bootloader.file=lilypad/LilyPadBOOT_168.hex + +lilypad.menu.cpu.atmega168.build.mcu=atmega168 ############################################################## -pro5v.name=Arduino Pro or Pro Mini (5V, 16 MHz) w/ ATmega168 +pro.name=Arduino Pro or Pro Mini -pro5v.upload.protocol=arduino -pro5v.upload.maximum_size=14336 -pro5v.upload.speed=19200 +pro.upload.tool=avrdude +pro.upload.protocol=arduino -pro5v.bootloader.low_fuses=0xff -pro5v.bootloader.high_fuses=0xdd -pro5v.bootloader.extended_fuses=0x00 -pro5v.bootloader.path=atmega -pro5v.bootloader.file=ATmegaBOOT_168_diecimila.hex -pro5v.bootloader.unlock_bits=0x3F -pro5v.bootloader.lock_bits=0x0F +pro.bootloader.tool=avrdude +pro.bootloader.unlock_bits=0x3F +pro.bootloader.lock_bits=0x0F -pro5v.build.mcu=atmega168 -pro5v.build.f_cpu=16000000L -pro5v.build.core=arduino -pro5v.build.variant=standard +pro.build.board=AVR_PRO +pro.build.core=arduino +pro.build.variant=standard -############################################################## +## Arduino Pro or Pro Mini (5V, 16 MHz) w/ ATmega328 +## ------------------------------------------------- +pro.menu.cpu.16MHzatmega328=ATmega328 (5V, 16 MHz) -pro328.name=Arduino Pro or Pro Mini (3.3V, 8 MHz) w/ ATmega328 +pro.menu.cpu.16MHzatmega328.upload.maximum_size=30720 +pro.menu.cpu.16MHzatmega328.upload.maximum_data_size=2048 +pro.menu.cpu.16MHzatmega328.upload.speed=57600 -pro328.upload.protocol=arduino -pro328.upload.maximum_size=30720 -pro328.upload.speed=57600 +pro.menu.cpu.16MHzatmega328.bootloader.low_fuses=0xFF +pro.menu.cpu.16MHzatmega328.bootloader.high_fuses=0xDA +pro.menu.cpu.16MHzatmega328.bootloader.extended_fuses=0x05 +pro.menu.cpu.16MHzatmega328.bootloader.file=atmega/ATmegaBOOT_168_atmega328.hex -pro328.bootloader.low_fuses=0xFF -pro328.bootloader.high_fuses=0xDA -pro328.bootloader.extended_fuses=0x05 -pro328.bootloader.path=atmega -pro328.bootloader.file=ATmegaBOOT_168_atmega328_pro_8MHz.hex -pro328.bootloader.unlock_bits=0x3F -pro328.bootloader.lock_bits=0x0F +pro.menu.cpu.16MHzatmega328.build.mcu=atmega328p +pro.menu.cpu.16MHzatmega328.build.f_cpu=16000000L -pro328.build.mcu=atmega328p -pro328.build.f_cpu=8000000L -pro328.build.core=arduino -pro328.build.variant=standard +## Arduino Pro or Pro Mini (3.3V, 8 MHz) w/ ATmega328 +## -------------------------------------------------- +pro.menu.cpu.8MHzatmega328=ATmega328 (3.3V, 8 MHz) -############################################################## +pro.menu.cpu.8MHzatmega328.upload.maximum_size=30720 +pro.menu.cpu.8MHzatmega328.upload.maximum_data_size=2048 +pro.menu.cpu.8MHzatmega328.upload.speed=57600 -pro.name=Arduino Pro or Pro Mini (3.3V, 8 MHz) w/ ATmega168 +pro.menu.cpu.8MHzatmega328.bootloader.low_fuses=0xFF +pro.menu.cpu.8MHzatmega328.bootloader.high_fuses=0xDA +pro.menu.cpu.8MHzatmega328.bootloader.extended_fuses=0x05 +pro.menu.cpu.8MHzatmega328.bootloader.file=atmega/ATmegaBOOT_168_atmega328_pro_8MHz.hex -pro.upload.protocol=arduino -pro.upload.maximum_size=14336 -pro.upload.speed=19200 - -pro.bootloader.low_fuses=0xc6 -pro.bootloader.high_fuses=0xdd -pro.bootloader.extended_fuses=0x00 -pro.bootloader.path=atmega -pro.bootloader.file=ATmegaBOOT_168_pro_8MHz.hex -pro.bootloader.unlock_bits=0x3F -pro.bootloader.lock_bits=0x0F +pro.menu.cpu.8MHzatmega328.build.mcu=atmega328p +pro.menu.cpu.8MHzatmega328.build.f_cpu=8000000L -pro.build.mcu=atmega168 -pro.build.f_cpu=8000000L -pro.build.core=arduino -pro.build.variant=standard +## Arduino Pro or Pro Mini (5V, 16 MHz) w/ ATmega168 +## ------------------------------------------------- +pro.menu.cpu.16MHzatmega168=ATmega168 (5V, 16 MHz) -############################################################## +pro.menu.cpu.16MHzatmega168.upload.maximum_size=14336 +pro.menu.cpu.16MHzatmega168.upload.maximum_data_size=1024 +pro.menu.cpu.16MHzatmega168.upload.speed=19200 + +pro.menu.cpu.16MHzatmega168.bootloader.low_fuses=0xff +pro.menu.cpu.16MHzatmega168.bootloader.high_fuses=0xdd +pro.menu.cpu.16MHzatmega168.bootloader.extended_fuses=0x00 +pro.menu.cpu.16MHzatmega168.bootloader.file=atmega/ATmegaBOOT_168_diecimila.hex + +pro.menu.cpu.16MHzatmega168.build.mcu=atmega168 +pro.menu.cpu.16MHzatmega168.build.f_cpu=16000000L -atmega168.name=Arduino NG or older w/ ATmega168 +## Arduino Pro or Pro Mini (3.3V, 8 MHz) w/ ATmega168 +## -------------------------------------------------- +pro.menu.cpu.8MHzatmega168=ATmega168 (3.3V, 8 MHz) -atmega168.upload.protocol=arduino -atmega168.upload.maximum_size=14336 -atmega168.upload.speed=19200 +pro.menu.cpu.8MHzatmega168.upload.maximum_size=14336 +pro.menu.cpu.8MHzatmega168.upload.maximum_data_size=1024 +pro.menu.cpu.8MHzatmega168.upload.speed=19200 -atmega168.bootloader.low_fuses=0xff -atmega168.bootloader.high_fuses=0xdd -atmega168.bootloader.extended_fuses=0x00 -atmega168.bootloader.path=atmega -atmega168.bootloader.file=ATmegaBOOT_168_ng.hex -atmega168.bootloader.unlock_bits=0x3F -atmega168.bootloader.lock_bits=0x0F +pro.menu.cpu.8MHzatmega168.bootloader.low_fuses=0xc6 +pro.menu.cpu.8MHzatmega168.bootloader.high_fuses=0xdd +pro.menu.cpu.8MHzatmega168.bootloader.extended_fuses=0x00 +pro.menu.cpu.8MHzatmega168.bootloader.file=atmega/ATmegaBOOT_168_pro_8MHz.hex -atmega168.build.mcu=atmega168 -atmega168.build.f_cpu=16000000L -atmega168.build.core=arduino -atmega168.build.variant=standard +pro.menu.cpu.8MHzatmega168.build.mcu=atmega168 +pro.menu.cpu.8MHzatmega168.build.f_cpu=8000000L ############################################################## -atmega8.name=Arduino NG or older w/ ATmega8 +atmegang.name=Arduino NG or older + +atmegang.upload.tool=avrdude +atmegang.upload.protocol=arduino +atmegang.upload.speed=19200 + +atmegang.bootloader.tool=avrdude +atmegang.bootloader.unlock_bits=0x3F +atmegang.bootloader.lock_bits=0x0F + +atmegang.build.mcu=atmegang +atmegang.build.f_cpu=16000000L +atmegang.build.board=AVR_NG +atmegang.build.core=arduino +atmegang.build.variant=standard + +## Arduino NG or older w/ ATmega168 +## -------------------------------- +atmegang.menu.cpu.atmega168=ATmega168 -atmega8.upload.protocol=arduino -atmega8.upload.maximum_size=7168 -atmega8.upload.speed=19200 +atmegang.menu.cpu.atmega168.upload.maximum_size=14336 +atmegang.menu.cpu.atmega168.upload.maximum_data_size=1024 -atmega8.bootloader.low_fuses=0xdf -atmega8.bootloader.high_fuses=0xca -atmega8.bootloader.path=atmega8 -atmega8.bootloader.file=ATmegaBOOT-prod-firmware-2009-11-07.hex -atmega8.bootloader.unlock_bits=0x3F -atmega8.bootloader.lock_bits=0x0F +atmegang.menu.cpu.atmega168.bootloader.low_fuses=0xff +atmegang.menu.cpu.atmega168.bootloader.high_fuses=0xdd +atmegang.menu.cpu.atmega168.bootloader.extended_fuses=0x00 +atmegang.menu.cpu.atmega168.bootloader.file=atmega/ATmegaBOOT_168_ng.hex -atmega8.build.mcu=atmega8 -atmega8.build.f_cpu=16000000L -atmega8.build.core=arduino -atmega8.build.variant=standard +atmegang.menu.cpu.atmega168.build.mcu=atmega168 + +## Arduino NG or older w/ ATmega8 +## ------------------------------ +atmegang.menu.cpu.atmega8=ATmega8 + +atmegang.menu.cpu.atmega8.upload.maximum_size=7168 +atmegang.menu.cpu.atmega8.upload.maximum_data_size=1024 + +atmegang.menu.cpu.atmega8.bootloader.low_fuses=0xdf +atmegang.menu.cpu.atmega8.bootloader.high_fuses=0xca +atmegang.menu.cpu.atmega8.bootloader.file=atmega8/ATmegaBOOT-prod-firmware-2009-11-07.hex + +atmegang.menu.cpu.atmega8.build.mcu=atmega8 ############################################################## robotControl.name=Arduino Robot Control +robotControl.upload.tool=avrdude robotControl.upload.protocol=avr109 robotControl.upload.maximum_size=28672 +robotControl.upload.maximum_data_size=2560 robotControl.upload.speed=57600 robotControl.upload.disable_flushing=true +robotControl.upload.use_1200bps_touch=true +robotControl.upload.wait_for_upload_port=true + +robotControl.bootloader.tool=avrdude robotControl.bootloader.low_fuses=0xff robotControl.bootloader.high_fuses=0xd8 robotControl.bootloader.extended_fuses=0xcb -robotControl.bootloader.path=caterina-Arduino_Robot -robotControl.bootloader.file=Caterina-Robot-Control.hex +robotControl.bootloader.file=caterina-Arduino_Robot/Caterina-Robot-Control.hex robotControl.bootloader.unlock_bits=0x3F robotControl.bootloader.lock_bits=0x2F + robotControl.build.mcu=atmega32u4 robotControl.build.f_cpu=16000000L robotControl.build.vid=0x2341 robotControl.build.pid=0x8038 -robotControl.build.core=robot +robotControl.build.usb_product="Robot Control" +robotControl.build.board=AVR_ROBOT_CONTROL +robotControl.build.core=arduino robotControl.build.variant=robot_control +robotControl.build.extra_flags={build.usb_flags} ############################################################## robotMotor.name=Arduino Robot Motor +robotMotor.upload.tool=avrdude robotMotor.upload.protocol=avr109 robotMotor.upload.maximum_size=28672 +robotMotor.upload.maximum_data_size=2560 robotMotor.upload.speed=57600 robotMotor.upload.disable_flushing=true +robotMotor.upload.use_1200bps_touch=true +robotMotor.upload.wait_for_upload_port=true + +robotMotor.bootloader.tool=avrdude robotMotor.bootloader.low_fuses=0xff robotMotor.bootloader.high_fuses=0xd8 robotMotor.bootloader.extended_fuses=0xcb -robotMotor.bootloader.path=caterina-Arduino_Robot -robotMotor.bootloader.file=Caterina-Robot-Motor.hex +robotMotor.bootloader.file=caterina-Arduino_Robot/Caterina-Robot-Motor.hex robotMotor.bootloader.unlock_bits=0x3F robotMotor.bootloader.lock_bits=0x2F + robotMotor.build.mcu=atmega32u4 robotMotor.build.f_cpu=16000000L robotMotor.build.vid=0x2341 robotMotor.build.pid=0x8039 -robotMotor.build.core=robot +robotMotor.build.usb_product="Robot Motor" +robotMotor.build.board=AVR_ROBOT_MOTOR +robotMotor.build.core=arduino robotMotor.build.variant=robot_motor +robotMotor.build.extra_flags={build.usb_flags} diff --git a/bootloaders/atmega/ATmegaBOOT_168.c b/bootloaders/atmega/ATmegaBOOT_168.c index 880cf9b..880cf9b 100755..100644 --- a/bootloaders/atmega/ATmegaBOOT_168.c +++ b/bootloaders/atmega/ATmegaBOOT_168.c diff --git a/bootloaders/atmega/Makefile b/bootloaders/atmega/Makefile index 0fd54db..0fd54db 100755..100644 --- a/bootloaders/atmega/Makefile +++ b/bootloaders/atmega/Makefile diff --git a/bootloaders/atmega8/ATmegaBOOT.c b/bootloaders/atmega8/ATmegaBOOT.c index 8c8d22a..8c8d22a 100755..100644 --- a/bootloaders/atmega8/ATmegaBOOT.c +++ b/bootloaders/atmega8/ATmegaBOOT.c diff --git a/bootloaders/bt/Makefile b/bootloaders/bt/Makefile index 431f2e7..431f2e7 100755..100644 --- a/bootloaders/bt/Makefile +++ b/bootloaders/bt/Makefile diff --git a/bootloaders/caterina-LilyPadUSB/Caterina-LilyPadUSB.hex b/bootloaders/caterina-LilyPadUSB/Caterina-LilyPadUSB.hex index abc5ca8..abc5ca8 100755..100644 --- a/bootloaders/caterina-LilyPadUSB/Caterina-LilyPadUSB.hex +++ b/bootloaders/caterina-LilyPadUSB/Caterina-LilyPadUSB.hex diff --git a/bootloaders/caterina-LilyPadUSB/Caterina.c b/bootloaders/caterina-LilyPadUSB/Caterina.c index 9a59081..9a59081 100755..100644 --- a/bootloaders/caterina-LilyPadUSB/Caterina.c +++ b/bootloaders/caterina-LilyPadUSB/Caterina.c diff --git a/bootloaders/caterina-LilyPadUSB/Caterina.h b/bootloaders/caterina-LilyPadUSB/Caterina.h index f8251d4..f8251d4 100755..100644 --- a/bootloaders/caterina-LilyPadUSB/Caterina.h +++ b/bootloaders/caterina-LilyPadUSB/Caterina.h diff --git a/bootloaders/caterina-LilyPadUSB/Descriptors.c b/bootloaders/caterina-LilyPadUSB/Descriptors.c index f58519f..f58519f 100755..100644 --- a/bootloaders/caterina-LilyPadUSB/Descriptors.c +++ b/bootloaders/caterina-LilyPadUSB/Descriptors.c diff --git a/bootloaders/caterina-LilyPadUSB/Descriptors.h b/bootloaders/caterina-LilyPadUSB/Descriptors.h index 94091ae..94091ae 100755..100644 --- a/bootloaders/caterina-LilyPadUSB/Descriptors.h +++ b/bootloaders/caterina-LilyPadUSB/Descriptors.h diff --git a/bootloaders/caterina-LilyPadUSB/Makefile b/bootloaders/caterina-LilyPadUSB/Makefile index 8443e14..8443e14 100755..100644 --- a/bootloaders/caterina-LilyPadUSB/Makefile +++ b/bootloaders/caterina-LilyPadUSB/Makefile diff --git a/bootloaders/caterina-LilyPadUSB/Readme.txt b/bootloaders/caterina-LilyPadUSB/Readme.txt index 9656a6e..9656a6e 100755..100644 --- a/bootloaders/caterina-LilyPadUSB/Readme.txt +++ b/bootloaders/caterina-LilyPadUSB/Readme.txt diff --git a/bootloaders/caterina/Caterina-Yun.hex b/bootloaders/caterina/Caterina-Yun.hex new file mode 100644 index 0000000..1d76eb0 --- /dev/null +++ b/bootloaders/caterina/Caterina-Yun.hex @@ -0,0 +1,1025 @@ +:200000000C9475010C949D010C949D010C949D010C949D010C949D010C949D010C949D0118 +:200020000C949D010C949D010C940C050C9493050C949D010C949D010C949D010C949D0163 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ARDUINO_MAIN #define PA 1 #define PB 2 diff --git a/cores/arduino/CDC.cpp b/cores/arduino/CDC.cpp index e1e859d..a691306 100644 --- a/cores/arduino/CDC.cpp +++ b/cores/arduino/CDC.cpp @@ -23,21 +23,6 @@ #if defined(USBCON) #ifdef CDC_ENABLED -#if (RAMEND < 1000) -#define SERIAL_BUFFER_SIZE 16 -#else -#define SERIAL_BUFFER_SIZE 64 -#endif - -struct ring_buffer -{ - unsigned char buffer[SERIAL_BUFFER_SIZE]; - volatile int head; - volatile int tail; -}; - -ring_buffer cdc_rx_buffer = { { 0 }, 0, 0}; - typedef struct { u32 dwDTERate; @@ -144,8 +129,7 @@ void Serial_::end(void) void Serial_::accept(void) { - ring_buffer *buffer = &cdc_rx_buffer; - int i = (unsigned int)(buffer->head+1) % SERIAL_BUFFER_SIZE; + int i = (unsigned int)(_rx_buffer_head+1) % SERIAL_BUFFER_SIZE; // if we should be storing the received character into the location // just before the tail (meaning that the head would advance to the @@ -153,42 +137,39 @@ void Serial_::accept(void) // and so we don't write the character or advance the head. // while we have room to store a byte - while (i != buffer->tail) { + while (i != _rx_buffer_tail) { int c = USB_Recv(CDC_RX); if (c == -1) break; // no more data - buffer->buffer[buffer->head] = c; - buffer->head = i; + _rx_buffer[_rx_buffer_head] = c; + _rx_buffer_head = i; - i = (unsigned int)(buffer->head+1) % SERIAL_BUFFER_SIZE; + i = (unsigned int)(_rx_buffer_head+1) % SERIAL_BUFFER_SIZE; } } int Serial_::available(void) { - ring_buffer *buffer = &cdc_rx_buffer; - return (unsigned int)(SERIAL_BUFFER_SIZE + buffer->head - buffer->tail) % SERIAL_BUFFER_SIZE; + return (unsigned int)(SERIAL_BUFFER_SIZE + _rx_buffer_head - _rx_buffer_tail) % SERIAL_BUFFER_SIZE; } int Serial_::peek(void) { - ring_buffer *buffer = &cdc_rx_buffer; - if (buffer->head == buffer->tail) { + if (_rx_buffer_head == _rx_buffer_tail) { return -1; } else { - return buffer->buffer[buffer->tail]; + return _rx_buffer[_rx_buffer_tail]; } } int Serial_::read(void) { - ring_buffer *buffer = &cdc_rx_buffer; // if the head isn't ahead of the tail, we don't have any characters - if (buffer->head == buffer->tail) { + if (_rx_buffer_head == _rx_buffer_tail) { return -1; } else { - unsigned char c = buffer->buffer[buffer->tail]; - buffer->tail = (unsigned int)(buffer->tail + 1) % SERIAL_BUFFER_SIZE; + unsigned char c = _rx_buffer[_rx_buffer_tail]; + _rx_buffer_tail = (unsigned int)(_rx_buffer_tail + 1) % SERIAL_BUFFER_SIZE; return c; } } diff --git a/cores/arduino/HardwareSerial.cpp b/cores/arduino/HardwareSerial.cpp index eb2365f..9a86fa0 100644 --- a/cores/arduino/HardwareSerial.cpp +++ b/cores/arduino/HardwareSerial.cpp @@ -49,55 +49,17 @@ #endif #endif -// Define constants and variables for buffering incoming serial data. We're -// using a ring buffer (I think), in which head is the index of the location -// to which to write the next incoming character and tail is the index of the -// location from which to read. -#if (RAMEND < 1000) - #define SERIAL_BUFFER_SIZE 16 -#else - #define SERIAL_BUFFER_SIZE 64 -#endif - -struct ring_buffer -{ - unsigned char buffer[SERIAL_BUFFER_SIZE]; - volatile unsigned int head; - volatile unsigned int tail; -}; - -#if defined(USBCON) - ring_buffer rx_buffer = { { 0 }, 0, 0}; - ring_buffer tx_buffer = { { 0 }, 0, 0}; -#endif -#if defined(UBRRH) || defined(UBRR0H) - ring_buffer rx_buffer = { { 0 }, 0, 0 }; - ring_buffer tx_buffer = { { 0 }, 0, 0 }; -#endif -#if defined(UBRR1H) - ring_buffer rx_buffer1 = { { 0 }, 0, 0 }; - ring_buffer tx_buffer1 = { { 0 }, 0, 0 }; -#endif -#if defined(UBRR2H) - ring_buffer rx_buffer2 = { { 0 }, 0, 0 }; - ring_buffer tx_buffer2 = { { 0 }, 0, 0 }; -#endif -#if defined(UBRR3H) - ring_buffer rx_buffer3 = { { 0 }, 0, 0 }; - ring_buffer tx_buffer3 = { { 0 }, 0, 0 }; -#endif - -inline void store_char(unsigned char c, ring_buffer *buffer) +inline void store_char(unsigned char c, HardwareSerial *s) { - int i = (unsigned int)(buffer->head + 1) % SERIAL_BUFFER_SIZE; + int i = (unsigned int)(s->_rx_buffer_head + 1) % SERIAL_BUFFER_SIZE; // if we should be storing the received character into the location // just before the tail (meaning that the head would advance to the // current location of the tail), we're about to overflow the buffer // and so we don't write the character or advance the head. - if (i != buffer->tail) { - buffer->buffer[buffer->head] = c; - buffer->head = i; + if (i != s->_rx_buffer_tail) { + s->_rx_buffer[s->_rx_buffer_head] = c; + s->_rx_buffer_head = i; } } @@ -122,14 +84,14 @@ inline void store_char(unsigned char c, ring_buffer *buffer) #if defined(UDR0) if (bit_is_clear(UCSR0A, UPE0)) { unsigned char c = UDR0; - store_char(c, &rx_buffer); + store_char(c, &Serial); } else { unsigned char c = UDR0; }; #elif defined(UDR) if (bit_is_clear(UCSRA, PE)) { unsigned char c = UDR; - store_char(c, &rx_buffer); + store_char(c, &Serial); } else { unsigned char c = UDR; }; @@ -148,7 +110,7 @@ inline void store_char(unsigned char c, ring_buffer *buffer) { if (bit_is_clear(UCSR1A, UPE1)) { unsigned char c = UDR1; - store_char(c, &rx_buffer1); + store_char(c, &Serial1); } else { unsigned char c = UDR1; }; @@ -163,7 +125,7 @@ inline void store_char(unsigned char c, ring_buffer *buffer) { if (bit_is_clear(UCSR2A, UPE2)) { unsigned char c = UDR2; - store_char(c, &rx_buffer2); + store_char(c, &Serial2); } else { unsigned char c = UDR2; }; @@ -178,7 +140,7 @@ inline void store_char(unsigned char c, ring_buffer *buffer) { if (bit_is_clear(UCSR3A, UPE3)) { unsigned char c = UDR3; - store_char(c, &rx_buffer3); + store_char(c, &Serial3); } else { unsigned char c = UDR3; }; @@ -218,7 +180,7 @@ ISR(USART0_UDRE_vect) ISR(USART_UDRE_vect) #endif { - if (tx_buffer.head == tx_buffer.tail) { + if (Serial._tx_buffer_head == Serial._tx_buffer_tail) { // Buffer empty, so disable interrupts #if defined(UCSR0B) cbi(UCSR0B, UDRIE0); @@ -228,8 +190,8 @@ ISR(USART_UDRE_vect) } else { // There is more data in the output buffer. Send the next byte - unsigned char c = tx_buffer.buffer[tx_buffer.tail]; - tx_buffer.tail = (tx_buffer.tail + 1) % SERIAL_BUFFER_SIZE; + unsigned char c = Serial._tx_buffer[Serial._tx_buffer_tail]; + Serial._tx_buffer_tail = (Serial._tx_buffer_tail + 1) % SERIAL_BUFFER_SIZE; #if defined(UDR0) UDR0 = c; @@ -246,14 +208,14 @@ ISR(USART_UDRE_vect) #ifdef USART1_UDRE_vect ISR(USART1_UDRE_vect) { - if (tx_buffer1.head == tx_buffer1.tail) { + if (Serial1._tx_buffer_head == Serial1._tx_buffer_tail) { // Buffer empty, so disable interrupts cbi(UCSR1B, UDRIE1); } else { // There is more data in the output buffer. Send the next byte - unsigned char c = tx_buffer1.buffer[tx_buffer1.tail]; - tx_buffer1.tail = (tx_buffer1.tail + 1) % SERIAL_BUFFER_SIZE; + unsigned char c = Serial1._tx_buffer[Serial1._tx_buffer_tail]; + Serial1._tx_buffer_tail = (Serial1._tx_buffer_tail + 1) % SERIAL_BUFFER_SIZE; UDR1 = c; } @@ -263,14 +225,14 @@ ISR(USART1_UDRE_vect) #ifdef USART2_UDRE_vect ISR(USART2_UDRE_vect) { - if (tx_buffer2.head == tx_buffer2.tail) { + if (Serial2._tx_buffer_head == Serial2._tx_buffer_tail) { // Buffer empty, so disable interrupts cbi(UCSR2B, UDRIE2); } else { // There is more data in the output buffer. Send the next byte - unsigned char c = tx_buffer2.buffer[tx_buffer2.tail]; - tx_buffer2.tail = (tx_buffer2.tail + 1) % SERIAL_BUFFER_SIZE; + unsigned char c = Serial2._tx_buffer[Serial2._tx_buffer_tail]; + Serial2._tx_buffer_tail = (Serial2._tx_buffer_tail + 1) % SERIAL_BUFFER_SIZE; UDR2 = c; } @@ -280,31 +242,30 @@ ISR(USART2_UDRE_vect) #ifdef USART3_UDRE_vect ISR(USART3_UDRE_vect) { - if (tx_buffer3.head == tx_buffer3.tail) { + if (Serial3._tx_buffer_head == Serial3._tx_buffer_tail) { // Buffer empty, so disable interrupts cbi(UCSR3B, UDRIE3); } else { // There is more data in the output buffer. Send the next byte - unsigned char c = tx_buffer3.buffer[tx_buffer3.tail]; - tx_buffer3.tail = (tx_buffer3.tail + 1) % SERIAL_BUFFER_SIZE; + unsigned char c = Serial3._tx_buffer[Serial3._tx_buffer_tail]; + Serial3._tx_buffer_tail = (Serial3._tx_buffer_tail + 1) % SERIAL_BUFFER_SIZE; UDR3 = c; } } #endif - // Constructors //////////////////////////////////////////////////////////////// -HardwareSerial::HardwareSerial(ring_buffer *rx_buffer, ring_buffer *tx_buffer, +HardwareSerial::HardwareSerial( volatile uint8_t *ubrrh, volatile uint8_t *ubrrl, volatile uint8_t *ucsra, volatile uint8_t *ucsrb, volatile uint8_t *ucsrc, volatile uint8_t *udr, uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udrie, uint8_t u2x) { - _rx_buffer = rx_buffer; - _tx_buffer = tx_buffer; + _tx_buffer_head = _tx_buffer_tail = 0; + _rx_buffer_head = _rx_buffer_tail = 0; _ubrrh = ubrrh; _ubrrl = ubrrl; _ucsra = ucsra; @@ -412,7 +373,7 @@ try_again: void HardwareSerial::end() { // wait for transmission of outgoing data - while (_tx_buffer->head != _tx_buffer->tail) + while (_tx_buffer_head != _tx_buffer_tail) ; cbi(*_ucsrb, _rxen); @@ -421,31 +382,31 @@ void HardwareSerial::end() cbi(*_ucsrb, _udrie); // clear any received data - _rx_buffer->head = _rx_buffer->tail; + _rx_buffer_head = _rx_buffer_tail; } int HardwareSerial::available(void) { - return (unsigned int)(SERIAL_BUFFER_SIZE + _rx_buffer->head - _rx_buffer->tail) % SERIAL_BUFFER_SIZE; + return (unsigned int)(SERIAL_BUFFER_SIZE + _rx_buffer_head - _rx_buffer_tail) % SERIAL_BUFFER_SIZE; } int HardwareSerial::peek(void) { - if (_rx_buffer->head == _rx_buffer->tail) { + if (_rx_buffer_head == _rx_buffer_tail) { return -1; } else { - return _rx_buffer->buffer[_rx_buffer->tail]; + return _rx_buffer[_rx_buffer_tail]; } } int HardwareSerial::read(void) { // if the head isn't ahead of the tail, we don't have any characters - if (_rx_buffer->head == _rx_buffer->tail) { + if (_rx_buffer_head == _rx_buffer_tail) { return -1; } else { - unsigned char c = _rx_buffer->buffer[_rx_buffer->tail]; - _rx_buffer->tail = (unsigned int)(_rx_buffer->tail + 1) % SERIAL_BUFFER_SIZE; + unsigned char c = _rx_buffer[_rx_buffer_tail]; + _rx_buffer_tail = (unsigned int)(_rx_buffer_tail + 1) % SERIAL_BUFFER_SIZE; return c; } } @@ -459,16 +420,16 @@ void HardwareSerial::flush() size_t HardwareSerial::write(uint8_t c) { - int i = (_tx_buffer->head + 1) % SERIAL_BUFFER_SIZE; + int i = (_tx_buffer_head + 1) % SERIAL_BUFFER_SIZE; // If the output buffer is full, there's nothing for it other than to // wait for the interrupt handler to empty it a bit // ???: return 0 here instead? - while (i == _tx_buffer->tail) + while (i == _tx_buffer_tail) ; - _tx_buffer->buffer[_tx_buffer->head] = c; - _tx_buffer->head = i; + _tx_buffer[_tx_buffer_head] = c; + _tx_buffer_head = i; sbi(*_ucsrb, _udrie); // clear the TXC bit -- "can be cleared by writing a one to its bit location" @@ -485,9 +446,9 @@ HardwareSerial::operator bool() { // Preinstantiate Objects ////////////////////////////////////////////////////// #if defined(UBRRH) && defined(UBRRL) - HardwareSerial Serial(&rx_buffer, &tx_buffer, &UBRRH, &UBRRL, &UCSRA, &UCSRB, &UCSRC, &UDR, RXEN, TXEN, RXCIE, UDRIE, U2X); + HardwareSerial Serial(&UBRRH, &UBRRL, &UCSRA, &UCSRB, &UCSRC, &UDR, RXEN, TXEN, RXCIE, UDRIE, U2X); #elif defined(UBRR0H) && defined(UBRR0L) - HardwareSerial Serial(&rx_buffer, &tx_buffer, &UBRR0H, &UBRR0L, &UCSR0A, &UCSR0B, &UCSR0C, &UDR0, RXEN0, TXEN0, RXCIE0, UDRIE0, U2X0); + HardwareSerial Serial(&UBRR0H, &UBRR0L, &UCSR0A, &UCSR0B, &UCSR0C, &UDR0, RXEN0, TXEN0, RXCIE0, UDRIE0, U2X0); #elif defined(USBCON) // do nothing - Serial object and buffers are initialized in CDC code #else @@ -495,13 +456,13 @@ HardwareSerial::operator bool() { #endif #if defined(UBRR1H) - HardwareSerial Serial1(&rx_buffer1, &tx_buffer1, &UBRR1H, &UBRR1L, &UCSR1A, &UCSR1B, &UCSR1C, &UDR1, RXEN1, TXEN1, RXCIE1, UDRIE1, U2X1); + HardwareSerial Serial1(&UBRR1H, &UBRR1L, &UCSR1A, &UCSR1B, &UCSR1C, &UDR1, RXEN1, TXEN1, RXCIE1, UDRIE1, U2X1); #endif #if defined(UBRR2H) - HardwareSerial Serial2(&rx_buffer2, &tx_buffer2, &UBRR2H, &UBRR2L, &UCSR2A, &UCSR2B, &UCSR2C, &UDR2, RXEN2, TXEN2, RXCIE2, UDRIE2, U2X2); + HardwareSerial Serial2(&UBRR2H, &UBRR2L, &UCSR2A, &UCSR2B, &UCSR2C, &UDR2, RXEN2, TXEN2, RXCIE2, UDRIE2, U2X2); #endif #if defined(UBRR3H) - HardwareSerial Serial3(&rx_buffer3, &tx_buffer3, &UBRR3H, &UBRR3L, &UCSR3A, &UCSR3B, &UCSR3C, &UDR3, RXEN3, TXEN3, RXCIE3, UDRIE3, U2X3); + HardwareSerial Serial3(&UBRR3H, &UBRR3L, &UCSR3A, &UCSR3B, &UCSR3C, &UDR3, RXEN3, TXEN3, RXCIE3, UDRIE3, U2X3); #endif #endif // whole file diff --git a/cores/arduino/HardwareSerial.h b/cores/arduino/HardwareSerial.h index a73117f..0f62262 100644 --- a/cores/arduino/HardwareSerial.h +++ b/cores/arduino/HardwareSerial.h @@ -27,13 +27,19 @@ #include "Stream.h" -struct ring_buffer; +// Define constants and variables for buffering incoming serial data. We're +// using a ring buffer (I think), in which head is the index of the location +// to which to write the next incoming character and tail is the index of the +// location from which to read. +#if (RAMEND < 1000) + #define SERIAL_BUFFER_SIZE 16 +#else + #define SERIAL_BUFFER_SIZE 64 +#endif class HardwareSerial : public Stream { - private: - ring_buffer *_rx_buffer; - ring_buffer *_tx_buffer; + protected: volatile uint8_t *_ubrrh; volatile uint8_t *_ubrrl; volatile uint8_t *_ucsra; @@ -46,8 +52,20 @@ class HardwareSerial : public Stream uint8_t _udrie; uint8_t _u2x; bool transmitting; + public: - HardwareSerial(ring_buffer *rx_buffer, ring_buffer *tx_buffer, + volatile uint8_t _rx_buffer_head; + volatile uint8_t _rx_buffer_tail; + volatile uint8_t _tx_buffer_head; + volatile uint8_t _tx_buffer_tail; + + // Don't put any members after these buffers, since only the first + // 32 bytes of this struct can be accessed quickly using the ldd + // instruction. + unsigned char _rx_buffer[SERIAL_BUFFER_SIZE]; + unsigned char _tx_buffer[SERIAL_BUFFER_SIZE]; + + HardwareSerial( volatile uint8_t *ubrrh, volatile uint8_t *ubrrl, volatile uint8_t *ucsra, volatile uint8_t *ucsrb, volatile uint8_t *ucsrc, volatile uint8_t *udr, diff --git a/cores/arduino/IPAddress.h b/cores/arduino/IPAddress.h index 2585aec..078ac97 100644 --- a/cores/arduino/IPAddress.h +++ b/cores/arduino/IPAddress.h @@ -26,6 +26,7 @@ #ifndef IPAddress_h #define IPAddress_h +#include <stdint.h> #include <Printable.h> // A class to make it easier to handle and pass around IP addresses diff --git a/cores/arduino/Print.cpp b/cores/arduino/Print.cpp index 53961ec..5df5630 100755..100644 --- a/cores/arduino/Print.cpp +++ b/cores/arduino/Print.cpp @@ -41,7 +41,7 @@ size_t Print::write(const uint8_t *buffer, size_t size) size_t Print::print(const __FlashStringHelper *ifsh) { - const char PROGMEM *p = (const char PROGMEM *)ifsh; + PGM_P p = reinterpret_cast<PGM_P>(ifsh); size_t n = 0; while (1) { unsigned char c = pgm_read_byte(p++); @@ -53,11 +53,7 @@ size_t Print::print(const __FlashStringHelper *ifsh) size_t Print::print(const String &s) { - size_t n = 0; - for (uint16_t i = 0; i < s.length(); i++) { - n += write(s[i]); - } - return n; + return write(s.c_str(), s.length()); } size_t Print::print(const char str[]) diff --git a/cores/arduino/Print.h b/cores/arduino/Print.h index dc76150..7b53aa4 100755..100644 --- a/cores/arduino/Print.h +++ b/cores/arduino/Print.h @@ -51,6 +51,9 @@ class Print return write((const uint8_t *)str, strlen(str)); } virtual size_t write(const uint8_t *buffer, size_t size); + size_t write(const char *buffer, size_t size) { + return write((const uint8_t *)buffer, size); + } size_t print(const __FlashStringHelper *); size_t print(const String &); diff --git a/cores/arduino/Stream.h b/cores/arduino/Stream.h index 007b4bc..5cf5ddf 100644 --- a/cores/arduino/Stream.h +++ b/cores/arduino/Stream.h @@ -57,14 +57,18 @@ class Stream : public Print void setTimeout(unsigned long timeout); // sets maximum milliseconds to wait for stream data, default is 1 second bool find(char *target); // reads data from the stream until the target string is found + bool find(uint8_t *target) { return find ((char *)target); } // returns true if target string is found, false if timed out (see setTimeout) bool find(char *target, size_t length); // reads data from the stream until the target string of given length is found + bool find(uint8_t *target, size_t length) { return find ((char *)target, length); } // returns true if target string is found, false if timed out bool findUntil(char *target, char *terminator); // as find but search ends if the terminator string is found + bool findUntil(uint8_t *target, char *terminator) { return findUntil((char *)target, terminator); } bool findUntil(char *target, size_t targetLen, char *terminate, size_t termLen); // as above but search ends if the terminate string is found + bool findUntil(uint8_t *target, size_t targetLen, char *terminate, size_t termLen) {return findUntil((char *)target, targetLen, terminate, termLen); } long parseInt(); // returns the first valid (long) integer value from the current position. @@ -74,10 +78,12 @@ class Stream : public Print float parseFloat(); // float version of parseInt size_t readBytes( char *buffer, size_t length); // read chars from stream into buffer + size_t readBytes( uint8_t *buffer, size_t length) { return readBytes((char *)buffer, length); } // terminates if length characters have been read or timeout (see setTimeout) // returns the number of characters placed in the buffer (0 means no valid data found) size_t readBytesUntil( char terminator, char *buffer, size_t length); // as readBytes with terminator character + size_t readBytesUntil( char terminator, uint8_t *buffer, size_t length) { return readBytesUntil(terminator, (char *)buffer, length); } // terminates if length characters have been read, timeout, or if the terminator character detected // returns the number of characters placed in the buffer (0 means no valid data found) diff --git a/cores/arduino/Tone.cpp b/cores/arduino/Tone.cpp index 9bb6fe7..9bb6fe7 100755..100644 --- a/cores/arduino/Tone.cpp +++ b/cores/arduino/Tone.cpp diff --git a/cores/arduino/USBAPI.h b/cores/arduino/USBAPI.h index 7a14285..da2e869 100644 --- a/cores/arduino/USBAPI.h +++ b/cores/arduino/USBAPI.h @@ -25,10 +25,16 @@ extern USBDevice_ USBDevice; //================================================================================ // Serial over CDC (Serial1 is the physical port) +struct ring_buffer; + +#if (RAMEND < 1000) +#define SERIAL_BUFFER_SIZE 16 +#else +#define SERIAL_BUFFER_SIZE 64 +#endif + class Serial_ : public Stream { -private: - ring_buffer *_cdc_rx_buffer; public: void begin(unsigned long); void begin(unsigned long, uint8_t); @@ -42,6 +48,10 @@ public: virtual size_t write(uint8_t); using Print::write; // pull in write(str) and write(buf, size) from Print operator bool(); + + volatile uint8_t _rx_buffer_head; + volatile uint8_t _rx_buffer_tail; + unsigned char _rx_buffer[SERIAL_BUFFER_SIZE]; }; extern Serial_ Serial; diff --git a/cores/arduino/USBCore.cpp b/cores/arduino/USBCore.cpp index d3e0170..c46c75f 100644 --- a/cores/arduino/USBCore.cpp +++ b/cores/arduino/USBCore.cpp @@ -39,8 +39,8 @@ volatile u8 RxLEDPulse; /**< Milliseconds remaining for data Rx LED pulse */ //================================================================== extern const u16 STRING_LANGUAGE[] PROGMEM; -extern const u16 STRING_IPRODUCT[] PROGMEM; -extern const u16 STRING_IMANUFACTURER[] PROGMEM; +extern const u8 STRING_PRODUCT[] PROGMEM; +extern const u8 STRING_MANUFACTURER[] PROGMEM; extern const DeviceDescriptor USB_DeviceDescriptor PROGMEM; extern const DeviceDescriptor USB_DeviceDescriptorA PROGMEM; @@ -49,31 +49,24 @@ const u16 STRING_LANGUAGE[2] = { 0x0409 // English }; -const u16 STRING_IPRODUCT[17] = { - (3<<8) | (2+2*16), -#if USB_PID == 0x8036 - 'A','r','d','u','i','n','o',' ','L','e','o','n','a','r','d','o' -#elif USB_PID == 0x8037 - 'A','r','d','u','i','n','o',' ','M','i','c','r','o',' ',' ',' ' -#elif USB_PID == 0x803C - 'A','r','d','u','i','n','o',' ','E','s','p','l','o','r','a',' ' -#elif USB_PID == 0x9208 - 'L','i','l','y','P','a','d','U','S','B',' ',' ',' ',' ',' ',' ' -#else - 'U','S','B',' ','I','O',' ','B','o','a','r','d',' ',' ',' ',' ' +#ifndef USB_PRODUCT +// If no product is provided, use USB IO Board +#define USB_PRODUCT "USB IO Board" #endif -}; -const u16 STRING_IMANUFACTURER[12] = { - (3<<8) | (2+2*11), +const u8 STRING_PRODUCT[] PROGMEM = USB_PRODUCT; + #if USB_VID == 0x2341 - 'A','r','d','u','i','n','o',' ','L','L','C' +#define USB_MANUFACTURER "Arduino LLC" #elif USB_VID == 0x1b4f - 'S','p','a','r','k','F','u','n',' ',' ',' ' -#else - 'U','n','k','n','o','w','n',' ',' ',' ',' ' +#define USB_MANUFACTURER "SparkFun" +#elif !defined(USB_MANUFACTURER) +// Fall through to unknown if no manufacturer name was provided in a macro +#define USB_MANUFACTURER "Unknown" #endif -}; + +const u8 STRING_MANUFACTURER[] PROGMEM = USB_MANUFACTURER; + #ifdef CDC_ENABLED #define DEVICE_CLASS 0x02 @@ -416,6 +409,22 @@ int USB_SendControl(u8 flags, const void* d, int len) return sent; } +// Send a USB descriptor string. The string is stored in PROGMEM as a +// plain ASCII string but is sent out as UTF-16 with the correct 2-byte +// prefix +static bool USB_SendStringDescriptor(const u8*string_P, u8 string_len) { + SendControl(2 + string_len * 2); + SendControl(3); + for(u8 i = 0; i < string_len; i++) { + bool r = SendControl(pgm_read_byte(&string_P[i])); + r &= SendControl(0); // high byte + if(!r) { + return false; + } + } + return true; +} + // Does not timeout or cross fifo boundaries // Will only work for transfers <= 64 bytes // TODO @@ -476,7 +485,6 @@ bool SendDescriptor(Setup& setup) return HID_GetDescriptor(t); #endif - u8 desc_length = 0; const u8* desc_addr = 0; if (USB_DEVICE_DESCRIPTOR_TYPE == t) { @@ -486,20 +494,22 @@ bool SendDescriptor(Setup& setup) } else if (USB_STRING_DESCRIPTOR_TYPE == t) { - if (setup.wValueL == 0) + if (setup.wValueL == 0) { desc_addr = (const u8*)&STRING_LANGUAGE; - else if (setup.wValueL == IPRODUCT) - desc_addr = (const u8*)&STRING_IPRODUCT; - else if (setup.wValueL == IMANUFACTURER) - desc_addr = (const u8*)&STRING_IMANUFACTURER; + } + else if (setup.wValueL == IPRODUCT) { + return USB_SendStringDescriptor(STRING_PRODUCT, strlen(USB_PRODUCT)); + } + else if (setup.wValueL == IMANUFACTURER) { + return USB_SendStringDescriptor(STRING_MANUFACTURER, strlen(USB_MANUFACTURER)); + } else return false; } if (desc_addr == 0) return false; - if (desc_length == 0) - desc_length = pgm_read_byte(desc_addr); + u8 desc_length = pgm_read_byte(desc_addr); USB_SendControl(TRANSFER_PGM,desc_addr,desc_length); return true; diff --git a/cores/arduino/WString.cpp b/cores/arduino/WString.cpp index e19f543..ed880ce 100644 --- a/cores/arduino/WString.cpp +++ b/cores/arduino/WString.cpp @@ -21,7 +21,6 @@ #include "WString.h" - /*********************************************/ /* Constructors */ /*********************************************/ @@ -38,6 +37,12 @@ String::String(const String &value) *this = value; } +String::String(const __FlashStringHelper *pstr) +{ + init(); + *this = pstr; +} + #ifdef __GXX_EXPERIMENTAL_CXX0X__ String::String(String &&rval) { @@ -63,7 +68,7 @@ String::String(char c) String::String(unsigned char value, unsigned char base) { init(); - char buf[9]; + char buf[1 + 8 * sizeof(unsigned char)]; utoa(value, buf, base); *this = buf; } @@ -71,7 +76,7 @@ String::String(unsigned char value, unsigned char base) String::String(int value, unsigned char base) { init(); - char buf[18]; + char buf[2 + 8 * sizeof(int)]; itoa(value, buf, base); *this = buf; } @@ -79,7 +84,7 @@ String::String(int value, unsigned char base) String::String(unsigned int value, unsigned char base) { init(); - char buf[17]; + char buf[1 + 8 * sizeof(unsigned int)]; utoa(value, buf, base); *this = buf; } @@ -87,7 +92,7 @@ String::String(unsigned int value, unsigned char base) String::String(long value, unsigned char base) { init(); - char buf[34]; + char buf[2 + 8 * sizeof(long)]; ltoa(value, buf, base); *this = buf; } @@ -95,24 +100,25 @@ String::String(long value, unsigned char base) String::String(unsigned long value, unsigned char base) { init(); - char buf[33]; + char buf[1 + 8 * sizeof(unsigned long)]; ultoa(value, buf, base); *this = buf; } -String::String(float value, int decimalPlaces) +String::String(float value, unsigned char decimalPlaces) { init(); char buf[33]; *this = dtostrf(value, (decimalPlaces + 2), decimalPlaces, buf); } -String::String(double value, int decimalPlaces) +String::String(double value, unsigned char decimalPlaces) { init(); char buf[33]; *this = dtostrf(value, (decimalPlaces + 2), decimalPlaces, buf); } + String::~String() { free(buffer); @@ -127,7 +133,6 @@ inline void String::init(void) buffer = NULL; capacity = 0; len = 0; - flags = 0; } void String::invalidate(void) @@ -173,6 +178,17 @@ String & String::copy(const char *cstr, unsigned int length) return *this; } +String & String::copy(const __FlashStringHelper *pstr, unsigned int length) +{ + if (!reserve(length)) { + invalidate(); + return *this; + } + len = length; + strcpy_P(buffer, (PGM_P)pstr); + return *this; +} + #ifdef __GXX_EXPERIMENTAL_CXX0X__ void String::move(String &rhs) { @@ -227,6 +243,14 @@ String & String::operator = (const char *cstr) return *this; } +String & String::operator = (const __FlashStringHelper *pstr) +{ + if (pstr) copy(pstr, strlen_P((PGM_P)pstr)); + else invalidate(); + + return *this; +} + /*********************************************/ /* concat */ /*********************************************/ @@ -263,35 +287,35 @@ unsigned char String::concat(char c) unsigned char String::concat(unsigned char num) { - char buf[4]; + char buf[1 + 3 * sizeof(unsigned char)]; itoa(num, buf, 10); return concat(buf, strlen(buf)); } unsigned char String::concat(int num) { - char buf[7]; + char buf[2 + 3 * sizeof(int)]; itoa(num, buf, 10); return concat(buf, strlen(buf)); } unsigned char String::concat(unsigned int num) { - char buf[6]; + char buf[1 + 3 * sizeof(unsigned int)]; utoa(num, buf, 10); return concat(buf, strlen(buf)); } unsigned char String::concat(long num) { - char buf[12]; + char buf[2 + 3 * sizeof(long)]; ltoa(num, buf, 10); return concat(buf, strlen(buf)); } unsigned char String::concat(unsigned long num) { - char buf[11]; + char buf[1 + 3 * sizeof(unsigned long)]; ultoa(num, buf, 10); return concat(buf, strlen(buf)); } @@ -299,17 +323,29 @@ unsigned char String::concat(unsigned long num) unsigned char String::concat(float num) { char buf[20]; - char* string = dtostrf(num, 8, 6, buf); + char* string = dtostrf(num, 4, 2, buf); return concat(string, strlen(string)); } unsigned char String::concat(double num) { char buf[20]; - char* string = dtostrf(num, 8, 6, buf); + char* string = dtostrf(num, 4, 2, buf); return concat(string, strlen(string)); } +unsigned char String::concat(const __FlashStringHelper * str) +{ + if (!str) return 0; + int length = strlen_P((const char *) str); + if (length == 0) return 1; + unsigned int newlen = len + length; + if (!reserve(newlen)) return 0; + strcpy_P(buffer + len, (const char *) str); + len = newlen; + return 1; +} + /*********************************************/ /* Concatenate */ /*********************************************/ @@ -383,6 +419,14 @@ StringSumHelper & operator + (const StringSumHelper &lhs, double num) if (!a.concat(num)) a.invalidate(); return a; } + +StringSumHelper & operator + (const StringSumHelper &lhs, const __FlashStringHelper *rhs) +{ + StringSumHelper &a = const_cast<StringSumHelper&>(lhs); + if (!a.concat(rhs)) a.invalidate(); + return a; +} + /*********************************************/ /* Comparison */ /*********************************************/ @@ -567,11 +611,6 @@ int String::lastIndexOf(const String &s2, unsigned int fromIndex) const return found; } -String String::substring( unsigned int left ) const -{ - return substring(left, len); -} - String String::substring(unsigned int left, unsigned int right) const { if (left > right) { @@ -698,7 +737,6 @@ long String::toInt(void) const return 0; } - float String::toFloat(void) const { if (buffer) return float(atof(buffer)); diff --git a/cores/arduino/WString.h b/cores/arduino/WString.h index 2d372c5..7402430 100644 --- a/cores/arduino/WString.h +++ b/cores/arduino/WString.h @@ -58,6 +58,7 @@ public: // be false). String(const char *cstr = ""); String(const String &str); + String(const __FlashStringHelper *str); #ifdef __GXX_EXPERIMENTAL_CXX0X__ String(String &&rval); String(StringSumHelper &&rval); @@ -68,8 +69,8 @@ public: explicit String(unsigned int, unsigned char base=10); explicit String(long, unsigned char base=10); explicit String(unsigned long, unsigned char base=10); - explicit String(float, int decimalPlaces=6); - explicit String(double, int decimalPlaces=6); + explicit String(float, unsigned char decimalPlaces=2); + explicit String(double, unsigned char decimalPlaces=2); ~String(void); // memory management @@ -84,6 +85,7 @@ public: // marked as invalid ("if (s)" will be false). String & operator = (const String &rhs); String & operator = (const char *cstr); + String & operator = (const __FlashStringHelper *str); #ifdef __GXX_EXPERIMENTAL_CXX0X__ String & operator = (String &&rval); String & operator = (StringSumHelper &&rval); @@ -104,6 +106,7 @@ public: unsigned char concat(unsigned long num); unsigned char concat(float num); unsigned char concat(double num); + unsigned char concat(const __FlashStringHelper * str); // if there's not enough memory for the concatenated value, the string // will be left unchanged (but this isn't signalled in any way) @@ -115,6 +118,9 @@ public: String & operator += (unsigned int num) {concat(num); return (*this);} String & operator += (long num) {concat(num); return (*this);} String & operator += (unsigned long num) {concat(num); return (*this);} + String & operator += (float num) {concat(num); return (*this);} + String & operator += (double num) {concat(num); return (*this);} + String & operator += (const __FlashStringHelper *str){concat(str); return (*this);} friend StringSumHelper & operator + (const StringSumHelper &lhs, const String &rhs); friend StringSumHelper & operator + (const StringSumHelper &lhs, const char *cstr); @@ -126,6 +132,7 @@ public: friend StringSumHelper & operator + (const StringSumHelper &lhs, unsigned long num); friend StringSumHelper & operator + (const StringSumHelper &lhs, float num); friend StringSumHelper & operator + (const StringSumHelper &lhs, double num); + friend StringSumHelper & operator + (const StringSumHelper &lhs, const __FlashStringHelper *rhs); // comparison (only works w/ Strings and "strings") operator StringIfHelperType() const { return buffer ? &String::StringIfHelper : 0; } @@ -164,7 +171,7 @@ public: int lastIndexOf( char ch, unsigned int fromIndex ) const; int lastIndexOf( const String &str ) const; int lastIndexOf( const String &str, unsigned int fromIndex ) const; - String substring( unsigned int beginIndex ) const; + String substring( unsigned int beginIndex ) const { return substring(beginIndex, len); }; String substring( unsigned int beginIndex, unsigned int endIndex ) const; // modification @@ -184,7 +191,6 @@ protected: char *buffer; // the actual char array unsigned int capacity; // the array length minus one (for the '\0') unsigned int len; // the String length (not counting the '\0') - unsigned char flags; // unused, for future features protected: void init(void); void invalidate(void); @@ -193,6 +199,7 @@ protected: // copy and move String & copy(const char *cstr, unsigned int length); + String & copy(const __FlashStringHelper *pstr, unsigned int length); #ifdef __GXX_EXPERIMENTAL_CXX0X__ void move(String &rhs); #endif @@ -209,6 +216,8 @@ public: StringSumHelper(unsigned int num) : String(num) {} StringSumHelper(long num) : String(num) {} StringSumHelper(unsigned long num) : String(num) {} + StringSumHelper(float num) : String(num) {} + StringSumHelper(double num) : String(num) {} }; #endif // __cplusplus diff --git a/cores/arduino/hooks.c b/cores/arduino/hooks.c new file mode 100644 index 0000000..641eabc --- /dev/null +++ b/cores/arduino/hooks.c @@ -0,0 +1,31 @@ +/* + Copyright (c) 2012 Arduino. 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 +*/ + +/** + * Empty yield() hook. + * + * This function is intended to be used by library writers to build + * libraries or sketches that supports cooperative threads. + * + * Its defined as a weak symbol and it can be redefined to implement a + * real cooperative scheduler. + */ +static void __empty() { + // Empty +} +void yield(void) __attribute__ ((weak, alias("__empty"))); diff --git a/cores/arduino/wiring.c b/cores/arduino/wiring.c index a3c4390..5cbe241 100644 --- a/cores/arduino/wiring.c +++ b/cores/arduino/wiring.c @@ -111,6 +111,7 @@ void delay(unsigned long ms) uint16_t start = (uint16_t)micros(); while (ms > 0) { + yield(); if (((uint16_t)micros() - start) >= 1000) { ms--; start += 1000; diff --git a/cores/arduino/wiring_private.h b/cores/arduino/wiring_private.h index c366005..c366005 100755..100644 --- a/cores/arduino/wiring_private.h +++ b/cores/arduino/wiring_private.h diff --git a/cores/arduino/wiring_pulse.c b/cores/arduino/wiring_pulse.c index 0d96886..0d96886 100755..100644 --- a/cores/arduino/wiring_pulse.c +++ b/cores/arduino/wiring_pulse.c diff --git a/cores/arduino/wiring_shift.c b/cores/arduino/wiring_shift.c index cfe7867..cfe7867 100755..100644 --- a/cores/arduino/wiring_shift.c +++ b/cores/arduino/wiring_shift.c diff --git a/cores/robot/Arduino.h b/cores/robot/Arduino.h deleted file mode 100755 index 3b9ccca..0000000 --- a/cores/robot/Arduino.h +++ /dev/null @@ -1,215 +0,0 @@ -#ifndef Arduino_h -#define Arduino_h - -#include <stdlib.h> -#include <string.h> -#include <math.h> - -#include <avr/pgmspace.h> -#include <avr/io.h> -#include <avr/interrupt.h> - -#include "binary.h" - -#ifdef __cplusplus -extern "C"{ -#endif - -#define HIGH 0x1 -#define LOW 0x0 - -#define INPUT 0x0 -#define OUTPUT 0x1 -#define INPUT_PULLUP 0x2 - -#define true 0x1 -#define false 0x0 - -#define PI 3.1415926535897932384626433832795 -#define HALF_PI 1.5707963267948966192313216916398 -#define TWO_PI 6.283185307179586476925286766559 -#define DEG_TO_RAD 0.017453292519943295769236907684886 -#define RAD_TO_DEG 57.295779513082320876798154814105 - -#define SERIAL 0x0 -#define DISPLAY 0x1 - -#define LSBFIRST 0 -#define MSBFIRST 1 - -#define CHANGE 1 -#define FALLING 2 -#define RISING 3 - -#if defined(__AVR_ATtiny24__) || defined(__AVR_ATtiny44__) || defined(__AVR_ATtiny84__) || defined(__AVR_ATtiny25__) || defined(__AVR_ATtiny45__) || defined(__AVR_ATtiny85__) -#define DEFAULT 0 -#define EXTERNAL 1 -#define INTERNAL 2 -#else -#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) || defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644__) || defined(__AVR_ATmega644A__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) -#define INTERNAL1V1 2 -#define INTERNAL2V56 3 -#else -#define INTERNAL 3 -#endif -#define DEFAULT 1 -#define EXTERNAL 0 -#endif - -// undefine stdlib's abs if encountered -#ifdef abs -#undef abs -#endif - -#define min(a,b) ((a)<(b)?(a):(b)) -#define max(a,b) ((a)>(b)?(a):(b)) -#define abs(x) ((x)>0?(x):-(x)) -#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt))) -#define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5)) -#define radians(deg) ((deg)*DEG_TO_RAD) -#define degrees(rad) ((rad)*RAD_TO_DEG) -#define sq(x) ((x)*(x)) - -#define interrupts() sei() -#define noInterrupts() cli() - -#define clockCyclesPerMicrosecond() ( F_CPU / 1000000L ) -#define clockCyclesToMicroseconds(a) ( (a) / clockCyclesPerMicrosecond() ) -#define microsecondsToClockCycles(a) ( (a) * clockCyclesPerMicrosecond() ) - -#define lowByte(w) ((uint8_t) ((w) & 0xff)) -#define highByte(w) ((uint8_t) ((w) >> 8)) - -#define bitRead(value, bit) (((value) >> (bit)) & 0x01) -#define bitSet(value, bit) ((value) |= (1UL << (bit))) -#define bitClear(value, bit) ((value) &= ~(1UL << (bit))) -#define bitWrite(value, bit, bitvalue) (bitvalue ? bitSet(value, bit) : bitClear(value, bit)) - - -typedef unsigned int word; - -#define bit(b) (1UL << (b)) - -typedef uint8_t boolean; -typedef uint8_t byte; - -void init(void); - -void pinMode(uint8_t, uint8_t); -void digitalWrite(uint8_t, uint8_t); -int digitalRead(uint8_t); -int analogRead(uint8_t); -void analogReference(uint8_t mode); -void analogWrite(uint8_t, int); - -unsigned long millis(void); -unsigned long micros(void); -void delay(unsigned long); -void delayMicroseconds(unsigned int us); -unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout); - -void shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t val); -uint8_t shiftIn(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder); - -void attachInterrupt(uint8_t, void (*)(void), int mode); -void detachInterrupt(uint8_t); - -void setup(void); -void loop(void); - -// Get the bit location within the hardware port of the given virtual pin. -// This comes from the pins_*.c file for the active board configuration. - -#define analogInPinToBit(P) (P) - -// On the ATmega1280, the addresses of some of the port registers are -// greater than 255, so we can't store them in uint8_t's. -extern const uint16_t PROGMEM port_to_mode_PGM[]; -extern const uint16_t PROGMEM port_to_input_PGM[]; -extern const uint16_t PROGMEM port_to_output_PGM[]; - -extern const uint8_t PROGMEM digital_pin_to_port_PGM[]; -// extern const uint8_t PROGMEM digital_pin_to_bit_PGM[]; -extern const uint8_t PROGMEM digital_pin_to_bit_mask_PGM[]; -extern const uint8_t PROGMEM digital_pin_to_timer_PGM[]; - -// Get the bit location within the hardware port of the given virtual pin. -// This comes from the pins_*.c file for the active board configuration. -// -// These perform slightly better as macros compared to inline functions -// -#define digitalPinToPort(P) ( pgm_read_byte( digital_pin_to_port_PGM + (P) ) ) -#define digitalPinToBitMask(P) ( pgm_read_byte( digital_pin_to_bit_mask_PGM + (P) ) ) -#define digitalPinToTimer(P) ( pgm_read_byte( digital_pin_to_timer_PGM + (P) ) ) -#define analogInPinToBit(P) (P) -#define portOutputRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_output_PGM + (P))) ) -#define portInputRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_input_PGM + (P))) ) -#define portModeRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_mode_PGM + (P))) ) - -#define NOT_A_PIN 0 -#define NOT_A_PORT 0 - -#ifdef ARDUINO_MAIN -#define PA 1 -#define PB 2 -#define PC 3 -#define PD 4 -#define PE 5 -#define PF 6 -#define PG 7 -#define PH 8 -#define PJ 10 -#define PK 11 -#define PL 12 -#endif - -#define NOT_ON_TIMER 0 -#define TIMER0A 1 -#define TIMER0B 2 -#define TIMER1A 3 -#define TIMER1B 4 -#define TIMER2 5 -#define TIMER2A 6 -#define TIMER2B 7 - -#define TIMER3A 8 -#define TIMER3B 9 -#define TIMER3C 10 -#define TIMER4A 11 -#define TIMER4B 12 -#define TIMER4C 13 -#define TIMER4D 14 -#define TIMER5A 15 -#define TIMER5B 16 -#define TIMER5C 17 - -#ifdef __cplusplus -} // extern "C" -#endif - -#ifdef __cplusplus -#include "WCharacter.h" -#include "WString.h" -#include "HardwareSerial.h" - -uint16_t makeWord(uint16_t w); -uint16_t makeWord(byte h, byte l); - -#define word(...) makeWord(__VA_ARGS__) - -unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout = 1000000L); - -void tone(uint8_t _pin, unsigned int frequency, unsigned long duration = 0); -void noTone(uint8_t _pin); - -// WMath prototypes -long random(long); -long random(long, long); -void randomSeed(unsigned int); -long map(long, long, long, long, long); - -#endif - -#include "pins_arduino.h" - -#endif diff --git a/cores/robot/CDC.cpp b/cores/robot/CDC.cpp deleted file mode 100644 index 701e483..0000000 --- a/cores/robot/CDC.cpp +++ /dev/null @@ -1,239 +0,0 @@ - - -/* Copyright (c) 2011, Peter Barrett -** -** Permission to use, copy, modify, and/or distribute this software for -** any purpose with or without fee is hereby granted, provided that the -** above copyright notice and this permission notice appear in all copies. -** -** THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL -** WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED -** WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR -** BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES -** OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, -** WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, -** ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS -** SOFTWARE. -*/ - -#include "Platform.h" -#include "USBAPI.h" -#include <avr/wdt.h> - -#if defined(USBCON) -#ifdef CDC_ENABLED - -#if (RAMEND < 1000) -#define SERIAL_BUFFER_SIZE 16 -#else -#define SERIAL_BUFFER_SIZE 64 -#endif - -struct ring_buffer -{ - unsigned char buffer[SERIAL_BUFFER_SIZE]; - volatile int head; - volatile int tail; -}; - -ring_buffer cdc_rx_buffer = { { 0 }, 0, 0}; - -typedef struct -{ - u32 dwDTERate; - u8 bCharFormat; - u8 bParityType; - u8 bDataBits; - u8 lineState; -} LineInfo; - -static volatile LineInfo _usbLineInfo = { 57600, 0x00, 0x00, 0x00, 0x00 }; - -#define WEAK __attribute__ ((weak)) - -extern const CDCDescriptor _cdcInterface PROGMEM; -const CDCDescriptor _cdcInterface = -{ - D_IAD(0,2,CDC_COMMUNICATION_INTERFACE_CLASS,CDC_ABSTRACT_CONTROL_MODEL,1), - - // CDC communication interface - D_INTERFACE(CDC_ACM_INTERFACE,1,CDC_COMMUNICATION_INTERFACE_CLASS,CDC_ABSTRACT_CONTROL_MODEL,0), - D_CDCCS(CDC_HEADER,0x10,0x01), // Header (1.10 bcd) - D_CDCCS(CDC_CALL_MANAGEMENT,1,1), // Device handles call management (not) - D_CDCCS4(CDC_ABSTRACT_CONTROL_MANAGEMENT,6), // SET_LINE_CODING, GET_LINE_CODING, SET_CONTROL_LINE_STATE supported - D_CDCCS(CDC_UNION,CDC_ACM_INTERFACE,CDC_DATA_INTERFACE), // Communication interface is master, data interface is slave 0 - D_ENDPOINT(USB_ENDPOINT_IN (CDC_ENDPOINT_ACM),USB_ENDPOINT_TYPE_INTERRUPT,0x10,0x40), - - // CDC data interface - D_INTERFACE(CDC_DATA_INTERFACE,2,CDC_DATA_INTERFACE_CLASS,0,0), - D_ENDPOINT(USB_ENDPOINT_OUT(CDC_ENDPOINT_OUT),USB_ENDPOINT_TYPE_BULK,0x40,0), - D_ENDPOINT(USB_ENDPOINT_IN (CDC_ENDPOINT_IN ),USB_ENDPOINT_TYPE_BULK,0x40,0) -}; - -int WEAK CDC_GetInterface(u8* interfaceNum) -{ - interfaceNum[0] += 2; // uses 2 - return USB_SendControl(TRANSFER_PGM,&_cdcInterface,sizeof(_cdcInterface)); -} - -bool WEAK CDC_Setup(Setup& setup) -{ - u8 r = setup.bRequest; - u8 requestType = setup.bmRequestType; - - if (REQUEST_DEVICETOHOST_CLASS_INTERFACE == requestType) - { - if (CDC_GET_LINE_CODING == r) - { - USB_SendControl(0,(void*)&_usbLineInfo,7); - return true; - } - } - - if (REQUEST_HOSTTODEVICE_CLASS_INTERFACE == requestType) - { - if (CDC_SET_LINE_CODING == r) - { - USB_RecvControl((void*)&_usbLineInfo,7); - return true; - } - - if (CDC_SET_CONTROL_LINE_STATE == r) - { - _usbLineInfo.lineState = setup.wValueL; - - // auto-reset into the bootloader is triggered when the port, already - // open at 1200 bps, is closed. this is the signal to start the watchdog - // with a relatively long period so it can finish housekeeping tasks - // like servicing endpoints before the sketch ends - if (1200 == _usbLineInfo.dwDTERate) { - // We check DTR state to determine if host port is open (bit 0 of lineState). - if ((_usbLineInfo.lineState & 0x01) == 0) { - *(uint16_t *)0x0800 = 0x7777; - wdt_enable(WDTO_120MS); - } else { - // Most OSs do some intermediate steps when configuring ports and DTR can - // twiggle more than once before stabilizing. - // To avoid spurious resets we set the watchdog to 250ms and eventually - // cancel if DTR goes back high. - - wdt_disable(); - wdt_reset(); - *(uint16_t *)0x0800 = 0x0; - } - } - return true; - } - } - return false; -} - - -int _serialPeek = -1; -void Serial_::begin(uint16_t baud_count) -{ -} - -void Serial_::end(void) -{ -} - -void Serial_::accept(void) -{ - ring_buffer *buffer = &cdc_rx_buffer; - int i = (unsigned int)(buffer->head+1) % SERIAL_BUFFER_SIZE; - - // if we should be storing the received character into the location - // just before the tail (meaning that the head would advance to the - // current location of the tail), we're about to overflow the buffer - // and so we don't write the character or advance the head. - - // while we have room to store a byte - while (i != buffer->tail) { - int c = USB_Recv(CDC_RX); - if (c == -1) - break; // no more data - buffer->buffer[buffer->head] = c; - buffer->head = i; - - i = (unsigned int)(buffer->head+1) % SERIAL_BUFFER_SIZE; - } -} - -int Serial_::available(void) -{ - ring_buffer *buffer = &cdc_rx_buffer; - return (unsigned int)(SERIAL_BUFFER_SIZE + buffer->head - buffer->tail) % SERIAL_BUFFER_SIZE; -} - -int Serial_::peek(void) -{ - ring_buffer *buffer = &cdc_rx_buffer; - if (buffer->head == buffer->tail) { - return -1; - } else { - return buffer->buffer[buffer->tail]; - } -} - -int Serial_::read(void) -{ - ring_buffer *buffer = &cdc_rx_buffer; - // if the head isn't ahead of the tail, we don't have any characters - if (buffer->head == buffer->tail) { - return -1; - } else { - unsigned char c = buffer->buffer[buffer->tail]; - buffer->tail = (unsigned int)(buffer->tail + 1) % SERIAL_BUFFER_SIZE; - return c; - } -} - -void Serial_::flush(void) -{ - USB_Flush(CDC_TX); -} - -size_t Serial_::write(uint8_t c) -{ - /* only try to send bytes if the high-level CDC connection itself - is open (not just the pipe) - the OS should set lineState when the port - is opened and clear lineState when the port is closed. - bytes sent before the user opens the connection or after - the connection is closed are lost - just like with a UART. */ - - // TODO - ZE - check behavior on different OSes and test what happens if an - // open connection isn't broken cleanly (cable is yanked out, host dies - // or locks up, or host virtual serial port hangs) - if (_usbLineInfo.lineState > 0) { - int r = USB_Send(CDC_TX,&c,1); - if (r > 0) { - return r; - } else { - setWriteError(); - return 0; - } - } - setWriteError(); - return 0; -} - -// This operator is a convenient way for a sketch to check whether the -// port has actually been configured and opened by the host (as opposed -// to just being connected to the host). It can be used, for example, in -// setup() before printing to ensure that an application on the host is -// actually ready to receive and display the data. -// We add a short delay before returning to fix a bug observed by Federico -// where the port is configured (lineState != 0) but not quite opened. -Serial_::operator bool() { - bool result = false; - if (_usbLineInfo.lineState > 0) - result = true; - delay(10); - return result; -} - -Serial_ Serial; - -#endif -#endif /* if defined(USBCON) */ diff --git a/cores/robot/Client.h b/cores/robot/Client.h deleted file mode 100644 index ea13483..0000000 --- a/cores/robot/Client.h +++ /dev/null @@ -1,26 +0,0 @@ -#ifndef client_h -#define client_h -#include "Print.h" -#include "Stream.h" -#include "IPAddress.h" - -class Client : public Stream { - -public: - virtual int connect(IPAddress ip, uint16_t port) =0; - virtual int connect(const char *host, uint16_t port) =0; - virtual size_t write(uint8_t) =0; - virtual size_t write(const uint8_t *buf, size_t size) =0; - virtual int available() = 0; - virtual int read() = 0; - virtual int read(uint8_t *buf, size_t size) = 0; - virtual int peek() = 0; - virtual void flush() = 0; - virtual void stop() = 0; - virtual uint8_t connected() = 0; - virtual operator bool() = 0; -protected: - uint8_t* rawIPAddress(IPAddress& addr) { return addr.raw_address(); }; -}; - -#endif diff --git a/cores/robot/HID.cpp b/cores/robot/HID.cpp deleted file mode 100644 index ac63608..0000000 --- a/cores/robot/HID.cpp +++ /dev/null @@ -1,520 +0,0 @@ - - -/* Copyright (c) 2011, Peter Barrett -** -** Permission to use, copy, modify, and/or distribute this software for -** any purpose with or without fee is hereby granted, provided that the -** above copyright notice and this permission notice appear in all copies. -** -** THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL -** WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED -** WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR -** BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES -** OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, -** WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, -** ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS -** SOFTWARE. -*/ - -#include "Platform.h" -#include "USBAPI.h" -#include "USBDesc.h" - -#if defined(USBCON) -#ifdef HID_ENABLED - -//#define RAWHID_ENABLED - -// Singletons for mouse and keyboard - -Mouse_ Mouse; -Keyboard_ Keyboard; - -//================================================================================ -//================================================================================ - -// HID report descriptor - -#define LSB(_x) ((_x) & 0xFF) -#define MSB(_x) ((_x) >> 8) - -#define RAWHID_USAGE_PAGE 0xFFC0 -#define RAWHID_USAGE 0x0C00 -#define RAWHID_TX_SIZE 64 -#define RAWHID_RX_SIZE 64 - -extern const u8 _hidReportDescriptor[] PROGMEM; -const u8 _hidReportDescriptor[] = { - - // Mouse - 0x05, 0x01, // USAGE_PAGE (Generic Desktop) // 54 - 0x09, 0x02, // USAGE (Mouse) - 0xa1, 0x01, // COLLECTION (Application) - 0x09, 0x01, // USAGE (Pointer) - 0xa1, 0x00, // COLLECTION (Physical) - 0x85, 0x01, // REPORT_ID (1) - 0x05, 0x09, // USAGE_PAGE (Button) - 0x19, 0x01, // USAGE_MINIMUM (Button 1) - 0x29, 0x03, // USAGE_MAXIMUM (Button 3) - 0x15, 0x00, // LOGICAL_MINIMUM (0) - 0x25, 0x01, // LOGICAL_MAXIMUM (1) - 0x95, 0x03, // REPORT_COUNT (3) - 0x75, 0x01, // REPORT_SIZE (1) - 0x81, 0x02, // INPUT (Data,Var,Abs) - 0x95, 0x01, // REPORT_COUNT (1) - 0x75, 0x05, // REPORT_SIZE (5) - 0x81, 0x03, // INPUT (Cnst,Var,Abs) - 0x05, 0x01, // USAGE_PAGE (Generic Desktop) - 0x09, 0x30, // USAGE (X) - 0x09, 0x31, // USAGE (Y) - 0x09, 0x38, // USAGE (Wheel) - 0x15, 0x81, // LOGICAL_MINIMUM (-127) - 0x25, 0x7f, // LOGICAL_MAXIMUM (127) - 0x75, 0x08, // REPORT_SIZE (8) - 0x95, 0x03, // REPORT_COUNT (3) - 0x81, 0x06, // INPUT (Data,Var,Rel) - 0xc0, // END_COLLECTION - 0xc0, // END_COLLECTION - - // Keyboard - 0x05, 0x01, // USAGE_PAGE (Generic Desktop) // 47 - 0x09, 0x06, // USAGE (Keyboard) - 0xa1, 0x01, // COLLECTION (Application) - 0x85, 0x02, // REPORT_ID (2) - 0x05, 0x07, // USAGE_PAGE (Keyboard) - - 0x19, 0xe0, // USAGE_MINIMUM (Keyboard LeftControl) - 0x29, 0xe7, // USAGE_MAXIMUM (Keyboard Right GUI) - 0x15, 0x00, // LOGICAL_MINIMUM (0) - 0x25, 0x01, // LOGICAL_MAXIMUM (1) - 0x75, 0x01, // REPORT_SIZE (1) - - 0x95, 0x08, // REPORT_COUNT (8) - 0x81, 0x02, // INPUT (Data,Var,Abs) - 0x95, 0x01, // REPORT_COUNT (1) - 0x75, 0x08, // REPORT_SIZE (8) - 0x81, 0x03, // INPUT (Cnst,Var,Abs) - - 0x95, 0x06, // REPORT_COUNT (6) - 0x75, 0x08, // REPORT_SIZE (8) - 0x15, 0x00, // LOGICAL_MINIMUM (0) - 0x25, 0x65, // LOGICAL_MAXIMUM (101) - 0x05, 0x07, // USAGE_PAGE (Keyboard) - - 0x19, 0x00, // USAGE_MINIMUM (Reserved (no event indicated)) - 0x29, 0x65, // USAGE_MAXIMUM (Keyboard Application) - 0x81, 0x00, // INPUT (Data,Ary,Abs) - 0xc0, // END_COLLECTION - -#if RAWHID_ENABLED - // RAW HID - 0x06, LSB(RAWHID_USAGE_PAGE), MSB(RAWHID_USAGE_PAGE), // 30 - 0x0A, LSB(RAWHID_USAGE), MSB(RAWHID_USAGE), - - 0xA1, 0x01, // Collection 0x01 - 0x85, 0x03, // REPORT_ID (3) - 0x75, 0x08, // report size = 8 bits - 0x15, 0x00, // logical minimum = 0 - 0x26, 0xFF, 0x00, // logical maximum = 255 - - 0x95, 64, // report count TX - 0x09, 0x01, // usage - 0x81, 0x02, // Input (array) - - 0x95, 64, // report count RX - 0x09, 0x02, // usage - 0x91, 0x02, // Output (array) - 0xC0 // end collection -#endif -}; - -extern const HIDDescriptor _hidInterface PROGMEM; -const HIDDescriptor _hidInterface = -{ - D_INTERFACE(HID_INTERFACE,1,3,0,0), - D_HIDREPORT(sizeof(_hidReportDescriptor)), - D_ENDPOINT(USB_ENDPOINT_IN (HID_ENDPOINT_INT),USB_ENDPOINT_TYPE_INTERRUPT,0x40,0x01) -}; - -//================================================================================ -//================================================================================ -// Driver - -u8 _hid_protocol = 1; -u8 _hid_idle = 1; - -#define WEAK __attribute__ ((weak)) - -int WEAK HID_GetInterface(u8* interfaceNum) -{ - interfaceNum[0] += 1; // uses 1 - return USB_SendControl(TRANSFER_PGM,&_hidInterface,sizeof(_hidInterface)); -} - -int WEAK HID_GetDescriptor(int i) -{ - return USB_SendControl(TRANSFER_PGM,_hidReportDescriptor,sizeof(_hidReportDescriptor)); -} - -void WEAK HID_SendReport(u8 id, const void* data, int len) -{ - USB_Send(HID_TX, &id, 1); - USB_Send(HID_TX | TRANSFER_RELEASE,data,len); -} - -bool WEAK HID_Setup(Setup& setup) -{ - u8 r = setup.bRequest; - u8 requestType = setup.bmRequestType; - if (REQUEST_DEVICETOHOST_CLASS_INTERFACE == requestType) - { - if (HID_GET_REPORT == r) - { - //HID_GetReport(); - return true; - } - if (HID_GET_PROTOCOL == r) - { - //Send8(_hid_protocol); // TODO - return true; - } - } - - if (REQUEST_HOSTTODEVICE_CLASS_INTERFACE == requestType) - { - if (HID_SET_PROTOCOL == r) - { - _hid_protocol = setup.wValueL; - return true; - } - - if (HID_SET_IDLE == r) - { - _hid_idle = setup.wValueL; - return true; - } - } - return false; -} - -//================================================================================ -//================================================================================ -// Mouse - -Mouse_::Mouse_(void) : _buttons(0) -{ -} - -void Mouse_::begin(void) -{ -} - -void Mouse_::end(void) -{ -} - -void Mouse_::click(uint8_t b) -{ - _buttons = b; - move(0,0,0); - _buttons = 0; - move(0,0,0); -} - -void Mouse_::move(signed char x, signed char y, signed char wheel) -{ - u8 m[4]; - m[0] = _buttons; - m[1] = x; - m[2] = y; - m[3] = wheel; - HID_SendReport(1,m,4); -} - -void Mouse_::buttons(uint8_t b) -{ - if (b != _buttons) - { - _buttons = b; - move(0,0,0); - } -} - -void Mouse_::press(uint8_t b) -{ - buttons(_buttons | b); -} - -void Mouse_::release(uint8_t b) -{ - buttons(_buttons & ~b); -} - -bool Mouse_::isPressed(uint8_t b) -{ - if ((b & _buttons) > 0) - return true; - return false; -} - -//================================================================================ -//================================================================================ -// Keyboard - -Keyboard_::Keyboard_(void) -{ -} - -void Keyboard_::begin(void) -{ -} - -void Keyboard_::end(void) -{ -} - -void Keyboard_::sendReport(KeyReport* keys) -{ - HID_SendReport(2,keys,sizeof(KeyReport)); -} - -extern -const uint8_t _asciimap[128] PROGMEM; - -#define SHIFT 0x80 -const uint8_t _asciimap[128] = -{ - 0x00, // NUL - 0x00, // SOH - 0x00, // STX - 0x00, // ETX - 0x00, // EOT - 0x00, // ENQ - 0x00, // ACK - 0x00, // BEL - 0x2a, // BS Backspace - 0x2b, // TAB Tab - 0x28, // LF Enter - 0x00, // VT - 0x00, // FF - 0x00, // CR - 0x00, // SO - 0x00, // SI - 0x00, // DEL - 0x00, // DC1 - 0x00, // DC2 - 0x00, // DC3 - 0x00, // DC4 - 0x00, // NAK - 0x00, // SYN - 0x00, // ETB - 0x00, // CAN - 0x00, // EM - 0x00, // SUB - 0x00, // ESC - 0x00, // FS - 0x00, // GS - 0x00, // RS - 0x00, // US - - 0x2c, // ' ' - 0x1e|SHIFT, // ! - 0x34|SHIFT, // " - 0x20|SHIFT, // # - 0x21|SHIFT, // $ - 0x22|SHIFT, // % - 0x24|SHIFT, // & - 0x34, // ' - 0x26|SHIFT, // ( - 0x27|SHIFT, // ) - 0x25|SHIFT, // * - 0x2e|SHIFT, // + - 0x36, // , - 0x2d, // - - 0x37, // . - 0x38, // / - 0x27, // 0 - 0x1e, // 1 - 0x1f, // 2 - 0x20, // 3 - 0x21, // 4 - 0x22, // 5 - 0x23, // 6 - 0x24, // 7 - 0x25, // 8 - 0x26, // 9 - 0x33|SHIFT, // : - 0x33, // ; - 0x36|SHIFT, // < - 0x2e, // = - 0x37|SHIFT, // > - 0x38|SHIFT, // ? - 0x1f|SHIFT, // @ - 0x04|SHIFT, // A - 0x05|SHIFT, // B - 0x06|SHIFT, // C - 0x07|SHIFT, // D - 0x08|SHIFT, // E - 0x09|SHIFT, // F - 0x0a|SHIFT, // G - 0x0b|SHIFT, // H - 0x0c|SHIFT, // I - 0x0d|SHIFT, // J - 0x0e|SHIFT, // K - 0x0f|SHIFT, // L - 0x10|SHIFT, // M - 0x11|SHIFT, // N - 0x12|SHIFT, // O - 0x13|SHIFT, // P - 0x14|SHIFT, // Q - 0x15|SHIFT, // R - 0x16|SHIFT, // S - 0x17|SHIFT, // T - 0x18|SHIFT, // U - 0x19|SHIFT, // V - 0x1a|SHIFT, // W - 0x1b|SHIFT, // X - 0x1c|SHIFT, // Y - 0x1d|SHIFT, // Z - 0x2f, // [ - 0x31, // bslash - 0x30, // ] - 0x23|SHIFT, // ^ - 0x2d|SHIFT, // _ - 0x35, // ` - 0x04, // a - 0x05, // b - 0x06, // c - 0x07, // d - 0x08, // e - 0x09, // f - 0x0a, // g - 0x0b, // h - 0x0c, // i - 0x0d, // j - 0x0e, // k - 0x0f, // l - 0x10, // m - 0x11, // n - 0x12, // o - 0x13, // p - 0x14, // q - 0x15, // r - 0x16, // s - 0x17, // t - 0x18, // u - 0x19, // v - 0x1a, // w - 0x1b, // x - 0x1c, // y - 0x1d, // z - 0x2f|SHIFT, // - 0x31|SHIFT, // | - 0x30|SHIFT, // } - 0x35|SHIFT, // ~ - 0 // DEL -}; - -uint8_t USBPutChar(uint8_t c); - -// press() adds the specified key (printing, non-printing, or modifier) -// to the persistent key report and sends the report. Because of the way -// USB HID works, the host acts like the key remains pressed until we -// call release(), releaseAll(), or otherwise clear the report and resend. -size_t Keyboard_::press(uint8_t k) -{ - uint8_t i; - if (k >= 136) { // it's a non-printing key (not a modifier) - k = k - 136; - } else if (k >= 128) { // it's a modifier key - _keyReport.modifiers |= (1<<(k-128)); - k = 0; - } else { // it's a printing key - k = pgm_read_byte(_asciimap + k); - if (!k) { - setWriteError(); - return 0; - } - if (k & 0x80) { // it's a capital letter or other character reached with shift - _keyReport.modifiers |= 0x02; // the left shift modifier - k &= 0x7F; - } - } - - // Add k to the key report only if it's not already present - // and if there is an empty slot. - if (_keyReport.keys[0] != k && _keyReport.keys[1] != k && - _keyReport.keys[2] != k && _keyReport.keys[3] != k && - _keyReport.keys[4] != k && _keyReport.keys[5] != k) { - - for (i=0; i<6; i++) { - if (_keyReport.keys[i] == 0x00) { - _keyReport.keys[i] = k; - break; - } - } - if (i == 6) { - setWriteError(); - return 0; - } - } - sendReport(&_keyReport); - return 1; -} - -// release() takes the specified key out of the persistent key report and -// sends the report. This tells the OS the key is no longer pressed and that -// it shouldn't be repeated any more. -size_t Keyboard_::release(uint8_t k) -{ - uint8_t i; - if (k >= 136) { // it's a non-printing key (not a modifier) - k = k - 136; - } else if (k >= 128) { // it's a modifier key - _keyReport.modifiers &= ~(1<<(k-128)); - k = 0; - } else { // it's a printing key - k = pgm_read_byte(_asciimap + k); - if (!k) { - return 0; - } - if (k & 0x80) { // it's a capital letter or other character reached with shift - _keyReport.modifiers &= ~(0x02); // the left shift modifier - k &= 0x7F; - } - } - - // Test the key report to see if k is present. Clear it if it exists. - // Check all positions in case the key is present more than once (which it shouldn't be) - for (i=0; i<6; i++) { - if (0 != k && _keyReport.keys[i] == k) { - _keyReport.keys[i] = 0x00; - } - } - - sendReport(&_keyReport); - return 1; -} - -void Keyboard_::releaseAll(void) -{ - _keyReport.keys[0] = 0; - _keyReport.keys[1] = 0; - _keyReport.keys[2] = 0; - _keyReport.keys[3] = 0; - _keyReport.keys[4] = 0; - _keyReport.keys[5] = 0; - _keyReport.modifiers = 0; - sendReport(&_keyReport); -} - -size_t Keyboard_::write(uint8_t c) -{ - uint8_t p = press(c); // Keydown - uint8_t r = release(c); // Keyup - return (p); // just return the result of press() since release() almost always returns 1 -} - -#endif - -#endif /* if defined(USBCON) */
\ No newline at end of file diff --git a/cores/robot/HardwareSerial.cpp b/cores/robot/HardwareSerial.cpp deleted file mode 100644 index eb2365f..0000000 --- a/cores/robot/HardwareSerial.cpp +++ /dev/null @@ -1,508 +0,0 @@ -/* - HardwareSerial.cpp - Hardware serial library for Wiring - Copyright (c) 2006 Nicholas Zambetti. All right reserved. - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA - - Modified 23 November 2006 by David A. Mellis - Modified 28 September 2010 by Mark Sproul - Modified 14 August 2012 by Alarus -*/ - -#include <stdlib.h> -#include <stdio.h> -#include <string.h> -#include <inttypes.h> -#include "Arduino.h" -#include "wiring_private.h" - -// this next line disables the entire HardwareSerial.cpp, -// this is so I can support Attiny series and any other chip without a uart -#if defined(UBRRH) || defined(UBRR0H) || defined(UBRR1H) || defined(UBRR2H) || defined(UBRR3H) - -#include "HardwareSerial.h" - -/* - * on ATmega8, the uart and its bits are not numbered, so there is no "TXC0" - * definition. - */ -#if !defined(TXC0) -#if defined(TXC) -#define TXC0 TXC -#elif defined(TXC1) -// Some devices have uart1 but no uart0 -#define TXC0 TXC1 -#else -#error TXC0 not definable in HardwareSerial.h -#endif -#endif - -// Define constants and variables for buffering incoming serial data. We're -// using a ring buffer (I think), in which head is the index of the location -// to which to write the next incoming character and tail is the index of the -// location from which to read. -#if (RAMEND < 1000) - #define SERIAL_BUFFER_SIZE 16 -#else - #define SERIAL_BUFFER_SIZE 64 -#endif - -struct ring_buffer -{ - unsigned char buffer[SERIAL_BUFFER_SIZE]; - volatile unsigned int head; - volatile unsigned int tail; -}; - -#if defined(USBCON) - ring_buffer rx_buffer = { { 0 }, 0, 0}; - ring_buffer tx_buffer = { { 0 }, 0, 0}; -#endif -#if defined(UBRRH) || defined(UBRR0H) - ring_buffer rx_buffer = { { 0 }, 0, 0 }; - ring_buffer tx_buffer = { { 0 }, 0, 0 }; -#endif -#if defined(UBRR1H) - ring_buffer rx_buffer1 = { { 0 }, 0, 0 }; - ring_buffer tx_buffer1 = { { 0 }, 0, 0 }; -#endif -#if defined(UBRR2H) - ring_buffer rx_buffer2 = { { 0 }, 0, 0 }; - ring_buffer tx_buffer2 = { { 0 }, 0, 0 }; -#endif -#if defined(UBRR3H) - ring_buffer rx_buffer3 = { { 0 }, 0, 0 }; - ring_buffer tx_buffer3 = { { 0 }, 0, 0 }; -#endif - -inline void store_char(unsigned char c, ring_buffer *buffer) -{ - int i = (unsigned int)(buffer->head + 1) % SERIAL_BUFFER_SIZE; - - // if we should be storing the received character into the location - // just before the tail (meaning that the head would advance to the - // current location of the tail), we're about to overflow the buffer - // and so we don't write the character or advance the head. - if (i != buffer->tail) { - buffer->buffer[buffer->head] = c; - buffer->head = i; - } -} - -#if !defined(USART0_RX_vect) && defined(USART1_RX_vect) -// do nothing - on the 32u4 the first USART is USART1 -#else -#if !defined(USART_RX_vect) && !defined(USART0_RX_vect) && \ - !defined(USART_RXC_vect) - #error "Don't know what the Data Received vector is called for the first UART" -#else - void serialEvent() __attribute__((weak)); - void serialEvent() {} - #define serialEvent_implemented -#if defined(USART_RX_vect) - ISR(USART_RX_vect) -#elif defined(USART0_RX_vect) - ISR(USART0_RX_vect) -#elif defined(USART_RXC_vect) - ISR(USART_RXC_vect) // ATmega8 -#endif - { - #if defined(UDR0) - if (bit_is_clear(UCSR0A, UPE0)) { - unsigned char c = UDR0; - store_char(c, &rx_buffer); - } else { - unsigned char c = UDR0; - }; - #elif defined(UDR) - if (bit_is_clear(UCSRA, PE)) { - unsigned char c = UDR; - store_char(c, &rx_buffer); - } else { - unsigned char c = UDR; - }; - #else - #error UDR not defined - #endif - } -#endif -#endif - -#if defined(USART1_RX_vect) - void serialEvent1() __attribute__((weak)); - void serialEvent1() {} - #define serialEvent1_implemented - ISR(USART1_RX_vect) - { - if (bit_is_clear(UCSR1A, UPE1)) { - unsigned char c = UDR1; - store_char(c, &rx_buffer1); - } else { - unsigned char c = UDR1; - }; - } -#endif - -#if defined(USART2_RX_vect) && defined(UDR2) - void serialEvent2() __attribute__((weak)); - void serialEvent2() {} - #define serialEvent2_implemented - ISR(USART2_RX_vect) - { - if (bit_is_clear(UCSR2A, UPE2)) { - unsigned char c = UDR2; - store_char(c, &rx_buffer2); - } else { - unsigned char c = UDR2; - }; - } -#endif - -#if defined(USART3_RX_vect) && defined(UDR3) - void serialEvent3() __attribute__((weak)); - void serialEvent3() {} - #define serialEvent3_implemented - ISR(USART3_RX_vect) - { - if (bit_is_clear(UCSR3A, UPE3)) { - unsigned char c = UDR3; - store_char(c, &rx_buffer3); - } else { - unsigned char c = UDR3; - }; - } -#endif - -void serialEventRun(void) -{ -#ifdef serialEvent_implemented - if (Serial.available()) serialEvent(); -#endif -#ifdef serialEvent1_implemented - if (Serial1.available()) serialEvent1(); -#endif -#ifdef serialEvent2_implemented - if (Serial2.available()) serialEvent2(); -#endif -#ifdef serialEvent3_implemented - if (Serial3.available()) serialEvent3(); -#endif -} - - -#if !defined(USART0_UDRE_vect) && defined(USART1_UDRE_vect) -// do nothing - on the 32u4 the first USART is USART1 -#else -#if !defined(UART0_UDRE_vect) && !defined(UART_UDRE_vect) && !defined(USART0_UDRE_vect) && !defined(USART_UDRE_vect) - #error "Don't know what the Data Register Empty vector is called for the first UART" -#else -#if defined(UART0_UDRE_vect) -ISR(UART0_UDRE_vect) -#elif defined(UART_UDRE_vect) -ISR(UART_UDRE_vect) -#elif defined(USART0_UDRE_vect) -ISR(USART0_UDRE_vect) -#elif defined(USART_UDRE_vect) -ISR(USART_UDRE_vect) -#endif -{ - if (tx_buffer.head == tx_buffer.tail) { - // Buffer empty, so disable interrupts -#if defined(UCSR0B) - cbi(UCSR0B, UDRIE0); -#else - cbi(UCSRB, UDRIE); -#endif - } - else { - // There is more data in the output buffer. Send the next byte - unsigned char c = tx_buffer.buffer[tx_buffer.tail]; - tx_buffer.tail = (tx_buffer.tail + 1) % SERIAL_BUFFER_SIZE; - - #if defined(UDR0) - UDR0 = c; - #elif defined(UDR) - UDR = c; - #else - #error UDR not defined - #endif - } -} -#endif -#endif - -#ifdef USART1_UDRE_vect -ISR(USART1_UDRE_vect) -{ - if (tx_buffer1.head == tx_buffer1.tail) { - // Buffer empty, so disable interrupts - cbi(UCSR1B, UDRIE1); - } - else { - // There is more data in the output buffer. Send the next byte - unsigned char c = tx_buffer1.buffer[tx_buffer1.tail]; - tx_buffer1.tail = (tx_buffer1.tail + 1) % SERIAL_BUFFER_SIZE; - - UDR1 = c; - } -} -#endif - -#ifdef USART2_UDRE_vect -ISR(USART2_UDRE_vect) -{ - if (tx_buffer2.head == tx_buffer2.tail) { - // Buffer empty, so disable interrupts - cbi(UCSR2B, UDRIE2); - } - else { - // There is more data in the output buffer. Send the next byte - unsigned char c = tx_buffer2.buffer[tx_buffer2.tail]; - tx_buffer2.tail = (tx_buffer2.tail + 1) % SERIAL_BUFFER_SIZE; - - UDR2 = c; - } -} -#endif - -#ifdef USART3_UDRE_vect -ISR(USART3_UDRE_vect) -{ - if (tx_buffer3.head == tx_buffer3.tail) { - // Buffer empty, so disable interrupts - cbi(UCSR3B, UDRIE3); - } - else { - // There is more data in the output buffer. Send the next byte - unsigned char c = tx_buffer3.buffer[tx_buffer3.tail]; - tx_buffer3.tail = (tx_buffer3.tail + 1) % SERIAL_BUFFER_SIZE; - - UDR3 = c; - } -} -#endif - - -// Constructors //////////////////////////////////////////////////////////////// - -HardwareSerial::HardwareSerial(ring_buffer *rx_buffer, ring_buffer *tx_buffer, - volatile uint8_t *ubrrh, volatile uint8_t *ubrrl, - volatile uint8_t *ucsra, volatile uint8_t *ucsrb, - volatile uint8_t *ucsrc, volatile uint8_t *udr, - uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udrie, uint8_t u2x) -{ - _rx_buffer = rx_buffer; - _tx_buffer = tx_buffer; - _ubrrh = ubrrh; - _ubrrl = ubrrl; - _ucsra = ucsra; - _ucsrb = ucsrb; - _ucsrc = ucsrc; - _udr = udr; - _rxen = rxen; - _txen = txen; - _rxcie = rxcie; - _udrie = udrie; - _u2x = u2x; -} - -// Public Methods ////////////////////////////////////////////////////////////// - -void HardwareSerial::begin(unsigned long baud) -{ - uint16_t baud_setting; - bool use_u2x = true; - -#if F_CPU == 16000000UL - // hardcoded exception for compatibility with the bootloader shipped - // with the Duemilanove and previous boards and the firmware on the 8U2 - // on the Uno and Mega 2560. - if (baud == 57600) { - use_u2x = false; - } -#endif - -try_again: - - if (use_u2x) { - *_ucsra = 1 << _u2x; - baud_setting = (F_CPU / 4 / baud - 1) / 2; - } else { - *_ucsra = 0; - baud_setting = (F_CPU / 8 / baud - 1) / 2; - } - - if ((baud_setting > 4095) && use_u2x) - { - use_u2x = false; - goto try_again; - } - - // assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register) - *_ubrrh = baud_setting >> 8; - *_ubrrl = baud_setting; - - transmitting = false; - - sbi(*_ucsrb, _rxen); - sbi(*_ucsrb, _txen); - sbi(*_ucsrb, _rxcie); - cbi(*_ucsrb, _udrie); -} - -void HardwareSerial::begin(unsigned long baud, byte config) -{ - uint16_t baud_setting; - uint8_t current_config; - bool use_u2x = true; - -#if F_CPU == 16000000UL - // hardcoded exception for compatibility with the bootloader shipped - // with the Duemilanove and previous boards and the firmware on the 8U2 - // on the Uno and Mega 2560. - if (baud == 57600) { - use_u2x = false; - } -#endif - -try_again: - - if (use_u2x) { - *_ucsra = 1 << _u2x; - baud_setting = (F_CPU / 4 / baud - 1) / 2; - } else { - *_ucsra = 0; - baud_setting = (F_CPU / 8 / baud - 1) / 2; - } - - if ((baud_setting > 4095) && use_u2x) - { - use_u2x = false; - goto try_again; - } - - // assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register) - *_ubrrh = baud_setting >> 8; - *_ubrrl = baud_setting; - - //set the data bits, parity, and stop bits -#if defined(__AVR_ATmega8__) - config |= 0x80; // select UCSRC register (shared with UBRRH) -#endif - *_ucsrc = config; - - sbi(*_ucsrb, _rxen); - sbi(*_ucsrb, _txen); - sbi(*_ucsrb, _rxcie); - cbi(*_ucsrb, _udrie); -} - -void HardwareSerial::end() -{ - // wait for transmission of outgoing data - while (_tx_buffer->head != _tx_buffer->tail) - ; - - cbi(*_ucsrb, _rxen); - cbi(*_ucsrb, _txen); - cbi(*_ucsrb, _rxcie); - cbi(*_ucsrb, _udrie); - - // clear any received data - _rx_buffer->head = _rx_buffer->tail; -} - -int HardwareSerial::available(void) -{ - return (unsigned int)(SERIAL_BUFFER_SIZE + _rx_buffer->head - _rx_buffer->tail) % SERIAL_BUFFER_SIZE; -} - -int HardwareSerial::peek(void) -{ - if (_rx_buffer->head == _rx_buffer->tail) { - return -1; - } else { - return _rx_buffer->buffer[_rx_buffer->tail]; - } -} - -int HardwareSerial::read(void) -{ - // if the head isn't ahead of the tail, we don't have any characters - if (_rx_buffer->head == _rx_buffer->tail) { - return -1; - } else { - unsigned char c = _rx_buffer->buffer[_rx_buffer->tail]; - _rx_buffer->tail = (unsigned int)(_rx_buffer->tail + 1) % SERIAL_BUFFER_SIZE; - return c; - } -} - -void HardwareSerial::flush() -{ - // UDR is kept full while the buffer is not empty, so TXC triggers when EMPTY && SENT - while (transmitting && ! (*_ucsra & _BV(TXC0))); - transmitting = false; -} - -size_t HardwareSerial::write(uint8_t c) -{ - int i = (_tx_buffer->head + 1) % SERIAL_BUFFER_SIZE; - - // If the output buffer is full, there's nothing for it other than to - // wait for the interrupt handler to empty it a bit - // ???: return 0 here instead? - while (i == _tx_buffer->tail) - ; - - _tx_buffer->buffer[_tx_buffer->head] = c; - _tx_buffer->head = i; - - sbi(*_ucsrb, _udrie); - // clear the TXC bit -- "can be cleared by writing a one to its bit location" - transmitting = true; - sbi(*_ucsra, TXC0); - - return 1; -} - -HardwareSerial::operator bool() { - return true; -} - -// Preinstantiate Objects ////////////////////////////////////////////////////// - -#if defined(UBRRH) && defined(UBRRL) - HardwareSerial Serial(&rx_buffer, &tx_buffer, &UBRRH, &UBRRL, &UCSRA, &UCSRB, &UCSRC, &UDR, RXEN, TXEN, RXCIE, UDRIE, U2X); -#elif defined(UBRR0H) && defined(UBRR0L) - HardwareSerial Serial(&rx_buffer, &tx_buffer, &UBRR0H, &UBRR0L, &UCSR0A, &UCSR0B, &UCSR0C, &UDR0, RXEN0, TXEN0, RXCIE0, UDRIE0, U2X0); -#elif defined(USBCON) - // do nothing - Serial object and buffers are initialized in CDC code -#else - #error no serial port defined (port 0) -#endif - -#if defined(UBRR1H) - HardwareSerial Serial1(&rx_buffer1, &tx_buffer1, &UBRR1H, &UBRR1L, &UCSR1A, &UCSR1B, &UCSR1C, &UDR1, RXEN1, TXEN1, RXCIE1, UDRIE1, U2X1); -#endif -#if defined(UBRR2H) - HardwareSerial Serial2(&rx_buffer2, &tx_buffer2, &UBRR2H, &UBRR2L, &UCSR2A, &UCSR2B, &UCSR2C, &UDR2, RXEN2, TXEN2, RXCIE2, UDRIE2, U2X2); -#endif -#if defined(UBRR3H) - HardwareSerial Serial3(&rx_buffer3, &tx_buffer3, &UBRR3H, &UBRR3L, &UCSR3A, &UCSR3B, &UCSR3C, &UDR3, RXEN3, TXEN3, RXCIE3, UDRIE3, U2X3); -#endif - -#endif // whole file - diff --git a/cores/robot/HardwareSerial.h b/cores/robot/HardwareSerial.h deleted file mode 100644 index a73117f..0000000 --- a/cores/robot/HardwareSerial.h +++ /dev/null @@ -1,115 +0,0 @@ -/* - HardwareSerial.h - Hardware serial library for Wiring - Copyright (c) 2006 Nicholas Zambetti. All right reserved. - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA - - Modified 28 September 2010 by Mark Sproul - Modified 14 August 2012 by Alarus -*/ - -#ifndef HardwareSerial_h -#define HardwareSerial_h - -#include <inttypes.h> - -#include "Stream.h" - -struct ring_buffer; - -class HardwareSerial : public Stream -{ - private: - ring_buffer *_rx_buffer; - ring_buffer *_tx_buffer; - volatile uint8_t *_ubrrh; - volatile uint8_t *_ubrrl; - volatile uint8_t *_ucsra; - volatile uint8_t *_ucsrb; - volatile uint8_t *_ucsrc; - volatile uint8_t *_udr; - uint8_t _rxen; - uint8_t _txen; - uint8_t _rxcie; - uint8_t _udrie; - uint8_t _u2x; - bool transmitting; - public: - HardwareSerial(ring_buffer *rx_buffer, ring_buffer *tx_buffer, - volatile uint8_t *ubrrh, volatile uint8_t *ubrrl, - volatile uint8_t *ucsra, volatile uint8_t *ucsrb, - volatile uint8_t *ucsrc, volatile uint8_t *udr, - uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udrie, uint8_t u2x); - void begin(unsigned long); - void begin(unsigned long, uint8_t); - void end(); - virtual int available(void); - virtual int peek(void); - virtual int read(void); - virtual void flush(void); - virtual size_t write(uint8_t); - inline size_t write(unsigned long n) { return write((uint8_t)n); } - inline size_t write(long n) { return write((uint8_t)n); } - inline size_t write(unsigned int n) { return write((uint8_t)n); } - inline size_t write(int n) { return write((uint8_t)n); } - using Print::write; // pull in write(str) and write(buf, size) from Print - operator bool(); -}; - -// Define config for Serial.begin(baud, config); -#define SERIAL_5N1 0x00 -#define SERIAL_6N1 0x02 -#define SERIAL_7N1 0x04 -#define SERIAL_8N1 0x06 -#define SERIAL_5N2 0x08 -#define SERIAL_6N2 0x0A -#define SERIAL_7N2 0x0C -#define SERIAL_8N2 0x0E -#define SERIAL_5E1 0x20 -#define SERIAL_6E1 0x22 -#define SERIAL_7E1 0x24 -#define SERIAL_8E1 0x26 -#define SERIAL_5E2 0x28 -#define SERIAL_6E2 0x2A -#define SERIAL_7E2 0x2C -#define SERIAL_8E2 0x2E -#define SERIAL_5O1 0x30 -#define SERIAL_6O1 0x32 -#define SERIAL_7O1 0x34 -#define SERIAL_8O1 0x36 -#define SERIAL_5O2 0x38 -#define SERIAL_6O2 0x3A -#define SERIAL_7O2 0x3C -#define SERIAL_8O2 0x3E - -#if defined(UBRRH) || defined(UBRR0H) - extern HardwareSerial Serial; -#elif defined(USBCON) - #include "USBAPI.h" -// extern HardwareSerial Serial_; -#endif -#if defined(UBRR1H) - extern HardwareSerial Serial1; -#endif -#if defined(UBRR2H) - extern HardwareSerial Serial2; -#endif -#if defined(UBRR3H) - extern HardwareSerial Serial3; -#endif - -extern void serialEventRun(void) __attribute__((weak)); - -#endif diff --git a/cores/robot/IPAddress.cpp b/cores/robot/IPAddress.cpp deleted file mode 100644 index fe3deb7..0000000 --- a/cores/robot/IPAddress.cpp +++ /dev/null @@ -1,56 +0,0 @@ - -#include <Arduino.h> -#include <IPAddress.h> - -IPAddress::IPAddress() -{ - memset(_address, 0, sizeof(_address)); -} - -IPAddress::IPAddress(uint8_t first_octet, uint8_t second_octet, uint8_t third_octet, uint8_t fourth_octet) -{ - _address[0] = first_octet; - _address[1] = second_octet; - _address[2] = third_octet; - _address[3] = fourth_octet; -} - -IPAddress::IPAddress(uint32_t address) -{ - memcpy(_address, &address, sizeof(_address)); -} - -IPAddress::IPAddress(const uint8_t *address) -{ - memcpy(_address, address, sizeof(_address)); -} - -IPAddress& IPAddress::operator=(const uint8_t *address) -{ - memcpy(_address, address, sizeof(_address)); - return *this; -} - -IPAddress& IPAddress::operator=(uint32_t address) -{ - memcpy(_address, (const uint8_t *)&address, sizeof(_address)); - return *this; -} - -bool IPAddress::operator==(const uint8_t* addr) -{ - return memcmp(addr, _address, sizeof(_address)) == 0; -} - -size_t IPAddress::printTo(Print& p) const -{ - size_t n = 0; - for (int i =0; i < 3; i++) - { - n += p.print(_address[i], DEC); - n += p.print('.'); - } - n += p.print(_address[3], DEC); - return n; -} - diff --git a/cores/robot/IPAddress.h b/cores/robot/IPAddress.h deleted file mode 100644 index 2585aec..0000000 --- a/cores/robot/IPAddress.h +++ /dev/null @@ -1,76 +0,0 @@ -/* - * - * MIT License: - * Copyright (c) 2011 Adrian McEwen - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - * - * adrianm@mcqn.com 1/1/2011 - */ - -#ifndef IPAddress_h -#define IPAddress_h - -#include <Printable.h> - -// A class to make it easier to handle and pass around IP addresses - -class IPAddress : public Printable { -private: - uint8_t _address[4]; // IPv4 address - // Access the raw byte array containing the address. Because this returns a pointer - // to the internal structure rather than a copy of the address this function should only - // be used when you know that the usage of the returned uint8_t* will be transient and not - // stored. - uint8_t* raw_address() { return _address; }; - -public: - // Constructors - IPAddress(); - IPAddress(uint8_t first_octet, uint8_t second_octet, uint8_t third_octet, uint8_t fourth_octet); - IPAddress(uint32_t address); - IPAddress(const uint8_t *address); - - // Overloaded cast operator to allow IPAddress objects to be used where a pointer - // to a four-byte uint8_t array is expected - operator uint32_t() { return *((uint32_t*)_address); }; - bool operator==(const IPAddress& addr) { return (*((uint32_t*)_address)) == (*((uint32_t*)addr._address)); }; - bool operator==(const uint8_t* addr); - - // Overloaded index operator to allow getting and setting individual octets of the address - uint8_t operator[](int index) const { return _address[index]; }; - uint8_t& operator[](int index) { return _address[index]; }; - - // Overloaded copy operators to allow initialisation of IPAddress objects from other types - IPAddress& operator=(const uint8_t *address); - IPAddress& operator=(uint32_t address); - - virtual size_t printTo(Print& p) const; - - friend class EthernetClass; - friend class UDP; - friend class Client; - friend class Server; - friend class DhcpClass; - friend class DNSClient; -}; - -const IPAddress INADDR_NONE(0,0,0,0); - - -#endif diff --git a/cores/robot/Platform.h b/cores/robot/Platform.h deleted file mode 100644 index 8b8f742..0000000 --- a/cores/robot/Platform.h +++ /dev/null @@ -1,23 +0,0 @@ - -#ifndef __PLATFORM_H__ -#define __PLATFORM_H__ - -#include <inttypes.h> -#include <avr/pgmspace.h> -#include <avr/eeprom.h> -#include <avr/interrupt.h> -#include <util/delay.h> - -typedef unsigned char u8; -typedef unsigned short u16; -typedef unsigned long u32; - -#include "Arduino.h" - -#if defined(USBCON) - #include "USBDesc.h" - #include "USBCore.h" - #include "USBAPI.h" -#endif /* if defined(USBCON) */ - -#endif diff --git a/cores/robot/Print.cpp b/cores/robot/Print.cpp deleted file mode 100755 index 53961ec..0000000 --- a/cores/robot/Print.cpp +++ /dev/null @@ -1,268 +0,0 @@ -/* - Print.cpp - Base class that provides print() and println() - Copyright (c) 2008 David A. Mellis. All right reserved. - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA - - Modified 23 November 2006 by David A. Mellis - */ - -#include <stdlib.h> -#include <stdio.h> -#include <string.h> -#include <math.h> -#include "Arduino.h" - -#include "Print.h" - -// Public Methods ////////////////////////////////////////////////////////////// - -/* default implementation: may be overridden */ -size_t Print::write(const uint8_t *buffer, size_t size) -{ - size_t n = 0; - while (size--) { - n += write(*buffer++); - } - return n; -} - -size_t Print::print(const __FlashStringHelper *ifsh) -{ - const char PROGMEM *p = (const char PROGMEM *)ifsh; - size_t n = 0; - while (1) { - unsigned char c = pgm_read_byte(p++); - if (c == 0) break; - n += write(c); - } - return n; -} - -size_t Print::print(const String &s) -{ - size_t n = 0; - for (uint16_t i = 0; i < s.length(); i++) { - n += write(s[i]); - } - return n; -} - -size_t Print::print(const char str[]) -{ - return write(str); -} - -size_t Print::print(char c) -{ - return write(c); -} - -size_t Print::print(unsigned char b, int base) -{ - return print((unsigned long) b, base); -} - -size_t Print::print(int n, int base) -{ - return print((long) n, base); -} - -size_t Print::print(unsigned int n, int base) -{ - return print((unsigned long) n, base); -} - -size_t Print::print(long n, int base) -{ - if (base == 0) { - return write(n); - } else if (base == 10) { - if (n < 0) { - int t = print('-'); - n = -n; - return printNumber(n, 10) + t; - } - return printNumber(n, 10); - } else { - return printNumber(n, base); - } -} - -size_t Print::print(unsigned long n, int base) -{ - if (base == 0) return write(n); - else return printNumber(n, base); -} - -size_t Print::print(double n, int digits) -{ - return printFloat(n, digits); -} - -size_t Print::println(const __FlashStringHelper *ifsh) -{ - size_t n = print(ifsh); - n += println(); - return n; -} - -size_t Print::print(const Printable& x) -{ - return x.printTo(*this); -} - -size_t Print::println(void) -{ - size_t n = print('\r'); - n += print('\n'); - return n; -} - -size_t Print::println(const String &s) -{ - size_t n = print(s); - n += println(); - return n; -} - -size_t Print::println(const char c[]) -{ - size_t n = print(c); - n += println(); - return n; -} - -size_t Print::println(char c) -{ - size_t n = print(c); - n += println(); - return n; -} - -size_t Print::println(unsigned char b, int base) -{ - size_t n = print(b, base); - n += println(); - return n; -} - -size_t Print::println(int num, int base) -{ - size_t n = print(num, base); - n += println(); - return n; -} - -size_t Print::println(unsigned int num, int base) -{ - size_t n = print(num, base); - n += println(); - return n; -} - -size_t Print::println(long num, int base) -{ - size_t n = print(num, base); - n += println(); - return n; -} - -size_t Print::println(unsigned long num, int base) -{ - size_t n = print(num, base); - n += println(); - return n; -} - -size_t Print::println(double num, int digits) -{ - size_t n = print(num, digits); - n += println(); - return n; -} - -size_t Print::println(const Printable& x) -{ - size_t n = print(x); - n += println(); - return n; -} - -// Private Methods ///////////////////////////////////////////////////////////// - -size_t Print::printNumber(unsigned long n, uint8_t base) { - char buf[8 * sizeof(long) + 1]; // Assumes 8-bit chars plus zero byte. - char *str = &buf[sizeof(buf) - 1]; - - *str = '\0'; - - // prevent crash if called with base == 1 - if (base < 2) base = 10; - - do { - unsigned long m = n; - n /= base; - char c = m - base * n; - *--str = c < 10 ? c + '0' : c + 'A' - 10; - } while(n); - - return write(str); -} - -size_t Print::printFloat(double number, uint8_t digits) -{ - size_t n = 0; - - if (isnan(number)) return print("nan"); - if (isinf(number)) return print("inf"); - if (number > 4294967040.0) return print ("ovf"); // constant determined empirically - if (number <-4294967040.0) return print ("ovf"); // constant determined empirically - - // Handle negative numbers - if (number < 0.0) - { - n += print('-'); - number = -number; - } - - // Round correctly so that print(1.999, 2) prints as "2.00" - double rounding = 0.5; - for (uint8_t i=0; i<digits; ++i) - rounding /= 10.0; - - number += rounding; - - // Extract the integer part of the number and print it - unsigned long int_part = (unsigned long)number; - double remainder = number - (double)int_part; - n += print(int_part); - - // Print the decimal point, but only if there are digits beyond - if (digits > 0) { - n += print("."); - } - - // Extract digits from the remainder one at a time - while (digits-- > 0) - { - remainder *= 10.0; - int toPrint = int(remainder); - n += print(toPrint); - remainder -= toPrint; - } - - return n; -} diff --git a/cores/robot/Print.h b/cores/robot/Print.h deleted file mode 100755 index dc76150..0000000 --- a/cores/robot/Print.h +++ /dev/null @@ -1,81 +0,0 @@ -/* - Print.h - Base class that provides print() and println() - Copyright (c) 2008 David A. Mellis. All right reserved. - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA -*/ - -#ifndef Print_h -#define Print_h - -#include <inttypes.h> -#include <stdio.h> // for size_t - -#include "WString.h" -#include "Printable.h" - -#define DEC 10 -#define HEX 16 -#define OCT 8 -#define BIN 2 - -class Print -{ - private: - int write_error; - size_t printNumber(unsigned long, uint8_t); - size_t printFloat(double, uint8_t); - protected: - void setWriteError(int err = 1) { write_error = err; } - public: - Print() : write_error(0) {} - - int getWriteError() { return write_error; } - void clearWriteError() { setWriteError(0); } - - virtual size_t write(uint8_t) = 0; - size_t write(const char *str) { - if (str == NULL) return 0; - return write((const uint8_t *)str, strlen(str)); - } - virtual size_t write(const uint8_t *buffer, size_t size); - - size_t print(const __FlashStringHelper *); - size_t print(const String &); - size_t print(const char[]); - size_t print(char); - size_t print(unsigned char, int = DEC); - size_t print(int, int = DEC); - size_t print(unsigned int, int = DEC); - size_t print(long, int = DEC); - size_t print(unsigned long, int = DEC); - size_t print(double, int = 2); - size_t print(const Printable&); - - size_t println(const __FlashStringHelper *); - size_t println(const String &s); - size_t println(const char[]); - size_t println(char); - size_t println(unsigned char, int = DEC); - size_t println(int, int = DEC); - size_t println(unsigned int, int = DEC); - size_t println(long, int = DEC); - size_t println(unsigned long, int = DEC); - size_t println(double, int = 2); - size_t println(const Printable&); - size_t println(void); -}; - -#endif diff --git a/cores/robot/Server.h b/cores/robot/Server.h deleted file mode 100644 index 9674c76..0000000 --- a/cores/robot/Server.h +++ /dev/null @@ -1,9 +0,0 @@ -#ifndef server_h -#define server_h - -class Server : public Print { -public: - virtual void begin() =0; -}; - -#endif diff --git a/cores/robot/Stream.cpp b/cores/robot/Stream.cpp deleted file mode 100644 index aafb7fc..0000000 --- a/cores/robot/Stream.cpp +++ /dev/null @@ -1,270 +0,0 @@ -/* - Stream.cpp - adds parsing methods to Stream class - Copyright (c) 2008 David A. Mellis. All right reserved. - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA - - Created July 2011 - parsing functions based on TextFinder library by Michael Margolis - */ - -#include "Arduino.h" -#include "Stream.h" - -#define PARSE_TIMEOUT 1000 // default number of milli-seconds to wait -#define NO_SKIP_CHAR 1 // a magic char not found in a valid ASCII numeric field - -// private method to read stream with timeout -int Stream::timedRead() -{ - int c; - _startMillis = millis(); - do { - c = read(); - if (c >= 0) return c; - } while(millis() - _startMillis < _timeout); - return -1; // -1 indicates timeout -} - -// private method to peek stream with timeout -int Stream::timedPeek() -{ - int c; - _startMillis = millis(); - do { - c = peek(); - if (c >= 0) return c; - } while(millis() - _startMillis < _timeout); - return -1; // -1 indicates timeout -} - -// returns peek of the next digit in the stream or -1 if timeout -// discards non-numeric characters -int Stream::peekNextDigit() -{ - int c; - while (1) { - c = timedPeek(); - if (c < 0) return c; // timeout - if (c == '-') return c; - if (c >= '0' && c <= '9') return c; - read(); // discard non-numeric - } -} - -// Public Methods -////////////////////////////////////////////////////////////// - -void Stream::setTimeout(unsigned long timeout) // sets the maximum number of milliseconds to wait -{ - _timeout = timeout; -} - - // find returns true if the target string is found -bool Stream::find(char *target) -{ - return findUntil(target, NULL); -} - -// reads data from the stream until the target string of given length is found -// returns true if target string is found, false if timed out -bool Stream::find(char *target, size_t length) -{ - return findUntil(target, length, NULL, 0); -} - -// as find but search ends if the terminator string is found -bool Stream::findUntil(char *target, char *terminator) -{ - return findUntil(target, strlen(target), terminator, strlen(terminator)); -} - -// reads data from the stream until the target string of the given length is found -// search terminated if the terminator string is found -// returns true if target string is found, false if terminated or timed out -bool Stream::findUntil(char *target, size_t targetLen, char *terminator, size_t termLen) -{ - size_t index = 0; // maximum target string length is 64k bytes! - size_t termIndex = 0; - int c; - - if( *target == 0) - return true; // return true if target is a null string - while( (c = timedRead()) > 0){ - - if(c != target[index]) - index = 0; // reset index if any char does not match - - if( c == target[index]){ - //////Serial.print("found "); Serial.write(c); Serial.print("index now"); Serial.println(index+1); - if(++index >= targetLen){ // return true if all chars in the target match - return true; - } - } - - if(termLen > 0 && c == terminator[termIndex]){ - if(++termIndex >= termLen) - return false; // return false if terminate string found before target string - } - else - termIndex = 0; - } - return false; -} - - -// returns the first valid (long) integer value from the current position. -// initial characters that are not digits (or the minus sign) are skipped -// function is terminated by the first character that is not a digit. -long Stream::parseInt() -{ - return parseInt(NO_SKIP_CHAR); // terminate on first non-digit character (or timeout) -} - -// as above but a given skipChar is ignored -// this allows format characters (typically commas) in values to be ignored -long Stream::parseInt(char skipChar) -{ - boolean isNegative = false; - long value = 0; - int c; - - c = peekNextDigit(); - // ignore non numeric leading characters - if(c < 0) - return 0; // zero returned if timeout - - do{ - if(c == skipChar) - ; // ignore this charactor - else if(c == '-') - isNegative = true; - else if(c >= '0' && c <= '9') // is c a digit? - value = value * 10 + c - '0'; - read(); // consume the character we got with peek - c = timedPeek(); - } - while( (c >= '0' && c <= '9') || c == skipChar ); - - if(isNegative) - value = -value; - return value; -} - - -// as parseInt but returns a floating point value -float Stream::parseFloat() -{ - return parseFloat(NO_SKIP_CHAR); -} - -// as above but the given skipChar is ignored -// this allows format characters (typically commas) in values to be ignored -float Stream::parseFloat(char skipChar){ - boolean isNegative = false; - boolean isFraction = false; - long value = 0; - char c; - float fraction = 1.0; - - c = peekNextDigit(); - // ignore non numeric leading characters - if(c < 0) - return 0; // zero returned if timeout - - do{ - if(c == skipChar) - ; // ignore - else if(c == '-') - isNegative = true; - else if (c == '.') - isFraction = true; - else if(c >= '0' && c <= '9') { // is c a digit? - value = value * 10 + c - '0'; - if(isFraction) - fraction *= 0.1; - } - read(); // consume the character we got with peek - c = timedPeek(); - } - while( (c >= '0' && c <= '9') || c == '.' || c == skipChar ); - - if(isNegative) - value = -value; - if(isFraction) - return value * fraction; - else - return value; -} - -// read characters from stream into buffer -// terminates if length characters have been read, or timeout (see setTimeout) -// returns the number of characters placed in the buffer -// the buffer is NOT null terminated. -// -size_t Stream::readBytes(char *buffer, size_t length) -{ - size_t count = 0; - while (count < length) { - int c = timedRead(); - if (c < 0) break; - *buffer++ = (char)c; - count++; - } - return count; -} - - -// as readBytes with terminator character -// terminates if length characters have been read, timeout, or if the terminator character detected -// returns the number of characters placed in the buffer (0 means no valid data found) - -size_t Stream::readBytesUntil(char terminator, char *buffer, size_t length) -{ - if (length < 1) return 0; - size_t index = 0; - while (index < length) { - int c = timedRead(); - if (c < 0 || c == terminator) break; - *buffer++ = (char)c; - index++; - } - return index; // return number of characters, not including null terminator -} - -String Stream::readString() -{ - String ret; - int c = timedRead(); - while (c >= 0) - { - ret += (char)c; - c = timedRead(); - } - return ret; -} - -String Stream::readStringUntil(char terminator) -{ - String ret; - int c = timedRead(); - while (c >= 0 && c != terminator) - { - ret += (char)c; - c = timedRead(); - } - return ret; -} - diff --git a/cores/robot/Stream.h b/cores/robot/Stream.h deleted file mode 100644 index 007b4bc..0000000 --- a/cores/robot/Stream.h +++ /dev/null @@ -1,96 +0,0 @@ -/* - Stream.h - base class for character-based streams. - Copyright (c) 2010 David A. Mellis. All right reserved. - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA - - parsing functions based on TextFinder library by Michael Margolis -*/ - -#ifndef Stream_h -#define Stream_h - -#include <inttypes.h> -#include "Print.h" - -// compatability macros for testing -/* -#define getInt() parseInt() -#define getInt(skipChar) parseInt(skipchar) -#define getFloat() parseFloat() -#define getFloat(skipChar) parseFloat(skipChar) -#define getString( pre_string, post_string, buffer, length) -readBytesBetween( pre_string, terminator, buffer, length) -*/ - -class Stream : public Print -{ - protected: - unsigned long _timeout; // number of milliseconds to wait for the next char before aborting timed read - unsigned long _startMillis; // used for timeout measurement - int timedRead(); // private method to read stream with timeout - int timedPeek(); // private method to peek stream with timeout - int peekNextDigit(); // returns the next numeric digit in the stream or -1 if timeout - - public: - virtual int available() = 0; - virtual int read() = 0; - virtual int peek() = 0; - virtual void flush() = 0; - - Stream() {_timeout=1000;} - -// parsing methods - - void setTimeout(unsigned long timeout); // sets maximum milliseconds to wait for stream data, default is 1 second - - bool find(char *target); // reads data from the stream until the target string is found - // returns true if target string is found, false if timed out (see setTimeout) - - bool find(char *target, size_t length); // reads data from the stream until the target string of given length is found - // returns true if target string is found, false if timed out - - bool findUntil(char *target, char *terminator); // as find but search ends if the terminator string is found - - bool findUntil(char *target, size_t targetLen, char *terminate, size_t termLen); // as above but search ends if the terminate string is found - - - long parseInt(); // returns the first valid (long) integer value from the current position. - // initial characters that are not digits (or the minus sign) are skipped - // integer is terminated by the first character that is not a digit. - - float parseFloat(); // float version of parseInt - - size_t readBytes( char *buffer, size_t length); // read chars from stream into buffer - // terminates if length characters have been read or timeout (see setTimeout) - // returns the number of characters placed in the buffer (0 means no valid data found) - - size_t readBytesUntil( char terminator, char *buffer, size_t length); // as readBytes with terminator character - // terminates if length characters have been read, timeout, or if the terminator character detected - // returns the number of characters placed in the buffer (0 means no valid data found) - - // Arduino String functions to be added here - String readString(); - String readStringUntil(char terminator); - - protected: - long parseInt(char skipChar); // as above but the given skipChar is ignored - // as above but the given skipChar is ignored - // this allows format characters (typically commas) in values to be ignored - - float parseFloat(char skipChar); // as above but the given skipChar is ignored -}; - -#endif diff --git a/cores/robot/Tone.cpp b/cores/robot/Tone.cpp deleted file mode 100755 index 9bb6fe7..0000000 --- a/cores/robot/Tone.cpp +++ /dev/null @@ -1,616 +0,0 @@ -/* Tone.cpp - - A Tone Generator Library - - Written by Brett Hagman - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA - -Version Modified By Date Comments -------- ----------- -------- -------- -0001 B Hagman 09/08/02 Initial coding -0002 B Hagman 09/08/18 Multiple pins -0003 B Hagman 09/08/18 Moved initialization from constructor to begin() -0004 B Hagman 09/09/26 Fixed problems with ATmega8 -0005 B Hagman 09/11/23 Scanned prescalars for best fit on 8 bit timers - 09/11/25 Changed pin toggle method to XOR - 09/11/25 Fixed timer0 from being excluded -0006 D Mellis 09/12/29 Replaced objects with functions -0007 M Sproul 10/08/29 Changed #ifdefs from cpu to register -0008 S Kanemoto 12/06/22 Fixed for Leonardo by @maris_HY -*************************************************/ - -#include <avr/interrupt.h> -#include <avr/pgmspace.h> -#include "Arduino.h" -#include "pins_arduino.h" - -#if defined(__AVR_ATmega8__) || defined(__AVR_ATmega128__) -#define TCCR2A TCCR2 -#define TCCR2B TCCR2 -#define COM2A1 COM21 -#define COM2A0 COM20 -#define OCR2A OCR2 -#define TIMSK2 TIMSK -#define OCIE2A OCIE2 -#define TIMER2_COMPA_vect TIMER2_COMP_vect -#define TIMSK1 TIMSK -#endif - -// timerx_toggle_count: -// > 0 - duration specified -// = 0 - stopped -// < 0 - infinitely (until stop() method called, or new play() called) - -#if !defined(__AVR_ATmega8__) -volatile long timer0_toggle_count; -volatile uint8_t *timer0_pin_port; -volatile uint8_t timer0_pin_mask; -#endif - -volatile long timer1_toggle_count; -volatile uint8_t *timer1_pin_port; -volatile uint8_t timer1_pin_mask; -volatile long timer2_toggle_count; -volatile uint8_t *timer2_pin_port; -volatile uint8_t timer2_pin_mask; - -#if defined(TIMSK3) -volatile long timer3_toggle_count; -volatile uint8_t *timer3_pin_port; -volatile uint8_t timer3_pin_mask; -#endif - -#if defined(TIMSK4) -volatile long timer4_toggle_count; -volatile uint8_t *timer4_pin_port; -volatile uint8_t timer4_pin_mask; -#endif - -#if defined(TIMSK5) -volatile long timer5_toggle_count; -volatile uint8_t *timer5_pin_port; -volatile uint8_t timer5_pin_mask; -#endif - - -#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) - -#define AVAILABLE_TONE_PINS 1 -#define USE_TIMER2 - -const uint8_t PROGMEM tone_pin_to_timer_PGM[] = { 2 /*, 3, 4, 5, 1, 0 */ }; -static uint8_t tone_pins[AVAILABLE_TONE_PINS] = { 255 /*, 255, 255, 255, 255, 255 */ }; - -#elif defined(__AVR_ATmega8__) - -#define AVAILABLE_TONE_PINS 1 -#define USE_TIMER2 - -const uint8_t PROGMEM tone_pin_to_timer_PGM[] = { 2 /*, 1 */ }; -static uint8_t tone_pins[AVAILABLE_TONE_PINS] = { 255 /*, 255 */ }; - -#elif defined(__AVR_ATmega32U4__) - -#define AVAILABLE_TONE_PINS 1 -#define USE_TIMER3 - -const uint8_t PROGMEM tone_pin_to_timer_PGM[] = { 3 /*, 1 */ }; -static uint8_t tone_pins[AVAILABLE_TONE_PINS] = { 255 /*, 255 */ }; - -#else - -#define AVAILABLE_TONE_PINS 1 -#define USE_TIMER2 - -// Leave timer 0 to last. -const uint8_t PROGMEM tone_pin_to_timer_PGM[] = { 2 /*, 1, 0 */ }; -static uint8_t tone_pins[AVAILABLE_TONE_PINS] = { 255 /*, 255, 255 */ }; - -#endif - - - -static int8_t toneBegin(uint8_t _pin) -{ - int8_t _timer = -1; - - // if we're already using the pin, the timer should be configured. - for (int i = 0; i < AVAILABLE_TONE_PINS; i++) { - if (tone_pins[i] == _pin) { - return pgm_read_byte(tone_pin_to_timer_PGM + i); - } - } - - // search for an unused timer. - for (int i = 0; i < AVAILABLE_TONE_PINS; i++) { - if (tone_pins[i] == 255) { - tone_pins[i] = _pin; - _timer = pgm_read_byte(tone_pin_to_timer_PGM + i); - break; - } - } - - if (_timer != -1) - { - // Set timer specific stuff - // All timers in CTC mode - // 8 bit timers will require changing prescalar values, - // whereas 16 bit timers are set to either ck/1 or ck/64 prescalar - switch (_timer) - { - #if defined(TCCR0A) && defined(TCCR0B) - case 0: - // 8 bit timer - TCCR0A = 0; - TCCR0B = 0; - bitWrite(TCCR0A, WGM01, 1); - bitWrite(TCCR0B, CS00, 1); - timer0_pin_port = portOutputRegister(digitalPinToPort(_pin)); - timer0_pin_mask = digitalPinToBitMask(_pin); - break; - #endif - - #if defined(TCCR1A) && defined(TCCR1B) && defined(WGM12) - case 1: - // 16 bit timer - TCCR1A = 0; - TCCR1B = 0; - bitWrite(TCCR1B, WGM12, 1); - bitWrite(TCCR1B, CS10, 1); - timer1_pin_port = portOutputRegister(digitalPinToPort(_pin)); - timer1_pin_mask = digitalPinToBitMask(_pin); - break; - #endif - - #if defined(TCCR2A) && defined(TCCR2B) - case 2: - // 8 bit timer - TCCR2A = 0; - TCCR2B = 0; - bitWrite(TCCR2A, WGM21, 1); - bitWrite(TCCR2B, CS20, 1); - timer2_pin_port = portOutputRegister(digitalPinToPort(_pin)); - timer2_pin_mask = digitalPinToBitMask(_pin); - break; - #endif - - #if defined(TCCR3A) && defined(TCCR3B) && defined(TIMSK3) - case 3: - // 16 bit timer - TCCR3A = 0; - TCCR3B = 0; - bitWrite(TCCR3B, WGM32, 1); - bitWrite(TCCR3B, CS30, 1); - timer3_pin_port = portOutputRegister(digitalPinToPort(_pin)); - timer3_pin_mask = digitalPinToBitMask(_pin); - break; - #endif - - #if defined(TCCR4A) && defined(TCCR4B) && defined(TIMSK4) - case 4: - // 16 bit timer - TCCR4A = 0; - TCCR4B = 0; - #if defined(WGM42) - bitWrite(TCCR4B, WGM42, 1); - #elif defined(CS43) - #warning this may not be correct - // atmega32u4 - bitWrite(TCCR4B, CS43, 1); - #endif - bitWrite(TCCR4B, CS40, 1); - timer4_pin_port = portOutputRegister(digitalPinToPort(_pin)); - timer4_pin_mask = digitalPinToBitMask(_pin); - break; - #endif - - #if defined(TCCR5A) && defined(TCCR5B) && defined(TIMSK5) - case 5: - // 16 bit timer - TCCR5A = 0; - TCCR5B = 0; - bitWrite(TCCR5B, WGM52, 1); - bitWrite(TCCR5B, CS50, 1); - timer5_pin_port = portOutputRegister(digitalPinToPort(_pin)); - timer5_pin_mask = digitalPinToBitMask(_pin); - break; - #endif - } - } - - return _timer; -} - - - -// frequency (in hertz) and duration (in milliseconds). - -void tone(uint8_t _pin, unsigned int frequency, unsigned long duration) -{ - uint8_t prescalarbits = 0b001; - long toggle_count = 0; - uint32_t ocr = 0; - int8_t _timer; - - _timer = toneBegin(_pin); - - if (_timer >= 0) - { - // Set the pinMode as OUTPUT - pinMode(_pin, OUTPUT); - - // if we are using an 8 bit timer, scan through prescalars to find the best fit - if (_timer == 0 || _timer == 2) - { - ocr = F_CPU / frequency / 2 - 1; - prescalarbits = 0b001; // ck/1: same for both timers - if (ocr > 255) - { - ocr = F_CPU / frequency / 2 / 8 - 1; - prescalarbits = 0b010; // ck/8: same for both timers - - if (_timer == 2 && ocr > 255) - { - ocr = F_CPU / frequency / 2 / 32 - 1; - prescalarbits = 0b011; - } - - if (ocr > 255) - { - ocr = F_CPU / frequency / 2 / 64 - 1; - prescalarbits = _timer == 0 ? 0b011 : 0b100; - - if (_timer == 2 && ocr > 255) - { - ocr = F_CPU / frequency / 2 / 128 - 1; - prescalarbits = 0b101; - } - - if (ocr > 255) - { - ocr = F_CPU / frequency / 2 / 256 - 1; - prescalarbits = _timer == 0 ? 0b100 : 0b110; - if (ocr > 255) - { - // can't do any better than /1024 - ocr = F_CPU / frequency / 2 / 1024 - 1; - prescalarbits = _timer == 0 ? 0b101 : 0b111; - } - } - } - } - -#if defined(TCCR0B) - if (_timer == 0) - { - TCCR0B = prescalarbits; - } - else -#endif -#if defined(TCCR2B) - { - TCCR2B = prescalarbits; - } -#else - { - // dummy place holder to make the above ifdefs work - } -#endif - } - else - { - // two choices for the 16 bit timers: ck/1 or ck/64 - ocr = F_CPU / frequency / 2 - 1; - - prescalarbits = 0b001; - if (ocr > 0xffff) - { - ocr = F_CPU / frequency / 2 / 64 - 1; - prescalarbits = 0b011; - } - - if (_timer == 1) - { -#if defined(TCCR1B) - TCCR1B = (TCCR1B & 0b11111000) | prescalarbits; -#endif - } -#if defined(TCCR3B) - else if (_timer == 3) - TCCR3B = (TCCR3B & 0b11111000) | prescalarbits; -#endif -#if defined(TCCR4B) - else if (_timer == 4) - TCCR4B = (TCCR4B & 0b11111000) | prescalarbits; -#endif -#if defined(TCCR5B) - else if (_timer == 5) - TCCR5B = (TCCR5B & 0b11111000) | prescalarbits; -#endif - - } - - - // Calculate the toggle count - if (duration > 0) - { - toggle_count = 2 * frequency * duration / 1000; - } - else - { - toggle_count = -1; - } - - // Set the OCR for the given timer, - // set the toggle count, - // then turn on the interrupts - switch (_timer) - { - -#if defined(OCR0A) && defined(TIMSK0) && defined(OCIE0A) - case 0: - OCR0A = ocr; - timer0_toggle_count = toggle_count; - bitWrite(TIMSK0, OCIE0A, 1); - break; -#endif - - case 1: -#if defined(OCR1A) && defined(TIMSK1) && defined(OCIE1A) - OCR1A = ocr; - timer1_toggle_count = toggle_count; - bitWrite(TIMSK1, OCIE1A, 1); -#elif defined(OCR1A) && defined(TIMSK) && defined(OCIE1A) - // this combination is for at least the ATmega32 - OCR1A = ocr; - timer1_toggle_count = toggle_count; - bitWrite(TIMSK, OCIE1A, 1); -#endif - break; - -#if defined(OCR2A) && defined(TIMSK2) && defined(OCIE2A) - case 2: - OCR2A = ocr; - timer2_toggle_count = toggle_count; - bitWrite(TIMSK2, OCIE2A, 1); - break; -#endif - -#if defined(TIMSK3) - case 3: - OCR3A = ocr; - timer3_toggle_count = toggle_count; - bitWrite(TIMSK3, OCIE3A, 1); - break; -#endif - -#if defined(TIMSK4) - case 4: - OCR4A = ocr; - timer4_toggle_count = toggle_count; - bitWrite(TIMSK4, OCIE4A, 1); - break; -#endif - -#if defined(OCR5A) && defined(TIMSK5) && defined(OCIE5A) - case 5: - OCR5A = ocr; - timer5_toggle_count = toggle_count; - bitWrite(TIMSK5, OCIE5A, 1); - break; -#endif - - } - } -} - - -// XXX: this function only works properly for timer 2 (the only one we use -// currently). for the others, it should end the tone, but won't restore -// proper PWM functionality for the timer. -void disableTimer(uint8_t _timer) -{ - switch (_timer) - { - case 0: - #if defined(TIMSK0) - TIMSK0 = 0; - #elif defined(TIMSK) - TIMSK = 0; // atmega32 - #endif - break; - -#if defined(TIMSK1) && defined(OCIE1A) - case 1: - bitWrite(TIMSK1, OCIE1A, 0); - break; -#endif - - case 2: - #if defined(TIMSK2) && defined(OCIE2A) - bitWrite(TIMSK2, OCIE2A, 0); // disable interrupt - #endif - #if defined(TCCR2A) && defined(WGM20) - TCCR2A = (1 << WGM20); - #endif - #if defined(TCCR2B) && defined(CS22) - TCCR2B = (TCCR2B & 0b11111000) | (1 << CS22); - #endif - #if defined(OCR2A) - OCR2A = 0; - #endif - break; - -#if defined(TIMSK3) - case 3: - TIMSK3 = 0; - break; -#endif - -#if defined(TIMSK4) - case 4: - TIMSK4 = 0; - break; -#endif - -#if defined(TIMSK5) - case 5: - TIMSK5 = 0; - break; -#endif - } -} - - -void noTone(uint8_t _pin) -{ - int8_t _timer = -1; - - for (int i = 0; i < AVAILABLE_TONE_PINS; i++) { - if (tone_pins[i] == _pin) { - _timer = pgm_read_byte(tone_pin_to_timer_PGM + i); - tone_pins[i] = 255; - } - } - - disableTimer(_timer); - - digitalWrite(_pin, 0); -} - -#ifdef USE_TIMER0 -ISR(TIMER0_COMPA_vect) -{ - if (timer0_toggle_count != 0) - { - // toggle the pin - *timer0_pin_port ^= timer0_pin_mask; - - if (timer0_toggle_count > 0) - timer0_toggle_count--; - } - else - { - disableTimer(0); - *timer0_pin_port &= ~(timer0_pin_mask); // keep pin low after stop - } -} -#endif - - -#ifdef USE_TIMER1 -ISR(TIMER1_COMPA_vect) -{ - if (timer1_toggle_count != 0) - { - // toggle the pin - *timer1_pin_port ^= timer1_pin_mask; - - if (timer1_toggle_count > 0) - timer1_toggle_count--; - } - else - { - disableTimer(1); - *timer1_pin_port &= ~(timer1_pin_mask); // keep pin low after stop - } -} -#endif - - -#ifdef USE_TIMER2 -ISR(TIMER2_COMPA_vect) -{ - - if (timer2_toggle_count != 0) - { - // toggle the pin - *timer2_pin_port ^= timer2_pin_mask; - - if (timer2_toggle_count > 0) - timer2_toggle_count--; - } - else - { - // need to call noTone() so that the tone_pins[] entry is reset, so the - // timer gets initialized next time we call tone(). - // XXX: this assumes timer 2 is always the first one used. - noTone(tone_pins[0]); -// disableTimer(2); -// *timer2_pin_port &= ~(timer2_pin_mask); // keep pin low after stop - } -} -#endif - - -#ifdef USE_TIMER3 -ISR(TIMER3_COMPA_vect) -{ - if (timer3_toggle_count != 0) - { - // toggle the pin - *timer3_pin_port ^= timer3_pin_mask; - - if (timer3_toggle_count > 0) - timer3_toggle_count--; - } - else - { - disableTimer(3); - *timer3_pin_port &= ~(timer3_pin_mask); // keep pin low after stop - } -} -#endif - - -#ifdef USE_TIMER4 -ISR(TIMER4_COMPA_vect) -{ - if (timer4_toggle_count != 0) - { - // toggle the pin - *timer4_pin_port ^= timer4_pin_mask; - - if (timer4_toggle_count > 0) - timer4_toggle_count--; - } - else - { - disableTimer(4); - *timer4_pin_port &= ~(timer4_pin_mask); // keep pin low after stop - } -} -#endif - - -#ifdef USE_TIMER5 -ISR(TIMER5_COMPA_vect) -{ - if (timer5_toggle_count != 0) - { - // toggle the pin - *timer5_pin_port ^= timer5_pin_mask; - - if (timer5_toggle_count > 0) - timer5_toggle_count--; - } - else - { - disableTimer(5); - *timer5_pin_port &= ~(timer5_pin_mask); // keep pin low after stop - } -} -#endif diff --git a/cores/robot/USBAPI.h b/cores/robot/USBAPI.h deleted file mode 100644 index eb2e593..0000000 --- a/cores/robot/USBAPI.h +++ /dev/null @@ -1,196 +0,0 @@ - - -#ifndef __USBAPI__ -#define __USBAPI__ - -#if defined(USBCON) - -//================================================================================ -//================================================================================ -// USB - -class USBDevice_ -{ -public: - USBDevice_(); - bool configured(); - - void attach(); - void detach(); // Serial port goes down too... - void poll(); -}; -extern USBDevice_ USBDevice; - -//================================================================================ -//================================================================================ -// Serial over CDC (Serial1 is the physical port) - -class Serial_ : public Stream -{ -private: - ring_buffer *_cdc_rx_buffer; -public: - void begin(uint16_t baud_count); - void end(void); - - virtual int available(void); - virtual void accept(void); - virtual int peek(void); - virtual int read(void); - virtual void flush(void); - virtual size_t write(uint8_t); - using Print::write; // pull in write(str) and write(buf, size) from Print - operator bool(); -}; -extern Serial_ Serial; - -//================================================================================ -//================================================================================ -// Mouse - -#define MOUSE_LEFT 1 -#define MOUSE_RIGHT 2 -#define MOUSE_MIDDLE 4 -#define MOUSE_ALL (MOUSE_LEFT | MOUSE_RIGHT | MOUSE_MIDDLE) - -class Mouse_ -{ -private: - uint8_t _buttons; - void buttons(uint8_t b); -public: - Mouse_(void); - void begin(void); - void end(void); - void click(uint8_t b = MOUSE_LEFT); - void move(signed char x, signed char y, signed char wheel = 0); - void press(uint8_t b = MOUSE_LEFT); // press LEFT by default - void release(uint8_t b = MOUSE_LEFT); // release LEFT by default - bool isPressed(uint8_t b = MOUSE_LEFT); // check LEFT by default -}; -extern Mouse_ Mouse; - -//================================================================================ -//================================================================================ -// Keyboard - -#define KEY_LEFT_CTRL 0x80 -#define KEY_LEFT_SHIFT 0x81 -#define KEY_LEFT_ALT 0x82 -#define KEY_LEFT_GUI 0x83 -#define KEY_RIGHT_CTRL 0x84 -#define KEY_RIGHT_SHIFT 0x85 -#define KEY_RIGHT_ALT 0x86 -#define KEY_RIGHT_GUI 0x87 - -#define KEY_UP_ARROW 0xDA -#define KEY_DOWN_ARROW 0xD9 -#define KEY_LEFT_ARROW 0xD8 -#define KEY_RIGHT_ARROW 0xD7 -#define KEY_BACKSPACE 0xB2 -#define KEY_TAB 0xB3 -#define KEY_RETURN 0xB0 -#define KEY_ESC 0xB1 -#define KEY_INSERT 0xD1 -#define KEY_DELETE 0xD4 -#define KEY_PAGE_UP 0xD3 -#define KEY_PAGE_DOWN 0xD6 -#define KEY_HOME 0xD2 -#define KEY_END 0xD5 -#define KEY_CAPS_LOCK 0xC1 -#define KEY_F1 0xC2 -#define KEY_F2 0xC3 -#define KEY_F3 0xC4 -#define KEY_F4 0xC5 -#define KEY_F5 0xC6 -#define KEY_F6 0xC7 -#define KEY_F7 0xC8 -#define KEY_F8 0xC9 -#define KEY_F9 0xCA -#define KEY_F10 0xCB -#define KEY_F11 0xCC -#define KEY_F12 0xCD - -// Low level key report: up to 6 keys and shift, ctrl etc at once -typedef struct -{ - uint8_t modifiers; - uint8_t reserved; - uint8_t keys[6]; -} KeyReport; - -class Keyboard_ : public Print -{ -private: - KeyReport _keyReport; - void sendReport(KeyReport* keys); -public: - Keyboard_(void); - void begin(void); - void end(void); - virtual size_t write(uint8_t k); - virtual size_t press(uint8_t k); - virtual size_t release(uint8_t k); - virtual void releaseAll(void); -}; -extern Keyboard_ Keyboard; - -//================================================================================ -//================================================================================ -// Low level API - -typedef struct -{ - uint8_t bmRequestType; - uint8_t bRequest; - uint8_t wValueL; - uint8_t wValueH; - uint16_t wIndex; - uint16_t wLength; -} Setup; - -//================================================================================ -//================================================================================ -// HID 'Driver' - -int HID_GetInterface(uint8_t* interfaceNum); -int HID_GetDescriptor(int i); -bool HID_Setup(Setup& setup); -void HID_SendReport(uint8_t id, const void* data, int len); - -//================================================================================ -//================================================================================ -// MSC 'Driver' - -int MSC_GetInterface(uint8_t* interfaceNum); -int MSC_GetDescriptor(int i); -bool MSC_Setup(Setup& setup); -bool MSC_Data(uint8_t rx,uint8_t tx); - -//================================================================================ -//================================================================================ -// CSC 'Driver' - -int CDC_GetInterface(uint8_t* interfaceNum); -int CDC_GetDescriptor(int i); -bool CDC_Setup(Setup& setup); - -//================================================================================ -//================================================================================ - -#define TRANSFER_PGM 0x80 -#define TRANSFER_RELEASE 0x40 -#define TRANSFER_ZERO 0x20 - -int USB_SendControl(uint8_t flags, const void* d, int len); -int USB_RecvControl(void* d, int len); - -uint8_t USB_Available(uint8_t ep); -int USB_Send(uint8_t ep, const void* data, int len); // blocking -int USB_Recv(uint8_t ep, void* data, int len); // non-blocking -int USB_Recv(uint8_t ep); // non-blocking -void USB_Flush(uint8_t ep); - -#endif - -#endif /* if defined(USBCON) */
\ No newline at end of file diff --git a/cores/robot/USBCore.cpp b/cores/robot/USBCore.cpp deleted file mode 100644 index d3e0170..0000000 --- a/cores/robot/USBCore.cpp +++ /dev/null @@ -1,684 +0,0 @@ - - -/* Copyright (c) 2010, Peter Barrett -** -** Permission to use, copy, modify, and/or distribute this software for -** any purpose with or without fee is hereby granted, provided that the -** above copyright notice and this permission notice appear in all copies. -** -** THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL -** WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED -** WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR -** BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES -** OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, -** WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, -** ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS -** SOFTWARE. -*/ - -#include "Platform.h" -#include "USBAPI.h" -#include "USBDesc.h" - -#if defined(USBCON) - -#define EP_TYPE_CONTROL 0x00 -#define EP_TYPE_BULK_IN 0x81 -#define EP_TYPE_BULK_OUT 0x80 -#define EP_TYPE_INTERRUPT_IN 0xC1 -#define EP_TYPE_INTERRUPT_OUT 0xC0 -#define EP_TYPE_ISOCHRONOUS_IN 0x41 -#define EP_TYPE_ISOCHRONOUS_OUT 0x40 - -/** Pulse generation counters to keep track of the number of milliseconds remaining for each pulse type */ -#define TX_RX_LED_PULSE_MS 100 -volatile u8 TxLEDPulse; /**< Milliseconds remaining for data Tx LED pulse */ -volatile u8 RxLEDPulse; /**< Milliseconds remaining for data Rx LED pulse */ - -//================================================================== -//================================================================== - -extern const u16 STRING_LANGUAGE[] PROGMEM; -extern const u16 STRING_IPRODUCT[] PROGMEM; -extern const u16 STRING_IMANUFACTURER[] PROGMEM; -extern const DeviceDescriptor USB_DeviceDescriptor PROGMEM; -extern const DeviceDescriptor USB_DeviceDescriptorA PROGMEM; - -const u16 STRING_LANGUAGE[2] = { - (3<<8) | (2+2), - 0x0409 // English -}; - -const u16 STRING_IPRODUCT[17] = { - (3<<8) | (2+2*16), -#if USB_PID == 0x8036 - 'A','r','d','u','i','n','o',' ','L','e','o','n','a','r','d','o' -#elif USB_PID == 0x8037 - 'A','r','d','u','i','n','o',' ','M','i','c','r','o',' ',' ',' ' -#elif USB_PID == 0x803C - 'A','r','d','u','i','n','o',' ','E','s','p','l','o','r','a',' ' -#elif USB_PID == 0x9208 - 'L','i','l','y','P','a','d','U','S','B',' ',' ',' ',' ',' ',' ' -#else - 'U','S','B',' ','I','O',' ','B','o','a','r','d',' ',' ',' ',' ' -#endif -}; - -const u16 STRING_IMANUFACTURER[12] = { - (3<<8) | (2+2*11), -#if USB_VID == 0x2341 - 'A','r','d','u','i','n','o',' ','L','L','C' -#elif USB_VID == 0x1b4f - 'S','p','a','r','k','F','u','n',' ',' ',' ' -#else - 'U','n','k','n','o','w','n',' ',' ',' ',' ' -#endif -}; - -#ifdef CDC_ENABLED -#define DEVICE_CLASS 0x02 -#else -#define DEVICE_CLASS 0x00 -#endif - -// DEVICE DESCRIPTOR -const DeviceDescriptor USB_DeviceDescriptor = - D_DEVICE(0x00,0x00,0x00,64,USB_VID,USB_PID,0x100,IMANUFACTURER,IPRODUCT,0,1); - -const DeviceDescriptor USB_DeviceDescriptorA = - D_DEVICE(DEVICE_CLASS,0x00,0x00,64,USB_VID,USB_PID,0x100,IMANUFACTURER,IPRODUCT,0,1); - -//================================================================== -//================================================================== - -volatile u8 _usbConfiguration = 0; - -static inline void WaitIN(void) -{ - while (!(UEINTX & (1<<TXINI))); -} - -static inline void ClearIN(void) -{ - UEINTX = ~(1<<TXINI); -} - -static inline void WaitOUT(void) -{ - while (!(UEINTX & (1<<RXOUTI))) - ; -} - -static inline u8 WaitForINOrOUT() -{ - while (!(UEINTX & ((1<<TXINI)|(1<<RXOUTI)))) - ; - return (UEINTX & (1<<RXOUTI)) == 0; -} - -static inline void ClearOUT(void) -{ - UEINTX = ~(1<<RXOUTI); -} - -void Recv(volatile u8* data, u8 count) -{ - while (count--) - *data++ = UEDATX; - - RXLED1; // light the RX LED - RxLEDPulse = TX_RX_LED_PULSE_MS; -} - -static inline u8 Recv8() -{ - RXLED1; // light the RX LED - RxLEDPulse = TX_RX_LED_PULSE_MS; - - return UEDATX; -} - -static inline void Send8(u8 d) -{ - UEDATX = d; -} - -static inline void SetEP(u8 ep) -{ - UENUM = ep; -} - -static inline u8 FifoByteCount() -{ - return UEBCLX; -} - -static inline u8 ReceivedSetupInt() -{ - return UEINTX & (1<<RXSTPI); -} - -static inline void ClearSetupInt() -{ - UEINTX = ~((1<<RXSTPI) | (1<<RXOUTI) | (1<<TXINI)); -} - -static inline void Stall() -{ - UECONX = (1<<STALLRQ) | (1<<EPEN); -} - -static inline u8 ReadWriteAllowed() -{ - return UEINTX & (1<<RWAL); -} - -static inline u8 Stalled() -{ - return UEINTX & (1<<STALLEDI); -} - -static inline u8 FifoFree() -{ - return UEINTX & (1<<FIFOCON); -} - -static inline void ReleaseRX() -{ - UEINTX = 0x6B; // FIFOCON=0 NAKINI=1 RWAL=1 NAKOUTI=0 RXSTPI=1 RXOUTI=0 STALLEDI=1 TXINI=1 -} - -static inline void ReleaseTX() -{ - UEINTX = 0x3A; // FIFOCON=0 NAKINI=0 RWAL=1 NAKOUTI=1 RXSTPI=1 RXOUTI=0 STALLEDI=1 TXINI=0 -} - -static inline u8 FrameNumber() -{ - return UDFNUML; -} - -//================================================================== -//================================================================== - -u8 USBGetConfiguration(void) -{ - return _usbConfiguration; -} - -#define USB_RECV_TIMEOUT -class LockEP -{ - u8 _sreg; -public: - LockEP(u8 ep) : _sreg(SREG) - { - cli(); - SetEP(ep & 7); - } - ~LockEP() - { - SREG = _sreg; - } -}; - -// Number of bytes, assumes a rx endpoint -u8 USB_Available(u8 ep) -{ - LockEP lock(ep); - return FifoByteCount(); -} - -// Non Blocking receive -// Return number of bytes read -int USB_Recv(u8 ep, void* d, int len) -{ - if (!_usbConfiguration || len < 0) - return -1; - - LockEP lock(ep); - u8 n = FifoByteCount(); - len = min(n,len); - n = len; - u8* dst = (u8*)d; - while (n--) - *dst++ = Recv8(); - if (len && !FifoByteCount()) // release empty buffer - ReleaseRX(); - - return len; -} - -// Recv 1 byte if ready -int USB_Recv(u8 ep) -{ - u8 c; - if (USB_Recv(ep,&c,1) != 1) - return -1; - return c; -} - -// Space in send EP -u8 USB_SendSpace(u8 ep) -{ - LockEP lock(ep); - if (!ReadWriteAllowed()) - return 0; - return 64 - FifoByteCount(); -} - -// Blocking Send of data to an endpoint -int USB_Send(u8 ep, const void* d, int len) -{ - if (!_usbConfiguration) - return -1; - - int r = len; - const u8* data = (const u8*)d; - u8 zero = ep & TRANSFER_ZERO; - u8 timeout = 250; // 250ms timeout on send? TODO - while (len) - { - u8 n = USB_SendSpace(ep); - if (n == 0) - { - if (!(--timeout)) - return -1; - delay(1); - continue; - } - - if (n > len) - n = len; - len -= n; - { - LockEP lock(ep); - if (ep & TRANSFER_ZERO) - { - while (n--) - Send8(0); - } - else if (ep & TRANSFER_PGM) - { - while (n--) - Send8(pgm_read_byte(data++)); - } - else - { - while (n--) - Send8(*data++); - } - if (!ReadWriteAllowed() || ((len == 0) && (ep & TRANSFER_RELEASE))) // Release full buffer - ReleaseTX(); - } - } - TXLED1; // light the TX LED - TxLEDPulse = TX_RX_LED_PULSE_MS; - return r; -} - -extern const u8 _initEndpoints[] PROGMEM; -const u8 _initEndpoints[] = -{ - 0, - -#ifdef CDC_ENABLED - EP_TYPE_INTERRUPT_IN, // CDC_ENDPOINT_ACM - EP_TYPE_BULK_OUT, // CDC_ENDPOINT_OUT - EP_TYPE_BULK_IN, // CDC_ENDPOINT_IN -#endif - -#ifdef HID_ENABLED - EP_TYPE_INTERRUPT_IN // HID_ENDPOINT_INT -#endif -}; - -#define EP_SINGLE_64 0x32 // EP0 -#define EP_DOUBLE_64 0x36 // Other endpoints - -static -void InitEP(u8 index, u8 type, u8 size) -{ - UENUM = index; - UECONX = 1; - UECFG0X = type; - UECFG1X = size; -} - -static -void InitEndpoints() -{ - for (u8 i = 1; i < sizeof(_initEndpoints); i++) - { - UENUM = i; - UECONX = 1; - UECFG0X = pgm_read_byte(_initEndpoints+i); - UECFG1X = EP_DOUBLE_64; - } - UERST = 0x7E; // And reset them - UERST = 0; -} - -// Handle CLASS_INTERFACE requests -static -bool ClassInterfaceRequest(Setup& setup) -{ - u8 i = setup.wIndex; - -#ifdef CDC_ENABLED - if (CDC_ACM_INTERFACE == i) - return CDC_Setup(setup); -#endif - -#ifdef HID_ENABLED - if (HID_INTERFACE == i) - return HID_Setup(setup); -#endif - return false; -} - -int _cmark; -int _cend; -void InitControl(int end) -{ - SetEP(0); - _cmark = 0; - _cend = end; -} - -static -bool SendControl(u8 d) -{ - if (_cmark < _cend) - { - if (!WaitForINOrOUT()) - return false; - Send8(d); - if (!((_cmark + 1) & 0x3F)) - ClearIN(); // Fifo is full, release this packet - } - _cmark++; - return true; -}; - -// Clipped by _cmark/_cend -int USB_SendControl(u8 flags, const void* d, int len) -{ - int sent = len; - const u8* data = (const u8*)d; - bool pgm = flags & TRANSFER_PGM; - while (len--) - { - u8 c = pgm ? pgm_read_byte(data++) : *data++; - if (!SendControl(c)) - return -1; - } - return sent; -} - -// Does not timeout or cross fifo boundaries -// Will only work for transfers <= 64 bytes -// TODO -int USB_RecvControl(void* d, int len) -{ - WaitOUT(); - Recv((u8*)d,len); - ClearOUT(); - return len; -} - -int SendInterfaces() -{ - int total = 0; - u8 interfaces = 0; - -#ifdef CDC_ENABLED - total = CDC_GetInterface(&interfaces); -#endif - -#ifdef HID_ENABLED - total += HID_GetInterface(&interfaces); -#endif - - return interfaces; -} - -// Construct a dynamic configuration descriptor -// This really needs dynamic endpoint allocation etc -// TODO -static -bool SendConfiguration(int maxlen) -{ - // Count and measure interfaces - InitControl(0); - int interfaces = SendInterfaces(); - ConfigDescriptor config = D_CONFIG(_cmark + sizeof(ConfigDescriptor),interfaces); - - // Now send them - InitControl(maxlen); - USB_SendControl(0,&config,sizeof(ConfigDescriptor)); - SendInterfaces(); - return true; -} - -u8 _cdcComposite = 0; - -static -bool SendDescriptor(Setup& setup) -{ - u8 t = setup.wValueH; - if (USB_CONFIGURATION_DESCRIPTOR_TYPE == t) - return SendConfiguration(setup.wLength); - - InitControl(setup.wLength); -#ifdef HID_ENABLED - if (HID_REPORT_DESCRIPTOR_TYPE == t) - return HID_GetDescriptor(t); -#endif - - u8 desc_length = 0; - const u8* desc_addr = 0; - if (USB_DEVICE_DESCRIPTOR_TYPE == t) - { - if (setup.wLength == 8) - _cdcComposite = 1; - desc_addr = _cdcComposite ? (const u8*)&USB_DeviceDescriptorA : (const u8*)&USB_DeviceDescriptor; - } - else if (USB_STRING_DESCRIPTOR_TYPE == t) - { - if (setup.wValueL == 0) - desc_addr = (const u8*)&STRING_LANGUAGE; - else if (setup.wValueL == IPRODUCT) - desc_addr = (const u8*)&STRING_IPRODUCT; - else if (setup.wValueL == IMANUFACTURER) - desc_addr = (const u8*)&STRING_IMANUFACTURER; - else - return false; - } - - if (desc_addr == 0) - return false; - if (desc_length == 0) - desc_length = pgm_read_byte(desc_addr); - - USB_SendControl(TRANSFER_PGM,desc_addr,desc_length); - return true; -} - -// Endpoint 0 interrupt -ISR(USB_COM_vect) -{ - SetEP(0); - if (!ReceivedSetupInt()) - return; - - Setup setup; - Recv((u8*)&setup,8); - ClearSetupInt(); - - u8 requestType = setup.bmRequestType; - if (requestType & REQUEST_DEVICETOHOST) - WaitIN(); - else - ClearIN(); - - bool ok = true; - if (REQUEST_STANDARD == (requestType & REQUEST_TYPE)) - { - // Standard Requests - u8 r = setup.bRequest; - if (GET_STATUS == r) - { - Send8(0); // TODO - Send8(0); - } - else if (CLEAR_FEATURE == r) - { - } - else if (SET_FEATURE == r) - { - } - else if (SET_ADDRESS == r) - { - WaitIN(); - UDADDR = setup.wValueL | (1<<ADDEN); - } - else if (GET_DESCRIPTOR == r) - { - ok = SendDescriptor(setup); - } - else if (SET_DESCRIPTOR == r) - { - ok = false; - } - else if (GET_CONFIGURATION == r) - { - Send8(1); - } - else if (SET_CONFIGURATION == r) - { - if (REQUEST_DEVICE == (requestType & REQUEST_RECIPIENT)) - { - InitEndpoints(); - _usbConfiguration = setup.wValueL; - } else - ok = false; - } - else if (GET_INTERFACE == r) - { - } - else if (SET_INTERFACE == r) - { - } - } - else - { - InitControl(setup.wLength); // Max length of transfer - ok = ClassInterfaceRequest(setup); - } - - if (ok) - ClearIN(); - else - { - Stall(); - } -} - -void USB_Flush(u8 ep) -{ - SetEP(ep); - if (FifoByteCount()) - ReleaseTX(); -} - -// General interrupt -ISR(USB_GEN_vect) -{ - u8 udint = UDINT; - UDINT = 0; - - // End of Reset - if (udint & (1<<EORSTI)) - { - InitEP(0,EP_TYPE_CONTROL,EP_SINGLE_64); // init ep0 - _usbConfiguration = 0; // not configured yet - UEIENX = 1 << RXSTPE; // Enable interrupts for ep0 - } - - // Start of Frame - happens every millisecond so we use it for TX and RX LED one-shot timing, too - if (udint & (1<<SOFI)) - { -#ifdef CDC_ENABLED - USB_Flush(CDC_TX); // Send a tx frame if found - if (USB_Available(CDC_RX)) // Handle received bytes (if any) - Serial.accept(); -#endif - - // check whether the one-shot period has elapsed. if so, turn off the LED - if (TxLEDPulse && !(--TxLEDPulse)) - TXLED0; - if (RxLEDPulse && !(--RxLEDPulse)) - RXLED0; - } -} - -// VBUS or counting frames -// Any frame counting? -u8 USBConnected() -{ - u8 f = UDFNUML; - delay(3); - return f != UDFNUML; -} - -//======================================================================= -//======================================================================= - -USBDevice_ USBDevice; - -USBDevice_::USBDevice_() -{ -} - -void USBDevice_::attach() -{ - _usbConfiguration = 0; - UHWCON = 0x01; // power internal reg - USBCON = (1<<USBE)|(1<<FRZCLK); // clock frozen, usb enabled -#if F_CPU == 16000000UL - PLLCSR = 0x12; // Need 16 MHz xtal -#elif F_CPU == 8000000UL - PLLCSR = 0x02; // Need 8 MHz xtal -#endif - while (!(PLLCSR & (1<<PLOCK))) // wait for lock pll - ; - - // Some tests on specific versions of macosx (10.7.3), reported some - // strange behaviuors when the board is reset using the serial - // port touch at 1200 bps. This delay fixes this behaviour. - delay(1); - - USBCON = ((1<<USBE)|(1<<OTGPADE)); // start USB clock - UDIEN = (1<<EORSTE)|(1<<SOFE); // Enable interrupts for EOR (End of Reset) and SOF (start of frame) - UDCON = 0; // enable attach resistor - - TX_RX_LED_INIT; -} - -void USBDevice_::detach() -{ -} - -// Check for interrupts -// TODO: VBUS detection -bool USBDevice_::configured() -{ - return _usbConfiguration; -} - -void USBDevice_::poll() -{ -} - -#endif /* if defined(USBCON) */ diff --git a/cores/robot/USBCore.h b/cores/robot/USBCore.h deleted file mode 100644 index 8d13806..0000000 --- a/cores/robot/USBCore.h +++ /dev/null @@ -1,303 +0,0 @@ - -// Copyright (c) 2010, Peter Barrett -/* -** Permission to use, copy, modify, and/or distribute this software for -** any purpose with or without fee is hereby granted, provided that the -** above copyright notice and this permission notice appear in all copies. -** -** THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL -** WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED -** WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR -** BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES -** OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, -** WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, -** ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS -** SOFTWARE. -*/ - -#ifndef __USBCORE_H__ -#define __USBCORE_H__ - -// Standard requests -#define GET_STATUS 0 -#define CLEAR_FEATURE 1 -#define SET_FEATURE 3 -#define SET_ADDRESS 5 -#define GET_DESCRIPTOR 6 -#define SET_DESCRIPTOR 7 -#define GET_CONFIGURATION 8 -#define SET_CONFIGURATION 9 -#define GET_INTERFACE 10 -#define SET_INTERFACE 11 - - -// bmRequestType -#define REQUEST_HOSTTODEVICE 0x00 -#define REQUEST_DEVICETOHOST 0x80 -#define REQUEST_DIRECTION 0x80 - -#define REQUEST_STANDARD 0x00 -#define REQUEST_CLASS 0x20 -#define REQUEST_VENDOR 0x40 -#define REQUEST_TYPE 0x60 - -#define REQUEST_DEVICE 0x00 -#define REQUEST_INTERFACE 0x01 -#define REQUEST_ENDPOINT 0x02 -#define REQUEST_OTHER 0x03 -#define REQUEST_RECIPIENT 0x03 - -#define REQUEST_DEVICETOHOST_CLASS_INTERFACE (REQUEST_DEVICETOHOST + REQUEST_CLASS + REQUEST_INTERFACE) -#define REQUEST_HOSTTODEVICE_CLASS_INTERFACE (REQUEST_HOSTTODEVICE + REQUEST_CLASS + REQUEST_INTERFACE) - -// Class requests - -#define CDC_SET_LINE_CODING 0x20 -#define CDC_GET_LINE_CODING 0x21 -#define CDC_SET_CONTROL_LINE_STATE 0x22 - -#define MSC_RESET 0xFF -#define MSC_GET_MAX_LUN 0xFE - -#define HID_GET_REPORT 0x01 -#define HID_GET_IDLE 0x02 -#define HID_GET_PROTOCOL 0x03 -#define HID_SET_REPORT 0x09 -#define HID_SET_IDLE 0x0A -#define HID_SET_PROTOCOL 0x0B - -// Descriptors - -#define USB_DEVICE_DESC_SIZE 18 -#define USB_CONFIGUARTION_DESC_SIZE 9 -#define USB_INTERFACE_DESC_SIZE 9 -#define USB_ENDPOINT_DESC_SIZE 7 - -#define USB_DEVICE_DESCRIPTOR_TYPE 1 -#define USB_CONFIGURATION_DESCRIPTOR_TYPE 2 -#define USB_STRING_DESCRIPTOR_TYPE 3 -#define USB_INTERFACE_DESCRIPTOR_TYPE 4 -#define USB_ENDPOINT_DESCRIPTOR_TYPE 5 - -#define USB_DEVICE_CLASS_COMMUNICATIONS 0x02 -#define USB_DEVICE_CLASS_HUMAN_INTERFACE 0x03 -#define USB_DEVICE_CLASS_STORAGE 0x08 -#define USB_DEVICE_CLASS_VENDOR_SPECIFIC 0xFF - -#define USB_CONFIG_POWERED_MASK 0x40 -#define USB_CONFIG_BUS_POWERED 0x80 -#define USB_CONFIG_SELF_POWERED 0xC0 -#define USB_CONFIG_REMOTE_WAKEUP 0x20 - -// bMaxPower in Configuration Descriptor -#define USB_CONFIG_POWER_MA(mA) ((mA)/2) - -// bEndpointAddress in Endpoint Descriptor -#define USB_ENDPOINT_DIRECTION_MASK 0x80 -#define USB_ENDPOINT_OUT(addr) ((addr) | 0x00) -#define USB_ENDPOINT_IN(addr) ((addr) | 0x80) - -#define USB_ENDPOINT_TYPE_MASK 0x03 -#define USB_ENDPOINT_TYPE_CONTROL 0x00 -#define USB_ENDPOINT_TYPE_ISOCHRONOUS 0x01 -#define USB_ENDPOINT_TYPE_BULK 0x02 -#define USB_ENDPOINT_TYPE_INTERRUPT 0x03 - -#define TOBYTES(x) ((x) & 0xFF),(((x) >> 8) & 0xFF) - -#define CDC_V1_10 0x0110 -#define CDC_COMMUNICATION_INTERFACE_CLASS 0x02 - -#define CDC_CALL_MANAGEMENT 0x01 -#define CDC_ABSTRACT_CONTROL_MODEL 0x02 -#define CDC_HEADER 0x00 -#define CDC_ABSTRACT_CONTROL_MANAGEMENT 0x02 -#define CDC_UNION 0x06 -#define CDC_CS_INTERFACE 0x24 -#define CDC_CS_ENDPOINT 0x25 -#define CDC_DATA_INTERFACE_CLASS 0x0A - -#define MSC_SUBCLASS_SCSI 0x06 -#define MSC_PROTOCOL_BULK_ONLY 0x50 - -#define HID_HID_DESCRIPTOR_TYPE 0x21 -#define HID_REPORT_DESCRIPTOR_TYPE 0x22 -#define HID_PHYSICAL_DESCRIPTOR_TYPE 0x23 - - -// Device -typedef struct { - u8 len; // 18 - u8 dtype; // 1 USB_DEVICE_DESCRIPTOR_TYPE - u16 usbVersion; // 0x200 - u8 deviceClass; - u8 deviceSubClass; - u8 deviceProtocol; - u8 packetSize0; // Packet 0 - u16 idVendor; - u16 idProduct; - u16 deviceVersion; // 0x100 - u8 iManufacturer; - u8 iProduct; - u8 iSerialNumber; - u8 bNumConfigurations; -} DeviceDescriptor; - -// Config -typedef struct { - u8 len; // 9 - u8 dtype; // 2 - u16 clen; // total length - u8 numInterfaces; - u8 config; - u8 iconfig; - u8 attributes; - u8 maxPower; -} ConfigDescriptor; - -// String - -// Interface -typedef struct -{ - u8 len; // 9 - u8 dtype; // 4 - u8 number; - u8 alternate; - u8 numEndpoints; - u8 interfaceClass; - u8 interfaceSubClass; - u8 protocol; - u8 iInterface; -} InterfaceDescriptor; - -// Endpoint -typedef struct -{ - u8 len; // 7 - u8 dtype; // 5 - u8 addr; - u8 attr; - u16 packetSize; - u8 interval; -} EndpointDescriptor; - -// Interface Association Descriptor -// Used to bind 2 interfaces together in CDC compostite device -typedef struct -{ - u8 len; // 8 - u8 dtype; // 11 - u8 firstInterface; - u8 interfaceCount; - u8 functionClass; - u8 funtionSubClass; - u8 functionProtocol; - u8 iInterface; -} IADDescriptor; - -// CDC CS interface descriptor -typedef struct -{ - u8 len; // 5 - u8 dtype; // 0x24 - u8 subtype; - u8 d0; - u8 d1; -} CDCCSInterfaceDescriptor; - -typedef struct -{ - u8 len; // 4 - u8 dtype; // 0x24 - u8 subtype; - u8 d0; -} CDCCSInterfaceDescriptor4; - -typedef struct -{ - u8 len; - u8 dtype; // 0x24 - u8 subtype; // 1 - u8 bmCapabilities; - u8 bDataInterface; -} CMFunctionalDescriptor; - -typedef struct -{ - u8 len; - u8 dtype; // 0x24 - u8 subtype; // 1 - u8 bmCapabilities; -} ACMFunctionalDescriptor; - -typedef struct -{ - // IAD - IADDescriptor iad; // Only needed on compound device - - // Control - InterfaceDescriptor cif; // - CDCCSInterfaceDescriptor header; - CMFunctionalDescriptor callManagement; // Call Management - ACMFunctionalDescriptor controlManagement; // ACM - CDCCSInterfaceDescriptor functionalDescriptor; // CDC_UNION - EndpointDescriptor cifin; - - // Data - InterfaceDescriptor dif; - EndpointDescriptor in; - EndpointDescriptor out; -} CDCDescriptor; - -typedef struct -{ - InterfaceDescriptor msc; - EndpointDescriptor in; - EndpointDescriptor out; -} MSCDescriptor; - -typedef struct -{ - u8 len; // 9 - u8 dtype; // 0x21 - u8 addr; - u8 versionL; // 0x101 - u8 versionH; // 0x101 - u8 country; - u8 desctype; // 0x22 report - u8 descLenL; - u8 descLenH; -} HIDDescDescriptor; - -typedef struct -{ - InterfaceDescriptor hid; - HIDDescDescriptor desc; - EndpointDescriptor in; -} HIDDescriptor; - - -#define D_DEVICE(_class,_subClass,_proto,_packetSize0,_vid,_pid,_version,_im,_ip,_is,_configs) \ - { 18, 1, 0x200, _class,_subClass,_proto,_packetSize0,_vid,_pid,_version,_im,_ip,_is,_configs } - -#define D_CONFIG(_totalLength,_interfaces) \ - { 9, 2, _totalLength,_interfaces, 1, 0, USB_CONFIG_BUS_POWERED, USB_CONFIG_POWER_MA(500) } - -#define D_INTERFACE(_n,_numEndpoints,_class,_subClass,_protocol) \ - { 9, 4, _n, 0, _numEndpoints, _class,_subClass, _protocol, 0 } - -#define D_ENDPOINT(_addr,_attr,_packetSize, _interval) \ - { 7, 5, _addr,_attr,_packetSize, _interval } - -#define D_IAD(_firstInterface, _count, _class, _subClass, _protocol) \ - { 8, 11, _firstInterface, _count, _class, _subClass, _protocol, 0 } - -#define D_HIDREPORT(_descriptorLength) \ - { 9, 0x21, 0x1, 0x1, 0, 1, 0x22, _descriptorLength, 0 } - -#define D_CDCCS(_subtype,_d0,_d1) { 5, 0x24, _subtype, _d0, _d1 } -#define D_CDCCS4(_subtype,_d0) { 4, 0x24, _subtype, _d0 } - - -#endif
\ No newline at end of file diff --git a/cores/robot/USBDesc.h b/cores/robot/USBDesc.h deleted file mode 100644 index 900713e..0000000 --- a/cores/robot/USBDesc.h +++ /dev/null @@ -1,63 +0,0 @@ - - -/* Copyright (c) 2011, Peter Barrett -** -** Permission to use, copy, modify, and/or distribute this software for -** any purpose with or without fee is hereby granted, provided that the -** above copyright notice and this permission notice appear in all copies. -** -** THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL -** WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED -** WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR -** BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES -** OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, -** WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, -** ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS -** SOFTWARE. -*/ - -#define CDC_ENABLED -#define HID_ENABLED - - -#ifdef CDC_ENABLED -#define CDC_INTERFACE_COUNT 2 -#define CDC_ENPOINT_COUNT 3 -#else -#define CDC_INTERFACE_COUNT 0 -#define CDC_ENPOINT_COUNT 0 -#endif - -#ifdef HID_ENABLED -#define HID_INTERFACE_COUNT 1 -#define HID_ENPOINT_COUNT 1 -#else -#define HID_INTERFACE_COUNT 0 -#define HID_ENPOINT_COUNT 0 -#endif - -#define CDC_ACM_INTERFACE 0 // CDC ACM -#define CDC_DATA_INTERFACE 1 // CDC Data -#define CDC_FIRST_ENDPOINT 1 -#define CDC_ENDPOINT_ACM (CDC_FIRST_ENDPOINT) // CDC First -#define CDC_ENDPOINT_OUT (CDC_FIRST_ENDPOINT+1) -#define CDC_ENDPOINT_IN (CDC_FIRST_ENDPOINT+2) - -#define HID_INTERFACE (CDC_ACM_INTERFACE + CDC_INTERFACE_COUNT) // HID Interface -#define HID_FIRST_ENDPOINT (CDC_FIRST_ENDPOINT + CDC_ENPOINT_COUNT) -#define HID_ENDPOINT_INT (HID_FIRST_ENDPOINT) - -#define INTERFACE_COUNT (MSC_INTERFACE + MSC_INTERFACE_COUNT) - -#ifdef CDC_ENABLED -#define CDC_RX CDC_ENDPOINT_OUT -#define CDC_TX CDC_ENDPOINT_IN -#endif - -#ifdef HID_ENABLED -#define HID_TX HID_ENDPOINT_INT -#endif - -#define IMANUFACTURER 1 -#define IPRODUCT 2 - diff --git a/cores/robot/Udp.h b/cores/robot/Udp.h deleted file mode 100644 index dc5644b..0000000 --- a/cores/robot/Udp.h +++ /dev/null @@ -1,88 +0,0 @@ -/* - * Udp.cpp: Library to send/receive UDP packets. - * - * NOTE: UDP is fast, but has some important limitations (thanks to Warren Gray for mentioning these) - * 1) UDP does not guarantee the order in which assembled UDP packets are received. This - * might not happen often in practice, but in larger network topologies, a UDP - * packet can be received out of sequence. - * 2) UDP does not guard against lost packets - so packets *can* disappear without the sender being - * aware of it. Again, this may not be a concern in practice on small local networks. - * For more information, see http://www.cafeaulait.org/course/week12/35.html - * - * MIT License: - * Copyright (c) 2008 Bjoern Hartmann - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - * - * bjoern@cs.stanford.edu 12/30/2008 - */ - -#ifndef udp_h -#define udp_h - -#include <Stream.h> -#include <IPAddress.h> - -class UDP : public Stream { - -public: - virtual uint8_t begin(uint16_t) =0; // initialize, start listening on specified port. Returns 1 if successful, 0 if there are no sockets available to use - virtual void stop() =0; // Finish with the UDP socket - - // Sending UDP packets - - // Start building up a packet to send to the remote host specific in ip and port - // Returns 1 if successful, 0 if there was a problem with the supplied IP address or port - virtual int beginPacket(IPAddress ip, uint16_t port) =0; - // Start building up a packet to send to the remote host specific in host and port - // Returns 1 if successful, 0 if there was a problem resolving the hostname or port - virtual int beginPacket(const char *host, uint16_t port) =0; - // Finish off this packet and send it - // Returns 1 if the packet was sent successfully, 0 if there was an error - virtual int endPacket() =0; - // Write a single byte into the packet - virtual size_t write(uint8_t) =0; - // Write size bytes from buffer into the packet - virtual size_t write(const uint8_t *buffer, size_t size) =0; - - // Start processing the next available incoming packet - // Returns the size of the packet in bytes, or 0 if no packets are available - virtual int parsePacket() =0; - // Number of bytes remaining in the current packet - virtual int available() =0; - // Read a single byte from the current packet - virtual int read() =0; - // Read up to len bytes from the current packet and place them into buffer - // Returns the number of bytes read, or 0 if none are available - virtual int read(unsigned char* buffer, size_t len) =0; - // Read up to len characters from the current packet and place them into buffer - // Returns the number of characters read, or 0 if none are available - virtual int read(char* buffer, size_t len) =0; - // Return the next byte from the current packet without moving on to the next byte - virtual int peek() =0; - virtual void flush() =0; // Finish reading the current packet - - // Return the IP address of the host who sent the current incoming packet - virtual IPAddress remoteIP() =0; - // Return the port of the host who sent the current incoming packet - virtual uint16_t remotePort() =0; -protected: - uint8_t* rawIPAddress(IPAddress& addr) { return addr.raw_address(); }; -}; - -#endif diff --git a/cores/robot/WCharacter.h b/cores/robot/WCharacter.h deleted file mode 100644 index 79733b5..0000000 --- a/cores/robot/WCharacter.h +++ /dev/null @@ -1,168 +0,0 @@ -/* - WCharacter.h - Character utility functions for Wiring & Arduino - Copyright (c) 2010 Hernando Barragan. All right reserved. - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA - */ - -#ifndef Character_h -#define Character_h - -#include <ctype.h> - -// WCharacter.h prototypes -inline boolean isAlphaNumeric(int c) __attribute__((always_inline)); -inline boolean isAlpha(int c) __attribute__((always_inline)); -inline boolean isAscii(int c) __attribute__((always_inline)); -inline boolean isWhitespace(int c) __attribute__((always_inline)); -inline boolean isControl(int c) __attribute__((always_inline)); -inline boolean isDigit(int c) __attribute__((always_inline)); -inline boolean isGraph(int c) __attribute__((always_inline)); -inline boolean isLowerCase(int c) __attribute__((always_inline)); -inline boolean isPrintable(int c) __attribute__((always_inline)); -inline boolean isPunct(int c) __attribute__((always_inline)); -inline boolean isSpace(int c) __attribute__((always_inline)); -inline boolean isUpperCase(int c) __attribute__((always_inline)); -inline boolean isHexadecimalDigit(int c) __attribute__((always_inline)); -inline int toAscii(int c) __attribute__((always_inline)); -inline int toLowerCase(int c) __attribute__((always_inline)); -inline int toUpperCase(int c)__attribute__((always_inline)); - - -// Checks for an alphanumeric character. -// It is equivalent to (isalpha(c) || isdigit(c)). -inline boolean isAlphaNumeric(int c) -{ - return ( isalnum(c) == 0 ? false : true); -} - - -// Checks for an alphabetic character. -// It is equivalent to (isupper(c) || islower(c)). -inline boolean isAlpha(int c) -{ - return ( isalpha(c) == 0 ? false : true); -} - - -// Checks whether c is a 7-bit unsigned char value -// that fits into the ASCII character set. -inline boolean isAscii(int c) -{ - return ( isascii (c) == 0 ? false : true); -} - - -// Checks for a blank character, that is, a space or a tab. -inline boolean isWhitespace(int c) -{ - return ( isblank (c) == 0 ? false : true); -} - - -// Checks for a control character. -inline boolean isControl(int c) -{ - return ( iscntrl (c) == 0 ? false : true); -} - - -// Checks for a digit (0 through 9). -inline boolean isDigit(int c) -{ - return ( isdigit (c) == 0 ? false : true); -} - - -// Checks for any printable character except space. -inline boolean isGraph(int c) -{ - return ( isgraph (c) == 0 ? false : true); -} - - -// Checks for a lower-case character. -inline boolean isLowerCase(int c) -{ - return (islower (c) == 0 ? false : true); -} - - -// Checks for any printable character including space. -inline boolean isPrintable(int c) -{ - return ( isprint (c) == 0 ? false : true); -} - - -// Checks for any printable character which is not a space -// or an alphanumeric character. -inline boolean isPunct(int c) -{ - return ( ispunct (c) == 0 ? false : true); -} - - -// Checks for white-space characters. For the avr-libc library, -// these are: space, formfeed ('\f'), newline ('\n'), carriage -// return ('\r'), horizontal tab ('\t'), and vertical tab ('\v'). -inline boolean isSpace(int c) -{ - return ( isspace (c) == 0 ? false : true); -} - - -// Checks for an uppercase letter. -inline boolean isUpperCase(int c) -{ - return ( isupper (c) == 0 ? false : true); -} - - -// Checks for a hexadecimal digits, i.e. one of 0 1 2 3 4 5 6 7 -// 8 9 a b c d e f A B C D E F. -inline boolean isHexadecimalDigit(int c) -{ - return ( isxdigit (c) == 0 ? false : true); -} - - -// Converts c to a 7-bit unsigned char value that fits into the -// ASCII character set, by clearing the high-order bits. -inline int toAscii(int c) -{ - return toascii (c); -} - - -// Warning: -// Many people will be unhappy if you use this function. -// This function will convert accented letters into random -// characters. - -// Converts the letter c to lower case, if possible. -inline int toLowerCase(int c) -{ - return tolower (c); -} - - -// Converts the letter c to upper case, if possible. -inline int toUpperCase(int c) -{ - return toupper (c); -} - -#endif
\ No newline at end of file diff --git a/cores/robot/WInterrupts.c b/cores/robot/WInterrupts.c deleted file mode 100644 index d3fbf10..0000000 --- a/cores/robot/WInterrupts.c +++ /dev/null @@ -1,334 +0,0 @@ -/* -*- mode: jde; c-basic-offset: 2; indent-tabs-mode: nil -*- */ - -/* - Part of the Wiring project - http://wiring.uniandes.edu.co - - Copyright (c) 2004-05 Hernando Barragan - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General - Public License along with this library; if not, write to the - Free Software Foundation, Inc., 59 Temple Place, Suite 330, - Boston, MA 02111-1307 USA - - Modified 24 November 2006 by David A. Mellis - Modified 1 August 2010 by Mark Sproul -*/ - -#include <inttypes.h> -#include <avr/io.h> -#include <avr/interrupt.h> -#include <avr/pgmspace.h> -#include <stdio.h> - -#include "wiring_private.h" - -static volatile voidFuncPtr intFunc[EXTERNAL_NUM_INTERRUPTS]; -// volatile static voidFuncPtr twiIntFunc; - -void attachInterrupt(uint8_t interruptNum, void (*userFunc)(void), int mode) { - if(interruptNum < EXTERNAL_NUM_INTERRUPTS) { - intFunc[interruptNum] = userFunc; - - // Configure the interrupt mode (trigger on low input, any change, rising - // edge, or falling edge). The mode constants were chosen to correspond - // to the configuration bits in the hardware register, so we simply shift - // the mode into place. - - // Enable the interrupt. - - switch (interruptNum) { -#if defined(__AVR_ATmega32U4__) - // I hate doing this, but the register assignment differs between the 1280/2560 - // and the 32U4. Since avrlib defines registers PCMSK1 and PCMSK2 that aren't - // even present on the 32U4 this is the only way to distinguish between them. - case 0: - EICRA = (EICRA & ~((1<<ISC00) | (1<<ISC01))) | (mode << ISC00); - EIMSK |= (1<<INT0); - break; - case 1: - EICRA = (EICRA & ~((1<<ISC10) | (1<<ISC11))) | (mode << ISC10); - EIMSK |= (1<<INT1); - break; - case 2: - EICRA = (EICRA & ~((1<<ISC20) | (1<<ISC21))) | (mode << ISC20); - EIMSK |= (1<<INT2); - break; - case 3: - EICRA = (EICRA & ~((1<<ISC30) | (1<<ISC31))) | (mode << ISC30); - EIMSK |= (1<<INT3); - break; - case 4: - EICRB = (EICRB & ~((1<<ISC60) | (1<<ISC61))) | (mode << ISC60); - EIMSK |= (1<<INT6); - break; -#elif defined(EICRA) && defined(EICRB) && defined(EIMSK) - case 2: - EICRA = (EICRA & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00); - EIMSK |= (1 << INT0); - break; - case 3: - EICRA = (EICRA & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10); - EIMSK |= (1 << INT1); - break; - case 4: - EICRA = (EICRA & ~((1 << ISC20) | (1 << ISC21))) | (mode << ISC20); - EIMSK |= (1 << INT2); - break; - case 5: - EICRA = (EICRA & ~((1 << ISC30) | (1 << ISC31))) | (mode << ISC30); - EIMSK |= (1 << INT3); - break; - case 0: - EICRB = (EICRB & ~((1 << ISC40) | (1 << ISC41))) | (mode << ISC40); - EIMSK |= (1 << INT4); - break; - case 1: - EICRB = (EICRB & ~((1 << ISC50) | (1 << ISC51))) | (mode << ISC50); - EIMSK |= (1 << INT5); - break; - case 6: - EICRB = (EICRB & ~((1 << ISC60) | (1 << ISC61))) | (mode << ISC60); - EIMSK |= (1 << INT6); - break; - case 7: - EICRB = (EICRB & ~((1 << ISC70) | (1 << ISC71))) | (mode << ISC70); - EIMSK |= (1 << INT7); - break; -#else - case 0: - #if defined(EICRA) && defined(ISC00) && defined(EIMSK) - EICRA = (EICRA & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00); - EIMSK |= (1 << INT0); - #elif defined(MCUCR) && defined(ISC00) && defined(GICR) - MCUCR = (MCUCR & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00); - GICR |= (1 << INT0); - #elif defined(MCUCR) && defined(ISC00) && defined(GIMSK) - MCUCR = (MCUCR & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00); - GIMSK |= (1 << INT0); - #else - #error attachInterrupt not finished for this CPU (case 0) - #endif - break; - - case 1: - #if defined(EICRA) && defined(ISC10) && defined(ISC11) && defined(EIMSK) - EICRA = (EICRA & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10); - EIMSK |= (1 << INT1); - #elif defined(MCUCR) && defined(ISC10) && defined(ISC11) && defined(GICR) - MCUCR = (MCUCR & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10); - GICR |= (1 << INT1); - #elif defined(MCUCR) && defined(ISC10) && defined(GIMSK) && defined(GIMSK) - MCUCR = (MCUCR & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10); - GIMSK |= (1 << INT1); - #else - #warning attachInterrupt may need some more work for this cpu (case 1) - #endif - break; - - case 2: - #if defined(EICRA) && defined(ISC20) && defined(ISC21) && defined(EIMSK) - EICRA = (EICRA & ~((1 << ISC20) | (1 << ISC21))) | (mode << ISC20); - EIMSK |= (1 << INT2); - #elif defined(MCUCR) && defined(ISC20) && defined(ISC21) && defined(GICR) - MCUCR = (MCUCR & ~((1 << ISC20) | (1 << ISC21))) | (mode << ISC20); - GICR |= (1 << INT2); - #elif defined(MCUCR) && defined(ISC20) && defined(GIMSK) && defined(GIMSK) - MCUCR = (MCUCR & ~((1 << ISC20) | (1 << ISC21))) | (mode << ISC20); - GIMSK |= (1 << INT2); - #endif - break; -#endif - } - } -} - -void detachInterrupt(uint8_t interruptNum) { - if(interruptNum < EXTERNAL_NUM_INTERRUPTS) { - // Disable the interrupt. (We can't assume that interruptNum is equal - // to the number of the EIMSK bit to clear, as this isn't true on the - // ATmega8. There, INT0 is 6 and INT1 is 7.) - switch (interruptNum) { -#if defined(__AVR_ATmega32U4__) - case 0: - EIMSK &= ~(1<<INT0); - break; - case 1: - EIMSK &= ~(1<<INT1); - break; - case 2: - EIMSK &= ~(1<<INT2); - break; - case 3: - EIMSK &= ~(1<<INT3); - break; - case 4: - EIMSK &= ~(1<<INT6); - break; -#elif defined(EICRA) && defined(EICRB) && defined(EIMSK) - case 2: - EIMSK &= ~(1 << INT0); - break; - case 3: - EIMSK &= ~(1 << INT1); - break; - case 4: - EIMSK &= ~(1 << INT2); - break; - case 5: - EIMSK &= ~(1 << INT3); - break; - case 0: - EIMSK &= ~(1 << INT4); - break; - case 1: - EIMSK &= ~(1 << INT5); - break; - case 6: - EIMSK &= ~(1 << INT6); - break; - case 7: - EIMSK &= ~(1 << INT7); - break; -#else - case 0: - #if defined(EIMSK) && defined(INT0) - EIMSK &= ~(1 << INT0); - #elif defined(GICR) && defined(ISC00) - GICR &= ~(1 << INT0); // atmega32 - #elif defined(GIMSK) && defined(INT0) - GIMSK &= ~(1 << INT0); - #else - #error detachInterrupt not finished for this cpu - #endif - break; - - case 1: - #if defined(EIMSK) && defined(INT1) - EIMSK &= ~(1 << INT1); - #elif defined(GICR) && defined(INT1) - GICR &= ~(1 << INT1); // atmega32 - #elif defined(GIMSK) && defined(INT1) - GIMSK &= ~(1 << INT1); - #else - #warning detachInterrupt may need some more work for this cpu (case 1) - #endif - break; -#endif - } - - intFunc[interruptNum] = 0; - } -} - -/* -void attachInterruptTwi(void (*userFunc)(void) ) { - twiIntFunc = userFunc; -} -*/ - -#if defined(__AVR_ATmega32U4__) -ISR(INT0_vect) { - if(intFunc[EXTERNAL_INT_0]) - intFunc[EXTERNAL_INT_0](); -} - -ISR(INT1_vect) { - if(intFunc[EXTERNAL_INT_1]) - intFunc[EXTERNAL_INT_1](); -} - -ISR(INT2_vect) { - if(intFunc[EXTERNAL_INT_2]) - intFunc[EXTERNAL_INT_2](); -} - -ISR(INT3_vect) { - if(intFunc[EXTERNAL_INT_3]) - intFunc[EXTERNAL_INT_3](); -} - -ISR(INT6_vect) { - if(intFunc[EXTERNAL_INT_4]) - intFunc[EXTERNAL_INT_4](); -} - -#elif defined(EICRA) && defined(EICRB) - -ISR(INT0_vect) { - if(intFunc[EXTERNAL_INT_2]) - intFunc[EXTERNAL_INT_2](); -} - -ISR(INT1_vect) { - if(intFunc[EXTERNAL_INT_3]) - intFunc[EXTERNAL_INT_3](); -} - -ISR(INT2_vect) { - if(intFunc[EXTERNAL_INT_4]) - intFunc[EXTERNAL_INT_4](); -} - -ISR(INT3_vect) { - if(intFunc[EXTERNAL_INT_5]) - intFunc[EXTERNAL_INT_5](); -} - -ISR(INT4_vect) { - if(intFunc[EXTERNAL_INT_0]) - intFunc[EXTERNAL_INT_0](); -} - -ISR(INT5_vect) { - if(intFunc[EXTERNAL_INT_1]) - intFunc[EXTERNAL_INT_1](); -} - -ISR(INT6_vect) { - if(intFunc[EXTERNAL_INT_6]) - intFunc[EXTERNAL_INT_6](); -} - -ISR(INT7_vect) { - if(intFunc[EXTERNAL_INT_7]) - intFunc[EXTERNAL_INT_7](); -} - -#else - -ISR(INT0_vect) { - if(intFunc[EXTERNAL_INT_0]) - intFunc[EXTERNAL_INT_0](); -} - -ISR(INT1_vect) { - if(intFunc[EXTERNAL_INT_1]) - intFunc[EXTERNAL_INT_1](); -} - -#if defined(EICRA) && defined(ISC20) -ISR(INT2_vect) { - if(intFunc[EXTERNAL_INT_2]) - intFunc[EXTERNAL_INT_2](); -} -#endif - -#endif - -/* -ISR(TWI_vect) { - if(twiIntFunc) - twiIntFunc(); -} -*/ - diff --git a/cores/robot/WMath.cpp b/cores/robot/WMath.cpp deleted file mode 100644 index 2120c4c..0000000 --- a/cores/robot/WMath.cpp +++ /dev/null @@ -1,60 +0,0 @@ -/* -*- mode: jde; c-basic-offset: 2; indent-tabs-mode: nil -*- */ - -/* - Part of the Wiring project - http://wiring.org.co - Copyright (c) 2004-06 Hernando Barragan - Modified 13 August 2006, David A. Mellis for Arduino - http://www.arduino.cc/ - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General - Public License along with this library; if not, write to the - Free Software Foundation, Inc., 59 Temple Place, Suite 330, - Boston, MA 02111-1307 USA - - $Id$ -*/ - -extern "C" { - #include "stdlib.h" -} - -void randomSeed(unsigned int seed) -{ - if (seed != 0) { - srandom(seed); - } -} - -long random(long howbig) -{ - if (howbig == 0) { - return 0; - } - return random() % howbig; -} - -long random(long howsmall, long howbig) -{ - if (howsmall >= howbig) { - return howsmall; - } - long diff = howbig - howsmall; - return random(diff) + howsmall; -} - -long map(long x, long in_min, long in_max, long out_min, long out_max) -{ - return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; -} - -unsigned int makeWord(unsigned int w) { return w; } -unsigned int makeWord(unsigned char h, unsigned char l) { return (h << 8) | l; }
\ No newline at end of file diff --git a/cores/robot/WString.cpp b/cores/robot/WString.cpp deleted file mode 100644 index c6839fc..0000000 --- a/cores/robot/WString.cpp +++ /dev/null @@ -1,645 +0,0 @@ -/* - WString.cpp - String library for Wiring & Arduino - ...mostly rewritten by Paul Stoffregen... - Copyright (c) 2009-10 Hernando Barragan. All rights reserved. - Copyright 2011, Paul Stoffregen, paul@pjrc.com - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA -*/ - -#include "WString.h" - - -/*********************************************/ -/* Constructors */ -/*********************************************/ - -String::String(const char *cstr) -{ - init(); - if (cstr) copy(cstr, strlen(cstr)); -} - -String::String(const String &value) -{ - init(); - *this = value; -} - -#ifdef __GXX_EXPERIMENTAL_CXX0X__ -String::String(String &&rval) -{ - init(); - move(rval); -} -String::String(StringSumHelper &&rval) -{ - init(); - move(rval); -} -#endif - -String::String(char c) -{ - init(); - char buf[2]; - buf[0] = c; - buf[1] = 0; - *this = buf; -} - -String::String(unsigned char value, unsigned char base) -{ - init(); - char buf[9]; - utoa(value, buf, base); - *this = buf; -} - -String::String(int value, unsigned char base) -{ - init(); - char buf[18]; - itoa(value, buf, base); - *this = buf; -} - -String::String(unsigned int value, unsigned char base) -{ - init(); - char buf[17]; - utoa(value, buf, base); - *this = buf; -} - -String::String(long value, unsigned char base) -{ - init(); - char buf[34]; - ltoa(value, buf, base); - *this = buf; -} - -String::String(unsigned long value, unsigned char base) -{ - init(); - char buf[33]; - ultoa(value, buf, base); - *this = buf; -} - -String::~String() -{ - free(buffer); -} - -/*********************************************/ -/* Memory Management */ -/*********************************************/ - -inline void String::init(void) -{ - buffer = NULL; - capacity = 0; - len = 0; - flags = 0; -} - -void String::invalidate(void) -{ - if (buffer) free(buffer); - buffer = NULL; - capacity = len = 0; -} - -unsigned char String::reserve(unsigned int size) -{ - if (buffer && capacity >= size) return 1; - if (changeBuffer(size)) { - if (len == 0) buffer[0] = 0; - return 1; - } - return 0; -} - -unsigned char String::changeBuffer(unsigned int maxStrLen) -{ - char *newbuffer = (char *)realloc(buffer, maxStrLen + 1); - if (newbuffer) { - buffer = newbuffer; - capacity = maxStrLen; - return 1; - } - return 0; -} - -/*********************************************/ -/* Copy and Move */ -/*********************************************/ - -String & String::copy(const char *cstr, unsigned int length) -{ - if (!reserve(length)) { - invalidate(); - return *this; - } - len = length; - strcpy(buffer, cstr); - return *this; -} - -#ifdef __GXX_EXPERIMENTAL_CXX0X__ -void String::move(String &rhs) -{ - if (buffer) { - if (capacity >= rhs.len) { - strcpy(buffer, rhs.buffer); - len = rhs.len; - rhs.len = 0; - return; - } else { - free(buffer); - } - } - buffer = rhs.buffer; - capacity = rhs.capacity; - len = rhs.len; - rhs.buffer = NULL; - rhs.capacity = 0; - rhs.len = 0; -} -#endif - -String & String::operator = (const String &rhs) -{ - if (this == &rhs) return *this; - - if (rhs.buffer) copy(rhs.buffer, rhs.len); - else invalidate(); - - return *this; -} - -#ifdef __GXX_EXPERIMENTAL_CXX0X__ -String & String::operator = (String &&rval) -{ - if (this != &rval) move(rval); - return *this; -} - -String & String::operator = (StringSumHelper &&rval) -{ - if (this != &rval) move(rval); - return *this; -} -#endif - -String & String::operator = (const char *cstr) -{ - if (cstr) copy(cstr, strlen(cstr)); - else invalidate(); - - return *this; -} - -/*********************************************/ -/* concat */ -/*********************************************/ - -unsigned char String::concat(const String &s) -{ - return concat(s.buffer, s.len); -} - -unsigned char String::concat(const char *cstr, unsigned int length) -{ - unsigned int newlen = len + length; - if (!cstr) return 0; - if (length == 0) return 1; - if (!reserve(newlen)) return 0; - strcpy(buffer + len, cstr); - len = newlen; - return 1; -} - -unsigned char String::concat(const char *cstr) -{ - if (!cstr) return 0; - return concat(cstr, strlen(cstr)); -} - -unsigned char String::concat(char c) -{ - char buf[2]; - buf[0] = c; - buf[1] = 0; - return concat(buf, 1); -} - -unsigned char String::concat(unsigned char num) -{ - char buf[4]; - itoa(num, buf, 10); - return concat(buf, strlen(buf)); -} - -unsigned char String::concat(int num) -{ - char buf[7]; - itoa(num, buf, 10); - return concat(buf, strlen(buf)); -} - -unsigned char String::concat(unsigned int num) -{ - char buf[6]; - utoa(num, buf, 10); - return concat(buf, strlen(buf)); -} - -unsigned char String::concat(long num) -{ - char buf[12]; - ltoa(num, buf, 10); - return concat(buf, strlen(buf)); -} - -unsigned char String::concat(unsigned long num) -{ - char buf[11]; - ultoa(num, buf, 10); - return concat(buf, strlen(buf)); -} - -/*********************************************/ -/* Concatenate */ -/*********************************************/ - -StringSumHelper & operator + (const StringSumHelper &lhs, const String &rhs) -{ - StringSumHelper &a = const_cast<StringSumHelper&>(lhs); - if (!a.concat(rhs.buffer, rhs.len)) a.invalidate(); - return a; -} - -StringSumHelper & operator + (const StringSumHelper &lhs, const char *cstr) -{ - StringSumHelper &a = const_cast<StringSumHelper&>(lhs); - if (!cstr || !a.concat(cstr, strlen(cstr))) a.invalidate(); - return a; -} - -StringSumHelper & operator + (const StringSumHelper &lhs, char c) -{ - StringSumHelper &a = const_cast<StringSumHelper&>(lhs); - if (!a.concat(c)) a.invalidate(); - return a; -} - -StringSumHelper & operator + (const StringSumHelper &lhs, unsigned char num) -{ - StringSumHelper &a = const_cast<StringSumHelper&>(lhs); - if (!a.concat(num)) a.invalidate(); - return a; -} - -StringSumHelper & operator + (const StringSumHelper &lhs, int num) -{ - StringSumHelper &a = const_cast<StringSumHelper&>(lhs); - if (!a.concat(num)) a.invalidate(); - return a; -} - -StringSumHelper & operator + (const StringSumHelper &lhs, unsigned int num) -{ - StringSumHelper &a = const_cast<StringSumHelper&>(lhs); - if (!a.concat(num)) a.invalidate(); - return a; -} - -StringSumHelper & operator + (const StringSumHelper &lhs, long num) -{ - StringSumHelper &a = const_cast<StringSumHelper&>(lhs); - if (!a.concat(num)) a.invalidate(); - return a; -} - -StringSumHelper & operator + (const StringSumHelper &lhs, unsigned long num) -{ - StringSumHelper &a = const_cast<StringSumHelper&>(lhs); - if (!a.concat(num)) a.invalidate(); - return a; -} - -/*********************************************/ -/* Comparison */ -/*********************************************/ - -int String::compareTo(const String &s) const -{ - if (!buffer || !s.buffer) { - if (s.buffer && s.len > 0) return 0 - *(unsigned char *)s.buffer; - if (buffer && len > 0) return *(unsigned char *)buffer; - return 0; - } - return strcmp(buffer, s.buffer); -} - -unsigned char String::equals(const String &s2) const -{ - return (len == s2.len && compareTo(s2) == 0); -} - -unsigned char String::equals(const char *cstr) const -{ - if (len == 0) return (cstr == NULL || *cstr == 0); - if (cstr == NULL) return buffer[0] == 0; - return strcmp(buffer, cstr) == 0; -} - -unsigned char String::operator<(const String &rhs) const -{ - return compareTo(rhs) < 0; -} - -unsigned char String::operator>(const String &rhs) const -{ - return compareTo(rhs) > 0; -} - -unsigned char String::operator<=(const String &rhs) const -{ - return compareTo(rhs) <= 0; -} - -unsigned char String::operator>=(const String &rhs) const -{ - return compareTo(rhs) >= 0; -} - -unsigned char String::equalsIgnoreCase( const String &s2 ) const -{ - if (this == &s2) return 1; - if (len != s2.len) return 0; - if (len == 0) return 1; - const char *p1 = buffer; - const char *p2 = s2.buffer; - while (*p1) { - if (tolower(*p1++) != tolower(*p2++)) return 0; - } - return 1; -} - -unsigned char String::startsWith( const String &s2 ) const -{ - if (len < s2.len) return 0; - return startsWith(s2, 0); -} - -unsigned char String::startsWith( const String &s2, unsigned int offset ) const -{ - if (offset > len - s2.len || !buffer || !s2.buffer) return 0; - return strncmp( &buffer[offset], s2.buffer, s2.len ) == 0; -} - -unsigned char String::endsWith( const String &s2 ) const -{ - if ( len < s2.len || !buffer || !s2.buffer) return 0; - return strcmp(&buffer[len - s2.len], s2.buffer) == 0; -} - -/*********************************************/ -/* Character Access */ -/*********************************************/ - -char String::charAt(unsigned int loc) const -{ - return operator[](loc); -} - -void String::setCharAt(unsigned int loc, char c) -{ - if (loc < len) buffer[loc] = c; -} - -char & String::operator[](unsigned int index) -{ - static char dummy_writable_char; - if (index >= len || !buffer) { - dummy_writable_char = 0; - return dummy_writable_char; - } - return buffer[index]; -} - -char String::operator[]( unsigned int index ) const -{ - if (index >= len || !buffer) return 0; - return buffer[index]; -} - -void String::getBytes(unsigned char *buf, unsigned int bufsize, unsigned int index) const -{ - if (!bufsize || !buf) return; - if (index >= len) { - buf[0] = 0; - return; - } - unsigned int n = bufsize - 1; - if (n > len - index) n = len - index; - strncpy((char *)buf, buffer + index, n); - buf[n] = 0; -} - -/*********************************************/ -/* Search */ -/*********************************************/ - -int String::indexOf(char c) const -{ - return indexOf(c, 0); -} - -int String::indexOf( char ch, unsigned int fromIndex ) const -{ - if (fromIndex >= len) return -1; - const char* temp = strchr(buffer + fromIndex, ch); - if (temp == NULL) return -1; - return temp - buffer; -} - -int String::indexOf(const String &s2) const -{ - return indexOf(s2, 0); -} - -int String::indexOf(const String &s2, unsigned int fromIndex) const -{ - if (fromIndex >= len) return -1; - const char *found = strstr(buffer + fromIndex, s2.buffer); - if (found == NULL) return -1; - return found - buffer; -} - -int String::lastIndexOf( char theChar ) const -{ - return lastIndexOf(theChar, len - 1); -} - -int String::lastIndexOf(char ch, unsigned int fromIndex) const -{ - if (fromIndex >= len) return -1; - char tempchar = buffer[fromIndex + 1]; - buffer[fromIndex + 1] = '\0'; - char* temp = strrchr( buffer, ch ); - buffer[fromIndex + 1] = tempchar; - if (temp == NULL) return -1; - return temp - buffer; -} - -int String::lastIndexOf(const String &s2) const -{ - return lastIndexOf(s2, len - s2.len); -} - -int String::lastIndexOf(const String &s2, unsigned int fromIndex) const -{ - if (s2.len == 0 || len == 0 || s2.len > len) return -1; - if (fromIndex >= len) fromIndex = len - 1; - int found = -1; - for (char *p = buffer; p <= buffer + fromIndex; p++) { - p = strstr(p, s2.buffer); - if (!p) break; - if ((unsigned int)(p - buffer) <= fromIndex) found = p - buffer; - } - return found; -} - -String String::substring( unsigned int left ) const -{ - return substring(left, len); -} - -String String::substring(unsigned int left, unsigned int right) const -{ - if (left > right) { - unsigned int temp = right; - right = left; - left = temp; - } - String out; - if (left > len) return out; - if (right > len) right = len; - char temp = buffer[right]; // save the replaced character - buffer[right] = '\0'; - out = buffer + left; // pointer arithmetic - buffer[right] = temp; //restore character - return out; -} - -/*********************************************/ -/* Modification */ -/*********************************************/ - -void String::replace(char find, char replace) -{ - if (!buffer) return; - for (char *p = buffer; *p; p++) { - if (*p == find) *p = replace; - } -} - -void String::replace(const String& find, const String& replace) -{ - if (len == 0 || find.len == 0) return; - int diff = replace.len - find.len; - char *readFrom = buffer; - char *foundAt; - if (diff == 0) { - while ((foundAt = strstr(readFrom, find.buffer)) != NULL) { - memcpy(foundAt, replace.buffer, replace.len); - readFrom = foundAt + replace.len; - } - } else if (diff < 0) { - char *writeTo = buffer; - while ((foundAt = strstr(readFrom, find.buffer)) != NULL) { - unsigned int n = foundAt - readFrom; - memcpy(writeTo, readFrom, n); - writeTo += n; - memcpy(writeTo, replace.buffer, replace.len); - writeTo += replace.len; - readFrom = foundAt + find.len; - len += diff; - } - strcpy(writeTo, readFrom); - } else { - unsigned int size = len; // compute size needed for result - while ((foundAt = strstr(readFrom, find.buffer)) != NULL) { - readFrom = foundAt + find.len; - size += diff; - } - if (size == len) return; - if (size > capacity && !changeBuffer(size)) return; // XXX: tell user! - int index = len - 1; - while (index >= 0 && (index = lastIndexOf(find, index)) >= 0) { - readFrom = buffer + index + find.len; - memmove(readFrom + diff, readFrom, len - (readFrom - buffer)); - len += diff; - buffer[len] = 0; - memcpy(buffer + index, replace.buffer, replace.len); - index--; - } - } -} - -void String::toLowerCase(void) -{ - if (!buffer) return; - for (char *p = buffer; *p; p++) { - *p = tolower(*p); - } -} - -void String::toUpperCase(void) -{ - if (!buffer) return; - for (char *p = buffer; *p; p++) { - *p = toupper(*p); - } -} - -void String::trim(void) -{ - if (!buffer || len == 0) return; - char *begin = buffer; - while (isspace(*begin)) begin++; - char *end = buffer + len - 1; - while (isspace(*end) && end >= begin) end--; - len = end + 1 - begin; - if (begin > buffer) memcpy(buffer, begin, len); - buffer[len] = 0; -} - -/*********************************************/ -/* Parsing / Conversion */ -/*********************************************/ - -long String::toInt(void) const -{ - if (buffer) return atol(buffer); - return 0; -} - - diff --git a/cores/robot/WString.h b/cores/robot/WString.h deleted file mode 100644 index 642b016..0000000 --- a/cores/robot/WString.h +++ /dev/null @@ -1,206 +0,0 @@ -/* - WString.h - String library for Wiring & Arduino - ...mostly rewritten by Paul Stoffregen... - Copyright (c) 2009-10 Hernando Barragan. All right reserved. - Copyright 2011, Paul Stoffregen, paul@pjrc.com - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA -*/ - -#ifndef String_class_h -#define String_class_h -#ifdef __cplusplus - -#include <stdlib.h> -#include <string.h> -#include <ctype.h> -#include <avr/pgmspace.h> - -// When compiling programs with this class, the following gcc parameters -// dramatically increase performance and memory (RAM) efficiency, typically -// with little or no increase in code size. -// -felide-constructors -// -std=c++0x - -class __FlashStringHelper; -#define F(string_literal) (reinterpret_cast<const __FlashStringHelper *>(PSTR(string_literal))) - -// An inherited class for holding the result of a concatenation. These -// result objects are assumed to be writable by subsequent concatenations. -class StringSumHelper; - -// The string class -class String -{ - // use a function pointer to allow for "if (s)" without the - // complications of an operator bool(). for more information, see: - // http://www.artima.com/cppsource/safebool.html - typedef void (String::*StringIfHelperType)() const; - void StringIfHelper() const {} - -public: - // constructors - // creates a copy of the initial value. - // if the initial value is null or invalid, or if memory allocation - // fails, the string will be marked as invalid (i.e. "if (s)" will - // be false). - String(const char *cstr = ""); - String(const String &str); - #ifdef __GXX_EXPERIMENTAL_CXX0X__ - String(String &&rval); - String(StringSumHelper &&rval); - #endif - explicit String(char c); - explicit String(unsigned char, unsigned char base=10); - explicit String(int, unsigned char base=10); - explicit String(unsigned int, unsigned char base=10); - explicit String(long, unsigned char base=10); - explicit String(unsigned long, unsigned char base=10); - ~String(void); - - // memory management - // return true on success, false on failure (in which case, the string - // is left unchanged). reserve(0), if successful, will validate an - // invalid string (i.e., "if (s)" will be true afterwards) - unsigned char reserve(unsigned int size); - inline unsigned int length(void) const {return len;} - - // creates a copy of the assigned value. if the value is null or - // invalid, or if the memory allocation fails, the string will be - // marked as invalid ("if (s)" will be false). - String & operator = (const String &rhs); - String & operator = (const char *cstr); - #ifdef __GXX_EXPERIMENTAL_CXX0X__ - String & operator = (String &&rval); - String & operator = (StringSumHelper &&rval); - #endif - - // concatenate (works w/ built-in types) - - // returns true on success, false on failure (in which case, the string - // is left unchanged). if the argument is null or invalid, the - // concatenation is considered unsucessful. - unsigned char concat(const String &str); - unsigned char concat(const char *cstr); - unsigned char concat(char c); - unsigned char concat(unsigned char c); - unsigned char concat(int num); - unsigned char concat(unsigned int num); - unsigned char concat(long num); - unsigned char concat(unsigned long num); - - // if there's not enough memory for the concatenated value, the string - // will be left unchanged (but this isn't signalled in any way) - String & operator += (const String &rhs) {concat(rhs); return (*this);} - String & operator += (const char *cstr) {concat(cstr); return (*this);} - String & operator += (char c) {concat(c); return (*this);} - String & operator += (unsigned char num) {concat(num); return (*this);} - String & operator += (int num) {concat(num); return (*this);} - String & operator += (unsigned int num) {concat(num); return (*this);} - String & operator += (long num) {concat(num); return (*this);} - String & operator += (unsigned long num) {concat(num); return (*this);} - - friend StringSumHelper & operator + (const StringSumHelper &lhs, const String &rhs); - friend StringSumHelper & operator + (const StringSumHelper &lhs, const char *cstr); - friend StringSumHelper & operator + (const StringSumHelper &lhs, char c); - friend StringSumHelper & operator + (const StringSumHelper &lhs, unsigned char num); - friend StringSumHelper & operator + (const StringSumHelper &lhs, int num); - friend StringSumHelper & operator + (const StringSumHelper &lhs, unsigned int num); - friend StringSumHelper & operator + (const StringSumHelper &lhs, long num); - friend StringSumHelper & operator + (const StringSumHelper &lhs, unsigned long num); - - // comparison (only works w/ Strings and "strings") - operator StringIfHelperType() const { return buffer ? &String::StringIfHelper : 0; } - int compareTo(const String &s) const; - unsigned char equals(const String &s) const; - unsigned char equals(const char *cstr) const; - unsigned char operator == (const String &rhs) const {return equals(rhs);} - unsigned char operator == (const char *cstr) const {return equals(cstr);} - unsigned char operator != (const String &rhs) const {return !equals(rhs);} - unsigned char operator != (const char *cstr) const {return !equals(cstr);} - unsigned char operator < (const String &rhs) const; - unsigned char operator > (const String &rhs) const; - unsigned char operator <= (const String &rhs) const; - unsigned char operator >= (const String &rhs) const; - unsigned char equalsIgnoreCase(const String &s) const; - unsigned char startsWith( const String &prefix) const; - unsigned char startsWith(const String &prefix, unsigned int offset) const; - unsigned char endsWith(const String &suffix) const; - - // character acccess - char charAt(unsigned int index) const; - void setCharAt(unsigned int index, char c); - char operator [] (unsigned int index) const; - char& operator [] (unsigned int index); - void getBytes(unsigned char *buf, unsigned int bufsize, unsigned int index=0) const; - void toCharArray(char *buf, unsigned int bufsize, unsigned int index=0) const - {getBytes((unsigned char *)buf, bufsize, index);} - const char * c_str() const { return buffer; } - - // search - int indexOf( char ch ) const; - int indexOf( char ch, unsigned int fromIndex ) const; - int indexOf( const String &str ) const; - int indexOf( const String &str, unsigned int fromIndex ) const; - int lastIndexOf( char ch ) const; - int lastIndexOf( char ch, unsigned int fromIndex ) const; - int lastIndexOf( const String &str ) const; - int lastIndexOf( const String &str, unsigned int fromIndex ) const; - String substring( unsigned int beginIndex ) const; - String substring( unsigned int beginIndex, unsigned int endIndex ) const; - - // modification - void replace(char find, char replace); - void replace(const String& find, const String& replace); - void toLowerCase(void); - void toUpperCase(void); - void trim(void); - - // parsing/conversion - long toInt(void) const; - -protected: - char *buffer; // the actual char array - unsigned int capacity; // the array length minus one (for the '\0') - unsigned int len; // the String length (not counting the '\0') - unsigned char flags; // unused, for future features -protected: - void init(void); - void invalidate(void); - unsigned char changeBuffer(unsigned int maxStrLen); - unsigned char concat(const char *cstr, unsigned int length); - - // copy and move - String & copy(const char *cstr, unsigned int length); - #ifdef __GXX_EXPERIMENTAL_CXX0X__ - void move(String &rhs); - #endif -}; - -class StringSumHelper : public String -{ -public: - StringSumHelper(const String &s) : String(s) {} - StringSumHelper(const char *p) : String(p) {} - StringSumHelper(char c) : String(c) {} - StringSumHelper(unsigned char num) : String(num) {} - StringSumHelper(int num) : String(num) {} - StringSumHelper(unsigned int num) : String(num) {} - StringSumHelper(long num) : String(num) {} - StringSumHelper(unsigned long num) : String(num) {} -}; - -#endif // __cplusplus -#endif // String_class_h diff --git a/cores/robot/binary.h b/cores/robot/binary.h deleted file mode 100644 index af14980..0000000 --- a/cores/robot/binary.h +++ /dev/null @@ -1,515 +0,0 @@ -#ifndef Binary_h -#define Binary_h - -#define B0 0 -#define B00 0 -#define B000 0 -#define B0000 0 -#define B00000 0 -#define B000000 0 -#define B0000000 0 -#define B00000000 0 -#define B1 1 -#define B01 1 -#define B001 1 -#define B0001 1 -#define B00001 1 -#define B000001 1 -#define B0000001 1 -#define B00000001 1 -#define B10 2 -#define B010 2 -#define B0010 2 -#define B00010 2 -#define B000010 2 -#define B0000010 2 -#define B00000010 2 -#define B11 3 -#define B011 3 -#define B0011 3 -#define B00011 3 -#define B000011 3 -#define B0000011 3 -#define B00000011 3 -#define B100 4 -#define B0100 4 -#define B00100 4 -#define B000100 4 -#define B0000100 4 -#define B00000100 4 -#define B101 5 -#define B0101 5 -#define B00101 5 -#define B000101 5 -#define B0000101 5 -#define B00000101 5 -#define B110 6 -#define B0110 6 -#define B00110 6 -#define B000110 6 -#define B0000110 6 -#define B00000110 6 -#define B111 7 -#define B0111 7 -#define B00111 7 -#define B000111 7 -#define B0000111 7 -#define B00000111 7 -#define B1000 8 -#define B01000 8 -#define B001000 8 -#define B0001000 8 -#define B00001000 8 -#define B1001 9 -#define B01001 9 -#define B001001 9 -#define B0001001 9 -#define B00001001 9 -#define B1010 10 -#define B01010 10 -#define B001010 10 -#define B0001010 10 -#define B00001010 10 -#define B1011 11 -#define B01011 11 -#define B001011 11 -#define B0001011 11 -#define B00001011 11 -#define B1100 12 -#define B01100 12 -#define B001100 12 -#define B0001100 12 -#define B00001100 12 -#define B1101 13 -#define B01101 13 -#define B001101 13 -#define B0001101 13 -#define B00001101 13 -#define B1110 14 -#define B01110 14 -#define B001110 14 -#define B0001110 14 -#define B00001110 14 -#define B1111 15 -#define B01111 15 -#define B001111 15 -#define B0001111 15 -#define B00001111 15 -#define B10000 16 -#define B010000 16 -#define B0010000 16 -#define B00010000 16 -#define B10001 17 -#define B010001 17 -#define B0010001 17 -#define B00010001 17 -#define B10010 18 -#define B010010 18 -#define B0010010 18 -#define B00010010 18 -#define B10011 19 -#define B010011 19 -#define B0010011 19 -#define B00010011 19 -#define B10100 20 -#define B010100 20 -#define B0010100 20 -#define B00010100 20 -#define B10101 21 -#define B010101 21 -#define B0010101 21 -#define B00010101 21 -#define B10110 22 -#define B010110 22 -#define B0010110 22 -#define B00010110 22 -#define B10111 23 -#define B010111 23 -#define B0010111 23 -#define B00010111 23 -#define B11000 24 -#define B011000 24 -#define B0011000 24 -#define B00011000 24 -#define B11001 25 -#define B011001 25 -#define B0011001 25 -#define B00011001 25 -#define B11010 26 -#define B011010 26 -#define B0011010 26 -#define B00011010 26 -#define B11011 27 -#define B011011 27 -#define B0011011 27 -#define B00011011 27 -#define B11100 28 -#define B011100 28 -#define B0011100 28 -#define B00011100 28 -#define B11101 29 -#define B011101 29 -#define B0011101 29 -#define B00011101 29 -#define B11110 30 -#define B011110 30 -#define B0011110 30 -#define B00011110 30 -#define B11111 31 -#define B011111 31 -#define B0011111 31 -#define B00011111 31 -#define B100000 32 -#define B0100000 32 -#define B00100000 32 -#define B100001 33 -#define B0100001 33 -#define B00100001 33 -#define B100010 34 -#define B0100010 34 -#define B00100010 34 -#define B100011 35 -#define B0100011 35 -#define B00100011 35 -#define B100100 36 -#define B0100100 36 -#define B00100100 36 -#define B100101 37 -#define B0100101 37 -#define B00100101 37 -#define B100110 38 -#define B0100110 38 -#define B00100110 38 -#define B100111 39 -#define B0100111 39 -#define B00100111 39 -#define B101000 40 -#define B0101000 40 -#define B00101000 40 -#define B101001 41 -#define B0101001 41 -#define B00101001 41 -#define B101010 42 -#define B0101010 42 -#define B00101010 42 -#define B101011 43 -#define B0101011 43 -#define B00101011 43 -#define B101100 44 -#define B0101100 44 -#define B00101100 44 -#define B101101 45 -#define B0101101 45 -#define B00101101 45 -#define B101110 46 -#define B0101110 46 -#define B00101110 46 -#define B101111 47 -#define B0101111 47 -#define B00101111 47 -#define B110000 48 -#define B0110000 48 -#define B00110000 48 -#define B110001 49 -#define B0110001 49 -#define B00110001 49 -#define B110010 50 -#define B0110010 50 -#define B00110010 50 -#define B110011 51 -#define B0110011 51 -#define B00110011 51 -#define B110100 52 -#define B0110100 52 -#define B00110100 52 -#define B110101 53 -#define B0110101 53 -#define B00110101 53 -#define B110110 54 -#define B0110110 54 -#define B00110110 54 -#define B110111 55 -#define B0110111 55 -#define B00110111 55 -#define B111000 56 -#define B0111000 56 -#define B00111000 56 -#define B111001 57 -#define B0111001 57 -#define B00111001 57 -#define B111010 58 -#define B0111010 58 -#define B00111010 58 -#define B111011 59 -#define B0111011 59 -#define B00111011 59 -#define B111100 60 -#define B0111100 60 -#define B00111100 60 -#define B111101 61 -#define B0111101 61 -#define B00111101 61 -#define B111110 62 -#define B0111110 62 -#define B00111110 62 -#define B111111 63 -#define B0111111 63 -#define B00111111 63 -#define B1000000 64 -#define B01000000 64 -#define B1000001 65 -#define B01000001 65 -#define B1000010 66 -#define B01000010 66 -#define B1000011 67 -#define B01000011 67 -#define B1000100 68 -#define B01000100 68 -#define B1000101 69 -#define B01000101 69 -#define B1000110 70 -#define B01000110 70 -#define B1000111 71 -#define B01000111 71 -#define B1001000 72 -#define B01001000 72 -#define B1001001 73 -#define B01001001 73 -#define B1001010 74 -#define B01001010 74 -#define B1001011 75 -#define B01001011 75 -#define B1001100 76 -#define B01001100 76 -#define B1001101 77 -#define B01001101 77 -#define B1001110 78 -#define B01001110 78 -#define B1001111 79 -#define B01001111 79 -#define B1010000 80 -#define B01010000 80 -#define B1010001 81 -#define B01010001 81 -#define B1010010 82 -#define B01010010 82 -#define B1010011 83 -#define B01010011 83 -#define B1010100 84 -#define B01010100 84 -#define B1010101 85 -#define B01010101 85 -#define B1010110 86 -#define B01010110 86 -#define B1010111 87 -#define B01010111 87 -#define B1011000 88 -#define B01011000 88 -#define B1011001 89 -#define B01011001 89 -#define B1011010 90 -#define B01011010 90 -#define B1011011 91 -#define B01011011 91 -#define B1011100 92 -#define B01011100 92 -#define B1011101 93 -#define B01011101 93 -#define B1011110 94 -#define B01011110 94 -#define B1011111 95 -#define B01011111 95 -#define B1100000 96 -#define B01100000 96 -#define B1100001 97 -#define B01100001 97 -#define B1100010 98 -#define B01100010 98 -#define B1100011 99 -#define B01100011 99 -#define B1100100 100 -#define B01100100 100 -#define B1100101 101 -#define B01100101 101 -#define B1100110 102 -#define B01100110 102 -#define B1100111 103 -#define B01100111 103 -#define B1101000 104 -#define B01101000 104 -#define B1101001 105 -#define B01101001 105 -#define B1101010 106 -#define B01101010 106 -#define B1101011 107 -#define B01101011 107 -#define B1101100 108 -#define B01101100 108 -#define B1101101 109 -#define B01101101 109 -#define B1101110 110 -#define B01101110 110 -#define B1101111 111 -#define B01101111 111 -#define B1110000 112 -#define B01110000 112 -#define B1110001 113 -#define B01110001 113 -#define B1110010 114 -#define B01110010 114 -#define B1110011 115 -#define B01110011 115 -#define B1110100 116 -#define B01110100 116 -#define B1110101 117 -#define B01110101 117 -#define B1110110 118 -#define B01110110 118 -#define B1110111 119 -#define B01110111 119 -#define B1111000 120 -#define B01111000 120 -#define B1111001 121 -#define B01111001 121 -#define B1111010 122 -#define B01111010 122 -#define B1111011 123 -#define B01111011 123 -#define B1111100 124 -#define B01111100 124 -#define B1111101 125 -#define B01111101 125 -#define B1111110 126 -#define B01111110 126 -#define B1111111 127 -#define B01111111 127 -#define B10000000 128 -#define B10000001 129 -#define B10000010 130 -#define B10000011 131 -#define B10000100 132 -#define B10000101 133 -#define B10000110 134 -#define B10000111 135 -#define B10001000 136 -#define B10001001 137 -#define B10001010 138 -#define B10001011 139 -#define B10001100 140 -#define B10001101 141 -#define B10001110 142 -#define B10001111 143 -#define B10010000 144 -#define B10010001 145 -#define B10010010 146 -#define B10010011 147 -#define B10010100 148 -#define B10010101 149 -#define B10010110 150 -#define B10010111 151 -#define B10011000 152 -#define B10011001 153 -#define B10011010 154 -#define B10011011 155 -#define B10011100 156 -#define B10011101 157 -#define B10011110 158 -#define B10011111 159 -#define B10100000 160 -#define B10100001 161 -#define B10100010 162 -#define B10100011 163 -#define B10100100 164 -#define B10100101 165 -#define B10100110 166 -#define B10100111 167 -#define B10101000 168 -#define B10101001 169 -#define B10101010 170 -#define B10101011 171 -#define B10101100 172 -#define B10101101 173 -#define B10101110 174 -#define B10101111 175 -#define B10110000 176 -#define B10110001 177 -#define B10110010 178 -#define B10110011 179 -#define B10110100 180 -#define B10110101 181 -#define B10110110 182 -#define B10110111 183 -#define B10111000 184 -#define B10111001 185 -#define B10111010 186 -#define B10111011 187 -#define B10111100 188 -#define B10111101 189 -#define B10111110 190 -#define B10111111 191 -#define B11000000 192 -#define B11000001 193 -#define B11000010 194 -#define B11000011 195 -#define B11000100 196 -#define B11000101 197 -#define B11000110 198 -#define B11000111 199 -#define B11001000 200 -#define B11001001 201 -#define B11001010 202 -#define B11001011 203 -#define B11001100 204 -#define B11001101 205 -#define B11001110 206 -#define B11001111 207 -#define B11010000 208 -#define B11010001 209 -#define B11010010 210 -#define B11010011 211 -#define B11010100 212 -#define B11010101 213 -#define B11010110 214 -#define B11010111 215 -#define B11011000 216 -#define B11011001 217 -#define B11011010 218 -#define B11011011 219 -#define B11011100 220 -#define B11011101 221 -#define B11011110 222 -#define B11011111 223 -#define B11100000 224 -#define B11100001 225 -#define B11100010 226 -#define B11100011 227 -#define B11100100 228 -#define B11100101 229 -#define B11100110 230 -#define B11100111 231 -#define B11101000 232 -#define B11101001 233 -#define B11101010 234 -#define B11101011 235 -#define B11101100 236 -#define B11101101 237 -#define B11101110 238 -#define B11101111 239 -#define B11110000 240 -#define B11110001 241 -#define B11110010 242 -#define B11110011 243 -#define B11110100 244 -#define B11110101 245 -#define B11110110 246 -#define B11110111 247 -#define B11111000 248 -#define B11111001 249 -#define B11111010 250 -#define B11111011 251 -#define B11111100 252 -#define B11111101 253 -#define B11111110 254 -#define B11111111 255 - -#endif diff --git a/cores/robot/main.cpp b/cores/robot/main.cpp deleted file mode 100644 index 3d4e079..0000000 --- a/cores/robot/main.cpp +++ /dev/null @@ -1,20 +0,0 @@ -#include <Arduino.h> - -int main(void) -{ - init(); - -#if defined(USBCON) - USBDevice.attach(); -#endif - - setup(); - - for (;;) { - loop(); - if (serialEventRun) serialEventRun(); - } - - return 0; -} - diff --git a/cores/robot/new.cpp b/cores/robot/new.cpp deleted file mode 100644 index b81031e..0000000 --- a/cores/robot/new.cpp +++ /dev/null @@ -1,28 +0,0 @@ -#include <new.h> - -void * operator new(size_t size) -{ - return malloc(size); -} - -void * operator new[](size_t size) -{ - return malloc(size); -} - -void operator delete(void * ptr) -{ - free(ptr); -} - -void operator delete[](void * ptr) -{ - free(ptr); -} - -int __cxa_guard_acquire(__guard *g) {return !*(char *)(g);}; -void __cxa_guard_release (__guard *g) {*(char *)g = 1;}; -void __cxa_guard_abort (__guard *) {}; - -void __cxa_pure_virtual(void) {}; - diff --git a/cores/robot/new.h b/cores/robot/new.h deleted file mode 100644 index 991c86c..0000000 --- a/cores/robot/new.h +++ /dev/null @@ -1,24 +0,0 @@ -/* Header to define new/delete operators as they aren't provided by avr-gcc by default - Taken from http://www.avrfreaks.net/index.php?name=PNphpBB2&file=viewtopic&t=59453 - */ - -#ifndef NEW_H -#define NEW_H - -#include <stdlib.h> - -void * operator new(size_t size); -void * operator new[](size_t size); -void operator delete(void * ptr); -void operator delete[](void * ptr); - -__extension__ typedef int __guard __attribute__((mode (__DI__))); - -extern "C" int __cxa_guard_acquire(__guard *); -extern "C" void __cxa_guard_release (__guard *); -extern "C" void __cxa_guard_abort (__guard *); - -extern "C" void __cxa_pure_virtual(void); - -#endif - diff --git a/cores/robot/wiring.c b/cores/robot/wiring.c deleted file mode 100644 index a3c4390..0000000 --- a/cores/robot/wiring.c +++ /dev/null @@ -1,324 +0,0 @@ -/* - wiring.c - Partial implementation of the Wiring API for the ATmega8. - Part of Arduino - http://www.arduino.cc/ - - Copyright (c) 2005-2006 David A. Mellis - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General - Public License along with this library; if not, write to the - Free Software Foundation, Inc., 59 Temple Place, Suite 330, - Boston, MA 02111-1307 USA - - $Id$ -*/ - -#include "wiring_private.h" - -// the prescaler is set so that timer0 ticks every 64 clock cycles, and the -// the overflow handler is called every 256 ticks. -#define MICROSECONDS_PER_TIMER0_OVERFLOW (clockCyclesToMicroseconds(64 * 256)) - -// the whole number of milliseconds per timer0 overflow -#define MILLIS_INC (MICROSECONDS_PER_TIMER0_OVERFLOW / 1000) - -// the fractional number of milliseconds per timer0 overflow. we shift right -// by three to fit these numbers into a byte. (for the clock speeds we care -// about - 8 and 16 MHz - this doesn't lose precision.) -#define FRACT_INC ((MICROSECONDS_PER_TIMER0_OVERFLOW % 1000) >> 3) -#define FRACT_MAX (1000 >> 3) - -volatile unsigned long timer0_overflow_count = 0; -volatile unsigned long timer0_millis = 0; -static unsigned char timer0_fract = 0; - -#if defined(__AVR_ATtiny24__) || defined(__AVR_ATtiny44__) || defined(__AVR_ATtiny84__) -ISR(TIM0_OVF_vect) -#else -ISR(TIMER0_OVF_vect) -#endif -{ - // copy these to local variables so they can be stored in registers - // (volatile variables must be read from memory on every access) - unsigned long m = timer0_millis; - unsigned char f = timer0_fract; - - m += MILLIS_INC; - f += FRACT_INC; - if (f >= FRACT_MAX) { - f -= FRACT_MAX; - m += 1; - } - - timer0_fract = f; - timer0_millis = m; - timer0_overflow_count++; -} - -unsigned long millis() -{ - unsigned long m; - uint8_t oldSREG = SREG; - - // disable interrupts while we read timer0_millis or we might get an - // inconsistent value (e.g. in the middle of a write to timer0_millis) - cli(); - m = timer0_millis; - SREG = oldSREG; - - return m; -} - -unsigned long micros() { - unsigned long m; - uint8_t oldSREG = SREG, t; - - cli(); - m = timer0_overflow_count; -#if defined(TCNT0) - t = TCNT0; -#elif defined(TCNT0L) - t = TCNT0L; -#else - #error TIMER 0 not defined -#endif - - -#ifdef TIFR0 - if ((TIFR0 & _BV(TOV0)) && (t < 255)) - m++; -#else - if ((TIFR & _BV(TOV0)) && (t < 255)) - m++; -#endif - - SREG = oldSREG; - - return ((m << 8) + t) * (64 / clockCyclesPerMicrosecond()); -} - -void delay(unsigned long ms) -{ - uint16_t start = (uint16_t)micros(); - - while (ms > 0) { - if (((uint16_t)micros() - start) >= 1000) { - ms--; - start += 1000; - } - } -} - -/* Delay for the given number of microseconds. Assumes a 8 or 16 MHz clock. */ -void delayMicroseconds(unsigned int us) -{ - // calling avrlib's delay_us() function with low values (e.g. 1 or - // 2 microseconds) gives delays longer than desired. - //delay_us(us); -#if F_CPU >= 20000000L - // for the 20 MHz clock on rare Arduino boards - - // for a one-microsecond delay, simply wait 2 cycle and return. The overhead - // of the function call yields a delay of exactly a one microsecond. - __asm__ __volatile__ ( - "nop" "\n\t" - "nop"); //just waiting 2 cycle - if (--us == 0) - return; - - // the following loop takes a 1/5 of a microsecond (4 cycles) - // per iteration, so execute it five times for each microsecond of - // delay requested. - us = (us<<2) + us; // x5 us - - // account for the time taken in the preceeding commands. - us -= 2; - -#elif F_CPU >= 16000000L - // for the 16 MHz clock on most Arduino boards - - // for a one-microsecond delay, simply return. the overhead - // of the function call yields a delay of approximately 1 1/8 us. - if (--us == 0) - return; - - // the following loop takes a quarter of a microsecond (4 cycles) - // per iteration, so execute it four times for each microsecond of - // delay requested. - us <<= 2; - - // account for the time taken in the preceeding commands. - us -= 2; -#else - // for the 8 MHz internal clock on the ATmega168 - - // for a one- or two-microsecond delay, simply return. the overhead of - // the function calls takes more than two microseconds. can't just - // subtract two, since us is unsigned; we'd overflow. - if (--us == 0) - return; - if (--us == 0) - return; - - // the following loop takes half of a microsecond (4 cycles) - // per iteration, so execute it twice for each microsecond of - // delay requested. - us <<= 1; - - // partially compensate for the time taken by the preceeding commands. - // we can't subtract any more than this or we'd overflow w/ small delays. - us--; -#endif - - // busy wait - __asm__ __volatile__ ( - "1: sbiw %0,1" "\n\t" // 2 cycles - "brne 1b" : "=w" (us) : "0" (us) // 2 cycles - ); -} - -void init() -{ - // this needs to be called before setup() or some functions won't - // work there - sei(); - - // on the ATmega168, timer 0 is also used for fast hardware pwm - // (using phase-correct PWM would mean that timer 0 overflowed half as often - // resulting in different millis() behavior on the ATmega8 and ATmega168) -#if defined(TCCR0A) && defined(WGM01) - sbi(TCCR0A, WGM01); - sbi(TCCR0A, WGM00); -#endif - - // set timer 0 prescale factor to 64 -#if defined(__AVR_ATmega128__) - // CPU specific: different values for the ATmega128 - sbi(TCCR0, CS02); -#elif defined(TCCR0) && defined(CS01) && defined(CS00) - // this combination is for the standard atmega8 - sbi(TCCR0, CS01); - sbi(TCCR0, CS00); -#elif defined(TCCR0B) && defined(CS01) && defined(CS00) - // this combination is for the standard 168/328/1280/2560 - sbi(TCCR0B, CS01); - sbi(TCCR0B, CS00); -#elif defined(TCCR0A) && defined(CS01) && defined(CS00) - // this combination is for the __AVR_ATmega645__ series - sbi(TCCR0A, CS01); - sbi(TCCR0A, CS00); -#else - #error Timer 0 prescale factor 64 not set correctly -#endif - - // enable timer 0 overflow interrupt -#if defined(TIMSK) && defined(TOIE0) - sbi(TIMSK, TOIE0); -#elif defined(TIMSK0) && defined(TOIE0) - sbi(TIMSK0, TOIE0); -#else - #error Timer 0 overflow interrupt not set correctly -#endif - - // timers 1 and 2 are used for phase-correct hardware pwm - // this is better for motors as it ensures an even waveform - // note, however, that fast pwm mode can achieve a frequency of up - // 8 MHz (with a 16 MHz clock) at 50% duty cycle - -#if defined(TCCR1B) && defined(CS11) && defined(CS10) - TCCR1B = 0; - - // set timer 1 prescale factor to 64 - sbi(TCCR1B, CS11); -#if F_CPU >= 8000000L - sbi(TCCR1B, CS10); -#endif -#elif defined(TCCR1) && defined(CS11) && defined(CS10) - sbi(TCCR1, CS11); -#if F_CPU >= 8000000L - sbi(TCCR1, CS10); -#endif -#endif - // put timer 1 in 8-bit phase correct pwm mode -#if defined(TCCR1A) && defined(WGM10) - sbi(TCCR1A, WGM10); -#elif defined(TCCR1) - #warning this needs to be finished -#endif - - // set timer 2 prescale factor to 64 -#if defined(TCCR2) && defined(CS22) - sbi(TCCR2, CS22); -#elif defined(TCCR2B) && defined(CS22) - sbi(TCCR2B, CS22); -#else - #warning Timer 2 not finished (may not be present on this CPU) -#endif - - // configure timer 2 for phase correct pwm (8-bit) -#if defined(TCCR2) && defined(WGM20) - sbi(TCCR2, WGM20); -#elif defined(TCCR2A) && defined(WGM20) - sbi(TCCR2A, WGM20); -#else - #warning Timer 2 not finished (may not be present on this CPU) -#endif - -#if defined(TCCR3B) && defined(CS31) && defined(WGM30) - sbi(TCCR3B, CS31); // set timer 3 prescale factor to 64 - sbi(TCCR3B, CS30); - sbi(TCCR3A, WGM30); // put timer 3 in 8-bit phase correct pwm mode -#endif - -#if defined(TCCR4A) && defined(TCCR4B) && defined(TCCR4D) /* beginning of timer4 block for 32U4 and similar */ - sbi(TCCR4B, CS42); // set timer4 prescale factor to 64 - sbi(TCCR4B, CS41); - sbi(TCCR4B, CS40); - sbi(TCCR4D, WGM40); // put timer 4 in phase- and frequency-correct PWM mode - sbi(TCCR4A, PWM4A); // enable PWM mode for comparator OCR4A - sbi(TCCR4C, PWM4D); // enable PWM mode for comparator OCR4D -#else /* beginning of timer4 block for ATMEGA1280 and ATMEGA2560 */ -#if defined(TCCR4B) && defined(CS41) && defined(WGM40) - sbi(TCCR4B, CS41); // set timer 4 prescale factor to 64 - sbi(TCCR4B, CS40); - sbi(TCCR4A, WGM40); // put timer 4 in 8-bit phase correct pwm mode -#endif -#endif /* end timer4 block for ATMEGA1280/2560 and similar */ - -#if defined(TCCR5B) && defined(CS51) && defined(WGM50) - sbi(TCCR5B, CS51); // set timer 5 prescale factor to 64 - sbi(TCCR5B, CS50); - sbi(TCCR5A, WGM50); // put timer 5 in 8-bit phase correct pwm mode -#endif - -#if defined(ADCSRA) - // set a2d prescale factor to 128 - // 16 MHz / 128 = 125 KHz, inside the desired 50-200 KHz range. - // XXX: this will not work properly for other clock speeds, and - // this code should use F_CPU to determine the prescale factor. - sbi(ADCSRA, ADPS2); - sbi(ADCSRA, ADPS1); - sbi(ADCSRA, ADPS0); - - // enable a2d conversions - sbi(ADCSRA, ADEN); -#endif - - // the bootloader connects pins 0 and 1 to the USART; disconnect them - // here so they can be used as normal digital i/o; they will be - // reconnected in Serial.begin() -#if defined(UCSRB) - UCSRB = 0; -#elif defined(UCSR0B) - UCSR0B = 0; -#endif -} diff --git a/cores/robot/wiring_analog.c b/cores/robot/wiring_analog.c deleted file mode 100644 index 7ed0e4e..0000000 --- a/cores/robot/wiring_analog.c +++ /dev/null @@ -1,284 +0,0 @@ -/* - wiring_analog.c - analog input and output - Part of Arduino - http://www.arduino.cc/ - - Copyright (c) 2005-2006 David A. Mellis - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General - Public License along with this library; if not, write to the - Free Software Foundation, Inc., 59 Temple Place, Suite 330, - Boston, MA 02111-1307 USA - - Modified 28 September 2010 by Mark Sproul - - $Id: wiring.c 248 2007-02-03 15:36:30Z mellis $ -*/ - -#include "wiring_private.h" -#include "pins_arduino.h" - -uint8_t analog_reference = DEFAULT; - -void analogReference(uint8_t mode) -{ - // can't actually set the register here because the default setting - // will connect AVCC and the AREF pin, which would cause a short if - // there's something connected to AREF. - analog_reference = mode; -} - -int analogRead(uint8_t pin) -{ - uint8_t low, high; - -#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) - if (pin >= 54) pin -= 54; // allow for channel or pin numbers -#elif defined(__AVR_ATmega32U4__) - if (pin >= 18) pin -= 18; // allow for channel or pin numbers -#elif defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644__) || defined(__AVR_ATmega644A__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) - if (pin >= 24) pin -= 24; // allow for channel or pin numbers -#elif defined(analogPinToChannel) && (defined(__AVR_ATtiny25__) || defined(__AVR_ATtiny45__) || defined(__AVR_ATtiny85__)) - pin = analogPinToChannel(pin); -#else - if (pin >= 14) pin -= 14; // allow for channel or pin numbers -#endif - -#if defined(__AVR_ATmega32U4__) - pin = analogPinToChannel(pin); - ADCSRB = (ADCSRB & ~(1 << MUX5)) | (((pin >> 3) & 0x01) << MUX5); -#elif defined(ADCSRB) && defined(MUX5) - // the MUX5 bit of ADCSRB selects whether we're reading from channels - // 0 to 7 (MUX5 low) or 8 to 15 (MUX5 high). - ADCSRB = (ADCSRB & ~(1 << MUX5)) | (((pin >> 3) & 0x01) << MUX5); -#endif - - // set the analog reference (high two bits of ADMUX) and select the - // channel (low 4 bits). this also sets ADLAR (left-adjust result) - // to 0 (the default). -#if defined(ADMUX) - ADMUX = (analog_reference << 6) | (pin & 0x07); -#endif - - // without a delay, we seem to read from the wrong channel - //delay(1); - -#if defined(ADCSRA) && defined(ADCL) - // start the conversion - sbi(ADCSRA, ADSC); - - // ADSC is cleared when the conversion finishes - while (bit_is_set(ADCSRA, ADSC)); - - // we have to read ADCL first; doing so locks both ADCL - // and ADCH until ADCH is read. reading ADCL second would - // cause the results of each conversion to be discarded, - // as ADCL and ADCH would be locked when it completed. - low = ADCL; - high = ADCH; -#else - // we dont have an ADC, return 0 - low = 0; - high = 0; -#endif - - // combine the two bytes - return (high << 8) | low; -} - -// Right now, PWM output only works on the pins with -// hardware support. These are defined in the appropriate -// pins_*.c file. For the rest of the pins, we default -// to digital output. -void analogWrite(uint8_t pin, int val) -{ - // We need to make sure the PWM output is enabled for those pins - // that support it, as we turn it off when digitally reading or - // writing with them. Also, make sure the pin is in output mode - // for consistenty with Wiring, which doesn't require a pinMode - // call for the analog output pins. - pinMode(pin, OUTPUT); - if (val == 0) - { - digitalWrite(pin, LOW); - } - else if (val == 255) - { - digitalWrite(pin, HIGH); - } - else - { - switch(digitalPinToTimer(pin)) - { - // XXX fix needed for atmega8 - #if defined(TCCR0) && defined(COM00) && !defined(__AVR_ATmega8__) - case TIMER0A: - // connect pwm to pin on timer 0 - sbi(TCCR0, COM00); - OCR0 = val; // set pwm duty - break; - #endif - - #if defined(TCCR0A) && defined(COM0A1) - case TIMER0A: - // connect pwm to pin on timer 0, channel A - sbi(TCCR0A, COM0A1); - OCR0A = val; // set pwm duty - break; - #endif - - #if defined(TCCR0A) && defined(COM0B1) - case TIMER0B: - // connect pwm to pin on timer 0, channel B - sbi(TCCR0A, COM0B1); - OCR0B = val; // set pwm duty - break; - #endif - - #if defined(TCCR1A) && defined(COM1A1) - case TIMER1A: - // connect pwm to pin on timer 1, channel A - sbi(TCCR1A, COM1A1); - OCR1A = val; // set pwm duty - break; - #endif - - #if defined(TCCR1A) && defined(COM1B1) - case TIMER1B: - // connect pwm to pin on timer 1, channel B - sbi(TCCR1A, COM1B1); - OCR1B = val; // set pwm duty - break; - #endif - - #if defined(TCCR2) && defined(COM21) - case TIMER2: - // connect pwm to pin on timer 2 - sbi(TCCR2, COM21); - OCR2 = val; // set pwm duty - break; - #endif - - #if defined(TCCR2A) && defined(COM2A1) - case TIMER2A: - // connect pwm to pin on timer 2, channel A - sbi(TCCR2A, COM2A1); - OCR2A = val; // set pwm duty - break; - #endif - - #if defined(TCCR2A) && defined(COM2B1) - case TIMER2B: - // connect pwm to pin on timer 2, channel B - sbi(TCCR2A, COM2B1); - OCR2B = val; // set pwm duty - break; - #endif - - #if defined(TCCR3A) && defined(COM3A1) - case TIMER3A: - // connect pwm to pin on timer 3, channel A - sbi(TCCR3A, COM3A1); - OCR3A = val; // set pwm duty - break; - #endif - - #if defined(TCCR3A) && defined(COM3B1) - case TIMER3B: - // connect pwm to pin on timer 3, channel B - sbi(TCCR3A, COM3B1); - OCR3B = val; // set pwm duty - break; - #endif - - #if defined(TCCR3A) && defined(COM3C1) - case TIMER3C: - // connect pwm to pin on timer 3, channel C - sbi(TCCR3A, COM3C1); - OCR3C = val; // set pwm duty - break; - #endif - - #if defined(TCCR4A) - case TIMER4A: - //connect pwm to pin on timer 4, channel A - sbi(TCCR4A, COM4A1); - #if defined(COM4A0) // only used on 32U4 - cbi(TCCR4A, COM4A0); - #endif - OCR4A = val; // set pwm duty - break; - #endif - - #if defined(TCCR4A) && defined(COM4B1) - case TIMER4B: - // connect pwm to pin on timer 4, channel B - sbi(TCCR4A, COM4B1); - OCR4B = val; // set pwm duty - break; - #endif - - #if defined(TCCR4A) && defined(COM4C1) - case TIMER4C: - // connect pwm to pin on timer 4, channel C - sbi(TCCR4A, COM4C1); - OCR4C = val; // set pwm duty - break; - #endif - - #if defined(TCCR4C) && defined(COM4D1) - case TIMER4D: - // connect pwm to pin on timer 4, channel D - sbi(TCCR4C, COM4D1); - #if defined(COM4D0) // only used on 32U4 - cbi(TCCR4C, COM4D0); - #endif - OCR4D = val; // set pwm duty - break; - #endif - - - #if defined(TCCR5A) && defined(COM5A1) - case TIMER5A: - // connect pwm to pin on timer 5, channel A - sbi(TCCR5A, COM5A1); - OCR5A = val; // set pwm duty - break; - #endif - - #if defined(TCCR5A) && defined(COM5B1) - case TIMER5B: - // connect pwm to pin on timer 5, channel B - sbi(TCCR5A, COM5B1); - OCR5B = val; // set pwm duty - break; - #endif - - #if defined(TCCR5A) && defined(COM5C1) - case TIMER5C: - // connect pwm to pin on timer 5, channel C - sbi(TCCR5A, COM5C1); - OCR5C = val; // set pwm duty - break; - #endif - - case NOT_ON_TIMER: - default: - if (val < 128) { - digitalWrite(pin, LOW); - } else { - digitalWrite(pin, HIGH); - } - } - } -} - diff --git a/cores/robot/wiring_digital.c b/cores/robot/wiring_digital.c deleted file mode 100644 index be323b1..0000000 --- a/cores/robot/wiring_digital.c +++ /dev/null @@ -1,178 +0,0 @@ -/* - wiring_digital.c - digital input and output functions - Part of Arduino - http://www.arduino.cc/ - - Copyright (c) 2005-2006 David A. Mellis - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General - Public License along with this library; if not, write to the - Free Software Foundation, Inc., 59 Temple Place, Suite 330, - Boston, MA 02111-1307 USA - - Modified 28 September 2010 by Mark Sproul - - $Id: wiring.c 248 2007-02-03 15:36:30Z mellis $ -*/ - -#define ARDUINO_MAIN -#include "wiring_private.h" -#include "pins_arduino.h" - -void pinMode(uint8_t pin, uint8_t mode) -{ - uint8_t bit = digitalPinToBitMask(pin); - uint8_t port = digitalPinToPort(pin); - volatile uint8_t *reg, *out; - - if (port == NOT_A_PIN) return; - - // JWS: can I let the optimizer do this? - reg = portModeRegister(port); - out = portOutputRegister(port); - - if (mode == INPUT) { - uint8_t oldSREG = SREG; - cli(); - *reg &= ~bit; - *out &= ~bit; - SREG = oldSREG; - } else if (mode == INPUT_PULLUP) { - uint8_t oldSREG = SREG; - cli(); - *reg &= ~bit; - *out |= bit; - SREG = oldSREG; - } else { - uint8_t oldSREG = SREG; - cli(); - *reg |= bit; - SREG = oldSREG; - } -} - -// Forcing this inline keeps the callers from having to push their own stuff -// on the stack. It is a good performance win and only takes 1 more byte per -// user than calling. (It will take more bytes on the 168.) -// -// But shouldn't this be moved into pinMode? Seems silly to check and do on -// each digitalread or write. -// -// Mark Sproul: -// - Removed inline. Save 170 bytes on atmega1280 -// - changed to a switch statment; added 32 bytes but much easier to read and maintain. -// - Added more #ifdefs, now compiles for atmega645 -// -//static inline void turnOffPWM(uint8_t timer) __attribute__ ((always_inline)); -//static inline void turnOffPWM(uint8_t timer) -static void turnOffPWM(uint8_t timer) -{ - switch (timer) - { - #if defined(TCCR1A) && defined(COM1A1) - case TIMER1A: cbi(TCCR1A, COM1A1); break; - #endif - #if defined(TCCR1A) && defined(COM1B1) - case TIMER1B: cbi(TCCR1A, COM1B1); break; - #endif - - #if defined(TCCR2) && defined(COM21) - case TIMER2: cbi(TCCR2, COM21); break; - #endif - - #if defined(TCCR0A) && defined(COM0A1) - case TIMER0A: cbi(TCCR0A, COM0A1); break; - #endif - - #if defined(TIMER0B) && defined(COM0B1) - case TIMER0B: cbi(TCCR0A, COM0B1); break; - #endif - #if defined(TCCR2A) && defined(COM2A1) - case TIMER2A: cbi(TCCR2A, COM2A1); break; - #endif - #if defined(TCCR2A) && defined(COM2B1) - case TIMER2B: cbi(TCCR2A, COM2B1); break; - #endif - - #if defined(TCCR3A) && defined(COM3A1) - case TIMER3A: cbi(TCCR3A, COM3A1); break; - #endif - #if defined(TCCR3A) && defined(COM3B1) - case TIMER3B: cbi(TCCR3A, COM3B1); break; - #endif - #if defined(TCCR3A) && defined(COM3C1) - case TIMER3C: cbi(TCCR3A, COM3C1); break; - #endif - - #if defined(TCCR4A) && defined(COM4A1) - case TIMER4A: cbi(TCCR4A, COM4A1); break; - #endif - #if defined(TCCR4A) && defined(COM4B1) - case TIMER4B: cbi(TCCR4A, COM4B1); break; - #endif - #if defined(TCCR4A) && defined(COM4C1) - case TIMER4C: cbi(TCCR4A, COM4C1); break; - #endif - #if defined(TCCR4C) && defined(COM4D1) - case TIMER4D: cbi(TCCR4C, COM4D1); break; - #endif - - #if defined(TCCR5A) - case TIMER5A: cbi(TCCR5A, COM5A1); break; - case TIMER5B: cbi(TCCR5A, COM5B1); break; - case TIMER5C: cbi(TCCR5A, COM5C1); break; - #endif - } -} - -void digitalWrite(uint8_t pin, uint8_t val) -{ - uint8_t timer = digitalPinToTimer(pin); - uint8_t bit = digitalPinToBitMask(pin); - uint8_t port = digitalPinToPort(pin); - volatile uint8_t *out; - - if (port == NOT_A_PIN) return; - - // If the pin that support PWM output, we need to turn it off - // before doing a digital write. - if (timer != NOT_ON_TIMER) turnOffPWM(timer); - - out = portOutputRegister(port); - - uint8_t oldSREG = SREG; - cli(); - - if (val == LOW) { - *out &= ~bit; - } else { - *out |= bit; - } - - SREG = oldSREG; -} - -int digitalRead(uint8_t pin) -{ - uint8_t timer = digitalPinToTimer(pin); - uint8_t bit = digitalPinToBitMask(pin); - uint8_t port = digitalPinToPort(pin); - - if (port == NOT_A_PIN) return LOW; - - // If the pin that support PWM output, we need to turn it off - // before getting a digital reading. - if (timer != NOT_ON_TIMER) turnOffPWM(timer); - - if (*portInputRegister(port) & bit) return HIGH; - return LOW; -} diff --git a/cores/robot/wiring_private.h b/cores/robot/wiring_private.h deleted file mode 100755 index c366005..0000000 --- a/cores/robot/wiring_private.h +++ /dev/null @@ -1,71 +0,0 @@ -/* - wiring_private.h - Internal header file. - Part of Arduino - http://www.arduino.cc/ - - Copyright (c) 2005-2006 David A. Mellis - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General - Public License along with this library; if not, write to the - Free Software Foundation, Inc., 59 Temple Place, Suite 330, - Boston, MA 02111-1307 USA - - $Id: wiring.h 239 2007-01-12 17:58:39Z mellis $ -*/ - -#ifndef WiringPrivate_h -#define WiringPrivate_h - -#include <avr/io.h> -#include <avr/interrupt.h> -#include <stdio.h> -#include <stdarg.h> - -#include "Arduino.h" - -#ifdef __cplusplus -extern "C"{ -#endif - -#ifndef cbi -#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) -#endif -#ifndef sbi -#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) -#endif - -#define EXTERNAL_INT_0 0 -#define EXTERNAL_INT_1 1 -#define EXTERNAL_INT_2 2 -#define EXTERNAL_INT_3 3 -#define EXTERNAL_INT_4 4 -#define EXTERNAL_INT_5 5 -#define EXTERNAL_INT_6 6 -#define EXTERNAL_INT_7 7 - -#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) -#define EXTERNAL_NUM_INTERRUPTS 8 -#elif defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644__) || defined(__AVR_ATmega644A__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) -#define EXTERNAL_NUM_INTERRUPTS 3 -#elif defined(__AVR_ATmega32U4__) -#define EXTERNAL_NUM_INTERRUPTS 5 -#else -#define EXTERNAL_NUM_INTERRUPTS 2 -#endif - -typedef void (*voidFuncPtr)(void); - -#ifdef __cplusplus -} // extern "C" -#endif - -#endif diff --git a/cores/robot/wiring_pulse.c b/cores/robot/wiring_pulse.c deleted file mode 100755 index 0d96886..0000000 --- a/cores/robot/wiring_pulse.c +++ /dev/null @@ -1,69 +0,0 @@ -/* - wiring_pulse.c - pulseIn() function - Part of Arduino - http://www.arduino.cc/ - - Copyright (c) 2005-2006 David A. Mellis - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General - Public License along with this library; if not, write to the - Free Software Foundation, Inc., 59 Temple Place, Suite 330, - Boston, MA 02111-1307 USA - - $Id: wiring.c 248 2007-02-03 15:36:30Z mellis $ -*/ - -#include "wiring_private.h" -#include "pins_arduino.h" - -/* Measures the length (in microseconds) of a pulse on the pin; state is HIGH - * or LOW, the type of pulse to measure. Works on pulses from 2-3 microseconds - * to 3 minutes in length, but must be called at least a few dozen microseconds - * before the start of the pulse. */ -unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout) -{ - // cache the port and bit of the pin in order to speed up the - // pulse width measuring loop and achieve finer resolution. calling - // digitalRead() instead yields much coarser resolution. - uint8_t bit = digitalPinToBitMask(pin); - uint8_t port = digitalPinToPort(pin); - uint8_t stateMask = (state ? bit : 0); - unsigned long width = 0; // keep initialization out of time critical area - - // convert the timeout from microseconds to a number of times through - // the initial loop; it takes 16 clock cycles per iteration. - unsigned long numloops = 0; - unsigned long maxloops = microsecondsToClockCycles(timeout) / 16; - - // wait for any previous pulse to end - while ((*portInputRegister(port) & bit) == stateMask) - if (numloops++ == maxloops) - return 0; - - // wait for the pulse to start - while ((*portInputRegister(port) & bit) != stateMask) - if (numloops++ == maxloops) - return 0; - - // wait for the pulse to stop - while ((*portInputRegister(port) & bit) == stateMask) { - if (numloops++ == maxloops) - return 0; - width++; - } - - // convert the reading to microseconds. The loop has been determined - // to be 20 clock cycles long and have about 16 clocks between the edge - // and the start of the loop. There will be some error introduced by - // the interrupt handlers. - return clockCyclesToMicroseconds(width * 21 + 16); -} diff --git a/cores/robot/wiring_shift.c b/cores/robot/wiring_shift.c deleted file mode 100755 index cfe7867..0000000 --- a/cores/robot/wiring_shift.c +++ /dev/null @@ -1,55 +0,0 @@ -/* - wiring_shift.c - shiftOut() function - Part of Arduino - http://www.arduino.cc/ - - Copyright (c) 2005-2006 David A. Mellis - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General - Public License along with this library; if not, write to the - Free Software Foundation, Inc., 59 Temple Place, Suite 330, - Boston, MA 02111-1307 USA - - $Id: wiring.c 248 2007-02-03 15:36:30Z mellis $ -*/ - -#include "wiring_private.h" - -uint8_t shiftIn(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder) { - uint8_t value = 0; - uint8_t i; - - for (i = 0; i < 8; ++i) { - digitalWrite(clockPin, HIGH); - if (bitOrder == LSBFIRST) - value |= digitalRead(dataPin) << i; - else - value |= digitalRead(dataPin) << (7 - i); - digitalWrite(clockPin, LOW); - } - return value; -} - -void shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t val) -{ - uint8_t i; - - for (i = 0; i < 8; i++) { - if (bitOrder == LSBFIRST) - digitalWrite(dataPin, !!(val & (1 << i))); - else - digitalWrite(dataPin, !!(val & (1 << (7 - i)))); - - digitalWrite(clockPin, HIGH); - digitalWrite(clockPin, LOW); - } -} diff --git a/firmwares/atmegaxxu2/arduino-usbdfu/Arduino-usbdfu.c b/firmwares/atmegaxxu2/arduino-usbdfu/Arduino-usbdfu.c index 7bed831..7bed831 100755..100644 --- a/firmwares/atmegaxxu2/arduino-usbdfu/Arduino-usbdfu.c +++ b/firmwares/atmegaxxu2/arduino-usbdfu/Arduino-usbdfu.c diff --git a/firmwares/atmegaxxu2/arduino-usbdfu/Arduino-usbdfu.h b/firmwares/atmegaxxu2/arduino-usbdfu/Arduino-usbdfu.h index 4fb236e..4fb236e 100755..100644 --- a/firmwares/atmegaxxu2/arduino-usbdfu/Arduino-usbdfu.h +++ b/firmwares/atmegaxxu2/arduino-usbdfu/Arduino-usbdfu.h diff --git a/firmwares/atmegaxxu2/arduino-usbdfu/Board/LEDs.h b/firmwares/atmegaxxu2/arduino-usbdfu/Board/LEDs.h index 152e8f5..152e8f5 100755..100644 --- a/firmwares/atmegaxxu2/arduino-usbdfu/Board/LEDs.h +++ b/firmwares/atmegaxxu2/arduino-usbdfu/Board/LEDs.h diff --git a/firmwares/atmegaxxu2/arduino-usbdfu/Descriptors.c b/firmwares/atmegaxxu2/arduino-usbdfu/Descriptors.c index 4deaa06..4deaa06 100755..100644 --- a/firmwares/atmegaxxu2/arduino-usbdfu/Descriptors.c +++ b/firmwares/atmegaxxu2/arduino-usbdfu/Descriptors.c diff --git a/firmwares/atmegaxxu2/arduino-usbdfu/Descriptors.h b/firmwares/atmegaxxu2/arduino-usbdfu/Descriptors.h index 6c93f20..6c93f20 100755..100644 --- a/firmwares/atmegaxxu2/arduino-usbdfu/Descriptors.h +++ b/firmwares/atmegaxxu2/arduino-usbdfu/Descriptors.h diff --git a/firmwares/atmegaxxu2/arduino-usbdfu/makefile b/firmwares/atmegaxxu2/arduino-usbdfu/makefile index 1fb4ed3..1fb4ed3 100755..100644 --- a/firmwares/atmegaxxu2/arduino-usbdfu/makefile +++ b/firmwares/atmegaxxu2/arduino-usbdfu/makefile diff --git a/firmwares/atmegaxxu2/arduino-usbserial/Arduino-usbserial.c b/firmwares/atmegaxxu2/arduino-usbserial/Arduino-usbserial.c index 4de73c8..4de73c8 100755..100644 --- a/firmwares/atmegaxxu2/arduino-usbserial/Arduino-usbserial.c +++ b/firmwares/atmegaxxu2/arduino-usbserial/Arduino-usbserial.c diff --git a/firmwares/atmegaxxu2/arduino-usbserial/Arduino-usbserial.h b/firmwares/atmegaxxu2/arduino-usbserial/Arduino-usbserial.h index 99fde39..99fde39 100755..100644 --- a/firmwares/atmegaxxu2/arduino-usbserial/Arduino-usbserial.h +++ b/firmwares/atmegaxxu2/arduino-usbserial/Arduino-usbserial.h diff --git a/firmwares/atmegaxxu2/arduino-usbserial/Board/LEDs.h b/firmwares/atmegaxxu2/arduino-usbserial/Board/LEDs.h index 152e8f5..152e8f5 100755..100644 --- a/firmwares/atmegaxxu2/arduino-usbserial/Board/LEDs.h +++ b/firmwares/atmegaxxu2/arduino-usbserial/Board/LEDs.h diff --git a/firmwares/atmegaxxu2/arduino-usbserial/Descriptors.c b/firmwares/atmegaxxu2/arduino-usbserial/Descriptors.c index 705dddf..705dddf 100755..100644 --- a/firmwares/atmegaxxu2/arduino-usbserial/Descriptors.c +++ b/firmwares/atmegaxxu2/arduino-usbserial/Descriptors.c diff --git a/firmwares/atmegaxxu2/arduino-usbserial/Descriptors.h b/firmwares/atmegaxxu2/arduino-usbserial/Descriptors.h index 3ac4e52..3ac4e52 100755..100644 --- a/firmwares/atmegaxxu2/arduino-usbserial/Descriptors.h +++ b/firmwares/atmegaxxu2/arduino-usbserial/Descriptors.h diff --git a/firmwares/atmegaxxu2/arduino-usbserial/Lib/LightweightRingBuff.h b/firmwares/atmegaxxu2/arduino-usbserial/Lib/LightweightRingBuff.h index fb48c1f..fb48c1f 100755..100644 --- a/firmwares/atmegaxxu2/arduino-usbserial/Lib/LightweightRingBuff.h +++ b/firmwares/atmegaxxu2/arduino-usbserial/Lib/LightweightRingBuff.h diff --git a/firmwares/atmegaxxu2/arduino-usbserial/makefile b/firmwares/atmegaxxu2/arduino-usbserial/makefile index 79d6be2..79d6be2 100755..100644 --- a/firmwares/atmegaxxu2/arduino-usbserial/makefile +++ b/firmwares/atmegaxxu2/arduino-usbserial/makefile diff --git a/libraries/EEPROM/EEPROM.cpp b/libraries/EEPROM/EEPROM.cpp new file mode 100644 index 0000000..dfa1deb --- /dev/null +++ b/libraries/EEPROM/EEPROM.cpp @@ -0,0 +1,50 @@ +/* + EEPROM.cpp - EEPROM library + Copyright (c) 2006 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 +*/ + +/****************************************************************************** + * Includes + ******************************************************************************/ + +#include <avr/eeprom.h> +#include "Arduino.h" +#include "EEPROM.h" + +/****************************************************************************** + * Definitions + ******************************************************************************/ + +/****************************************************************************** + * Constructors + ******************************************************************************/ + +/****************************************************************************** + * User API + ******************************************************************************/ + +uint8_t EEPROMClass::read(int address) +{ + return eeprom_read_byte((unsigned char *) address); +} + +void EEPROMClass::write(int address, uint8_t value) +{ + eeprom_write_byte((unsigned char *) address, value); +} + +EEPROMClass EEPROM; diff --git a/cores/robot/Printable.h b/libraries/EEPROM/EEPROM.h index d03c9af..aa2b577 100644 --- a/cores/robot/Printable.h +++ b/libraries/EEPROM/EEPROM.h @@ -1,6 +1,6 @@ /* - Printable.h - Interface class that allows printing of complex types - Copyright (c) 2011 Adrian McEwen. All right reserved. + EEPROM.h - EEPROM library + Copyright (c) 2006 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 @@ -17,24 +17,19 @@ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ -#ifndef Printable_h -#define Printable_h +#ifndef EEPROM_h +#define EEPROM_h -#include <new.h> +#include <inttypes.h> -class Print; - -/** The Printable class provides a way for new classes to allow themselves to be printed. - By deriving from Printable and implementing the printTo method, it will then be possible - for users to print out instances of this class by passing them into the usual - Print::print and Print::println methods. -*/ - -class Printable +class EEPROMClass { public: - virtual size_t printTo(Print& p) const = 0; + uint8_t read(int); + void write(int, uint8_t); }; +extern EEPROMClass EEPROM; + #endif diff --git a/libraries/EEPROM/examples/eeprom_clear/eeprom_clear.ino b/libraries/EEPROM/examples/eeprom_clear/eeprom_clear.ino new file mode 100644 index 0000000..b18ff2c --- /dev/null +++ b/libraries/EEPROM/examples/eeprom_clear/eeprom_clear.ino @@ -0,0 +1,23 @@ +/* + * EEPROM Clear + * + * Sets all of the bytes of the EEPROM to 0. + * This example code is in the public domain. + + */ + +#include <EEPROM.h> + +void setup() +{ + // write a 0 to all 512 bytes of the EEPROM + for (int i = 0; i < 512; i++) + EEPROM.write(i, 0); + + // turn the LED on when we're done + digitalWrite(13, HIGH); +} + +void loop() +{ +} diff --git a/libraries/EEPROM/examples/eeprom_read/eeprom_read.ino b/libraries/EEPROM/examples/eeprom_read/eeprom_read.ino new file mode 100644 index 0000000..ebf79d6 --- /dev/null +++ b/libraries/EEPROM/examples/eeprom_read/eeprom_read.ino @@ -0,0 +1,43 @@ +/* + * EEPROM Read + * + * Reads the value of each byte of the EEPROM and prints it + * to the computer. + * This example code is in the public domain. + */ + +#include <EEPROM.h> + +// start reading from the first byte (address 0) of the EEPROM +int address = 0; +byte value; + +void setup() +{ + // initialize serial and wait for port to open: + Serial.begin(9600); + while (!Serial) { + ; // wait for serial port to connect. Needed for Leonardo only + } +} + +void loop() +{ + // read a byte from the current address of the EEPROM + value = EEPROM.read(address); + + Serial.print(address); + Serial.print("\t"); + Serial.print(value, DEC); + Serial.println(); + + // advance to the next address of the EEPROM + address = address + 1; + + // there are only 512 bytes of EEPROM, from 0 to 511, so if we're + // on address 512, wrap around to address 0 + if (address == 512) + address = 0; + + delay(500); +} diff --git a/libraries/EEPROM/examples/eeprom_write/eeprom_write.ino b/libraries/EEPROM/examples/eeprom_write/eeprom_write.ino new file mode 100644 index 0000000..c047887 --- /dev/null +++ b/libraries/EEPROM/examples/eeprom_write/eeprom_write.ino @@ -0,0 +1,38 @@ +/* + * EEPROM Write + * + * Stores values read from analog input 0 into the EEPROM. + * These values will stay in the EEPROM when the board is + * turned off and may be retrieved later by another sketch. + */ + +#include <EEPROM.h> + +// the current address in the EEPROM (i.e. which byte +// we're going to write to next) +int addr = 0; + +void setup() +{ +} + +void loop() +{ + // need to divide by 4 because analog inputs range from + // 0 to 1023 and each byte of the EEPROM can only hold a + // value from 0 to 255. + int val = analogRead(0) / 4; + + // write the value to the appropriate byte of the EEPROM. + // these values will remain there when the board is + // turned off. + EEPROM.write(addr, val); + + // advance to the next address. there are 512 bytes in + // the EEPROM, so go back to 0 when we hit 512. + addr = addr + 1; + if (addr == 512) + addr = 0; + + delay(100); +} diff --git a/libraries/EEPROM/keywords.txt b/libraries/EEPROM/keywords.txt new file mode 100644 index 0000000..d3218fe --- /dev/null +++ b/libraries/EEPROM/keywords.txt @@ -0,0 +1,18 @@ +####################################### +# Syntax Coloring Map For Ultrasound +####################################### + +####################################### +# Datatypes (KEYWORD1) +####################################### + +EEPROM KEYWORD1 + +####################################### +# Methods and Functions (KEYWORD2) +####################################### + +####################################### +# Constants (LITERAL1) +####################################### + diff --git a/libraries/SPI/SPI.cpp b/libraries/SPI/SPI.cpp new file mode 100644 index 0000000..5e48073 --- /dev/null +++ b/libraries/SPI/SPI.cpp @@ -0,0 +1,66 @@ +/* + * Copyright (c) 2010 by Cristian Maglie <c.maglie@bug.st> + * SPI Master library for arduino. + * + * This file is free software; you can redistribute it and/or modify + * it under the terms of either the GNU General Public License version 2 + * or the GNU Lesser General Public License version 2.1, both as + * published by the Free Software Foundation. + */ + +#include "pins_arduino.h" +#include "SPI.h" + +SPIClass SPI; + +void SPIClass::begin() { + + // Set SS to high so a connected chip will be "deselected" by default + digitalWrite(SS, HIGH); + + // When the SS pin is set as OUTPUT, it can be used as + // a general purpose output port (it doesn't influence + // SPI operations). + pinMode(SS, OUTPUT); + + // Warning: if the SS pin ever becomes a LOW INPUT then SPI + // automatically switches to Slave, so the data direction of + // the SS pin MUST be kept as OUTPUT. + SPCR |= _BV(MSTR); + SPCR |= _BV(SPE); + + // Set direction register for SCK and MOSI pin. + // MISO pin automatically overrides to INPUT. + // By doing this AFTER enabling SPI, we avoid accidentally + // clocking in a single bit since the lines go directly + // from "input" to SPI control. + // http://code.google.com/p/arduino/issues/detail?id=888 + pinMode(SCK, OUTPUT); + pinMode(MOSI, OUTPUT); +} + + +void SPIClass::end() { + SPCR &= ~_BV(SPE); +} + +void SPIClass::setBitOrder(uint8_t bitOrder) +{ + if(bitOrder == LSBFIRST) { + SPCR |= _BV(DORD); + } else { + SPCR &= ~(_BV(DORD)); + } +} + +void SPIClass::setDataMode(uint8_t mode) +{ + SPCR = (SPCR & ~SPI_MODE_MASK) | mode; +} + +void SPIClass::setClockDivider(uint8_t rate) +{ + SPCR = (SPCR & ~SPI_CLOCK_MASK) | (rate & SPI_CLOCK_MASK); + SPSR = (SPSR & ~SPI_2XCLOCK_MASK) | ((rate >> 2) & SPI_2XCLOCK_MASK); +} + diff --git a/libraries/SPI/SPI.h b/libraries/SPI/SPI.h new file mode 100644 index 0000000..f647d5c --- /dev/null +++ b/libraries/SPI/SPI.h @@ -0,0 +1,70 @@ +/* + * Copyright (c) 2010 by Cristian Maglie <c.maglie@bug.st> + * SPI Master library for arduino. + * + * This file is free software; you can redistribute it and/or modify + * it under the terms of either the GNU General Public License version 2 + * or the GNU Lesser General Public License version 2.1, both as + * published by the Free Software Foundation. + */ + +#ifndef _SPI_H_INCLUDED +#define _SPI_H_INCLUDED + +#include <stdio.h> +#include <Arduino.h> +#include <avr/pgmspace.h> + +#define SPI_CLOCK_DIV4 0x00 +#define SPI_CLOCK_DIV16 0x01 +#define SPI_CLOCK_DIV64 0x02 +#define SPI_CLOCK_DIV128 0x03 +#define SPI_CLOCK_DIV2 0x04 +#define SPI_CLOCK_DIV8 0x05 +#define SPI_CLOCK_DIV32 0x06 +//#define SPI_CLOCK_DIV64 0x07 + +#define SPI_MODE0 0x00 +#define SPI_MODE1 0x04 +#define SPI_MODE2 0x08 +#define SPI_MODE3 0x0C + +#define SPI_MODE_MASK 0x0C // CPOL = bit 3, CPHA = bit 2 on SPCR +#define SPI_CLOCK_MASK 0x03 // SPR1 = bit 1, SPR0 = bit 0 on SPCR +#define SPI_2XCLOCK_MASK 0x01 // SPI2X = bit 0 on SPSR + +class SPIClass { +public: + inline static byte transfer(byte _data); + + // SPI Configuration methods + + inline static void attachInterrupt(); + inline static void detachInterrupt(); // Default + + static void begin(); // Default + static void end(); + + static void setBitOrder(uint8_t); + static void setDataMode(uint8_t); + static void setClockDivider(uint8_t); +}; + +extern SPIClass SPI; + +byte SPIClass::transfer(byte _data) { + SPDR = _data; + while (!(SPSR & _BV(SPIF))) + ; + return SPDR; +} + +void SPIClass::attachInterrupt() { + SPCR |= _BV(SPIE); +} + +void SPIClass::detachInterrupt() { + SPCR &= ~_BV(SPIE); +} + +#endif diff --git a/libraries/SPI/examples/BarometricPressureSensor/BarometricPressureSensor.ino b/libraries/SPI/examples/BarometricPressureSensor/BarometricPressureSensor.ino new file mode 100644 index 0000000..8104fcb --- /dev/null +++ b/libraries/SPI/examples/BarometricPressureSensor/BarometricPressureSensor.ino @@ -0,0 +1,143 @@ +/* + SCP1000 Barometric Pressure Sensor Display + + Shows the output of a Barometric Pressure Sensor on a + Uses the SPI library. For details on the sensor, see: + http://www.sparkfun.com/commerce/product_info.php?products_id=8161 + http://www.vti.fi/en/support/obsolete_products/pressure_sensors/ + + This sketch adapted from Nathan Seidle's SCP1000 example for PIC: + http://www.sparkfun.com/datasheets/Sensors/SCP1000-Testing.zip + + Circuit: + SCP1000 sensor attached to pins 6, 7, 10 - 13: + DRDY: pin 6 + CSB: pin 7 + MOSI: pin 11 + MISO: pin 12 + SCK: pin 13 + + created 31 July 2010 + modified 14 August 2010 + by Tom Igoe + */ + +// the sensor communicates using SPI, so include the library: +#include <SPI.h> + +//Sensor's memory register addresses: +const int PRESSURE = 0x1F; //3 most significant bits of pressure +const int PRESSURE_LSB = 0x20; //16 least significant bits of pressure +const int TEMPERATURE = 0x21; //16 bit temperature reading +const byte READ = 0b11111100; // SCP1000's read command +const byte WRITE = 0b00000010; // SCP1000's write command + +// pins used for the connection with the sensor +// the other you need are controlled by the SPI library): +const int dataReadyPin = 6; +const int chipSelectPin = 7; + +void setup() { + Serial.begin(9600); + + // start the SPI library: + SPI.begin(); + + // initalize the data ready and chip select pins: + pinMode(dataReadyPin, INPUT); + pinMode(chipSelectPin, OUTPUT); + + //Configure SCP1000 for low noise configuration: + writeRegister(0x02, 0x2D); + writeRegister(0x01, 0x03); + writeRegister(0x03, 0x02); + // give the sensor time to set up: + delay(100); +} + +void loop() { + //Select High Resolution Mode + writeRegister(0x03, 0x0A); + + // don't do anything until the data ready pin is high: + if (digitalRead(dataReadyPin) == HIGH) { + //Read the temperature data + int tempData = readRegister(0x21, 2); + + // convert the temperature to celsius and display it: + float realTemp = (float)tempData / 20.0; + Serial.print("Temp[C]="); + Serial.print(realTemp); + + + //Read the pressure data highest 3 bits: + byte pressure_data_high = readRegister(0x1F, 1); + pressure_data_high &= 0b00000111; //you only needs bits 2 to 0 + + //Read the pressure data lower 16 bits: + unsigned int pressure_data_low = readRegister(0x20, 2); + //combine the two parts into one 19-bit number: + long pressure = ((pressure_data_high << 16) | pressure_data_low) / 4; + + // display the temperature: + Serial.println("\tPressure [Pa]=" + String(pressure)); + } +} + +//Read from or write to register from the SCP1000: +unsigned int readRegister(byte thisRegister, int bytesToRead ) { + byte inByte = 0; // incoming byte from the SPI + unsigned int result = 0; // result to return + Serial.print(thisRegister, BIN); + Serial.print("\t"); + // SCP1000 expects the register name in the upper 6 bits + // of the byte. So shift the bits left by two bits: + thisRegister = thisRegister << 2; + // now combine the address and the command into one byte + byte dataToSend = thisRegister & READ; + Serial.println(thisRegister, BIN); + // take the chip select low to select the device: + digitalWrite(chipSelectPin, LOW); + // send the device the register you want to read: + SPI.transfer(dataToSend); + // send a value of 0 to read the first byte returned: + result = SPI.transfer(0x00); + // decrement the number of bytes left to read: + bytesToRead--; + // if you still have another byte to read: + if (bytesToRead > 0) { + // shift the first byte left, then get the second byte: + result = result << 8; + inByte = SPI.transfer(0x00); + // combine the byte you just got with the previous one: + result = result | inByte; + // decrement the number of bytes left to read: + bytesToRead--; + } + // take the chip select high to de-select: + digitalWrite(chipSelectPin, HIGH); + // return the result: + return(result); +} + + +//Sends a write command to SCP1000 + +void writeRegister(byte thisRegister, byte thisValue) { + + // SCP1000 expects the register address in the upper 6 bits + // of the byte. So shift the bits left by two bits: + thisRegister = thisRegister << 2; + // now combine the register address and the command into one byte: + byte dataToSend = thisRegister | WRITE; + + // take the chip select low to select the device: + digitalWrite(chipSelectPin, LOW); + + SPI.transfer(dataToSend); //Send register location + SPI.transfer(thisValue); //Send value to record into register + + // take the chip select high to de-select: + digitalWrite(chipSelectPin, HIGH); +} + diff --git a/libraries/SPI/examples/DigitalPotControl/DigitalPotControl.ino b/libraries/SPI/examples/DigitalPotControl/DigitalPotControl.ino new file mode 100644 index 0000000..b135a74 --- /dev/null +++ b/libraries/SPI/examples/DigitalPotControl/DigitalPotControl.ino @@ -0,0 +1,71 @@ +/* + Digital Pot Control + + This example controls an Analog Devices AD5206 digital potentiometer. + The AD5206 has 6 potentiometer channels. Each channel's pins are labeled + A - connect this to voltage + W - this is the pot's wiper, which changes when you set it + B - connect this to ground. + + The AD5206 is SPI-compatible,and to command it, you send two bytes, + one with the channel number (0 - 5) and one with the resistance value for the + channel (0 - 255). + + The circuit: + * All A pins of AD5206 connected to +5V + * All B pins of AD5206 connected to ground + * An LED and a 220-ohm resisor in series connected from each W pin to ground + * CS - to digital pin 10 (SS pin) + * SDI - to digital pin 11 (MOSI pin) + * CLK - to digital pin 13 (SCK pin) + + created 10 Aug 2010 + by Tom Igoe + + Thanks to Heather Dewey-Hagborg for the original tutorial, 2005 + +*/ + + +// inslude the SPI library: +#include <SPI.h> + + +// set pin 10 as the slave select for the digital pot: +const int slaveSelectPin = 10; + +void setup() { + // set the slaveSelectPin as an output: + pinMode (slaveSelectPin, OUTPUT); + // initialize SPI: + SPI.begin(); +} + +void loop() { + // go through the six channels of the digital pot: + for (int channel = 0; channel < 6; channel++) { + // change the resistance on this channel from min to max: + for (int level = 0; level < 255; level++) { + digitalPotWrite(channel, level); + delay(10); + } + // wait a second at the top: + delay(100); + // change the resistance on this channel from max to min: + for (int level = 0; level < 255; level++) { + digitalPotWrite(channel, 255 - level); + delay(10); + } + } + +} + +void digitalPotWrite(int address, int value) { + // take the SS pin low to select the chip: + digitalWrite(slaveSelectPin, LOW); + // send in the address and value via SPI: + SPI.transfer(address); + SPI.transfer(value); + // take the SS pin high to de-select the chip: + digitalWrite(slaveSelectPin, HIGH); +} diff --git a/libraries/SPI/keywords.txt b/libraries/SPI/keywords.txt new file mode 100644 index 0000000..fa76165 --- /dev/null +++ b/libraries/SPI/keywords.txt @@ -0,0 +1,36 @@ +####################################### +# Syntax Coloring Map SPI +####################################### + +####################################### +# Datatypes (KEYWORD1) +####################################### + +SPI KEYWORD1 + +####################################### +# Methods and Functions (KEYWORD2) +####################################### +begin KEYWORD2 +end KEYWORD2 +transfer KEYWORD2 +setBitOrder KEYWORD2 +setDataMode KEYWORD2 +setClockDivider KEYWORD2 + + +####################################### +# Constants (LITERAL1) +####################################### +SPI_CLOCK_DIV4 LITERAL1 +SPI_CLOCK_DIV16 LITERAL1 +SPI_CLOCK_DIV64 LITERAL1 +SPI_CLOCK_DIV128 LITERAL1 +SPI_CLOCK_DIV2 LITERAL1 +SPI_CLOCK_DIV8 LITERAL1 +SPI_CLOCK_DIV32 LITERAL1 +SPI_CLOCK_DIV64 LITERAL1 +SPI_MODE0 LITERAL1 +SPI_MODE1 LITERAL1 +SPI_MODE2 LITERAL1 +SPI_MODE3 LITERAL1
\ No newline at end of file diff --git a/libraries/SoftwareSerial/SoftwareSerial.cpp b/libraries/SoftwareSerial/SoftwareSerial.cpp new file mode 100644 index 0000000..64496fe --- /dev/null +++ b/libraries/SoftwareSerial/SoftwareSerial.cpp @@ -0,0 +1,518 @@ +/*
+SoftwareSerial.cpp (formerly NewSoftSerial.cpp) -
+Multi-instance software serial library for Arduino/Wiring
+-- Interrupt-driven receive and other improvements by ladyada
+ (http://ladyada.net)
+-- Tuning, circular buffer, derivation from class Print/Stream,
+ multi-instance support, porting to 8MHz processors,
+ various optimizations, PROGMEM delay tables, inverse logic and
+ direct port writing by Mikal Hart (http://www.arduiniana.org)
+-- Pin change interrupt macros by Paul Stoffregen (http://www.pjrc.com)
+-- 20MHz processor support by Garrett Mace (http://www.macetech.com)
+-- ATmega1280/2560 support by Brett Hagman (http://www.roguerobotics.com/)
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+The latest version of this library can always be found at
+http://arduiniana.org.
+*/
+
+// When set, _DEBUG co-opts pins 11 and 13 for debugging with an
+// oscilloscope or logic analyzer. Beware: it also slightly modifies
+// the bit times, so don't rely on it too much at high baud rates
+#define _DEBUG 0
+#define _DEBUG_PIN1 11
+#define _DEBUG_PIN2 13
+//
+// Includes
+//
+#include <avr/interrupt.h>
+#include <avr/pgmspace.h>
+#include <Arduino.h>
+#include <SoftwareSerial.h>
+//
+// Lookup table
+//
+typedef struct _DELAY_TABLE
+{
+ long baud;
+ unsigned short rx_delay_centering;
+ unsigned short rx_delay_intrabit;
+ unsigned short rx_delay_stopbit;
+ unsigned short tx_delay;
+} DELAY_TABLE;
+
+#if F_CPU == 16000000
+
+static const DELAY_TABLE PROGMEM table[] =
+{
+ // baud rxcenter rxintra rxstop tx
+ { 115200, 1, 17, 17, 12, },
+ { 57600, 10, 37, 37, 33, },
+ { 38400, 25, 57, 57, 54, },
+ { 31250, 31, 70, 70, 68, },
+ { 28800, 34, 77, 77, 74, },
+ { 19200, 54, 117, 117, 114, },
+ { 14400, 74, 156, 156, 153, },
+ { 9600, 114, 236, 236, 233, },
+ { 4800, 233, 474, 474, 471, },
+ { 2400, 471, 950, 950, 947, },
+ { 1200, 947, 1902, 1902, 1899, },
+ { 600, 1902, 3804, 3804, 3800, },
+ { 300, 3804, 7617, 7617, 7614, },
+};
+
+const int XMIT_START_ADJUSTMENT = 5;
+
+#elif F_CPU == 8000000
+
+static const DELAY_TABLE table[] PROGMEM =
+{
+ // baud rxcenter rxintra rxstop tx
+ { 115200, 1, 5, 5, 3, },
+ { 57600, 1, 15, 15, 13, },
+ { 38400, 2, 25, 26, 23, },
+ { 31250, 7, 32, 33, 29, },
+ { 28800, 11, 35, 35, 32, },
+ { 19200, 20, 55, 55, 52, },
+ { 14400, 30, 75, 75, 72, },
+ { 9600, 50, 114, 114, 112, },
+ { 4800, 110, 233, 233, 230, },
+ { 2400, 229, 472, 472, 469, },
+ { 1200, 467, 948, 948, 945, },
+ { 600, 948, 1895, 1895, 1890, },
+ { 300, 1895, 3805, 3805, 3802, },
+};
+
+const int XMIT_START_ADJUSTMENT = 4;
+
+#elif F_CPU == 20000000
+
+// 20MHz support courtesy of the good people at macegr.com.
+// Thanks, Garrett!
+
+static const DELAY_TABLE PROGMEM table[] =
+{
+ // baud rxcenter rxintra rxstop tx
+ { 115200, 3, 21, 21, 18, },
+ { 57600, 20, 43, 43, 41, },
+ { 38400, 37, 73, 73, 70, },
+ { 31250, 45, 89, 89, 88, },
+ { 28800, 46, 98, 98, 95, },
+ { 19200, 71, 148, 148, 145, },
+ { 14400, 96, 197, 197, 194, },
+ { 9600, 146, 297, 297, 294, },
+ { 4800, 296, 595, 595, 592, },
+ { 2400, 592, 1189, 1189, 1186, },
+ { 1200, 1187, 2379, 2379, 2376, },
+ { 600, 2379, 4759, 4759, 4755, },
+ { 300, 4759, 9523, 9523, 9520, },
+};
+
+const int XMIT_START_ADJUSTMENT = 6;
+
+#else
+
+#error This version of SoftwareSerial supports only 20, 16 and 8MHz processors
+
+#endif
+
+//
+// Statics
+//
+SoftwareSerial *SoftwareSerial::active_object = 0;
+char SoftwareSerial::_receive_buffer[_SS_MAX_RX_BUFF];
+volatile uint8_t SoftwareSerial::_receive_buffer_tail = 0;
+volatile uint8_t SoftwareSerial::_receive_buffer_head = 0;
+
+//
+// Debugging
+//
+// This function generates a brief pulse
+// for debugging or measuring on an oscilloscope.
+inline void DebugPulse(uint8_t pin, uint8_t count)
+{
+#if _DEBUG
+ volatile uint8_t *pport = portOutputRegister(digitalPinToPort(pin));
+
+ uint8_t val = *pport;
+ while (count--)
+ {
+ *pport = val | digitalPinToBitMask(pin);
+ *pport = val;
+ }
+#endif
+}
+
+//
+// Private methods
+//
+
+/* static */
+inline void SoftwareSerial::tunedDelay(uint16_t delay) {
+ uint8_t tmp=0;
+
+ asm volatile("sbiw %0, 0x01 \n\t"
+ "ldi %1, 0xFF \n\t"
+ "cpi %A0, 0xFF \n\t"
+ "cpc %B0, %1 \n\t"
+ "brne .-10 \n\t"
+ : "+r" (delay), "+a" (tmp)
+ : "0" (delay)
+ );
+}
+
+// This function sets the current object as the "listening"
+// one and returns true if it replaces another
+bool SoftwareSerial::listen()
+{
+ if (active_object != this)
+ {
+ _buffer_overflow = false;
+ uint8_t oldSREG = SREG;
+ cli();
+ _receive_buffer_head = _receive_buffer_tail = 0;
+ active_object = this;
+ SREG = oldSREG;
+ return true;
+ }
+
+ return false;
+}
+
+//
+// The receive routine called by the interrupt handler
+//
+void SoftwareSerial::recv()
+{
+
+#if GCC_VERSION < 40302
+// Work-around for avr-gcc 4.3.0 OSX version bug
+// Preserve the registers that the compiler misses
+// (courtesy of Arduino forum user *etracer*)
+ asm volatile(
+ "push r18 \n\t"
+ "push r19 \n\t"
+ "push r20 \n\t"
+ "push r21 \n\t"
+ "push r22 \n\t"
+ "push r23 \n\t"
+ "push r26 \n\t"
+ "push r27 \n\t"
+ ::);
+#endif
+
+ uint8_t d = 0;
+
+ // If RX line is high, then we don't see any start bit
+ // so interrupt is probably not for us
+ if (_inverse_logic ? rx_pin_read() : !rx_pin_read())
+ {
+ // Wait approximately 1/2 of a bit width to "center" the sample
+ tunedDelay(_rx_delay_centering);
+ DebugPulse(_DEBUG_PIN2, 1);
+
+ // Read each of the 8 bits
+ for (uint8_t i=0x1; i; i <<= 1)
+ {
+ tunedDelay(_rx_delay_intrabit);
+ DebugPulse(_DEBUG_PIN2, 1);
+ uint8_t noti = ~i;
+ if (rx_pin_read())
+ d |= i;
+ else // else clause added to ensure function timing is ~balanced
+ d &= noti;
+ }
+
+ // skip the stop bit
+ tunedDelay(_rx_delay_stopbit);
+ DebugPulse(_DEBUG_PIN2, 1);
+
+ if (_inverse_logic)
+ d = ~d;
+
+ // if buffer full, set the overflow flag and return
+ if ((_receive_buffer_tail + 1) % _SS_MAX_RX_BUFF != _receive_buffer_head)
+ {
+ // save new data in buffer: tail points to where byte goes
+ _receive_buffer[_receive_buffer_tail] = d; // save new byte
+ _receive_buffer_tail = (_receive_buffer_tail + 1) % _SS_MAX_RX_BUFF;
+ }
+ else
+ {
+#if _DEBUG // for scope: pulse pin as overflow indictator
+ DebugPulse(_DEBUG_PIN1, 1);
+#endif
+ _buffer_overflow = true;
+ }
+ }
+
+#if GCC_VERSION < 40302
+// Work-around for avr-gcc 4.3.0 OSX version bug
+// Restore the registers that the compiler misses
+ asm volatile(
+ "pop r27 \n\t"
+ "pop r26 \n\t"
+ "pop r23 \n\t"
+ "pop r22 \n\t"
+ "pop r21 \n\t"
+ "pop r20 \n\t"
+ "pop r19 \n\t"
+ "pop r18 \n\t"
+ ::);
+#endif
+}
+
+void SoftwareSerial::tx_pin_write(uint8_t pin_state)
+{
+ if (pin_state == LOW)
+ *_transmitPortRegister &= ~_transmitBitMask;
+ else
+ *_transmitPortRegister |= _transmitBitMask;
+}
+
+uint8_t SoftwareSerial::rx_pin_read()
+{
+ return *_receivePortRegister & _receiveBitMask;
+}
+
+//
+// Interrupt handling
+//
+
+/* static */
+inline void SoftwareSerial::handle_interrupt()
+{
+ if (active_object)
+ {
+ active_object->recv();
+ }
+}
+
+#if defined(PCINT0_vect)
+ISR(PCINT0_vect)
+{
+ SoftwareSerial::handle_interrupt();
+}
+#endif
+
+#if defined(PCINT1_vect)
+ISR(PCINT1_vect)
+{
+ SoftwareSerial::handle_interrupt();
+}
+#endif
+
+#if defined(PCINT2_vect)
+ISR(PCINT2_vect)
+{
+ SoftwareSerial::handle_interrupt();
+}
+#endif
+
+#if defined(PCINT3_vect)
+ISR(PCINT3_vect)
+{
+ SoftwareSerial::handle_interrupt();
+}
+#endif
+
+//
+// Constructor
+//
+SoftwareSerial::SoftwareSerial(uint8_t receivePin, uint8_t transmitPin, bool inverse_logic /* = false */) :
+ _rx_delay_centering(0),
+ _rx_delay_intrabit(0),
+ _rx_delay_stopbit(0),
+ _tx_delay(0),
+ _buffer_overflow(false),
+ _inverse_logic(inverse_logic)
+{
+ setTX(transmitPin);
+ setRX(receivePin);
+}
+
+//
+// Destructor
+//
+SoftwareSerial::~SoftwareSerial()
+{
+ end();
+}
+
+void SoftwareSerial::setTX(uint8_t tx)
+{
+ pinMode(tx, OUTPUT);
+ digitalWrite(tx, HIGH);
+ _transmitBitMask = digitalPinToBitMask(tx);
+ uint8_t port = digitalPinToPort(tx);
+ _transmitPortRegister = portOutputRegister(port);
+}
+
+void SoftwareSerial::setRX(uint8_t rx)
+{
+ pinMode(rx, INPUT);
+ if (!_inverse_logic)
+ digitalWrite(rx, HIGH); // pullup for normal logic!
+ _receivePin = rx;
+ _receiveBitMask = digitalPinToBitMask(rx);
+ uint8_t port = digitalPinToPort(rx);
+ _receivePortRegister = portInputRegister(port);
+}
+
+//
+// Public methods
+//
+
+void SoftwareSerial::begin(long speed)
+{
+ _rx_delay_centering = _rx_delay_intrabit = _rx_delay_stopbit = _tx_delay = 0;
+
+ for (unsigned i=0; i<sizeof(table)/sizeof(table[0]); ++i)
+ {
+ long baud = pgm_read_dword(&table[i].baud);
+ if (baud == speed)
+ {
+ _rx_delay_centering = pgm_read_word(&table[i].rx_delay_centering);
+ _rx_delay_intrabit = pgm_read_word(&table[i].rx_delay_intrabit);
+ _rx_delay_stopbit = pgm_read_word(&table[i].rx_delay_stopbit);
+ _tx_delay = pgm_read_word(&table[i].tx_delay);
+ break;
+ }
+ }
+
+ // Set up RX interrupts, but only if we have a valid RX baud rate
+ if (_rx_delay_stopbit)
+ {
+ if (digitalPinToPCICR(_receivePin))
+ {
+ *digitalPinToPCICR(_receivePin) |= _BV(digitalPinToPCICRbit(_receivePin));
+ *digitalPinToPCMSK(_receivePin) |= _BV(digitalPinToPCMSKbit(_receivePin));
+ }
+ tunedDelay(_tx_delay); // if we were low this establishes the end
+ }
+
+#if _DEBUG
+ pinMode(_DEBUG_PIN1, OUTPUT);
+ pinMode(_DEBUG_PIN2, OUTPUT);
+#endif
+
+ listen();
+}
+
+void SoftwareSerial::end()
+{
+ if (digitalPinToPCMSK(_receivePin))
+ *digitalPinToPCMSK(_receivePin) &= ~_BV(digitalPinToPCMSKbit(_receivePin));
+}
+
+
+// Read data from buffer
+int SoftwareSerial::read()
+{
+ if (!isListening())
+ return -1;
+
+ // Empty buffer?
+ if (_receive_buffer_head == _receive_buffer_tail)
+ return -1;
+
+ // Read from "head"
+ uint8_t d = _receive_buffer[_receive_buffer_head]; // grab next byte
+ _receive_buffer_head = (_receive_buffer_head + 1) % _SS_MAX_RX_BUFF;
+ return d;
+}
+
+int SoftwareSerial::available()
+{
+ if (!isListening())
+ return 0;
+
+ return (_receive_buffer_tail + _SS_MAX_RX_BUFF - _receive_buffer_head) % _SS_MAX_RX_BUFF;
+}
+
+size_t SoftwareSerial::write(uint8_t b)
+{
+ if (_tx_delay == 0) {
+ setWriteError();
+ return 0;
+ }
+
+ uint8_t oldSREG = SREG;
+ cli(); // turn off interrupts for a clean txmit
+
+ // Write the start bit
+ tx_pin_write(_inverse_logic ? HIGH : LOW);
+ tunedDelay(_tx_delay + XMIT_START_ADJUSTMENT);
+
+ // Write each of the 8 bits
+ if (_inverse_logic)
+ {
+ for (byte mask = 0x01; mask; mask <<= 1)
+ {
+ if (b & mask) // choose bit
+ tx_pin_write(LOW); // send 1
+ else
+ tx_pin_write(HIGH); // send 0
+
+ tunedDelay(_tx_delay);
+ }
+
+ tx_pin_write(LOW); // restore pin to natural state
+ }
+ else
+ {
+ for (byte mask = 0x01; mask; mask <<= 1)
+ {
+ if (b & mask) // choose bit
+ tx_pin_write(HIGH); // send 1
+ else
+ tx_pin_write(LOW); // send 0
+
+ tunedDelay(_tx_delay);
+ }
+
+ tx_pin_write(HIGH); // restore pin to natural state
+ }
+
+ SREG = oldSREG; // turn interrupts back on
+ tunedDelay(_tx_delay);
+
+ return 1;
+}
+
+void SoftwareSerial::flush()
+{
+ if (!isListening())
+ return;
+
+ uint8_t oldSREG = SREG;
+ cli();
+ _receive_buffer_head = _receive_buffer_tail = 0;
+ SREG = oldSREG;
+}
+
+int SoftwareSerial::peek()
+{
+ if (!isListening())
+ return -1;
+
+ // Empty buffer?
+ if (_receive_buffer_head == _receive_buffer_tail)
+ return -1;
+
+ // Read from "head"
+ return _receive_buffer[_receive_buffer_head];
+}
diff --git a/libraries/SoftwareSerial/SoftwareSerial.h b/libraries/SoftwareSerial/SoftwareSerial.h new file mode 100644 index 0000000..a6a60b5 --- /dev/null +++ b/libraries/SoftwareSerial/SoftwareSerial.h @@ -0,0 +1,112 @@ +/*
+SoftwareSerial.h (formerly NewSoftSerial.h) -
+Multi-instance software serial library for Arduino/Wiring
+-- Interrupt-driven receive and other improvements by ladyada
+ (http://ladyada.net)
+-- Tuning, circular buffer, derivation from class Print/Stream,
+ multi-instance support, porting to 8MHz processors,
+ various optimizations, PROGMEM delay tables, inverse logic and
+ direct port writing by Mikal Hart (http://www.arduiniana.org)
+-- Pin change interrupt macros by Paul Stoffregen (http://www.pjrc.com)
+-- 20MHz processor support by Garrett Mace (http://www.macetech.com)
+-- ATmega1280/2560 support by Brett Hagman (http://www.roguerobotics.com/)
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+The latest version of this library can always be found at
+http://arduiniana.org.
+*/
+
+#ifndef SoftwareSerial_h
+#define SoftwareSerial_h
+
+#include <inttypes.h>
+#include <Stream.h>
+
+/******************************************************************************
+* Definitions
+******************************************************************************/
+
+#define _SS_MAX_RX_BUFF 64 // RX buffer size
+#ifndef GCC_VERSION
+#define GCC_VERSION (__GNUC__ * 10000 + __GNUC_MINOR__ * 100 + __GNUC_PATCHLEVEL__)
+#endif
+
+class SoftwareSerial : public Stream
+{
+private:
+ // per object data
+ uint8_t _receivePin;
+ uint8_t _receiveBitMask;
+ volatile uint8_t *_receivePortRegister;
+ uint8_t _transmitBitMask;
+ volatile uint8_t *_transmitPortRegister;
+
+ uint16_t _rx_delay_centering;
+ uint16_t _rx_delay_intrabit;
+ uint16_t _rx_delay_stopbit;
+ uint16_t _tx_delay;
+
+ uint16_t _buffer_overflow:1;
+ uint16_t _inverse_logic:1;
+
+ // static data
+ static char _receive_buffer[_SS_MAX_RX_BUFF];
+ static volatile uint8_t _receive_buffer_tail;
+ static volatile uint8_t _receive_buffer_head;
+ static SoftwareSerial *active_object;
+
+ // private methods
+ void recv();
+ uint8_t rx_pin_read();
+ void tx_pin_write(uint8_t pin_state);
+ void setTX(uint8_t transmitPin);
+ void setRX(uint8_t receivePin);
+
+ // private static method for timing
+ static inline void tunedDelay(uint16_t delay);
+
+public:
+ // public methods
+ SoftwareSerial(uint8_t receivePin, uint8_t transmitPin, bool inverse_logic = false);
+ ~SoftwareSerial();
+ void begin(long speed);
+ bool listen();
+ void end();
+ bool isListening() { return this == active_object; }
+ bool overflow() { bool ret = _buffer_overflow; _buffer_overflow = false; return ret; }
+ int peek();
+
+ virtual size_t write(uint8_t byte);
+ virtual int read();
+ virtual int available();
+ virtual void flush();
+
+ using Print::write;
+
+ // public only for easy access by interrupt handlers
+ static inline void handle_interrupt();
+};
+
+// Arduino 0012 workaround
+#undef int
+#undef char
+#undef long
+#undef byte
+#undef float
+#undef abs
+#undef round
+
+#endif
diff --git a/libraries/SoftwareSerial/examples/SoftwareSerialExample/SoftwareSerialExample.ino b/libraries/SoftwareSerial/examples/SoftwareSerialExample/SoftwareSerialExample.ino new file mode 100644 index 0000000..f659133 --- /dev/null +++ b/libraries/SoftwareSerial/examples/SoftwareSerialExample/SoftwareSerialExample.ino @@ -0,0 +1,55 @@ +/* + Software serial multple serial test + + Receives from the hardware serial, sends to software serial. + Receives from software serial, sends to hardware serial. + + The circuit: + * RX is digital pin 10 (connect to TX of other device) + * TX is digital pin 11 (connect to RX of other device) + + Note: + Not all pins on the Mega and Mega 2560 support change interrupts, + so only the following can be used for RX: + 10, 11, 12, 13, 50, 51, 52, 53, 62, 63, 64, 65, 66, 67, 68, 69 + + Not all pins on the Leonardo support change interrupts, + so only the following can be used for RX: + 8, 9, 10, 11, 14 (MISO), 15 (SCK), 16 (MOSI). + + created back in the mists of time + modified 25 May 2012 + by Tom Igoe + based on Mikal Hart's example + + This example code is in the public domain. + + */ +#include <SoftwareSerial.h> + +SoftwareSerial mySerial(10, 11); // RX, TX + +void setup() +{ + // Open serial communications and wait for port to open: + Serial.begin(57600); + while (!Serial) { + ; // wait for serial port to connect. Needed for Leonardo only + } + + + Serial.println("Goodnight moon!"); + + // set the data rate for the SoftwareSerial port + mySerial.begin(4800); + mySerial.println("Hello, world?"); +} + +void loop() // run over and over +{ + if (mySerial.available()) + Serial.write(mySerial.read()); + if (Serial.available()) + mySerial.write(Serial.read()); +} + diff --git a/libraries/SoftwareSerial/examples/TwoPortReceive/TwoPortReceive.ino b/libraries/SoftwareSerial/examples/TwoPortReceive/TwoPortReceive.ino new file mode 100644 index 0000000..95881a6 --- /dev/null +++ b/libraries/SoftwareSerial/examples/TwoPortReceive/TwoPortReceive.ino @@ -0,0 +1,93 @@ +/* + Software serial multple serial test + + Receives from the two software serial ports, + sends to the hardware serial port. + + In order to listen on a software port, you call port.listen(). + When using two software serial ports, you have to switch ports + by listen()ing on each one in turn. Pick a logical time to switch + ports, like the end of an expected transmission, or when the + buffer is empty. This example switches ports when there is nothing + more to read from a port + + The circuit: + Two devices which communicate serially are needed. + * First serial device's TX attached to digital pin 2, RX to pin 3 + * Second serial device's TX attached to digital pin 4, RX to pin 5 + + Note: + Not all pins on the Mega and Mega 2560 support change interrupts, + so only the following can be used for RX: + 10, 11, 12, 13, 50, 51, 52, 53, 62, 63, 64, 65, 66, 67, 68, 69 + + Not all pins on the Leonardo support change interrupts, + so only the following can be used for RX: + 8, 9, 10, 11, 14 (MISO), 15 (SCK), 16 (MOSI). + + created 18 Apr. 2011 + modified 25 May 2012 + by Tom Igoe + based on Mikal Hart's twoPortRXExample + + This example code is in the public domain. + + */ + +#include <SoftwareSerial.h> +// software serial #1: TX = digital pin 10, RX = digital pin 11 +SoftwareSerial portOne(10, 11); + +// software serial #2: TX = digital pin 8, RX = digital pin 9 +// on the Mega, use other pins instead, since 8 and 9 don't work on the Mega +SoftwareSerial portTwo(8, 9); + +void setup() +{ + // Open serial communications and wait for port to open: + Serial.begin(9600); + while (!Serial) { + ; // wait for serial port to connect. Needed for Leonardo only + } + + + // Start each software serial port + portOne.begin(9600); + portTwo.begin(9600); +} + +void loop() +{ + // By default, the last intialized port is listening. + // when you want to listen on a port, explicitly select it: + portOne.listen(); + Serial.println("Data from port one:"); + // while there is data coming in, read it + // and send to the hardware serial port: + while (portOne.available() > 0) { + char inByte = portOne.read(); + Serial.write(inByte); + } + + // blank line to separate data from the two ports: + Serial.println(); + + // Now listen on the second port + portTwo.listen(); + // while there is data coming in, read it + // and send to the hardware serial port: + Serial.println("Data from port two:"); + while (portTwo.available() > 0) { + char inByte = portTwo.read(); + Serial.write(inByte); + } + + // blank line to separate data from the two ports: + Serial.println(); +} + + + + + + diff --git a/libraries/SoftwareSerial/keywords.txt b/libraries/SoftwareSerial/keywords.txt new file mode 100644 index 0000000..aaea17c --- /dev/null +++ b/libraries/SoftwareSerial/keywords.txt @@ -0,0 +1,30 @@ +####################################### +# Syntax Coloring Map for SoftwareSerial +# (formerly NewSoftSerial) +####################################### + +####################################### +# Datatypes (KEYWORD1) +####################################### + +SoftwareSerial KEYWORD1 + +####################################### +# Methods and Functions (KEYWORD2) +####################################### + +begin KEYWORD2 +end KEYWORD2 +read KEYWORD2 +write KEYWORD2 +available KEYWORD2 +isListening KEYWORD2 +overflow KEYWORD2 +flush KEYWORD2 +listen KEYWORD2 +peek KEYWORD2 + +####################################### +# Constants (LITERAL1) +####################################### + diff --git a/libraries/Wire/Wire.cpp b/libraries/Wire/Wire.cpp new file mode 100644 index 0000000..4e7a17c --- /dev/null +++ b/libraries/Wire/Wire.cpp @@ -0,0 +1,298 @@ +/* + TwoWire.cpp - TWI/I2C library for Wiring & Arduino + Copyright (c) 2006 Nicholas Zambetti. All right reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + + Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts +*/ + +extern "C" { + #include <stdlib.h> + #include <string.h> + #include <inttypes.h> + #include "twi.h" +} + +#include "Wire.h" + +// Initialize Class Variables ////////////////////////////////////////////////// + +uint8_t TwoWire::rxBuffer[BUFFER_LENGTH]; +uint8_t TwoWire::rxBufferIndex = 0; +uint8_t TwoWire::rxBufferLength = 0; + +uint8_t TwoWire::txAddress = 0; +uint8_t TwoWire::txBuffer[BUFFER_LENGTH]; +uint8_t TwoWire::txBufferIndex = 0; +uint8_t TwoWire::txBufferLength = 0; + +uint8_t TwoWire::transmitting = 0; +void (*TwoWire::user_onRequest)(void); +void (*TwoWire::user_onReceive)(int); + +// Constructors //////////////////////////////////////////////////////////////// + +TwoWire::TwoWire() +{ +} + +// Public Methods ////////////////////////////////////////////////////////////// + +void TwoWire::begin(void) +{ + rxBufferIndex = 0; + rxBufferLength = 0; + + txBufferIndex = 0; + txBufferLength = 0; + + twi_init(); +} + +void TwoWire::begin(uint8_t address) +{ + twi_setAddress(address); + twi_attachSlaveTxEvent(onRequestService); + twi_attachSlaveRxEvent(onReceiveService); + begin(); +} + +void TwoWire::begin(int address) +{ + begin((uint8_t)address); +} + +uint8_t TwoWire::requestFrom(uint8_t address, uint8_t quantity, uint8_t sendStop) +{ + // clamp to buffer length + if(quantity > BUFFER_LENGTH){ + quantity = BUFFER_LENGTH; + } + // perform blocking read into buffer + uint8_t read = twi_readFrom(address, rxBuffer, quantity, sendStop); + // set rx buffer iterator vars + rxBufferIndex = 0; + rxBufferLength = read; + + return read; +} + +uint8_t TwoWire::requestFrom(uint8_t address, uint8_t quantity) +{ + return requestFrom((uint8_t)address, (uint8_t)quantity, (uint8_t)true); +} + +uint8_t TwoWire::requestFrom(int address, int quantity) +{ + return requestFrom((uint8_t)address, (uint8_t)quantity, (uint8_t)true); +} + +uint8_t TwoWire::requestFrom(int address, int quantity, int sendStop) +{ + return requestFrom((uint8_t)address, (uint8_t)quantity, (uint8_t)sendStop); +} + +void TwoWire::beginTransmission(uint8_t address) +{ + // indicate that we are transmitting + transmitting = 1; + // set address of targeted slave + txAddress = address; + // reset tx buffer iterator vars + txBufferIndex = 0; + txBufferLength = 0; +} + +void TwoWire::beginTransmission(int address) +{ + beginTransmission((uint8_t)address); +} + +// +// Originally, 'endTransmission' was an f(void) function. +// It has been modified to take one parameter indicating +// whether or not a STOP should be performed on the bus. +// Calling endTransmission(false) allows a sketch to +// perform a repeated start. +// +// WARNING: Nothing in the library keeps track of whether +// the bus tenure has been properly ended with a STOP. It +// is very possible to leave the bus in a hung state if +// no call to endTransmission(true) is made. Some I2C +// devices will behave oddly if they do not see a STOP. +// +uint8_t TwoWire::endTransmission(uint8_t sendStop) +{ + // transmit buffer (blocking) + int8_t ret = twi_writeTo(txAddress, txBuffer, txBufferLength, 1, sendStop); + // reset tx buffer iterator vars + txBufferIndex = 0; + txBufferLength = 0; + // indicate that we are done transmitting + transmitting = 0; + return ret; +} + +// This provides backwards compatibility with the original +// definition, and expected behaviour, of endTransmission +// +uint8_t TwoWire::endTransmission(void) +{ + return endTransmission(true); +} + +// must be called in: +// slave tx event callback +// or after beginTransmission(address) +size_t TwoWire::write(uint8_t data) +{ + if(transmitting){ + // in master transmitter mode + // don't bother if buffer is full + if(txBufferLength >= BUFFER_LENGTH){ + setWriteError(); + return 0; + } + // put byte in tx buffer + txBuffer[txBufferIndex] = data; + ++txBufferIndex; + // update amount in buffer + txBufferLength = txBufferIndex; + }else{ + // in slave send mode + // reply to master + twi_transmit(&data, 1); + } + return 1; +} + +// must be called in: +// slave tx event callback +// or after beginTransmission(address) +size_t TwoWire::write(const uint8_t *data, size_t quantity) +{ + if(transmitting){ + // in master transmitter mode + for(size_t i = 0; i < quantity; ++i){ + write(data[i]); + } + }else{ + // in slave send mode + // reply to master + twi_transmit(data, quantity); + } + return quantity; +} + +// must be called in: +// slave rx event callback +// or after requestFrom(address, numBytes) +int TwoWire::available(void) +{ + return rxBufferLength - rxBufferIndex; +} + +// must be called in: +// slave rx event callback +// or after requestFrom(address, numBytes) +int TwoWire::read(void) +{ + int value = -1; + + // get each successive byte on each call + if(rxBufferIndex < rxBufferLength){ + value = rxBuffer[rxBufferIndex]; + ++rxBufferIndex; + } + + return value; +} + +// must be called in: +// slave rx event callback +// or after requestFrom(address, numBytes) +int TwoWire::peek(void) +{ + int value = -1; + + if(rxBufferIndex < rxBufferLength){ + value = rxBuffer[rxBufferIndex]; + } + + return value; +} + +void TwoWire::flush(void) +{ + // XXX: to be implemented. +} + +// behind the scenes function that is called when data is received +void TwoWire::onReceiveService(uint8_t* inBytes, int numBytes) +{ + // don't bother if user hasn't registered a callback + if(!user_onReceive){ + return; + } + // don't bother if rx buffer is in use by a master requestFrom() op + // i know this drops data, but it allows for slight stupidity + // meaning, they may not have read all the master requestFrom() data yet + if(rxBufferIndex < rxBufferLength){ + return; + } + // copy twi rx buffer into local read buffer + // this enables new reads to happen in parallel + for(uint8_t i = 0; i < numBytes; ++i){ + rxBuffer[i] = inBytes[i]; + } + // set rx iterator vars + rxBufferIndex = 0; + rxBufferLength = numBytes; + // alert user program + user_onReceive(numBytes); +} + +// behind the scenes function that is called when data is requested +void TwoWire::onRequestService(void) +{ + // don't bother if user hasn't registered a callback + if(!user_onRequest){ + return; + } + // reset tx buffer iterator vars + // !!! this will kill any pending pre-master sendTo() activity + txBufferIndex = 0; + txBufferLength = 0; + // alert user program + user_onRequest(); +} + +// sets function called on slave write +void TwoWire::onReceive( void (*function)(int) ) +{ + user_onReceive = function; +} + +// sets function called on slave read +void TwoWire::onRequest( void (*function)(void) ) +{ + user_onRequest = function; +} + +// Preinstantiate Objects ////////////////////////////////////////////////////// + +TwoWire Wire = TwoWire(); + diff --git a/libraries/Wire/Wire.h b/libraries/Wire/Wire.h new file mode 100644 index 0000000..a93d0f5 --- /dev/null +++ b/libraries/Wire/Wire.h @@ -0,0 +1,79 @@ +/* + TwoWire.h - TWI/I2C library for Arduino & Wiring + Copyright (c) 2006 Nicholas Zambetti. All right reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + + Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts +*/ + +#ifndef TwoWire_h +#define TwoWire_h + +#include <inttypes.h> +#include "Stream.h" + +#define BUFFER_LENGTH 32 + +class TwoWire : public Stream +{ + private: + static uint8_t rxBuffer[]; + static uint8_t rxBufferIndex; + static uint8_t rxBufferLength; + + static uint8_t txAddress; + static uint8_t txBuffer[]; + static uint8_t txBufferIndex; + static uint8_t txBufferLength; + + static uint8_t transmitting; + static void (*user_onRequest)(void); + static void (*user_onReceive)(int); + static void onRequestService(void); + static void onReceiveService(uint8_t*, int); + public: + TwoWire(); + void begin(); + void begin(uint8_t); + void begin(int); + void beginTransmission(uint8_t); + void beginTransmission(int); + uint8_t endTransmission(void); + uint8_t endTransmission(uint8_t); + uint8_t requestFrom(uint8_t, uint8_t); + uint8_t requestFrom(uint8_t, uint8_t, uint8_t); + uint8_t requestFrom(int, int); + uint8_t requestFrom(int, int, int); + virtual size_t write(uint8_t); + virtual size_t write(const uint8_t *, size_t); + virtual int available(void); + virtual int read(void); + virtual int peek(void); + virtual void flush(void); + void onReceive( void (*)(int) ); + void onRequest( void (*)(void) ); + + inline size_t write(unsigned long n) { return write((uint8_t)n); } + inline size_t write(long n) { return write((uint8_t)n); } + inline size_t write(unsigned int n) { return write((uint8_t)n); } + inline size_t write(int n) { return write((uint8_t)n); } + using Print::write; +}; + +extern TwoWire Wire; + +#endif + diff --git a/libraries/Wire/examples/SFRRanger_reader/SFRRanger_reader.ino b/libraries/Wire/examples/SFRRanger_reader/SFRRanger_reader.ino new file mode 100644 index 0000000..d97a9e3 --- /dev/null +++ b/libraries/Wire/examples/SFRRanger_reader/SFRRanger_reader.ino @@ -0,0 +1,87 @@ +// I2C SRF10 or SRF08 Devantech Ultrasonic Ranger Finder +// by Nicholas Zambetti <http://www.zambetti.com> +// and James Tichenor <http://www.jamestichenor.net> + +// Demonstrates use of the Wire library reading data from the +// Devantech Utrasonic Rangers SFR08 and SFR10 + +// Created 29 April 2006 + +// This example code is in the public domain. + + +#include <Wire.h> + +void setup() +{ + Wire.begin(); // join i2c bus (address optional for master) + Serial.begin(9600); // start serial communication at 9600bps +} + +int reading = 0; + +void loop() +{ + // step 1: instruct sensor to read echoes + Wire.beginTransmission(112); // transmit to device #112 (0x70) + // the address specified in the datasheet is 224 (0xE0) + // but i2c adressing uses the high 7 bits so it's 112 + Wire.write(byte(0x00)); // sets register pointer to the command register (0x00) + Wire.write(byte(0x50)); // command sensor to measure in "inches" (0x50) + // use 0x51 for centimeters + // use 0x52 for ping microseconds + Wire.endTransmission(); // stop transmitting + + // step 2: wait for readings to happen + delay(70); // datasheet suggests at least 65 milliseconds + + // step 3: instruct sensor to return a particular echo reading + Wire.beginTransmission(112); // transmit to device #112 + Wire.write(byte(0x02)); // sets register pointer to echo #1 register (0x02) + Wire.endTransmission(); // stop transmitting + + // step 4: request reading from sensor + Wire.requestFrom(112, 2); // request 2 bytes from slave device #112 + + // step 5: receive reading from sensor + if (2 <= Wire.available()) // if two bytes were received + { + reading = Wire.read(); // receive high byte (overwrites previous reading) + reading = reading << 8; // shift high byte to be high 8 bits + reading |= Wire.read(); // receive low byte as lower 8 bits + Serial.println(reading); // print the reading + } + + delay(250); // wait a bit since people have to read the output :) +} + + +/* + +// The following code changes the address of a Devantech Ultrasonic Range Finder (SRF10 or SRF08) +// usage: changeAddress(0x70, 0xE6); + +void changeAddress(byte oldAddress, byte newAddress) +{ + Wire.beginTransmission(oldAddress); + Wire.write(byte(0x00)); + Wire.write(byte(0xA0)); + Wire.endTransmission(); + + Wire.beginTransmission(oldAddress); + Wire.write(byte(0x00)); + Wire.write(byte(0xAA)); + Wire.endTransmission(); + + Wire.beginTransmission(oldAddress); + Wire.write(byte(0x00)); + Wire.write(byte(0xA5)); + Wire.endTransmission(); + + Wire.beginTransmission(oldAddress); + Wire.write(byte(0x00)); + Wire.write(newAddress); + Wire.endTransmission(); +} + +*/ diff --git a/libraries/Wire/examples/digital_potentiometer/digital_potentiometer.ino b/libraries/Wire/examples/digital_potentiometer/digital_potentiometer.ino new file mode 100644 index 0000000..4d1580a --- /dev/null +++ b/libraries/Wire/examples/digital_potentiometer/digital_potentiometer.ino @@ -0,0 +1,39 @@ +// I2C Digital Potentiometer +// by Nicholas Zambetti <http://www.zambetti.com> +// and Shawn Bonkowski <http://people.interaction-ivrea.it/s.bonkowski/> + +// Demonstrates use of the Wire library +// Controls AD5171 digital potentiometer via I2C/TWI + +// Created 31 March 2006 + +// This example code is in the public domain. + +// This example code is in the public domain. + + +#include <Wire.h> + +void setup() +{ + Wire.begin(); // join i2c bus (address optional for master) +} + +byte val = 0; + +void loop() +{ + Wire.beginTransmission(44); // transmit to device #44 (0x2c) + // device address is specified in datasheet + Wire.write(byte(0x00)); // sends instruction byte + Wire.write(val); // sends potentiometer value byte + Wire.endTransmission(); // stop transmitting + + val++; // increment value + if (val == 64) // if reached 64th position (max) + { + val = 0; // start over from lowest value + } + delay(500); +} + diff --git a/libraries/Wire/examples/master_reader/master_reader.ino b/libraries/Wire/examples/master_reader/master_reader.ino new file mode 100644 index 0000000..74f0155 --- /dev/null +++ b/libraries/Wire/examples/master_reader/master_reader.ino @@ -0,0 +1,32 @@ +// Wire Master Reader +// by Nicholas Zambetti <http://www.zambetti.com> + +// Demonstrates use of the Wire library +// Reads data from an I2C/TWI slave device +// Refer to the "Wire Slave Sender" example for use with this + +// Created 29 March 2006 + +// This example code is in the public domain. + + +#include <Wire.h> + +void setup() +{ + Wire.begin(); // join i2c bus (address optional for master) + Serial.begin(9600); // start serial for output +} + +void loop() +{ + Wire.requestFrom(2, 6); // request 6 bytes from slave device #2 + + while (Wire.available()) // slave may send less than requested + { + char c = Wire.read(); // receive a byte as character + Serial.print(c); // print the character + } + + delay(500); +} diff --git a/libraries/Wire/examples/master_writer/master_writer.ino b/libraries/Wire/examples/master_writer/master_writer.ino new file mode 100644 index 0000000..482e922 --- /dev/null +++ b/libraries/Wire/examples/master_writer/master_writer.ino @@ -0,0 +1,31 @@ +// Wire Master Writer +// by Nicholas Zambetti <http://www.zambetti.com> + +// Demonstrates use of the Wire library +// Writes data to an I2C/TWI slave device +// Refer to the "Wire Slave Receiver" example for use with this + +// Created 29 March 2006 + +// This example code is in the public domain. + + +#include <Wire.h> + +void setup() +{ + Wire.begin(); // join i2c bus (address optional for master) +} + +byte x = 0; + +void loop() +{ + Wire.beginTransmission(4); // transmit to device #4 + Wire.write("x is "); // sends five bytes + Wire.write(x); // sends one byte + Wire.endTransmission(); // stop transmitting + + x++; + delay(500); +} diff --git a/libraries/Wire/examples/slave_receiver/slave_receiver.ino b/libraries/Wire/examples/slave_receiver/slave_receiver.ino new file mode 100644 index 0000000..15eff9a --- /dev/null +++ b/libraries/Wire/examples/slave_receiver/slave_receiver.ino @@ -0,0 +1,38 @@ +// Wire Slave Receiver +// by Nicholas Zambetti <http://www.zambetti.com> + +// Demonstrates use of the Wire library +// Receives data as an I2C/TWI slave device +// Refer to the "Wire Master Writer" example for use with this + +// Created 29 March 2006 + +// This example code is in the public domain. + + +#include <Wire.h> + +void setup() +{ + Wire.begin(4); // join i2c bus with address #4 + Wire.onReceive(receiveEvent); // register event + Serial.begin(9600); // start serial for output +} + +void loop() +{ + delay(100); +} + +// function that executes whenever data is received from master +// this function is registered as an event, see setup() +void receiveEvent(int howMany) +{ + while (1 < Wire.available()) // loop through all but the last + { + char c = Wire.read(); // receive byte as a character + Serial.print(c); // print the character + } + int x = Wire.read(); // receive byte as an integer + Serial.println(x); // print the integer +} diff --git a/libraries/Wire/examples/slave_sender/slave_sender.ino b/libraries/Wire/examples/slave_sender/slave_sender.ino new file mode 100644 index 0000000..4437ab1 --- /dev/null +++ b/libraries/Wire/examples/slave_sender/slave_sender.ino @@ -0,0 +1,32 @@ +// Wire Slave Sender +// by Nicholas Zambetti <http://www.zambetti.com> + +// Demonstrates use of the Wire library +// Sends data as an I2C/TWI slave device +// Refer to the "Wire Master Reader" example for use with this + +// Created 29 March 2006 + +// This example code is in the public domain. + + +#include <Wire.h> + +void setup() +{ + Wire.begin(2); // join i2c bus with address #2 + Wire.onRequest(requestEvent); // register event +} + +void loop() +{ + delay(100); +} + +// function that executes whenever data is requested by master +// this function is registered as an event, see setup() +void requestEvent() +{ + Wire.write("hello "); // respond with message of 6 bytes + // as expected by master +} diff --git a/libraries/Wire/keywords.txt b/libraries/Wire/keywords.txt new file mode 100644 index 0000000..12f129b --- /dev/null +++ b/libraries/Wire/keywords.txt @@ -0,0 +1,31 @@ +####################################### +# Syntax Coloring Map For Wire +####################################### + +####################################### +# Datatypes (KEYWORD1) +####################################### + +####################################### +# Methods and Functions (KEYWORD2) +####################################### + +begin KEYWORD2 +beginTransmission KEYWORD2 +endTransmission KEYWORD2 +requestFrom KEYWORD2 +send KEYWORD2 +receive KEYWORD2 +onReceive KEYWORD2 +onRequest KEYWORD2 + +####################################### +# Instances (KEYWORD2) +####################################### + +Wire KEYWORD2 + +####################################### +# Constants (LITERAL1) +####################################### + diff --git a/libraries/Wire/utility/twi.c b/libraries/Wire/utility/twi.c new file mode 100644 index 0000000..201d7d1 --- /dev/null +++ b/libraries/Wire/utility/twi.c @@ -0,0 +1,527 @@ +/* + twi.c - TWI/I2C library for Wiring & Arduino + Copyright (c) 2006 Nicholas Zambetti. All right reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + + Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts +*/ + +#include <math.h> +#include <stdlib.h> +#include <inttypes.h> +#include <avr/io.h> +#include <avr/interrupt.h> +#include <compat/twi.h> +#include "Arduino.h" // for digitalWrite + +#ifndef cbi +#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) +#endif + +#ifndef sbi +#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) +#endif + +#include "pins_arduino.h" +#include "twi.h" + +static volatile uint8_t twi_state; +static volatile uint8_t twi_slarw; +static volatile uint8_t twi_sendStop; // should the transaction end with a stop +static volatile uint8_t twi_inRepStart; // in the middle of a repeated start + +static void (*twi_onSlaveTransmit)(void); +static void (*twi_onSlaveReceive)(uint8_t*, int); + +static uint8_t twi_masterBuffer[TWI_BUFFER_LENGTH]; +static volatile uint8_t twi_masterBufferIndex; +static volatile uint8_t twi_masterBufferLength; + +static uint8_t twi_txBuffer[TWI_BUFFER_LENGTH]; +static volatile uint8_t twi_txBufferIndex; +static volatile uint8_t twi_txBufferLength; + +static uint8_t twi_rxBuffer[TWI_BUFFER_LENGTH]; +static volatile uint8_t twi_rxBufferIndex; + +static volatile uint8_t twi_error; + +/* + * Function twi_init + * Desc readys twi pins and sets twi bitrate + * Input none + * Output none + */ +void twi_init(void) +{ + // initialize state + twi_state = TWI_READY; + twi_sendStop = true; // default value + twi_inRepStart = false; + + // activate internal pullups for twi. + digitalWrite(SDA, 1); + digitalWrite(SCL, 1); + + // initialize twi prescaler and bit rate + cbi(TWSR, TWPS0); + cbi(TWSR, TWPS1); + TWBR = ((F_CPU / TWI_FREQ) - 16) / 2; + + /* twi bit rate formula from atmega128 manual pg 204 + SCL Frequency = CPU Clock Frequency / (16 + (2 * TWBR)) + note: TWBR should be 10 or higher for master mode + It is 72 for a 16mhz Wiring board with 100kHz TWI */ + + // enable twi module, acks, and twi interrupt + TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA); +} + +/* + * Function twi_slaveInit + * Desc sets slave address and enables interrupt + * Input none + * Output none + */ +void twi_setAddress(uint8_t address) +{ + // set twi slave address (skip over TWGCE bit) + TWAR = address << 1; +} + +/* + * Function twi_readFrom + * Desc attempts to become twi bus master and read a + * series of bytes from a device on the bus + * Input address: 7bit i2c device address + * data: pointer to byte array + * length: number of bytes to read into array + * sendStop: Boolean indicating whether to send a stop at the end + * Output number of bytes read + */ +uint8_t twi_readFrom(uint8_t address, uint8_t* data, uint8_t length, uint8_t sendStop) +{ + uint8_t i; + + // ensure data will fit into buffer + if(TWI_BUFFER_LENGTH < length){ + return 0; + } + + // wait until twi is ready, become master receiver + while(TWI_READY != twi_state){ + continue; + } + twi_state = TWI_MRX; + twi_sendStop = sendStop; + // reset error state (0xFF.. no error occured) + twi_error = 0xFF; + + // initialize buffer iteration vars + twi_masterBufferIndex = 0; + twi_masterBufferLength = length-1; // This is not intuitive, read on... + // On receive, the previously configured ACK/NACK setting is transmitted in + // response to the received byte before the interrupt is signalled. + // Therefor we must actually set NACK when the _next_ to last byte is + // received, causing that NACK to be sent in response to receiving the last + // expected byte of data. + + // build sla+w, slave device address + w bit + twi_slarw = TW_READ; + twi_slarw |= address << 1; + + if (true == twi_inRepStart) { + // if we're in the repeated start state, then we've already sent the start, + // (@@@ we hope), and the TWI statemachine is just waiting for the address byte. + // We need to remove ourselves from the repeated start state before we enable interrupts, + // since the ISR is ASYNC, and we could get confused if we hit the ISR before cleaning + // up. Also, don't enable the START interrupt. There may be one pending from the + // repeated start that we sent outselves, and that would really confuse things. + twi_inRepStart = false; // remember, we're dealing with an ASYNC ISR + TWDR = twi_slarw; + TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE); // enable INTs, but not START + } + else + // send start condition + TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA); + + // wait for read operation to complete + while(TWI_MRX == twi_state){ + continue; + } + + if (twi_masterBufferIndex < length) + length = twi_masterBufferIndex; + + // copy twi buffer to data + for(i = 0; i < length; ++i){ + data[i] = twi_masterBuffer[i]; + } + + return length; +} + +/* + * Function twi_writeTo + * Desc attempts to become twi bus master and write a + * series of bytes to a device on the bus + * Input address: 7bit i2c device address + * data: pointer to byte array + * length: number of bytes in array + * wait: boolean indicating to wait for write or not + * sendStop: boolean indicating whether or not to send a stop at the end + * Output 0 .. success + * 1 .. length to long for buffer + * 2 .. address send, NACK received + * 3 .. data send, NACK received + * 4 .. other twi error (lost bus arbitration, bus error, ..) + */ +uint8_t twi_writeTo(uint8_t address, uint8_t* data, uint8_t length, uint8_t wait, uint8_t sendStop) +{ + uint8_t i; + + // ensure data will fit into buffer + if(TWI_BUFFER_LENGTH < length){ + return 1; + } + + // wait until twi is ready, become master transmitter + while(TWI_READY != twi_state){ + continue; + } + twi_state = TWI_MTX; + twi_sendStop = sendStop; + // reset error state (0xFF.. no error occured) + twi_error = 0xFF; + + // initialize buffer iteration vars + twi_masterBufferIndex = 0; + twi_masterBufferLength = length; + + // copy data to twi buffer + for(i = 0; i < length; ++i){ + twi_masterBuffer[i] = data[i]; + } + + // build sla+w, slave device address + w bit + twi_slarw = TW_WRITE; + twi_slarw |= address << 1; + + // if we're in a repeated start, then we've already sent the START + // in the ISR. Don't do it again. + // + if (true == twi_inRepStart) { + // if we're in the repeated start state, then we've already sent the start, + // (@@@ we hope), and the TWI statemachine is just waiting for the address byte. + // We need to remove ourselves from the repeated start state before we enable interrupts, + // since the ISR is ASYNC, and we could get confused if we hit the ISR before cleaning + // up. Also, don't enable the START interrupt. There may be one pending from the + // repeated start that we sent outselves, and that would really confuse things. + twi_inRepStart = false; // remember, we're dealing with an ASYNC ISR + TWDR = twi_slarw; + TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE); // enable INTs, but not START + } + else + // send start condition + TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE) | _BV(TWSTA); // enable INTs + + // wait for write operation to complete + while(wait && (TWI_MTX == twi_state)){ + continue; + } + + if (twi_error == 0xFF) + return 0; // success + else if (twi_error == TW_MT_SLA_NACK) + return 2; // error: address send, nack received + else if (twi_error == TW_MT_DATA_NACK) + return 3; // error: data send, nack received + else + return 4; // other twi error +} + +/* + * Function twi_transmit + * Desc fills slave tx buffer with data + * must be called in slave tx event callback + * Input data: pointer to byte array + * length: number of bytes in array + * Output 1 length too long for buffer + * 2 not slave transmitter + * 0 ok + */ +uint8_t twi_transmit(const uint8_t* data, uint8_t length) +{ + uint8_t i; + + // ensure data will fit into buffer + if(TWI_BUFFER_LENGTH < length){ + return 1; + } + + // ensure we are currently a slave transmitter + if(TWI_STX != twi_state){ + return 2; + } + + // set length and copy data into tx buffer + twi_txBufferLength = length; + for(i = 0; i < length; ++i){ + twi_txBuffer[i] = data[i]; + } + + return 0; +} + +/* + * Function twi_attachSlaveRxEvent + * Desc sets function called before a slave read operation + * Input function: callback function to use + * Output none + */ +void twi_attachSlaveRxEvent( void (*function)(uint8_t*, int) ) +{ + twi_onSlaveReceive = function; +} + +/* + * Function twi_attachSlaveTxEvent + * Desc sets function called before a slave write operation + * Input function: callback function to use + * Output none + */ +void twi_attachSlaveTxEvent( void (*function)(void) ) +{ + twi_onSlaveTransmit = function; +} + +/* + * Function twi_reply + * Desc sends byte or readys receive line + * Input ack: byte indicating to ack or to nack + * Output none + */ +void twi_reply(uint8_t ack) +{ + // transmit master read ready signal, with or without ack + if(ack){ + TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT) | _BV(TWEA); + }else{ + TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT); + } +} + +/* + * Function twi_stop + * Desc relinquishes bus master status + * Input none + * Output none + */ +void twi_stop(void) +{ + // send stop condition + TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTO); + + // wait for stop condition to be exectued on bus + // TWINT is not set after a stop condition! + while(TWCR & _BV(TWSTO)){ + continue; + } + + // update twi state + twi_state = TWI_READY; +} + +/* + * Function twi_releaseBus + * Desc releases bus control + * Input none + * Output none + */ +void twi_releaseBus(void) +{ + // release bus + TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT); + + // update twi state + twi_state = TWI_READY; +} + +ISR(TWI_vect) +{ + switch(TW_STATUS){ + // All Master + case TW_START: // sent start condition + case TW_REP_START: // sent repeated start condition + // copy device address and r/w bit to output register and ack + TWDR = twi_slarw; + twi_reply(1); + break; + + // Master Transmitter + case TW_MT_SLA_ACK: // slave receiver acked address + case TW_MT_DATA_ACK: // slave receiver acked data + // if there is data to send, send it, otherwise stop + if(twi_masterBufferIndex < twi_masterBufferLength){ + // copy data to output register and ack + TWDR = twi_masterBuffer[twi_masterBufferIndex++]; + twi_reply(1); + }else{ + if (twi_sendStop) + twi_stop(); + else { + twi_inRepStart = true; // we're gonna send the START + // don't enable the interrupt. We'll generate the start, but we + // avoid handling the interrupt until we're in the next transaction, + // at the point where we would normally issue the start. + TWCR = _BV(TWINT) | _BV(TWSTA)| _BV(TWEN) ; + twi_state = TWI_READY; + } + } + break; + case TW_MT_SLA_NACK: // address sent, nack received + twi_error = TW_MT_SLA_NACK; + twi_stop(); + break; + case TW_MT_DATA_NACK: // data sent, nack received + twi_error = TW_MT_DATA_NACK; + twi_stop(); + break; + case TW_MT_ARB_LOST: // lost bus arbitration + twi_error = TW_MT_ARB_LOST; + twi_releaseBus(); + break; + + // Master Receiver + case TW_MR_DATA_ACK: // data received, ack sent + // put byte into buffer + twi_masterBuffer[twi_masterBufferIndex++] = TWDR; + case TW_MR_SLA_ACK: // address sent, ack received + // ack if more bytes are expected, otherwise nack + if(twi_masterBufferIndex < twi_masterBufferLength){ + twi_reply(1); + }else{ + twi_reply(0); + } + break; + case TW_MR_DATA_NACK: // data received, nack sent + // put final byte into buffer + twi_masterBuffer[twi_masterBufferIndex++] = TWDR; + if (twi_sendStop) + twi_stop(); + else { + twi_inRepStart = true; // we're gonna send the START + // don't enable the interrupt. We'll generate the start, but we + // avoid handling the interrupt until we're in the next transaction, + // at the point where we would normally issue the start. + TWCR = _BV(TWINT) | _BV(TWSTA)| _BV(TWEN) ; + twi_state = TWI_READY; + } + break; + case TW_MR_SLA_NACK: // address sent, nack received + twi_stop(); + break; + // TW_MR_ARB_LOST handled by TW_MT_ARB_LOST case + + // Slave Receiver + case TW_SR_SLA_ACK: // addressed, returned ack + case TW_SR_GCALL_ACK: // addressed generally, returned ack + case TW_SR_ARB_LOST_SLA_ACK: // lost arbitration, returned ack + case TW_SR_ARB_LOST_GCALL_ACK: // lost arbitration, returned ack + // enter slave receiver mode + twi_state = TWI_SRX; + // indicate that rx buffer can be overwritten and ack + twi_rxBufferIndex = 0; + twi_reply(1); + break; + case TW_SR_DATA_ACK: // data received, returned ack + case TW_SR_GCALL_DATA_ACK: // data received generally, returned ack + // if there is still room in the rx buffer + if(twi_rxBufferIndex < TWI_BUFFER_LENGTH){ + // put byte in buffer and ack + twi_rxBuffer[twi_rxBufferIndex++] = TWDR; + twi_reply(1); + }else{ + // otherwise nack + twi_reply(0); + } + break; + case TW_SR_STOP: // stop or repeated start condition received + // put a null char after data if there's room + if(twi_rxBufferIndex < TWI_BUFFER_LENGTH){ + twi_rxBuffer[twi_rxBufferIndex] = '\0'; + } + // sends ack and stops interface for clock stretching + twi_stop(); + // callback to user defined callback + twi_onSlaveReceive(twi_rxBuffer, twi_rxBufferIndex); + // since we submit rx buffer to "wire" library, we can reset it + twi_rxBufferIndex = 0; + // ack future responses and leave slave receiver state + twi_releaseBus(); + break; + case TW_SR_DATA_NACK: // data received, returned nack + case TW_SR_GCALL_DATA_NACK: // data received generally, returned nack + // nack back at master + twi_reply(0); + break; + + // Slave Transmitter + case TW_ST_SLA_ACK: // addressed, returned ack + case TW_ST_ARB_LOST_SLA_ACK: // arbitration lost, returned ack + // enter slave transmitter mode + twi_state = TWI_STX; + // ready the tx buffer index for iteration + twi_txBufferIndex = 0; + // set tx buffer length to be zero, to verify if user changes it + twi_txBufferLength = 0; + // request for txBuffer to be filled and length to be set + // note: user must call twi_transmit(bytes, length) to do this + twi_onSlaveTransmit(); + // if they didn't change buffer & length, initialize it + if(0 == twi_txBufferLength){ + twi_txBufferLength = 1; + twi_txBuffer[0] = 0x00; + } + // transmit first byte from buffer, fall + case TW_ST_DATA_ACK: // byte sent, ack returned + // copy data to output register + TWDR = twi_txBuffer[twi_txBufferIndex++]; + // if there is more to send, ack, otherwise nack + if(twi_txBufferIndex < twi_txBufferLength){ + twi_reply(1); + }else{ + twi_reply(0); + } + break; + case TW_ST_DATA_NACK: // received nack, we are done + case TW_ST_LAST_DATA: // received ack, but we are done already! + // ack future responses + twi_reply(1); + // leave slave receiver state + twi_state = TWI_READY; + break; + + // All + case TW_NO_INFO: // no state information + break; + case TW_BUS_ERROR: // bus error, illegal stop/start + twi_error = TW_BUS_ERROR; + twi_stop(); + break; + } +} + diff --git a/libraries/Wire/utility/twi.h b/libraries/Wire/utility/twi.h new file mode 100644 index 0000000..6526593 --- /dev/null +++ b/libraries/Wire/utility/twi.h @@ -0,0 +1,53 @@ +/* + twi.h - TWI/I2C library for Wiring & Arduino + Copyright (c) 2006 Nicholas Zambetti. All right reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef twi_h +#define twi_h + + #include <inttypes.h> + + //#define ATMEGA8 + + #ifndef TWI_FREQ + #define TWI_FREQ 100000L + #endif + + #ifndef TWI_BUFFER_LENGTH + #define TWI_BUFFER_LENGTH 32 + #endif + + #define TWI_READY 0 + #define TWI_MRX 1 + #define TWI_MTX 2 + #define TWI_SRX 3 + #define TWI_STX 4 + + void twi_init(void); + void twi_setAddress(uint8_t); + uint8_t twi_readFrom(uint8_t, uint8_t*, uint8_t, uint8_t); + uint8_t twi_writeTo(uint8_t, uint8_t*, uint8_t, uint8_t, uint8_t); + uint8_t twi_transmit(const uint8_t*, uint8_t); + void twi_attachSlaveRxEvent( void (*)(uint8_t*, int) ); + void twi_attachSlaveTxEvent( void (*)(void) ); + void twi_reply(uint8_t); + void twi_stop(void); + void twi_releaseBus(void); + +#endif + diff --git a/platform.txt b/platform.txt new file mode 100644 index 0000000..4e28f0a --- /dev/null +++ b/platform.txt @@ -0,0 +1,94 @@ + +# Arduino AVR Core and platform. +# ------------------------------ + +# For more info: +# https://github.com/arduino/Arduino/wiki/Arduino-IDE-1.5---3rd-party-Hardware-specification + +name=Arduino AVR Boards +version=1.5.5 + +# AVR compile variables +# --------------------- + +# Default "compiler.path" is correct, change only if you want to overidde the initial value +#compiler.path={ide.path}/tools/avr/bin/.. +compiler.c.cmd=avr-gcc +compiler.c.flags=-c -g -Os -w -ffunction-sections -fdata-sections -MMD +compiler.c.elf.flags=-Os -Wl,--gc-sections +compiler.c.elf.cmd=avr-gcc +compiler.S.flags=-c -g -assembler-with-cpp +compiler.cpp.cmd=avr-g++ +compiler.cpp.flags=-c -g -Os -w -fno-exceptions -ffunction-sections -fdata-sections -MMD +compiler.ar.cmd=avr-ar +compiler.ar.flags=rcs +compiler.objcopy.cmd=avr-objcopy +compiler.objcopy.eep.flags=-O ihex -j .eeprom --set-section-flags=.eeprom=alloc,load --no-change-warnings --change-section-lma .eeprom=0 +compiler.elf2hex.flags=-O ihex -R .eeprom +compiler.elf2hex.cmd=avr-objcopy +compiler.ldflags= +compiler.size.cmd=avr-size +# this can be overriden in boards.txt +build.extra_flags= + +# AVR compile patterns +# -------------------- + +## Compile c files +recipe.c.o.pattern="{compiler.path}{compiler.c.cmd}" {compiler.c.flags} -mmcu={build.mcu} -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {build.extra_flags} {includes} "{source_file}" -o "{object_file}" + +## Compile c++ files +recipe.cpp.o.pattern="{compiler.path}{compiler.cpp.cmd}" {compiler.cpp.flags} -mmcu={build.mcu} -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {build.extra_flags} {includes} "{source_file}" -o "{object_file}" + +## Compile S files +recipe.S.o.pattern="{compiler.path}{compiler.c.cmd}" {compiler.S.flags} -mmcu={build.mcu} -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {build.extra_flags} {includes} "{source_file}" -o "{object_file}" + +## Create archives +recipe.ar.pattern="{compiler.path}{compiler.ar.cmd}" {compiler.ar.flags} "{build.path}/{archive_file}" "{object_file}" + +## Combine gc-sections, archives, and objects +recipe.c.combine.pattern="{compiler.path}{compiler.c.elf.cmd}" {compiler.c.elf.flags} -mmcu={build.mcu} -o "{build.path}/{build.project_name}.elf" {object_files} "{build.path}/{archive_file}" "-L{build.path}" -lm + +## Create eeprom +recipe.objcopy.eep.pattern="{compiler.path}{compiler.objcopy.cmd}" {compiler.objcopy.eep.flags} "{build.path}/{build.project_name}.elf" "{build.path}/{build.project_name}.eep" + +## Create hex +recipe.objcopy.hex.pattern="{compiler.path}{compiler.elf2hex.cmd}" {compiler.elf2hex.flags} "{build.path}/{build.project_name}.elf" "{build.path}/{build.project_name}.hex" + +## Compute size +recipe.size.pattern="{compiler.path}{compiler.size.cmd}" -A "{build.path}/{build.project_name}.elf" +recipe.size.regex=^(?:\.text|\.data|\.bootloader)\s+([0-9]+).* +recipe.size.regex.data=^(?:\.data|\.bss|\.noinit)\s+([0-9]+).* +recipe.size.regex.eeprom=^(?:\.eeprom)\s+([0-9]+).* + + +# AVR Uploader/Programmers tools +# ------------------------------ + +tools.avrdude.cmd.path={runtime.ide.path}/hardware/tools/avr/bin/avrdude +tools.avrdude.config.path={runtime.ide.path}/hardware/tools/avr/etc/avrdude.conf +tools.avrdude.cmd.path.linux={runtime.ide.path}/hardware/tools/avrdude +tools.avrdude.config.path.linux={runtime.ide.path}/hardware/tools/avrdude.conf + +tools.avrdude.upload.params.verbose=-v -v -v -v +tools.avrdude.upload.params.quiet=-q -q +tools.avrdude.upload.pattern="{cmd.path}" "-C{config.path}" {upload.verbose} -p{build.mcu} -c{upload.protocol} -P{serial.port} -b{upload.speed} -D "-Uflash:w:{build.path}/{build.project_name}.hex:i" + +tools.avrdude.program.params.verbose=-v -v -v -v +tools.avrdude.program.params.quiet=-q -q +tools.avrdude.program.pattern="{cmd.path}" "-C{config.path}" {program.verbose} -p{build.mcu} -c{protocol} {program.extra_params} "-Uflash:w:{build.path}/{build.project_name}.hex:i" + +tools.avrdude.erase.params.verbose=-v -v -v -v +tools.avrdude.erase.params.quiet=-q -q +tools.avrdude.erase.pattern="{cmd.path}" "-C{config.path}" {erase.verbose} -p{build.mcu} -c{protocol} {program.extra_params} -e -Ulock:w:{bootloader.unlock_bits}:m -Uefuse:w:{bootloader.extended_fuses}:m -Uhfuse:w:{bootloader.high_fuses}:m -Ulfuse:w:{bootloader.low_fuses}:m + +tools.avrdude.bootloader.params.verbose=-v -v -v -v +tools.avrdude.bootloader.params.quiet=-q -q +tools.avrdude.bootloader.pattern="{cmd.path}" "-C{config.path}" {bootloader.verbose} -p{build.mcu} -c{protocol} {program.extra_params} "-Uflash:w:{runtime.ide.path}/hardware/arduino/avr/bootloaders/{bootloader.file}:i" -Ulock:w:{bootloader.lock_bits}:m + + +# USB Default Flags +# Default blank usb manufacturer will be filled it at compile time +# - from numeric vendor ID, set to Unknown otherwise +build.usb_manufacturer= +build.usb_flags=-DUSB_VID={build.vid} -DUSB_PID={build.pid} '-DUSB_MANUFACTURER={build.usb_manufacturer}' '-DUSB_PRODUCT={build.usb_product}' diff --git a/programmers.txt b/programmers.txt index c34b88c..54c04e7 100644 --- a/programmers.txt +++ b/programmers.txt @@ -1,26 +1,41 @@ -# See: http://code.google.com/p/arduino/wiki/Platforms - avrisp.name=AVR ISP avrisp.communication=serial avrisp.protocol=stk500v1 +avrisp.program.protocol=stk500v1 +avrisp.program.tool=avrdude +avrisp.program.extra_params=-P{serial.port} avrispmkii.name=AVRISP mkII avrispmkii.communication=usb avrispmkii.protocol=stk500v2 +avrispmkii.program.protocol=stk500v2 +avrispmkii.program.tool=avrdude +avrispmkii.program.extra_params=-Pusb usbtinyisp.name=USBtinyISP usbtinyisp.protocol=usbtiny +usbtinyisp.program.tool=avrdude +usbtinyisp.program.extra_params= usbasp.name=USBasp usbasp.communication=usb usbasp.protocol=usbasp +usbasp.program.protocol=usbasp +usbasp.program.tool=avrdude +usbasp.program.extra_params=-Pusb parallel.name=Parallel Programmer parallel.protocol=dapa parallel.force=true # parallel.delay=200 +parallel.program.tool=avrdude +parallel.program.extra_params=-F arduinoisp.name=Arduino as ISP arduinoisp.communication=serial arduinoisp.protocol=stk500v1 arduinoisp.speed=19200 +arduinoisp.program.protocol=stk500v1 +arduinoisp.program.speed=19200 +arduinoisp.program.tool=avrdude +arduinoisp.program.extra_params=-P{serial.port} -b{program.speed} diff --git a/variants/leonardo/pins_arduino.h b/variants/leonardo/pins_arduino.h index fe736f5..be9d0f2 100644 --- a/variants/leonardo/pins_arduino.h +++ b/variants/leonardo/pins_arduino.h @@ -133,6 +133,8 @@ extern const uint8_t PROGMEM analog_pin_to_channel_PGM[]; #define analogPinToChannel(P) ( pgm_read_byte( analog_pin_to_channel_PGM + (P) ) ) +#define digitalPinToInterrupt(p) ((p) == 0 ? 2 : ((p) == 1 ? 3 : ((p) == 2 ? 1 : ((p) == 3 ? 0 : ((p) == 7 ? 4 : NOT_AN_INTERRUPT))))) + #ifdef ARDUINO_MAIN // On the Arduino board, digital pins are also used diff --git a/variants/mega/pins_arduino.h b/variants/mega/pins_arduino.h index 124444f..9b43971 100644 --- a/variants/mega/pins_arduino.h +++ b/variants/mega/pins_arduino.h @@ -83,6 +83,8 @@ ( (((p) >= 62) && ((p) <= 69)) ? ((p) - 62) : \ 0 ) ) ) ) ) ) +#define digitalPinToInterrupt(p) ((p) == 2 ? 0 : ((p) == 3 ? 1 : ((p) >= 18 && (p) <= 21 ? 23 - (p) : NOT_AN_INTERRUPT))) + #ifdef ARDUINO_MAIN const uint16_t PROGMEM port_to_mode_PGM[] = { diff --git a/variants/robot_control/pins_arduino.h b/variants/robot_control/pins_arduino.h index 545ec3a..04a5dc5 100644 --- a/variants/robot_control/pins_arduino.h +++ b/variants/robot_control/pins_arduino.h @@ -94,6 +94,8 @@ extern const uint8_t PROGMEM analog_pin_to_channel_PGM[]; #define analogPinToChannel(P) ( pgm_read_byte( analog_pin_to_channel_PGM + (P) ) ) +#define digitalPinToInterrupt(p) ((p) == 0 ? 2 : ((p) == 1 ? 3 : ((p) == 2 ? 1 : ((p) == 3 ? 0 : ((p) == 7 ? 4 : NOT_AN_INTERRUPT))))) + #ifdef ARDUINO_MAIN // On the Arduino board, digital pins are also used diff --git a/variants/robot_motor/pins_arduino.h b/variants/robot_motor/pins_arduino.h index ff7833a..f159f1e 100644 --- a/variants/robot_motor/pins_arduino.h +++ b/variants/robot_motor/pins_arduino.h @@ -89,6 +89,8 @@ extern const uint8_t PROGMEM analog_pin_to_channel_PGM[]; #define analogPinToChannel(P) ( pgm_read_byte( analog_pin_to_channel_PGM + (P) ) ) +#define digitalPinToInterrupt(p) ((p) == 0 ? 2 : ((p) == 1 ? 3 : ((p) == 2 ? 1 : ((p) == 3 ? 0 : ((p) == 7 ? 4 : NOT_AN_INTERRUPT))))) + #ifdef ARDUINO_MAIN // On the Arduino board, digital pins are also used diff --git a/variants/standard/pins_arduino.h b/variants/standard/pins_arduino.h index 2038cd4..d0eb464 100644 --- a/variants/standard/pins_arduino.h +++ b/variants/standard/pins_arduino.h @@ -60,6 +60,8 @@ #define digitalPinToPCMSK(p) (((p) <= 7) ? (&PCMSK2) : (((p) <= 13) ? (&PCMSK0) : (((p) <= 21) ? (&PCMSK1) : ((uint8_t *)0)))) #define digitalPinToPCMSKbit(p) (((p) <= 7) ? (p) : (((p) <= 13) ? ((p) - 8) : ((p) - 14))) +#define digitalPinToInterrupt(p) ((p) == 2 ? 0 : ((p) == 3 ? 1 : NOT_AN_INTERRUPT)) + #ifdef ARDUINO_MAIN // On the Arduino board, digital pins are also used diff --git a/variants/yun/pins_arduino.h b/variants/yun/pins_arduino.h new file mode 100644 index 0000000..15f24cd --- /dev/null +++ b/variants/yun/pins_arduino.h @@ -0,0 +1,46 @@ +/* + pins_arduino.h - Pin definition functions for Arduino + Part of Arduino - http://www.arduino.cc/ + + Copyright (c) 2013 Arduino LLC + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General + Public License along with this library; if not, write to the + Free Software Foundation, Inc., 59 Temple Place, Suite 330, + Boston, MA 02111-1307 USA + + $Id: wiring.h 249 2007-02-03 16:52:51Z mellis $ +*/ + +#include "../leonardo/pins_arduino.h" + +// These serial port names are intended to allow libraries and architecture-neutral +// sketches to automatically default to the correct port name for a particular type +// of use. For example, a GPS module would normally connect to SERIAL_PORT_HARDWARE_OPEN, +// the first hardware serial port whose RX/TX pins are not dedicated to another use. +// +// SERIAL_PORT_MONITOR Port which normally prints to the Arduino Serial Monitor +// +// SERIAL_PORT_USBVIRTUAL Port which is USB virtual serial +// +// SERIAL_PORT_LINUXBRIDGE Port which connects to a Linux system via Bridge library +// +// SERIAL_PORT_HARDWARE Hardware serial port, physical RX & TX pins. +// +// SERIAL_PORT_HARDWARE_OPEN Hardware serial ports which are open for use. Their RX & TX +// pins are NOT connected to anything by default. +#define SERIAL_PORT_LINUXBRIDGE Serial1 + +// defined in the Leonardo variant +#undef SERIAL_PORT_HARDWARE_OPEN + |