diff options
Diffstat (limited to 'libraries/Robot_Control')
75 files changed, 0 insertions, 11159 deletions
diff --git a/libraries/Robot_Control/Adafruit_GFX.cpp b/libraries/Robot_Control/Adafruit_GFX.cpp deleted file mode 100644 index acfed1d..0000000 --- a/libraries/Robot_Control/Adafruit_GFX.cpp +++ /dev/null @@ -1,688 +0,0 @@ -/****************************************************************** - This is the core graphics library for all our displays, providing - basic graphics primitives (points, lines, circles, etc.). It needs - to be paired with a hardware-specific library for each display - device we carry (handling the lower-level functions). - - Adafruit invests time and resources providing this open - source code, please support Adafruit and open-source hardware - by purchasing products from Adafruit! - - Written by Limor Fried/Ladyada for Adafruit Industries. - BSD license, check license.txt for more information. - All text above must be included in any redistribution. - ******************************************************************/ - -#include "Adafruit_GFX.h" -#include "glcdfont.c" -#include <avr/pgmspace.h> - -void Adafruit_GFX::constructor(int16_t w, int16_t h) { - _width = WIDTH = w; - _height = HEIGHT = h; - - rotation = 0; - cursor_y = cursor_x = 0; - textsize = 1; - textcolor = textbgcolor = 0xFFFF; - wrap = true; - - strokeColor = 0; - useStroke = true; - fillColor = 0; - useFill = false; - -} - - -// draw a circle outline -void Adafruit_GFX::drawCircle(int16_t x0, int16_t y0, int16_t r, - uint16_t color) { - int16_t f = 1 - r; - int16_t ddF_x = 1; - int16_t ddF_y = -2 * r; - int16_t x = 0; - int16_t y = r; - - drawPixel(x0, y0+r, color); - drawPixel(x0, y0-r, color); - drawPixel(x0+r, y0, color); - drawPixel(x0-r, y0, color); - - while (x<y) { - if (f >= 0) { - y--; - ddF_y += 2; - f += ddF_y; - } - x++; - ddF_x += 2; - f += ddF_x; - - drawPixel(x0 + x, y0 + y, color); - drawPixel(x0 - x, y0 + y, color); - drawPixel(x0 + x, y0 - y, color); - drawPixel(x0 - x, y0 - y, color); - drawPixel(x0 + y, y0 + x, color); - drawPixel(x0 - y, y0 + x, color); - drawPixel(x0 + y, y0 - x, color); - drawPixel(x0 - y, y0 - x, color); - - } -} - -void Adafruit_GFX::drawCircleHelper( int16_t x0, int16_t y0, - int16_t r, uint8_t cornername, uint16_t color) { - int16_t f = 1 - r; - int16_t ddF_x = 1; - int16_t ddF_y = -2 * r; - int16_t x = 0; - int16_t y = r; - - while (x<y) { - if (f >= 0) { - y--; - ddF_y += 2; - f += ddF_y; - } - x++; - ddF_x += 2; - f += ddF_x; - if (cornername & 0x4) { - drawPixel(x0 + x, y0 + y, color); - drawPixel(x0 + y, y0 + x, color); - } - if (cornername & 0x2) { - drawPixel(x0 + x, y0 - y, color); - drawPixel(x0 + y, y0 - x, color); - } - if (cornername & 0x8) { - drawPixel(x0 - y, y0 + x, color); - drawPixel(x0 - x, y0 + y, color); - } - if (cornername & 0x1) { - drawPixel(x0 - y, y0 - x, color); - drawPixel(x0 - x, y0 - y, color); - } - } -} - -void Adafruit_GFX::fillCircle(int16_t x0, int16_t y0, int16_t r, - uint16_t color) { - drawFastVLine(x0, y0-r, 2*r+1, color); - fillCircleHelper(x0, y0, r, 3, 0, color); -} - -// used to do circles and roundrects! -void Adafruit_GFX::fillCircleHelper(int16_t x0, int16_t y0, int16_t r, - uint8_t cornername, int16_t delta, uint16_t color) { - - int16_t f = 1 - r; - int16_t ddF_x = 1; - int16_t ddF_y = -2 * r; - int16_t x = 0; - int16_t y = r; - - while (x<y) { - if (f >= 0) { - y--; - ddF_y += 2; - f += ddF_y; - } - x++; - ddF_x += 2; - f += ddF_x; - - if (cornername & 0x1) { - drawFastVLine(x0+x, y0-y, 2*y+1+delta, color); - drawFastVLine(x0+y, y0-x, 2*x+1+delta, color); - } - if (cornername & 0x2) { - drawFastVLine(x0-x, y0-y, 2*y+1+delta, color); - drawFastVLine(x0-y, y0-x, 2*x+1+delta, color); - } - } -} - -// bresenham's algorithm - thx wikpedia -void Adafruit_GFX::drawLine(int16_t x0, int16_t y0, - int16_t x1, int16_t y1, - uint16_t color) { - int16_t steep = abs(y1 - y0) > abs(x1 - x0); - if (steep) { - swap(x0, y0); - swap(x1, y1); - } - - if (x0 > x1) { - swap(x0, x1); - swap(y0, y1); - } - - int16_t dx, dy; - dx = x1 - x0; - dy = abs(y1 - y0); - - int16_t err = dx / 2; - int16_t ystep; - - if (y0 < y1) { - ystep = 1; - } else { - ystep = -1; - } - - for (; x0<=x1; x0++) { - if (steep) { - drawPixel(y0, x0, color); - } else { - drawPixel(x0, y0, color); - } - err -= dy; - if (err < 0) { - y0 += ystep; - err += dx; - } - } -} - - -// draw a rectangle -void Adafruit_GFX::drawRect(int16_t x, int16_t y, - int16_t w, int16_t h, - uint16_t color) { - drawFastHLine(x, y, w, color); - drawFastHLine(x, y+h-1, w, color); - drawFastVLine(x, y, h, color); - drawFastVLine(x+w-1, y, h, color); -} - -void Adafruit_GFX::drawFastVLine(int16_t x, int16_t y, - int16_t h, uint16_t color) { - // stupidest version - update in subclasses if desired! - drawLine(x, y, x, y+h-1, color); -} - - -void Adafruit_GFX::drawFastHLine(int16_t x, int16_t y, - int16_t w, uint16_t color) { - // stupidest version - update in subclasses if desired! - drawLine(x, y, x+w-1, y, color); -} - -void Adafruit_GFX::fillRect(int16_t x, int16_t y, int16_t w, int16_t h, - uint16_t color) { - // stupidest version - update in subclasses if desired! - for (int16_t i=x; i<x+w; i++) { - drawFastVLine(i, y, h, color); - } -} - - -void Adafruit_GFX::fillScreen(uint16_t color) { - fillRect(0, 0, _width, _height, color); -} - -// draw a rounded rectangle! -void Adafruit_GFX::drawRoundRect(int16_t x, int16_t y, int16_t w, - int16_t h, int16_t r, uint16_t color) { - // smarter version - drawFastHLine(x+r , y , w-2*r, color); // Top - drawFastHLine(x+r , y+h-1, w-2*r, color); // Bottom - drawFastVLine( x , y+r , h-2*r, color); // Left - drawFastVLine( x+w-1, y+r , h-2*r, color); // Right - // draw four corners - drawCircleHelper(x+r , y+r , r, 1, color); - drawCircleHelper(x+w-r-1, y+r , r, 2, color); - drawCircleHelper(x+w-r-1, y+h-r-1, r, 4, color); - drawCircleHelper(x+r , y+h-r-1, r, 8, color); -} - -// fill a rounded rectangle! -void Adafruit_GFX::fillRoundRect(int16_t x, int16_t y, int16_t w, - int16_t h, int16_t r, uint16_t color) { - // smarter version - fillRect(x+r, y, w-2*r, h, color); - - // draw four corners - fillCircleHelper(x+w-r-1, y+r, r, 1, h-2*r-1, color); - fillCircleHelper(x+r , y+r, r, 2, h-2*r-1, color); -} - -// draw a triangle! -void Adafruit_GFX::drawTriangle(int16_t x0, int16_t y0, - int16_t x1, int16_t y1, - int16_t x2, int16_t y2, uint16_t color) { - drawLine(x0, y0, x1, y1, color); - drawLine(x1, y1, x2, y2, color); - drawLine(x2, y2, x0, y0, color); -} - -// fill a triangle! -void Adafruit_GFX::fillTriangle ( int16_t x0, int16_t y0, - int16_t x1, int16_t y1, - int16_t x2, int16_t y2, uint16_t color) { - - int16_t a, b, y, last; - - // Sort coordinates by Y order (y2 >= y1 >= y0) - if (y0 > y1) { - swap(y0, y1); swap(x0, x1); - } - if (y1 > y2) { - swap(y2, y1); swap(x2, x1); - } - if (y0 > y1) { - swap(y0, y1); swap(x0, x1); - } - - if(y0 == y2) { // Handle awkward all-on-same-line case as its own thing - a = b = x0; - if(x1 < a) a = x1; - else if(x1 > b) b = x1; - if(x2 < a) a = x2; - else if(x2 > b) b = x2; - drawFastHLine(a, y0, b-a+1, color); - return; - } - - int16_t - dx01 = x1 - x0, - dy01 = y1 - y0, - dx02 = x2 - x0, - dy02 = y2 - y0, - dx12 = x2 - x1, - dy12 = y2 - y1, - sa = 0, - sb = 0; - - // For upper part of triangle, find scanline crossings for segments - // 0-1 and 0-2. If y1=y2 (flat-bottomed triangle), the scanline y1 - // is included here (and second loop will be skipped, avoiding a /0 - // error there), otherwise scanline y1 is skipped here and handled - // in the second loop...which also avoids a /0 error here if y0=y1 - // (flat-topped triangle). - if(y1 == y2) last = y1; // Include y1 scanline - else last = y1-1; // Skip it - - for(y=y0; y<=last; y++) { - a = x0 + sa / dy01; - b = x0 + sb / dy02; - sa += dx01; - sb += dx02; - /* longhand: - a = x0 + (x1 - x0) * (y - y0) / (y1 - y0); - b = x0 + (x2 - x0) * (y - y0) / (y2 - y0); - */ - if(a > b) swap(a,b); - drawFastHLine(a, y, b-a+1, color); - } - - // For lower part of triangle, find scanline crossings for segments - // 0-2 and 1-2. This loop is skipped if y1=y2. - sa = dx12 * (y - y1); - sb = dx02 * (y - y0); - for(; y<=y2; y++) { - a = x1 + sa / dy12; - b = x0 + sb / dy02; - sa += dx12; - sb += dx02; - /* longhand: - a = x1 + (x2 - x1) * (y - y1) / (y2 - y1); - b = x0 + (x2 - x0) * (y - y0) / (y2 - y0); - */ - if(a > b) swap(a,b); - drawFastHLine(a, y, b-a+1, color); - } -} - -void Adafruit_GFX::drawBitmap(int16_t x, int16_t y, - const uint8_t *bitmap, int16_t w, int16_t h, - uint16_t color) { - - int16_t i, j, byteWidth = (w + 7) / 8; - - for(j=0; j<h; j++) { - for(i=0; i<w; i++ ) { - if(pgm_read_byte(bitmap + j * byteWidth + i / 8) & (128 >> (i & 7))) { - drawPixel(x+i, y+j, color); - } - } - } -} - - -#if ARDUINO >= 100 -size_t Adafruit_GFX::write(uint8_t c) { -#else -void Adafruit_GFX::write(uint8_t c) { -#endif - if (c == '\n') { - cursor_y += textsize*8; - cursor_x = 0; - } else if (c == '\r') { - // skip em - } else { - drawChar(cursor_x, cursor_y, c, textcolor, textbgcolor, textsize); - cursor_x += textsize*6; - if (wrap && (cursor_x > (_width - textsize*6))) { - cursor_y += textsize*8; - cursor_x = 0; - } - } -#if ARDUINO >= 100 - return 1; -#endif -} - -// draw a character -void Adafruit_GFX::drawChar(int16_t x, int16_t y, unsigned char c, - uint16_t color, uint16_t bg, uint8_t size) { - - if((x >= _width) || // Clip right - (y >= _height) || // Clip bottom - ((x + 5 * size - 1) < 0) || // Clip left - ((y + 8 * size - 1) < 0)) // Clip top - return; - - for (int8_t i=0; i<6; i++ ) { - uint8_t line; - if (i == 5) - line = 0x0; - else - line = pgm_read_byte(font+(c*5)+i); - for (int8_t j = 0; j<8; j++) { - if (line & 0x1) { - if (size == 1) // default size - drawPixel(x+i, y+j, color); - else { // big size - fillRect(x+(i*size), y+(j*size), size, size, color); - } - } else if (bg != color) { - if (size == 1) // default size - drawPixel(x+i, y+j, bg); - else { // big size - fillRect(x+i*size, y+j*size, size, size, bg); - } - } - line >>= 1; - } - } -} - -void Adafruit_GFX::setCursor(int16_t x, int16_t y) { - cursor_x = x; - cursor_y = y; -} - - -void Adafruit_GFX::setTextSize(uint8_t s) { - textsize = (s > 0) ? s : 1; -} - - -void Adafruit_GFX::setTextColor(uint16_t c) { - textcolor = c; - textbgcolor = c; - // for 'transparent' background, we'll set the bg - // to the same as fg instead of using a flag -} - - void Adafruit_GFX::setTextColor(uint16_t c, uint16_t b) { - textcolor = c; - textbgcolor = b; - } - -void Adafruit_GFX::setTextWrap(boolean w) { - wrap = w; -} - -uint8_t Adafruit_GFX::getRotation(void) { - rotation %= 4; - return rotation; -} - -void Adafruit_GFX::setRotation(uint8_t x) { - x %= 4; // cant be higher than 3 - rotation = x; - switch (x) { - case 0: - case 2: - _width = WIDTH; - _height = HEIGHT; - break; - case 1: - case 3: - _width = HEIGHT; - _height = WIDTH; - break; - } -} - -void Adafruit_GFX::invertDisplay(boolean i) { - // do nothing, can be subclassed -} - - -// return the size of the display which depends on the rotation! -int16_t Adafruit_GFX::width(void) { - return _width; -} - -int16_t Adafruit_GFX::height(void) { - return _height; -} - - - -uint16_t Adafruit_GFX::newColor(uint8_t r, uint8_t g, uint8_t b) { - return ((r & 0xF8) << 8) | ((g & 0xFC) << 3) | (b >> 3); -} - - -void Adafruit_GFX::background(uint8_t red, uint8_t green, uint8_t blue) { - background(newColor(red, green, blue)); -} - -void Adafruit_GFX::background(color c) { - fillScreen(c); -} - -void Adafruit_GFX::stroke(uint8_t red, uint8_t green, uint8_t blue) { - stroke(newColor(red, green, blue)); -} - -void Adafruit_GFX::stroke(color c) { - useStroke = true; - strokeColor = c; - setTextColor(c); -} - -void Adafruit_GFX::noStroke() { - useStroke = false; -} - -void Adafruit_GFX::noFill() { - useFill = false; -} - -void Adafruit_GFX::fill(uint8_t red, uint8_t green, uint8_t blue) { - fill(newColor(red, green, blue)); -} - -void Adafruit_GFX::fill(color c) { - useFill = true; - fillColor = c; -} - -void Adafruit_GFX::text(int value, uint8_t x, uint8_t y){ - if (!useStroke) - return; - - setTextWrap(false); - setTextColor(strokeColor); - setCursor(x, y); - print(value); -} -void Adafruit_GFX::text(long value, uint8_t x, uint8_t y){ - if (!useStroke) - return; - - setTextWrap(false); - setTextColor(strokeColor); - setCursor(x, y); - print(value); -} -void Adafruit_GFX::text(char value, uint8_t x, uint8_t y){ - if (!useStroke) - return; - - setTextWrap(false); - setTextColor(strokeColor); - setCursor(x, y); - print(value); -} - -void Adafruit_GFX::text(const char * text, int16_t x, int16_t y) { - if (!useStroke) - return; - - setTextWrap(false); - setTextColor(strokeColor); - setCursor(x, y); - print(text); -} - -void Adafruit_GFX::textWrap(const char * text, int16_t x, int16_t y) { - if (!useStroke) - return; - - setTextWrap(true); - setTextColor(strokeColor); - setCursor(x, y); - print(text); -} - - -void Adafruit_GFX::textSize(uint8_t size) { - setTextSize(size); -} - -void Adafruit_GFX::point(int16_t x, int16_t y) { - if (!useStroke) - return; - - drawPixel(x, y, strokeColor); -} - -void Adafruit_GFX::line(int16_t x1, int16_t y1, int16_t x2, int16_t y2) { - if (!useStroke) - return; - - if (x1 == x2) { - drawFastVLine(x1, y1, y2 - y1, strokeColor); - } - else if (y1 == y2) { - drawFastHLine(x1, y1, x2 - x1, strokeColor); - } - else { - drawLine(x1, y1, x2, y2, strokeColor); - } -} - -void Adafruit_GFX::rect(int16_t x, int16_t y, int16_t width, int16_t height) { - if (useFill) { - fillRect(x, y, width, height, fillColor); - } - if (useStroke) { - drawRect(x, y, width, height, strokeColor); - } -} - -void Adafruit_GFX::rect(int16_t x, int16_t y, int16_t width, int16_t height, int16_t radius) { - if (radius == 0) { - rect(x, y, width, height); - } - if (useFill) { - fillRoundRect(x, y, width, height, radius, fillColor); - } - if (useStroke) { - drawRoundRect(x, y, width, height, radius, strokeColor); - } -} - -void Adafruit_GFX::circle(int16_t x, int16_t y, int16_t r) { - if (r == 0) - return; - - if (useFill) { - fillCircle(x, y, r, fillColor); - } - if (useStroke) { - drawCircle(x, y, r, strokeColor); - } -} - -void Adafruit_GFX::triangle(int16_t x1, int16_t y1, int16_t x2, int16_t y2, int16_t x3, int16_t y3) { - if (useFill) { - fillTriangle(x1, y1, x2, y2, x3, y3, fillColor); - } - if (useStroke) { - drawTriangle(x1, y1, x2, y2, x3, y3, strokeColor); - } -} - -#define BUFFPIXEL 20 -/* -void Adafruit_GFX::image(PImage & img, uint16_t x, uint16_t y) { - int w, h, row, col; - uint8_t r, g, b; - uint32_t pos = 0; - uint8_t sdbuffer[3*BUFFPIXEL]; // pixel buffer (R+G+B per pixel) - uint8_t buffidx = sizeof(sdbuffer); // Current position in sdbuffer - - // Crop area to be loaded - w = img._bmpWidth; - h = img._bmpHeight; - if((x+w-1) >= width()) w = width() - x; - if((y+h-1) >= height()) h = height() - y; - - - // Set TFT address window to clipped image bounds - //setAddrWindow(x, y, x+w-1, y+h-1); - - - for (row=0; row<h; row++) { // For each scanline... - // Seek to start of scan line. It might seem labor- - // intensive to be doing this on every line, but this - // method covers a lot of gritty details like cropping - // and scanline padding. Also, the seek only takes - // place if the file position actually needs to change - // (avoids a lot of cluster math in SD library). - if(img._flip) // Bitmap is stored bottom-to-top order (normal BMP) - pos = img._bmpImageoffset + (img._bmpHeight - 1 - row) * img._rowSize; - else // Bitmap is stored top-to-bottom - pos = img._bmpImageoffset + row * img._rowSize; - if(img._bmpFile.position() != pos) { // Need seek? - img._bmpFile.seek(pos); - buffidx = sizeof(sdbuffer); // Force buffer reload - } - - for (col=0; col<w; col++) { // For each pixel... - // Time to read more pixel data? - if (buffidx >= sizeof(sdbuffer)) { // Indeed - img._bmpFile.read(sdbuffer, sizeof(sdbuffer)); - buffidx = 0; // Set index to beginning - } - - // Convert pixel from BMP to TFT format, push to display - b = sdbuffer[buffidx++]; - g = sdbuffer[buffidx++]; - r = sdbuffer[buffidx++]; - //pushColor(tft.Color565(r,g,b)); - drawPixel(x + col, y + row, newColor(r, g, b)); - - } // end pixel - } // end scanline - -}*/ diff --git a/libraries/Robot_Control/Adafruit_GFX.h b/libraries/Robot_Control/Adafruit_GFX.h deleted file mode 100644 index 1f6b8d8..0000000 --- a/libraries/Robot_Control/Adafruit_GFX.h +++ /dev/null @@ -1,190 +0,0 @@ -/****************************************************************** - This is the core graphics library for all our displays, providing - basic graphics primitives (points, lines, circles, etc.). It needs - to be paired with a hardware-specific library for each display - device we carry (handling the lower-level functions). - - Adafruit invests time and resources providing this open - source code, please support Adafruit and open-source hardware - by purchasing products from Adafruit! - - Written by Limor Fried/Ladyada for Adafruit Industries. - BSD license, check license.txt for more information. - All text above must be included in any redistribution. - ******************************************************************/ - -#ifndef _ADAFRUIT_GFX_H -#define _ADAFRUIT_GFX_H - -#if ARDUINO >= 100 - #include "Arduino.h" - #include "Print.h" -#else - #include "WProgram.h" -#endif - -//#include "PImage.h" - -#define swap(a, b) { int16_t t = a; a = b; b = t; } - -/* TODO -enum RectMode { - CORNER, - CORNERS, - RADIUS, - CENTER -}; -*/ - -typedef uint16_t color; - -class Adafruit_GFX : public Print { - public: - - //Adafruit_GFX(); - // i have no idea why we have to formally call the constructor. kinda sux - void constructor(int16_t w, int16_t h); - - // this must be defined by the subclass - virtual void drawPixel(int16_t x, int16_t y, uint16_t color); - virtual void invertDisplay(boolean i); - - // these are 'generic' drawing functions, so we can share them! - virtual void drawLine(int16_t x0, int16_t y0, int16_t x1, int16_t y1, - uint16_t color); - virtual void drawFastVLine(int16_t x, int16_t y, int16_t h, uint16_t color); - virtual void drawFastHLine(int16_t x, int16_t y, int16_t w, uint16_t color); - virtual void drawRect(int16_t x, int16_t y, int16_t w, int16_t h, - uint16_t color); - virtual void fillRect(int16_t x, int16_t y, int16_t w, int16_t h, - uint16_t color); - virtual void fillScreen(uint16_t color); - - void drawCircle(int16_t x0, int16_t y0, int16_t r, uint16_t color); - void drawCircleHelper(int16_t x0, int16_t y0, - int16_t r, uint8_t cornername, uint16_t color); - void fillCircle(int16_t x0, int16_t y0, int16_t r, uint16_t color); - void fillCircleHelper(int16_t x0, int16_t y0, int16_t r, - uint8_t cornername, int16_t delta, uint16_t color); - - void drawTriangle(int16_t x0, int16_t y0, int16_t x1, int16_t y1, - int16_t x2, int16_t y2, uint16_t color); - void fillTriangle(int16_t x0, int16_t y0, int16_t x1, int16_t y1, - int16_t x2, int16_t y2, uint16_t color); - void drawRoundRect(int16_t x0, int16_t y0, int16_t w, int16_t h, - int16_t radius, uint16_t color); - void fillRoundRect(int16_t x0, int16_t y0, int16_t w, int16_t h, - int16_t radius, uint16_t color); - - void drawBitmap(int16_t x, int16_t y, - const uint8_t *bitmap, int16_t w, int16_t h, - uint16_t color); - void drawChar(int16_t x, int16_t y, unsigned char c, - uint16_t color, uint16_t bg, uint8_t size); -#if ARDUINO >= 100 - virtual size_t write(uint8_t); -#else - virtual void write(uint8_t); -#endif - void setCursor(int16_t x, int16_t y); - void setTextColor(uint16_t c); - void setTextColor(uint16_t c, uint16_t bg); - void setTextSize(uint8_t s); - void setTextWrap(boolean w); - - int16_t height(void); - int16_t width(void); - - void setRotation(uint8_t r); - uint8_t getRotation(void); - - - /* - * Processing-like graphics primitives - */ - - /// transforms a color in 16-bit form given the RGB components. - /// The default implementation makes a 5-bit red, a 6-bit - /// green and a 5-bit blue (MSB to LSB). Devices that use - /// different scheme should override this. - virtual uint16_t newColor(uint8_t red, uint8_t green, uint8_t blue); - - - // http://processing.org/reference/background_.html - void background(uint8_t red, uint8_t green, uint8_t blue); - void background(color c); - - // http://processing.org/reference/fill_.html - void fill(uint8_t red, uint8_t green, uint8_t blue); - void fill(color c); - - // http://processing.org/reference/noFill_.html - void noFill(); - - // http://processing.org/reference/stroke_.html - void stroke(uint8_t red, uint8_t green, uint8_t blue); - void stroke(color c); - - // http://processing.org/reference/noStroke_.html - void noStroke(); - - void text(const char * text, int16_t x, int16_t y); - void text(int value, uint8_t posX, uint8_t posY); - void text(long value, uint8_t posX, uint8_t posY); - void text(char value, uint8_t posX, uint8_t posY); - - void textWrap(const char * text, int16_t x, int16_t y); - - void textSize(uint8_t size); - - // similar to ellipse() in Processing, but with - // a single radius. - // http://processing.org/reference/ellipse_.html - void circle(int16_t x, int16_t y, int16_t r); - - void point(int16_t x, int16_t y); - - void line(int16_t x1, int16_t y1, int16_t x2, int16_t y2); - - void quad(int16_t x1, int16_t y1, int16_t x2, int16_t y2, int16_t x3, int16_t y3, int16_t x4, int16_t y4); - - void rect(int16_t x, int16_t y, int16_t width, int16_t height); - - void rect(int16_t x, int16_t y, int16_t width, int16_t height, int16_t radius); - - void triangle(int16_t x1, int16_t y1, int16_t x2, int16_t y2, int16_t x3, int16_t y3); - - /* TODO - void rectMode(RectMode mode); - - void pushStyle(); - void popStyle(); - */ - -// PImage loadImage(const char * fileName) { return PImage::loadImage(fileName); } - -// void image(PImage & img, uint16_t x, uint16_t y); - - protected: - int16_t WIDTH, HEIGHT; // this is the 'raw' display w/h - never changes - int16_t _width, _height; // dependent on rotation - int16_t cursor_x, cursor_y; - uint16_t textcolor, textbgcolor; - uint8_t textsize; - uint8_t rotation; - boolean wrap; // If set, 'wrap' text at right edge of display - - /* - * Processing-style graphics state - */ - - color strokeColor; - bool useStroke; - color fillColor; - bool useFill; -}; - - - - -#endif diff --git a/libraries/Robot_Control/ArduinoRobot.cpp b/libraries/Robot_Control/ArduinoRobot.cpp deleted file mode 100644 index 3adac73..0000000 --- a/libraries/Robot_Control/ArduinoRobot.cpp +++ /dev/null @@ -1,40 +0,0 @@ -#include "ArduinoRobot.h" -#include "Multiplexer.h" -#include "Wire.h" -#include "EasyTransfer2.h" - -//RobotControl::RobotControl(){} - -RobotControl::RobotControl():Arduino_LCD(LCD_CS,DC_LCD,RST_LCD){ - -} - -void RobotControl::begin(){ - Wire.begin(); - //Compass - //nothing here - - //TK sensors - uint8_t MuxPins[]={MUXA,MUXB,MUXC,MUXD}; - Multiplexer::begin(MuxPins,MUX_IN,4); - - //piezo - pinMode(BUZZ,OUTPUT); - - //communication - Serial1.begin(9600); - messageOut.begin(&Serial1); - messageIn.begin(&Serial1); - - //TFT initialization - //Arduino_LCD::initR(INITR_GREENTAB); -} - -void RobotControl::setMode(uint8_t mode){ - messageOut.writeByte(COMMAND_SWITCH_MODE); - messageOut.writeByte(mode); - messageOut.sendData(); -} - - -RobotControl Robot=RobotControl();
\ No newline at end of file diff --git a/libraries/Robot_Control/ArduinoRobot.h b/libraries/Robot_Control/ArduinoRobot.h deleted file mode 100644 index becdca8..0000000 --- a/libraries/Robot_Control/ArduinoRobot.h +++ /dev/null @@ -1,360 +0,0 @@ -#ifndef ArduinoRobot_h -#define ArduinoRobot_h - -#include "Arduino_LCD.h" // Hardware-specific library -//#include "FormattedText.h" -#include "SquawkSD.h" -#include "Multiplexer.h" -#include "EasyTransfer2.h" -#include "EEPROM_I2C.h" -#include "Compass.h" -#include "Fat16.h" - -#if ARDUINO >= 100 -#include "Arduino.h" -#else -#include "WProgram.h" -#endif - - -#define BUTTON_NONE -1 -#define BUTTON_LEFT 0 -#define BUTTON_DOWN 1 -#define BUTTON_UP 2 -#define BUTTON_RIGHT 3 -#define BUTTON_MIDDLE 4 -#define NUMBER_BUTTONS 5 - -//beep length -#define BEEP_SIMPLE 0 -#define BEEP_DOUBLE 1 -#define BEEP_LONG 2 - -// image locations on the EEPROM - #define HOME_BMP 0 -#define BATTERY_BMP 2048 -#define COMPASS_BMP 4096 -#define CONTROL_BMP 6144 -#define GEARS_BMP 8192 -#define LIGHT_BMP 10240 -#define OSCILLO_BMP 12288 -#define VOLT_BMP 14336 -#define INICIO_BMP 16384 // this is a full screen splash - -//Command code -#define COMMAND_SWITCH_MODE 0 -#define COMMAND_RUN 10 -#define COMMAND_MOTORS_STOP 11 -#define COMMAND_ANALOG_WRITE 20 -#define COMMAND_DIGITAL_WRITE 30 -#define COMMAND_ANALOG_READ 40 -#define COMMAND_ANALOG_READ_RE 41 -#define COMMAND_DIGITAL_READ 50 -#define COMMAND_DIGITAL_READ_RE 51 -#define COMMAND_READ_IR 60 -#define COMMAND_READ_IR_RE 61 -#define COMMAND_ACTION_DONE 70 -#define COMMAND_READ_TRIM 80 -#define COMMAND_READ_TRIM_RE 81 -#define COMMAND_PAUSE_MODE 90 -#define COMMAND_LINE_FOLLOW_CONFIG 100 - -//component codename -#define CN_LEFT_MOTOR 0 -#define CN_RIGHT_MOTOR 1 -#define CN_IR 2 - -//motor board modes -#define MODE_SIMPLE 0 -#define MODE_LINE_FOLLOW 1 -#define MODE_ADJUST_MOTOR 2 -#define MODE_IR_CONTROL 3 - -//port types, for R/W -#define TYPE_TOP_TK 0 -#define TYPE_TOP_TKD 1 -#define TYPE_BOTTOM_TK 2 - -//top TKs -#define TK0 100 -#define TK1 101 -#define TK2 102 -#define TK3 103 -#define TK4 104 -#define TK5 105 -#define TK6 106 -#define TK7 107 - -//bottom TKs, just for communication purpose -#define B_TK1 201 -#define B_TK2 202 -#define B_TK3 203 -#define B_TK4 204 - -//bottom IRs, for communication purpose -#define B_IR0 210 -#define B_IR1 211 -#define B_IR2 212 -#define B_IR3 213 -#define B_IR4 214 - -#ifndef LED1 -#define LED1 17 -#endif - -//320 - 337 username, -#define ADDRESS_USERNAME 320 -//338 - 355 robotname, -#define ADDRESS_ROBOTNAME 338 -//356 - 373 cityname, -#define ADDRESS_CITYNAME 356 - //374- 391 countryname, -#define ADDRESS_COUNTRYNAME 374 -//508-511 robot info -#define ADDRESS_ROBOTINFO 508 - -#define BLACK ILI9163C_BLACK -#define BLUE ILI9163C_BLUE -#define RED ILI9163C_RED -#define GREEN ILI9163C_GREEN -#define CYAN ILI9163C_CYAN -#define MAGENTA ILI9163C_MAGENTA -#define YELLOW ILI9163C_YELLOW -#define WHITE ILI9163C_WHITE - -//A data structure for storing the current state of motor board -struct MOTOR_BOARD_DATA{ - int _B_TK1; - int _B_TK2; - int _B_TK3; - int _B_TK4; - - /*int _B_IR0; - int _B_IR1; - int _B_IR2; - int _B_IR3; - int _B_IR4;*/ -}; - -/* -A message structure will be: -switch mode: - byte COMMAND_SWITCH_MODE, byte mode -run: - byte COMMAND_RUN, int speedL, int speedR -analogWrite: - byte COMMAND_ANALOG_WRITE, byte codename, byte value; -digitalWrite: - byte COMMAND_DIGITAL_WRITE, byte codename, byte value; -analogRead: - byte COMMAND_ANALOG_READ, byte codename; -analogRead return: - byte COMMAND_ANALOG_READ_RE, byte codename, int value; -digitalRead return: - byte COMMAND_DIGITAL_READ_RE, byte codename, byte value; -read IR: - byte COMMAND_READ_IR, int valueA, int valueB, int valueC, int valueD; - - -*/ -#define NUM_EEPROM_BMP 10 -struct EEPROM_BMP{ - char name[8]; - uint8_t width; - uint8_t height; - uint16_t address; -}; - -//if you call #undef USE_SQUAWK_SYNTH_SD at the beginning of your sketch, -//it's going to remove anything regarding sound playing - -class RobotControl:public Multiplexer, -public EEPROM_I2C, -public Compass, -public SquawkSynthSD, -//public FormattedText -public Arduino_LCD -{ - public: - RobotControl(); - void begin(); - void setMode(uint8_t mode); - - //Read & Write, TK0 - TK7, TKD0 - TKD1, bottom TK0 - TK4 - bool digitalRead(uint8_t port); - int analogRead(uint8_t port); - void digitalWrite(uint8_t port, bool value); - void analogWrite(uint8_t port, uint8_t value);//It's not available, as there's no pin can be used for analog write - - //IR sensors from the bottom board - //define an array as "int arr[4];", and supply the arry name here - uint16_t IRarray[5]; - void updateIR(); - - //on board Potentiometor - int knobRead(); - //Potentiometor of the motor board - int trimRead(); - - //on board piezo - void beginSpeaker(uint16_t frequency=44100); - void playMelody(char* script); - void playFile(char* filename); - void stopPlayFile(); - void beep(int beep_length=BEEP_SIMPLE); - void tempoWrite(int tempo); - void tuneWrite(float tune); - - //compass - uint16_t compassRead(); - void drawCompass(uint16_t value); - void drawBase(); - void drawDire(int16_t dire); - - //keyboard - void keyboardCalibrate(int *vals); - int8_t keyboardRead();//return the key that is being pressed?Has been pressed(with _processKeyboard)? - - //movement - void moveForward(int speed); - void moveBackward(int speed); - void turnLeft(int speed); - void turnRight(int speed); - void motorsStop(); - void motorsWritePct(int speedLeftPct, int speedRightPct); - - void motorsWrite(int speedLeft,int speedRight); - void pointTo(int degrees);//turn to an absolute angle from the compass - void turn(int degress);//turn certain degrees from the current heading - - //Line Following - void lineFollowConfig(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime);//default 11 5 50 10 - - //TFT LCD - //use the same commands as Arduino_LCD - void beginTFT(uint16_t foreGround=BLACK, uint16_t background=WHITE); - /*void text(int value, uint8_t posX, uint8_t posY, bool EW); - void text(long value, uint8_t posX, uint8_t posY, bool EW); - void text(char* value, uint8_t posX, uint8_t posY, bool EW); - void text(char value, uint8_t posX, uint8_t posY, bool EW);*/ - void debugPrint(long value, uint8_t x=0, uint8_t y=0); - void clearScreen(); - - void drawBMP(char* filename, uint8_t x, uint8_t y);//detect if draw with EEPROM or SD, and draw it - void _drawBMP(uint32_t iconOffset, uint8_t x, uint8_t y, uint8_t width, uint8_t height);//draw from EEPROM - void _drawBMP(char* filename, uint8_t x, uint8_t y);//draw from SD - void beginBMPFromEEPROM(); - void endBMPFromEEPROM(); - - uint16_t foreGround;//foreground color - uint16_t backGround;//background color - - - //SD card - void beginSD(); - - //Information - void userNameRead(char* container); - void robotNameRead(char* container); - void cityNameRead(char* container); - void countryNameRead(char* container); - - void userNameWrite(char* text); - void robotNameWrite(char* text); - void cityNameWrite(char* text); - void countryNameWrite(char* text); - - //Others - bool isActionDone(); - void pauseMode(uint8_t onOff); - void displayLogos(); - void waitContinue(uint8_t key=BUTTON_MIDDLE); - - private: - //Read & Write - uint8_t _getTypeCode(uint8_t port);//different ports need different actions - uint8_t _portToTopMux(uint8_t port);//get the number for multiplexer within top TKs - uint8_t _topDPortToAPort(uint8_t port);//get the corrensponding analogIn pin for top TKDs - - bool _digitalReadTopMux(uint8_t port);//TK0 - TK7 - int _analogReadTopMux(uint8_t port); - - bool _digitalReadTopPin(uint8_t port); - int _analogReadTopPin(uint8_t port); - void _digitalWriteTopPin(uint8_t port, bool value); - - MOTOR_BOARD_DATA motorBoardData; - int* parseMBDPort(uint8_t port); - int get_motorBoardData(uint8_t port); - void set_motorBoardData(uint8_t port, int value); - - bool _requestDigitalRead(uint8_t port); - int _requestAnalogRead(uint8_t port); - void _requestDigitalWrite(uint8_t port, uint8_t value); - - //LCD - void _enableLCD(); - void _setWrite(uint8_t posX, uint8_t posY); - void _setErase(uint8_t posX, uint8_t posY); - - - //SD - SdCard card; - Fat16 file; - Fat16 melody; - void _enableSD(); - - //keyboard - void _processKeyboard(); //need to run in loop, detect if the key is actually pressed - int averageAnalogInput(int pinNum); - - //Ultrasonic ranger - //uint8_t pinTrigger_UR; - //uint8_t pinEcho_UR; - - //Melody - void playNote(byte period, word length, char modifier); - - //Communication - - EasyTransfer2 messageOut; - EasyTransfer2 messageIn; - - //TFT LCD - bool _isEEPROM_BMP_Allocated; - EEPROM_BMP * _eeprom_bmp; - void _drawBMP_EEPROM(uint16_t address, uint8_t width, uint8_t height); - void _drawBMP_SD(char* filename, uint8_t x, uint8_t y); - - -}; - -inline void RobotControl::userNameRead(char* container){ - EEPROM_I2C::readBuffer(ADDRESS_USERNAME,(uint8_t*)container,18); -} -inline void RobotControl::robotNameRead(char* container){ - EEPROM_I2C::readBuffer(ADDRESS_ROBOTNAME,(uint8_t*)container,18); -} -inline void RobotControl::cityNameRead(char* container){ - EEPROM_I2C::readBuffer(ADDRESS_CITYNAME,(uint8_t*)container,18); -} -inline void RobotControl::countryNameRead(char* container){ - EEPROM_I2C::readBuffer(ADDRESS_COUNTRYNAME,(uint8_t*)container,18); -} - -inline void RobotControl::userNameWrite(char* text){ - EEPROM_I2C::writePage(ADDRESS_USERNAME,(uint8_t*)text,18); -} -inline void RobotControl::robotNameWrite(char* text){ - EEPROM_I2C::writePage(ADDRESS_ROBOTNAME,(uint8_t*)text,18); -} -inline void RobotControl::cityNameWrite(char* text){ - EEPROM_I2C::writePage(ADDRESS_CITYNAME,(uint8_t*)text,18); -} -inline void RobotControl::countryNameWrite(char* text){ - EEPROM_I2C::writePage(ADDRESS_COUNTRYNAME,(uint8_t*)text,18); -} - -extern RobotControl Robot; - -#endif
\ No newline at end of file diff --git a/libraries/Robot_Control/Arduino_LCD.cpp b/libraries/Robot_Control/Arduino_LCD.cpp deleted file mode 100644 index db28cd0..0000000 --- a/libraries/Robot_Control/Arduino_LCD.cpp +++ /dev/null @@ -1,706 +0,0 @@ -/*************************************************** - This is a library for the Adafruit 1.8" SPI display. - This library works with the Adafruit 1.8" TFT Breakout w/SD card - ----> http://www.adafruit.com/products/358 - as well as Adafruit raw 1.8" TFT display - ----> http://www.adafruit.com/products/618 - - Check out the links above for our tutorials and wiring diagrams - These displays use SPI to communicate, 4 or 5 pins are required to - interface (RST is optional) - Adafruit invests time and resources providing this open source code, - please support Adafruit and open-source hardware by purchasing - products from Adafruit! - - Written by Limor Fried/Ladyada for Adafruit Industries. - MIT license, all text above must be included in any redistribution - ****************************************************/ - -#include "Arduino_LCD.h" -//#include <avr/pgmspace.h> -#include <limits.h> -//#include "pins_arduino.h" -#include "wiring_private.h" -#include <SPI.h> - - -// Constructor when using software SPI. All output pins are configurable. -Arduino_LCD::Arduino_LCD(uint8_t cs, uint8_t rs, uint8_t sid, - uint8_t sclk, uint8_t rst) { - _cs = cs; - _rs = rs; - _sid = sid; - _sclk = sclk; - _rst = rst; - hwSPI = false; -} - - -// Constructor when using hardware SPI. Faster, but must use SPI pins -// specific to each board type (e.g. 11,13 for Uno, 51,52 for Mega, etc.) -Arduino_LCD::Arduino_LCD(uint8_t cs, uint8_t rs, uint8_t rst) { - _cs = cs; - _rs = rs; - _rst = rst; - hwSPI = true; - _sid = _sclk = 0; -} - - -inline void Arduino_LCD::spiwrite(uint8_t c) { - - //Serial.println(c, HEX); - -/* if (hwSPI) { - SPDR = c; - while(!(SPSR & _BV(SPIF))); - } else { - // Fast SPI bitbang swiped from LPD8806 library - for(uint8_t bit = 0x80; bit; bit >>= 1) { - if(c & bit) *dataport |= datapinmask; - else *dataport &= ~datapinmask; - *clkport |= clkpinmask; - *clkport &= ~clkpinmask; - } - } -*/ -SPI.transfer(c); -} - - -void Arduino_LCD::writecommand(uint8_t c) { -// *rsport &= ~rspinmask; -// *csport &= ~cspinmask; -digitalWrite(_rs, LOW); -digitalWrite(_cs, LOW); - - //Serial.print("C "); - spiwrite(c); -//SPI.transfer(c); -// *csport |= cspinmask; -digitalWrite(_cs, HIGH); -} - - -void Arduino_LCD::writedata(uint8_t c) { -// *rsport &= ~rspinmask; -// *csport &= ~cspinmask; -digitalWrite(_rs, HIGH); -digitalWrite(_cs, LOW); - - //Serial.print("D "); - spiwrite(c); -//SPI.transfer(c); -// *csport |= cspinmask; -digitalWrite(_cs, HIGH); -} - - -// Rather than a bazillion writecommand() and writedata() calls, screen -// initialization commands and arguments are organized in these tables -// stored in PROGMEM. The table may look bulky, but that's mostly the -// formatting -- storage-wise this is hundreds of bytes more compact -// than the equivalent code. Companion function follows. -#define DELAY 0x80 -//PROGMEM static prog_uchar -/*uint8_t - Bcmd[] = { // Initialization commands for 7735B screens - 18, // 18 commands in list: - ILI9163C_SWRESET, DELAY, // 1: Software reset, no args, w/delay - 50, // 50 ms delay - ILI9163C_SLPOUT , DELAY, // 2: Out of sleep mode, no args, w/delay - 255, // 255 = 500 ms delay - ILI9163C_COLMOD , 1+DELAY, // 3: Set color mode, 1 arg + delay: // I THINK THERE WAS SOMETHING HERE BECAUSE THE COMMAND IS CALLED 3A on Adafruits - 0x05, // 16-bit color - 10, // 10 ms delay - ILI9163C_FRMCTR1, 3+DELAY, // 4: Frame rate control, 3 args + delay: - 0x00, // fastest refresh - 0x06, // 6 lines front porch - 0x03, // 3 lines back porch - 10, // 10 ms delay - ILI9163C_MADCTL , 1 , // 5: Memory access ctrl (directions), 1 arg: - 0x08, // Row addr/col addr, bottom to top refresh - ILI9163C_DISSET5, 2 , // 6: Display settings #5, 2 args, no delay: - 0x15, // 1 clk cycle nonoverlap, 2 cycle gate - // rise, 3 cycle osc equalize - 0x02, // Fix on VTL - ILI9163C_INVCTR , 1 , // 7: Display inversion control, 1 arg: - 0x0, // Line inversion - ILI9163C_PWCTR1 , 2+DELAY, // 8: Power control, 2 args + delay: - 0x02, // GVDD = 4.7V - 0x70, // 1.0uA - 10, // 10 ms delay - ILI9163C_PWCTR2 , 1 , // 9: Power control, 1 arg, no delay: - 0x05, // VGH = 14.7V, VGL = -7.35V - ILI9163C_PWCTR3 , 2 , // 10: Power control, 2 args, no delay: - 0x01, // Opamp current small - 0x02, // Boost frequency - ILI9163C_VMCTR1 , 2+DELAY, // 11: Power control, 2 args + delay: - 0x3C, // VCOMH = 4V - 0x38, // VCOML = -1.1V - 10, // 10 ms delay - ILI9163C_PWCTR6 , 2 , // 12: Power control, 2 args, no delay: - 0x11, 0x15, - ILI9163C_GMCTRP1,16 , // 13: Magical unicorn dust, 16 args, no delay: - 0x09, 0x16, 0x09, 0x20, // (seriously though, not sure what - 0x21, 0x1B, 0x13, 0x19, // these config values represent) - 0x17, 0x15, 0x1E, 0x2B, - 0x04, 0x05, 0x02, 0x0E, - ILI9163C_GMCTRN1,16+DELAY, // 14: Sparkles and rainbows, 16 args + delay: - 0x0B, 0x14, 0x08, 0x1E, // (ditto) - 0x22, 0x1D, 0x18, 0x1E, - 0x1B, 0x1A, 0x24, 0x2B, - 0x06, 0x06, 0x02, 0x0F, - 10, // 10 ms delay - ILI9163C_CASET , 4 , // 15: Column addr set, 4 args, no delay: - 0x00, 0x02, // XSTART = 2 - 0x00, 0x81, // XEND = 129 - ILI9163C_RASET , 4 , // 16: Row addr set, 4 args, no delay: - 0x00, 0x02, // XSTART = 1 - 0x00, 0x81, // XEND = 160 - ILI9163C_NORON , DELAY, // 17: Normal display on, no args, w/delay - 10, // 10 ms delay - ILI9163C_DISPON , DELAY, // 18: Main screen turn on, no args, w/delay - 255 }, // 255 = 500 ms delay -*/ -uint8_t - Bcmd[] = { // Initialization commands for 7735B screens - 19, // 19 commands in list: - ILI9163C_SWRESET, DELAY, // 1: Software reset, no args, w/delay - 50, // 50 ms delay - 0x11 , DELAY, // 2: Out of sleep mode, no args, w/delay - 100, // 255 = 500 ms delay - 0x26 , 1, // 3: Set default gamma - 0x04, // 16-bit color - 0xb1, 2, // 4: Frame Rate - 0x0b, - 0x14, - 0xc0, 2, // 5: VRH1[4:0] & VC[2:0] - 0x08, - 0x00, - 0xc1, 1, // 6: BT[2:0] - 0x05, - 0xc5, 2, // 7: VMH[6:0] & VML[6:0] - 0x41, - 0x30, - 0xc7, 1, // 8: LCD Driving control - 0xc1, - 0xEC, 1, // 9: Set pumping color freq - 0x1b, - 0x3a , 1 + DELAY, // 10: Set color format - 0x55, // 16-bit color - 100, - 0x2a, 4, // 11: Set Column Address - 0x00, - 0x00, - 0x00, - 0x7f, - 0x2b, 4, // 12: Set Page Address - 0x00, - 0x00, - 0x00, - 0x9f, - 0x36, 1, // 12+1: Set Scanning Direction - 0xc8, - 0xb7, 1, // 14: Set Source Output Direciton - 0x00, - 0xf2, 1, // 15: Enable Gamma bit - 0x01, - 0xe0, 15 + DELAY, // 16: magic - 0x28, 0x24, 0x22, 0x31, - 0x2b, 0x0e, 0x53, 0xa5, - 0x42, 0x16, 0x18, 0x12, - 0x1a, 0x14, 0x03, - 50, - 0xe1, 15 + DELAY, // 17: more magic - 0x17, 0x1b, 0x1d, 0x0e, - 0x14, 0x11, 0x2c, 0xa5, - 0x3d, 0x09, 0x27, 0x2d, - 0x25, 0x2b, 0x3c, - 50, - ILI9163C_NORON , DELAY, // 18: Normal display on, no args, w/delay - 10, // 10 ms delay - ILI9163C_DISPON , DELAY, // 19: Main screen turn on, no args w/delay - 100 }, // 100 ms delay -Rcmd1[] = { // Init for 7735R, part 1 (red or green tab) - 15, // 15 commands in list: - ILI9163C_SWRESET, DELAY, // 1: Software reset, 0 args, w/delay - 150, // 150 ms delay - ILI9163C_SLPOUT , DELAY, // 2: Out of sleep mode, 0 args, w/delay - 255, // 500 ms delay - ILI9163C_FRMCTR1, 3 , // 3: Frame rate ctrl - normal mode, 3 args: - 0x01, 0x2C, 0x2D, // Rate = fosc/(1x2+40) * (LINE+2C+2D) - ILI9163C_FRMCTR2, 3 , // 4: Frame rate control - idle mode, 3 args: - 0x01, 0x2C, 0x2D, // Rate = fosc/(1x2+40) * (LINE+2C+2D) - ILI9163C_FRMCTR3, 6 , // 5: Frame rate ctrl - partial mode, 6 args: - 0x01, 0x2C, 0x2D, // Dot inversion mode - 0x01, 0x2C, 0x2D, // Line inversion mode - ILI9163C_INVCTR , 1 , // 6: Display inversion ctrl, 1 arg, no delay: - 0x07, // No inversion - ILI9163C_PWCTR1 , 3 , // 7: Power control, 3 args, no delay: - 0xA2, - 0x02, // -4.6V - 0x84, // AUTO mode - ILI9163C_PWCTR2 , 1 , // 8: Power control, 1 arg, no delay: - 0xC5, // VGH25 = 2.4C VGSEL = -10 VGH = 3 * AVDD - ILI9163C_PWCTR3 , 2 , // 9: Power control, 2 args, no delay: - 0x0A, // Opamp current small - 0x00, // Boost frequency - ILI9163C_PWCTR4 , 2 , // 10: Power control, 2 args, no delay: - 0x8A, // BCLK/2, Opamp current small & Medium low - 0x2A, - ILI9163C_PWCTR5 , 2 , // 11: Power control, 2 args, no delay: - 0x8A, 0xEE, - ILI9163C_VMCTR1 , 1 , // 12: Power control, 1 arg, no delay: - 0x0E, - ILI9163C_INVOFF , 0 , // 13: Don't invert display, no args, no delay - ILI9163C_MADCTL , 1 , // 14: Memory access control (directions), 1 arg: - 0xC8, // row addr/col addr, bottom to top refresh - ILI9163C_COLMOD , 1 , // 15: set color mode, 1 arg, no delay: - 0x05 }, // 16-bit color - - Rcmd2green[] = { // Init for 7735R, part 2 (green tab only) - 2, // 2 commands in list: - ILI9163C_CASET , 4 , // 1: Column addr set, 4 args, no delay: - 0x00, 0x02, // XSTART = 0 - 0x00, 0x7F+0x02, // XEND = 127 - ILI9163C_RASET , 4 , // 2: Row addr set, 4 args, no delay: - 0x00, 0x01, // XSTART = 0 - 0x00, 0x9F+0x01 }, // XEND = 159 - Rcmd2red[] = { // Init for 7735R, part 2 (red tab only) - 2, // 2 commands in list: - ILI9163C_CASET , 4 , // 1: Column addr set, 4 args, no delay: - 0x00, 0x00, // XSTART = 0 - 0x00, 0x7F, // XEND = 127 - ILI9163C_RASET , 4 , // 2: Row addr set, 4 args, no delay: - 0x00, 0x00, // XSTART = 0 - 0x00, 0x9F }, // XEND = 159 - - Rcmd3[] = { // Init for 7735R, part 3 (red or green tab) - 4, // 4 commands in list: - ILI9163C_GMCTRP1, 16 , // 1: Magical unicorn dust, 16 args, no delay: - 0x02, 0x1c, 0x07, 0x12, - 0x37, 0x32, 0x29, 0x2d, - 0x29, 0x25, 0x2B, 0x39, - 0x00, 0x01, 0x03, 0x10, - ILI9163C_GMCTRN1, 16 , // 2: Sparkles and rainbows, 16 args, no delay: - 0x03, 0x1d, 0x07, 0x06, - 0x2E, 0x2C, 0x29, 0x2D, - 0x2E, 0x2E, 0x37, 0x3F, - 0x00, 0x00, 0x02, 0x10, - ILI9163C_NORON , DELAY, // 3: Normal display on, no args, w/delay - 10, // 10 ms delay - ILI9163C_DISPON , DELAY, // 4: Main screen turn on, no args w/delay - 100 }; // 100 ms delay - - -// Companion code to the above tables. Reads and issues -// a series of LCD commands stored in PROGMEM byte array. -//void Arduino_LCD::commandList(prog_uchar *addr) { -void Arduino_LCD::commandList(uint8_t *addr) { - - uint8_t numCommands, numArgs; - uint16_t ms; - - numCommands = *addr++; // Number of commands to follow - while(numCommands--) { // For each command... - writecommand(*addr++); // Read, issue command - numArgs = *addr++; // Number of args to follow - ms = numArgs & DELAY; // If hibit set, delay follows args - numArgs &= ~DELAY; // Mask out delay bit - while(numArgs--) { // For each argument... - writedata(*addr++); // Read, issue argument - } - - if(ms) { - ms = *addr++; // Read post-command delay time (ms) - if(ms == 255) ms = 500; // If 255, delay for 500 ms - delay(ms); - } - } -} - - -// Initialization code common to both 'B' and 'R' type displays -//void Arduino_LCD::commonInit(prog_uchar *cmdList) { -void Arduino_LCD::commonInit(uint8_t *cmdList) { - - constructor(ILI9163C_TFTWIDTH, ILI9163C_TFTHEIGHT); - colstart = rowstart = 0; // May be overridden in init func - - pinMode(_rs, OUTPUT); - pinMode(_cs, OUTPUT); -/* - csport = portOutputRegister(digitalPinToPort(_cs)); - cspinmask = digitalPinToBitMask(_cs); - rsport = portOutputRegister(digitalPinToPort(_rs)); - rspinmask = digitalPinToBitMask(_rs); -*/ - -// if(hwSPI) { // Using hardware SPI - SPI.begin(); - SPI.setClockDivider(21); // 4 MHz (half speed) -// SPI.setClockDivider(SPI_CLOCK_DIV4); // 4 MHz (half speed) -// SPI.setBitOrder(MSBFIRST); -// there is no setBitOrder on the SPI library for the Due - SPI.setDataMode(SPI_MODE0); -/* - } else { - pinMode(_sclk, OUTPUT); - pinMode(_sid , OUTPUT); - clkport = portOutputRegister(digitalPinToPort(_sclk)); - clkpinmask = digitalPinToBitMask(_sclk); - dataport = portOutputRegister(digitalPinToPort(_sid)); - datapinmask = digitalPinToBitMask(_sid); - *clkport &= ~clkpinmask; - *dataport &= ~datapinmask; - } -*/ - - // toggle RST low to reset; CS low so it'll listen to us -// *csport &= ~cspinmask; - digitalWrite(_cs, LOW); - if (_rst) { - pinMode(_rst, OUTPUT); - digitalWrite(_rst, HIGH); - delay(500); - digitalWrite(_rst, LOW); - delay(500); - digitalWrite(_rst, HIGH); - delay(500); - } - - if(cmdList) commandList(cmdList); -} - - -// Initialization for ST7735B screens -void Arduino_LCD::initB(void) { - commonInit(Bcmd); - commandList(Rcmd3); -} - - -// Initialization for ST7735R screens (green or red tabs) -void Arduino_LCD::initR(uint8_t options) { - commonInit(Rcmd1); - if(options == INITR_GREENTAB) { - commandList(Rcmd2green); - colstart = 2; - rowstart = 1; - } else { - // colstart, rowstart left at default '0' values - commandList(Rcmd2red); - } - commandList(Rcmd3); -} - - -void Arduino_LCD::setAddrWindow(uint8_t x0, uint8_t y0, uint8_t x1, - uint8_t y1) { - - writecommand(ILI9163C_CASET); // Column addr set - writedata(0x00); - writedata(x0+colstart); // XSTART - writedata(0x00); - writedata(x1+colstart); // XEND - - writecommand(ILI9163C_RASET); // Row addr set - writedata(0x00); - writedata(y0+rowstart); // YSTART - writedata(0x00); - writedata(y1+rowstart); // YEND - - writecommand(ILI9163C_RAMWR); // write to RAM -} - - -void Arduino_LCD::fillScreen(uint16_t color) { - - uint8_t x, y, hi = color >> 8, lo = color; - - setAddrWindow(0, 0, _width-1, _height-1); - -// *rsport |= rspinmask; -// *csport &= ~cspinmask; -digitalWrite(_rs, HIGH); - digitalWrite(_cs, LOW); - - for(y=_height; y>0; y--) { - for(x=_width; x>0; x--) { -//SPI.transfer(hi); -//SPI.transfer(lo); - spiwrite(hi); - spiwrite(lo); - } - } - -// *csport |= cspinmask; - digitalWrite(_cs, HIGH); -} - - -void Arduino_LCD::pushColor(uint16_t color) { -// *rsport |= rspinmask; -// *csport &= ~cspinmask; -digitalWrite(_rs, HIGH); - digitalWrite(_cs, LOW); - - spiwrite(color >> 8); - spiwrite(color); -//SPI.transfer(color>>8); -//SPI.transfer(color); - -// *csport |= cspinmask; - digitalWrite(_cs, HIGH); -} - - -void Arduino_LCD::drawPixel(int16_t x, int16_t y, uint16_t color) { - - if((x < 0) ||(x >= _width) || (y < 0) || (y >= _height)) return; - - setAddrWindow(x,y,x+1,y+1); - -// *rsport |= rspinmask; -// *csport &= ~cspinmask; -digitalWrite(_rs, HIGH); - digitalWrite(_cs, LOW); - - spiwrite(color >> 8); - spiwrite(color); -//SPI.transfer(color>>8); -//SPI.transfer(color); - -// *csport |= cspinmask; - digitalWrite(_cs, HIGH); -} - - -void Arduino_LCD::drawFastVLine(int16_t x, int16_t y, int16_t h, - uint16_t color) { - - // Rudimentary clipping - if((x >= _width) || (y >= _height)) return; - if((y+h-1) >= _height) h = _height-y; - setAddrWindow(x, y, x, y+h-1); - - uint8_t hi = color >> 8, lo = color; -// *rsport |= rspinmask; -// *csport &= ~cspinmask; -digitalWrite(_rs, HIGH); - digitalWrite(_cs, LOW); - while (h--) { - spiwrite(hi); - spiwrite(lo); -//SPI.transfer(hi); -//SPI.transfer(lo); - } -// *csport |= cspinmask; - digitalWrite(_cs, HIGH); -} - - -void Arduino_LCD::drawFastHLine(int16_t x, int16_t y, int16_t w, - uint16_t color) { - - // Rudimentary clipping - if((x >= _width) || (y >= _height)) return; - if((x+w-1) >= _width) w = _width-x; - setAddrWindow(x, y, x+w-1, y); - - uint8_t hi = color >> 8, lo = color; -// *rsport |= rspinmask; -// *csport &= ~cspinmask; -digitalWrite(_rs, HIGH); - digitalWrite(_cs, LOW); - while (w--) { - spiwrite(hi); - spiwrite(lo); -//SPI.transfer(hi); -//SPI.transfer(lo); - } -// *csport |= cspinmask; - digitalWrite(_cs, HIGH); -} - - -// fill a rectangle -void Arduino_LCD::fillRect(int16_t x, int16_t y, int16_t w, int16_t h, - uint16_t color) { - - // rudimentary clipping (drawChar w/big text requires this) - if((x >= _width) || (y >= _height)) return; - if((x + w - 1) >= _width) w = _width - x; - if((y + h - 1) >= _height) h = _height - y; - - setAddrWindow(x, y, x+w-1, y+h-1); - - uint8_t hi = color >> 8, lo = color; -// *rsport |= rspinmask; -// *csport &= ~cspinmask; -digitalWrite(_rs, HIGH); -digitalWrite(_cs, LOW); - for(y=h; y>0; y--) { - for(x=w; x>0; x--) { - spiwrite(hi); - spiwrite(lo); -//SPI.transfer(hi); -//SPI.transfer(lo); - } - } - -// *csport |= cspinmask; -digitalWrite(_cs, HIGH); -} - - -// Pass 8-bit (each) R,G,B, get back 16-bit packed color -uint16_t Arduino_LCD::Color565(uint8_t r, uint8_t g, uint8_t b) { - return ((r & 0xF8) << 8) | ((g & 0xFC) << 3) | (b >> 3); -} - - -#define MADCTL_MY 0x80 -#define MADCTL_MX 0x40 -#define MADCTL_MV 0x20 -#define MADCTL_ML 0x10 -#define MADCTL_RGB 0x08 -#define MADCTL_MH 0x04 - -void Arduino_LCD::setRotation(uint8_t m) { - - writecommand(ILI9163C_MADCTL); - rotation = m % 4; // can't be higher than 3 - switch (rotation) { - case 0: - writedata(MADCTL_MX | MADCTL_MY | MADCTL_RGB); - _width = ILI9163C_TFTWIDTH; - _height = ILI9163C_TFTHEIGHT; - break; - case 1: - writedata(MADCTL_MY | MADCTL_MV | MADCTL_RGB); - _width = ILI9163C_TFTHEIGHT; - _height = ILI9163C_TFTWIDTH; - break; - case 2: - writedata(MADCTL_RGB); - _width = ILI9163C_TFTWIDTH; - _height = ILI9163C_TFTHEIGHT; - break; - case 3: - writedata(MADCTL_MX | MADCTL_MV | MADCTL_RGB); - _width = ILI9163C_TFTHEIGHT; - _height = ILI9163C_TFTWIDTH; - break; - } -} - - -void Arduino_LCD::invertDisplay(boolean i) { - writecommand(i ? ILI9163C_INVON : ILI9163C_INVOFF); -} - -/* - 18, // there are 17 commands - ILI9163C_SWRESET, DELAY, // 1: Software reset, no args, w/delay - 50, // 50 ms delay - - 0x11, //Exit Sleep - DELAY,50, - - 0x26, //Set Default Gamma - 0x104, - - //0xF2, //E0h & E1h Enable/Disable - //0x100, - - 0xB1, - 0x10C, - 0x114, - - 0xC0, //Set VRH1[4:0] & VC[2:0] for VCI1 & GVDD - 0x10C, - 0x105, - - 0xC1, //Set BT[2:0] for AVDD & VCL & VGH & VGL - 0x102, - - 0xC5, //Set VMH[6:0] & VML[6:0] for VOMH & VCOML - 0x129, - 0x143, - - 0xC7, - 0x140, - - 0x3a, //Set Color Format - 0x105, - - 0x2A, //Set Column Address - 0x100, - 0x100, - 0x100, - 0x17F, - - 0x2B, //Set Page Address - 0x100, - 0x100, - 0x100, - 0x19F, - - 0x36, //Set Scanning Direction, RGB - 0x1C0, - - 0xB7, //Set Source Output Direction - 0x100, - - 0xf2, //Enable Gamma bit - 0x101, - - 0xE0, - 0x136,//p1 - 0x129,//p2 - 0x112,//p3 - 0x122,//p4 - 0x11C,//p5 - 0x115,//p6 - 0x142,//p7 - 0x1B7,//p8 - 0x12F,//p9 - 0x113,//p10 - 0x112,//p11 - 0x10A,//p12 - 0x111,//p13 - 0x10B,//p14 - 0x106,//p15 - - 0xE1, - 0x109,//p1 - 0x116,//p2 - 0x12D,//p3 - 0x10D,//p4 - 0x113,//p5 - 0x115,//p6 - 0x140,//p7 - 0x148,//p8 - 0x153,//p9 - 0x10C,//p10 - 0x11D,//p11 - 0x125,//p12 - 0x12E,//p13 - 0x134,//p14 - 0x139,//p15 - - 0x33, // scroll setup - 0x100, - 0x100, - 0x100, - 0x1C1, - 0x100, - 0x100, - - 0x29, // Display On - 0x2C}, // write gram - -*/ - diff --git a/libraries/Robot_Control/Arduino_LCD.h b/libraries/Robot_Control/Arduino_LCD.h deleted file mode 100644 index a518133..0000000 --- a/libraries/Robot_Control/Arduino_LCD.h +++ /dev/null @@ -1,141 +0,0 @@ -/*************************************************** - This is a library for the Adafruit 1.8" SPI display. - This library works with the Adafruit 1.8" TFT Breakout w/SD card - ----> http://www.adafruit.com/products/358 - as well as Adafruit raw 1.8" TFT display - ----> http://www.adafruit.com/products/618 - - Check out the links above for our tutorials and wiring diagrams - These displays use SPI to communicate, 4 or 5 pins are required to - interface (RST is optional) - Adafruit invests time and resources providing this open source code, - please support Adafruit and open-source hardware by purchasing - products from Adafruit! - - Written by Limor Fried/Ladyada for Adafruit Industries. - MIT license, all text above must be included in any redistribution - ****************************************************/ - -#ifndef _ARDUINO_LCDH_ -#define _ARDUINO_LCDH_ - -#if ARDUINO >= 100 - #include "Arduino.h" - #include "Print.h" -#else - #include "WProgram.h" -#endif -#include "Adafruit_GFX.h" -//#include <avr/pgmspace.h> - -// some flags for initR() :( -#define INITR_GREENTAB 0x0 -#define INITR_REDTAB 0x1 - -#define ILI9163C_TFTWIDTH 128 -#define ILI9163C_TFTHEIGHT 160 - -#define ILI9163C_NOP 0x00 -#define ILI9163C_SWRESET 0x01 -#define ILI9163C_RDDID 0x04 -#define ILI9163C_RDDST 0x09 - -#define ILI9163C_SLPIN 0x10 -#define ILI9163C_SLPOUT 0x11 -#define ILI9163C_PTLON 0x12 -#define ILI9163C_NORON 0x13 - -#define ILI9163C_INVOFF 0x20 -#define ILI9163C_INVON 0x21 -#define ILI9163C_DISPOFF 0x28 -#define ILI9163C_DISPON 0x29 -#define ILI9163C_CASET 0x2A -#define ILI9163C_RASET 0x2B -#define ILI9163C_RAMWR 0x2C -#define ILI9163C_RAMRD 0x2E - -#define ILI9163C_PTLAR 0x30 -#define ILI9163C_COLMOD 0x3A // this is interface pixel format, this might be the issue -#define ILI9163C_MADCTL 0x36 - -#define ILI9163C_FRMCTR1 0xB1 -#define ILI9163C_FRMCTR2 0xB2 -#define ILI9163C_FRMCTR3 0xB3 -#define ILI9163C_INVCTR 0xB4 -#define ILI9163C_DISSET5 0xB6 - -#define ILI9163C_PWCTR1 0xC0 -#define ILI9163C_PWCTR2 0xC1 -#define ILI9163C_PWCTR3 0xC2 -#define ILI9163C_PWCTR4 0xC3 -#define ILI9163C_PWCTR5 0xC4 -#define ILI9163C_VMCTR1 0xC5 - -#define ILI9163C_RDID1 0xDA -#define ILI9163C_RDID2 0xDB -#define ILI9163C_RDID3 0xDC -#define ILI9163C_RDID4 0xDD - -#define ILI9163C_PWCTR6 0xFC - -#define ILI9163C_GMCTRP1 0xE0 -#define ILI9163C_GMCTRN1 0xE1 - -// Color definitions -#define ILI9163C_BLACK 0x0000 -#define ILI9163C_BLUE 0x001F -#define ILI9163C_RED 0xF800 -#define ILI9163C_GREEN 0x07E0 -#define ILI9163C_CYAN 0x07FF -#define ILI9163C_MAGENTA 0xF81F -#define ILI9163C_YELLOW 0xFFE0 -#define ILI9163C_WHITE 0xFFFF - - -class Arduino_LCD : public Adafruit_GFX { - - public: - - Arduino_LCD(uint8_t CS, uint8_t RS, uint8_t SID, uint8_t SCLK, uint8_t RST); - Arduino_LCD(uint8_t CS, uint8_t RS, uint8_t RST); - - void initB(void), // for ST7735B displays - initR(uint8_t options = INITR_GREENTAB), // for ST7735R - setAddrWindow(uint8_t x0, uint8_t y0, uint8_t x1, uint8_t y1), - pushColor(uint16_t color), - fillScreen(uint16_t color), - drawPixel(int16_t x, int16_t y, uint16_t color), - drawFastVLine(int16_t x, int16_t y, int16_t h, uint16_t color), - drawFastHLine(int16_t x, int16_t y, int16_t w, uint16_t color), - fillRect(int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color), - setRotation(uint8_t r), - invertDisplay(boolean i); - uint16_t Color565(uint8_t r, uint8_t g, uint8_t b); - - /* These are not for current use, 8-bit protocol only! - uint8_t readdata(void), - readcommand8(uint8_t); - uint16_t readcommand16(uint8_t); - uint32_t readcommand32(uint8_t); - void dummyclock(void); - */ - - private: - - void spiwrite(uint8_t), - writecommand(uint8_t c), - writedata(uint8_t d), -// commandList(prog_uchar *addr), -// commonInit(prog_uchar *cmdList); - commandList(uint8_t *addr), - commonInit(uint8_t *cmdList); -//uint8_t spiread(void); - - boolean hwSPI; - volatile uint8_t *dataport, *clkport, *csport, *rsport; - uint8_t _cs, _rs, _rst, _sid, _sclk, - datapinmask, clkpinmask, cspinmask, rspinmask, - colstart, rowstart; // some displays need this changed -}; - -#endif diff --git a/libraries/Robot_Control/Compass.cpp b/libraries/Robot_Control/Compass.cpp deleted file mode 100644 index 1b1ef31..0000000 --- a/libraries/Robot_Control/Compass.cpp +++ /dev/null @@ -1,34 +0,0 @@ -#include "Compass.h" -#include <Wire.h> - -void Compass::begin(){ - Wire.begin(); -} -float Compass::getReading(){ - _beginTransmission(); - _endTransmission(); - - //time delays required by HMC6352 upon receipt of the command - //Get Data. Compensate and Calculate New Heading : 6ms - delay(6); - - Wire.requestFrom(HMC6352SlaveAddress, 2); //get the two data bytes, MSB and LSB - - //"The heading output data will be the value in tenths of degrees - //from zero to 3599 and provided in binary format over the two bytes." - byte MSB = Wire.read(); - byte LSB = Wire.read(); - - float headingSum = (MSB << 8) + LSB; //(MSB / LSB sum) - float headingInt = headingSum / 10; - - return headingInt; -} - -void Compass::_beginTransmission(){ - Wire.beginTransmission(HMC6352SlaveAddress); - Wire.write(HMC6352ReadAddress); -} -void Compass::_endTransmission(){ - Wire.endTransmission(); -}
\ No newline at end of file diff --git a/libraries/Robot_Control/Compass.h b/libraries/Robot_Control/Compass.h deleted file mode 100644 index aa085a9..0000000 --- a/libraries/Robot_Control/Compass.h +++ /dev/null @@ -1,24 +0,0 @@ -#ifndef Compass_h -#define Compass_h - -#if ARDUINO >= 100 -#include "Arduino.h" -#else -#include "WProgram.h" -#endif - -//0x21==0x42>>1, from bildr's code -#define HMC6352SlaveAddress 0x21 -#define HMC6352ReadAddress 0x41 - -class Compass{ - public: - void begin(); - float getReading(); - private: - void _beginTransmission(); - void _endTransmission(); - -}; - -#endif
\ No newline at end of file diff --git a/libraries/Robot_Control/EEPROM_I2C.cpp b/libraries/Robot_Control/EEPROM_I2C.cpp deleted file mode 100644 index dd12695..0000000 --- a/libraries/Robot_Control/EEPROM_I2C.cpp +++ /dev/null @@ -1,62 +0,0 @@ -#include "EEPROM_I2C.h" -#include <Wire.h> - -#if ARDUINO >= 100 -#include "Arduino.h" -#else -#include "WProgram.h" -#endif - -void EEPROM_I2C::begin(){ - Wire.begin(); -} - -void EEPROM_I2C::writeByte(unsigned int eeaddress, byte data){ - int rdata = data; - this->_beginTransmission(eeaddress); - Wire.write(rdata); - this->_endTransmission(); -} - -byte EEPROM_I2C::readByte(unsigned int eeaddress){ - int rdata; - this->_beginTransmission(eeaddress); - this->_endTransmission(); - - Wire.requestFrom(DEVICEADDRESS,1); - if (Wire.available()) rdata = Wire.read(); - return rdata; -} - -void EEPROM_I2C::writePage(unsigned int eeaddress, byte* data, byte length ){ - this->_beginTransmission(eeaddress); - - byte c; - - for ( c = 0; c < length; c++) - Wire.write(data[c]); - - this->_endTransmission(); - - delay(10); // need some delay -} - -void EEPROM_I2C::readBuffer(unsigned int eeaddress, byte *buffer, int length ){ - this->_beginTransmission(eeaddress); - this->_endTransmission(); - Wire.requestFrom(DEVICEADDRESS,length); - - for ( int c = 0; c < length; c++ ) - if (Wire.available()) buffer[c] = Wire.read(); -} - - - -void EEPROM_I2C::_beginTransmission(unsigned int eeaddress){ - Wire.beginTransmission(DEVICEADDRESS); - Wire.write((eeaddress >> 8)); // Address High Byte - Wire.write((eeaddress & 0xFF)); // Address Low Byte -} -void EEPROM_I2C::_endTransmission(){ - Wire.endTransmission(); -}
\ No newline at end of file diff --git a/libraries/Robot_Control/EEPROM_I2C.h b/libraries/Robot_Control/EEPROM_I2C.h deleted file mode 100644 index 9bd0f6a..0000000 --- a/libraries/Robot_Control/EEPROM_I2C.h +++ /dev/null @@ -1,31 +0,0 @@ -#ifndef EEPROM_I2C_h -#define EEPROM_I2C_h - -#if ARDUINO >= 100 -#include "Arduino.h" -#else -#include "WProgram.h" -#endif - -#define EE24LC512MAXBYTES 64000 -#define DEVICEADDRESS 0x50 - -class EEPROM_I2C{ - public: - void begin(); - - void writeByte(unsigned int eeaddresspage, byte data); - byte readByte(unsigned int eeaddresspage); - - void writePage(unsigned int eeaddresspage, byte* data, byte length ); - void readBuffer(unsigned int eeaddress, byte *buffer, int length ); - - //uint16_t readPixel(uint16_t theMemoryAddress); - //void readImage(uint16_t theMemoryAddress, int width, int height); - - protected: - void _beginTransmission(unsigned int eeaddress); - void _endTransmission(); -}; - -#endif
\ No newline at end of file diff --git a/libraries/Robot_Control/EasyTransfer2.cpp b/libraries/Robot_Control/EasyTransfer2.cpp deleted file mode 100644 index 24427cc..0000000 --- a/libraries/Robot_Control/EasyTransfer2.cpp +++ /dev/null @@ -1,152 +0,0 @@ -#include "EasyTransfer2.h" - - - - -//Captures address and size of struct -void EasyTransfer2::begin(HardwareSerial *theSerial){ - _serial = theSerial; - - //dynamic creation of rx parsing buffer in RAM - //rx_buffer = (uint8_t*) malloc(size); - - resetData(); -} - -void EasyTransfer2::writeByte(uint8_t dat){ - if(position<20) - data[position++]=dat; - size++; -} -void EasyTransfer2::writeInt(int dat){ - if(position<19){ - data[position++]=dat>>8; - data[position++]=dat; - size+=2; - } -} -uint8_t EasyTransfer2::readByte(){ - if(position>=size)return 0; - return data[position++]; -} -int EasyTransfer2::readInt(){ - if(position+1>=size)return 0; - int dat_1=data[position++]<<8; - int dat_2=data[position++]; - int dat= dat_1 | dat_2; - return dat; -} - -void EasyTransfer2::resetData(){ - for(int i=0;i<20;i++){ - data[i]=0; - } - size=0; - position=0; -} - -//Sends out struct in binary, with header, length info and checksum -void EasyTransfer2::sendData(){ - uint8_t CS = size; - _serial->write(0x06); - _serial->write(0x85); - _serial->write(size); - for(int i = 0; i<size; i++){ - CS^=*(data+i); - _serial->write(*(data+i)); - //Serial.print(*(data+i)); - //Serial.print(","); - } - //Serial.println(""); - _serial->write(CS); - - resetData(); -} - -boolean EasyTransfer2::receiveData(){ - - //start off by looking for the header bytes. If they were already found in a previous call, skip it. - if(rx_len == 0){ - //this size check may be redundant due to the size check below, but for now I'll leave it the way it is. - if(_serial->available() >= 3){ - //this will block until a 0x06 is found or buffer size becomes less then 3. - while(_serial->read() != 0x06) { - //This will trash any preamble junk in the serial buffer - //but we need to make sure there is enough in the buffer to process while we trash the rest - //if the buffer becomes too empty, we will escape and try again on the next call - if(_serial->available() < 3) - return false; - } - //Serial.println("head"); - if (_serial->read() == 0x85){ - rx_len = _serial->read(); - //Serial.print("rx_len:"); - //Serial.println(rx_len); - resetData(); - - //make sure the binary structs on both Arduinos are the same size. - /*if(rx_len != size){ - rx_len = 0; - return false; - }*/ - } - } - //Serial.println("nothing"); - } - - //we get here if we already found the header bytes, the struct size matched what we know, and now we are byte aligned. - if(rx_len != 0){ - - while(_serial->available() && rx_array_inx <= rx_len){ - data[rx_array_inx++] = _serial->read(); - } - - if(rx_len == (rx_array_inx-1)){ - //seem to have got whole message - //last uint8_t is CS - calc_CS = rx_len; - //Serial.print("len:"); - //Serial.println(rx_len); - for (int i = 0; i<rx_len; i++){ - calc_CS^=data[i]; - //Serial.print("m"); - //Serial.print(data[i]); - //Serial.print(","); - } - //Serial.println(); - //Serial.print(data[rx_array_inx-1]); - //Serial.print(" "); - //Serial.println(calc_CS); - - if(calc_CS == data[rx_array_inx-1]){//CS good - //resetData(); - //memcpy(data,d,rx_len); - for(int i=0;i<20;i++){ - //Serial.print(data[i]); - //Serial.print(","); - } - //Serial.println(""); - size=rx_len; - rx_len = 0; - rx_array_inx = 0; - return true; - } - - else{ - //Serial.println("CS"); - resetData(); - //failed checksum, need to clear this out anyway - rx_len = 0; - rx_array_inx = 0; - return false; - } - - } - } - //Serial.print(rx_len); - //Serial.print(" "); - //Serial.print(rx_array_inx); - //Serial.print(" "); - //Serial.println("Short"); - return false; -}
\ No newline at end of file diff --git a/libraries/Robot_Control/EasyTransfer2.h b/libraries/Robot_Control/EasyTransfer2.h deleted file mode 100644 index 3369a51..0000000 --- a/libraries/Robot_Control/EasyTransfer2.h +++ /dev/null @@ -1,76 +0,0 @@ -/****************************************************************** -* EasyTransfer Arduino Library -* details and example sketch: -* http://www.billporter.info/easytransfer-arduino-library/ -* -* Brought to you by: -* Bill Porter -* www.billporter.info -* -* See Readme for other info and version history -* -* -*This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or(at your option) any later version. -This program is distributed in the hope that it will be useful, -but WITHOUT ANY WARRANTY; without even the implied warranty of -MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -GNU General Public License for more details. -<http://www.gnu.org/licenses/> -* -*This work is licensed under the Creative Commons Attribution-ShareAlike 3.0 Unported License. -*To view a copy of this license, visit http://creativecommons.org/licenses/by-sa/3.0/ or -*send a letter to Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA. -******************************************************************/ -#ifndef EasyTransfer2_h -#define EasyTransfer2_h - - -//make it a little prettier on the front end. -#define details(name) (byte*)&name,sizeof(name) - -//Not neccessary, but just in case. -#if ARDUINO > 22 -#include "Arduino.h" -#else -#include "WProgram.h" -#endif -#include "HardwareSerial.h" -//#include <NewSoftSerial.h> -#include <math.h> -#include <stdio.h> -#include <stdint.h> -#include <avr/io.h> - -class EasyTransfer2 { -public: -void begin(HardwareSerial *theSerial); -//void begin(uint8_t *, uint8_t, NewSoftSerial *theSerial); -void sendData(); -boolean receiveData(); - -void writeByte(uint8_t dat); -void writeInt(int dat); -uint8_t readByte(); -int readInt(); - - -private: -HardwareSerial *_serial; - -void resetData(); - -uint8_t data[20]; //data storage, for both read and send -uint8_t position; -uint8_t size; //size of data in bytes. Both for read and send -//uint8_t * address; //address of struct -//uint8_t size; //size of struct -//uint8_t * rx_buffer; //address for temporary storage and parsing buffer -//uint8_t rx_buffer[20]; -uint8_t rx_array_inx; //index for RX parsing buffer -uint8_t rx_len; //RX packet length according to the packet -uint8_t calc_CS; //calculated Chacksum -}; - - - -#endif
\ No newline at end of file diff --git a/libraries/Robot_Control/Fat16.cpp b/libraries/Robot_Control/Fat16.cpp deleted file mode 100644 index aa8f585..0000000 --- a/libraries/Robot_Control/Fat16.cpp +++ /dev/null @@ -1,990 +0,0 @@ -/* Arduino FAT16 Library - * Copyright (C) 2008 by William Greiman - * - * This file is part of the Arduino FAT16 Library - * - * This Library is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This Library is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - - * You should have received a copy of the GNU General Public License - * along with the Arduino Fat16 Library. If not, see - * <http://www.gnu.org/licenses/>. - */ -#include <avr/pgmspace.h> -#if ARDUINO < 100 -#include <WProgram.h> -#else // ARDUINO -#include <Arduino.h> -#endif // ARDUINO -#include <Fat16.h> -//----------------------------------------------------------------------------- -// volume info -uint8_t Fat16::volumeInitialized_ = 0; // true if FAT16 volume is valid -uint8_t Fat16::fatCount_; // number of file allocation tables -uint8_t Fat16::blocksPerCluster_; // must be power of 2 -uint16_t Fat16::rootDirEntryCount_; // should be 512 for FAT16 -fat_t Fat16::blocksPerFat_; // number of blocks in one FAT -fat_t Fat16::clusterCount_; // total clusters in volume -uint32_t Fat16::fatStartBlock_; // start of first FAT -uint32_t Fat16::rootDirStartBlock_; // start of root dir -uint32_t Fat16::dataStartBlock_; // start of data clusters -//------------------------------------------------------------------------------ -// raw block cache -SdCard *Fat16::rawDev_ = 0; // class for block read and write -uint32_t Fat16::cacheBlockNumber_ = 0XFFFFFFFF; // init to invalid block number -cache16_t Fat16::cacheBuffer_; // 512 byte cache for SdCard -uint8_t Fat16::cacheDirty_ = 0; // cacheFlush() will write block if true -uint32_t Fat16::cacheMirrorBlock_ = 0; // mirror block for second FAT -//------------------------------------------------------------------------------ -// callback function for date/time -void (*Fat16::dateTime_)(uint16_t* date, uint16_t* time) = NULL; - -#if ALLOW_DEPRECATED_FUNCTIONS -void (*Fat16::oldDateTime_)(uint16_t& date, uint16_t& time) = NULL; // NOLINT -#endif // ALLOW_DEPRECATED_FUNCTIONS -//------------------------------------------------------------------------------ -// format 8.3 name for directory entry -static uint8_t make83Name(const char* str, uint8_t* name) { - uint8_t c; - uint8_t n = 7; // max index for part before dot - uint8_t i = 0; - // blank fill name and extension - while (i < 11) name[i++] = ' '; - i = 0; - while ((c = *str++) != '\0') { - if (c == '.') { - if (n == 10) return false; // only one dot allowed - n = 10; // max index for full 8.3 name - i = 8; // place for extension - } else { - // illegal FAT characters - PGM_P p = PSTR("|<>^+=?/[];,*\"\\"); - uint8_t b; - while ((b = pgm_read_byte(p++))) if (b == c) return false; - // check length and only allow ASCII printable characters - if (i > n || c < 0X21 || c > 0X7E) return false; - // only upper case allowed in 8.3 names - convert lower to upper - name[i++] = c < 'a' || c > 'z' ? c : c + ('A' - 'a'); - } - } - // must have a file name, extension is optional - return name[0] != ' '; -} -//============================================================================== -// Fat16 member functions -//------------------------------------------------------------------------------ -uint8_t Fat16::addCluster(void) { - // start search after last cluster of file or at cluster two in FAT - fat_t freeCluster = curCluster_ ? curCluster_ : 1; - for (fat_t i = 0; ; i++) { - // return no free clusters - if (i >= clusterCount_) return false; - // Fat has clusterCount + 2 entries - if (freeCluster > clusterCount_) freeCluster = 1; - freeCluster++; - fat_t value; - if (!fatGet(freeCluster, &value)) return false; - if (value == 0) break; - } - // mark cluster allocated - if (!fatPut(freeCluster, FAT16EOC)) return false; - - if (curCluster_ != 0) { - // link cluster to chain - if (!fatPut(curCluster_, freeCluster)) return false; - } else { - // first cluster of file so update directory entry - flags_ |= F_FILE_DIR_DIRTY; - firstCluster_ = freeCluster; - } - curCluster_ = freeCluster; - return true; -} -//------------------------------------------------------------------------------ -// -dir_t* Fat16::cacheDirEntry(uint16_t index, uint8_t action) { - if (index >= rootDirEntryCount_) return NULL; - if (!cacheRawBlock(rootDirStartBlock_ + (index >> 4), action)) return NULL; - return &cacheBuffer_.dir[index & 0XF]; -} -//------------------------------------------------------------------------------ -// -uint8_t Fat16::cacheFlush(void) { - if (cacheDirty_) { - if (!rawDev_->writeBlock(cacheBlockNumber_, cacheBuffer_.data)) { - return false; - } - // mirror FAT tables - if (cacheMirrorBlock_) { - if (!rawDev_->writeBlock(cacheMirrorBlock_, cacheBuffer_.data)) { - return false; - } - cacheMirrorBlock_ = 0; - } - cacheDirty_ = 0; - } - return true; -} -//------------------------------------------------------------------------------ -// -uint8_t Fat16::cacheRawBlock(uint32_t blockNumber, uint8_t action) { - if (cacheBlockNumber_ != blockNumber) { - if (!cacheFlush()) return false; - if (!rawDev_->readBlock(blockNumber, cacheBuffer_.data)) return false; - cacheBlockNumber_ = blockNumber; - } - cacheDirty_ |= action; - return true; -} -//------------------------------------------------------------------------------ -/** - * Close a file and force cached data and directory information - * to be written to the storage device. - * - * \return The value one, true, is returned for success and - * the value zero, false, is returned for failure. - * Reasons for failure include no file is open or an I/O error. - */ -uint8_t Fat16::close(void) { - if (!sync()) return false; - flags_ = 0; - return true; -} -//------------------------------------------------------------------------------ -/** - * Return a files directory entry - * - * \param[out] dir Location for return of the files directory entry. - * - * \return The value one, true, is returned for success and - * the value zero, false, is returned for failure. - */ -uint8_t Fat16::dirEntry(dir_t* dir) { - if (!sync()) return false; - dir_t* p = cacheDirEntry(dirEntryIndex_, CACHE_FOR_WRITE); - if (!p) return false; - memcpy(dir, p, sizeof(dir_t)); - return true; -} -//------------------------------------------------------------------------------ -uint8_t Fat16::fatGet(fat_t cluster, fat_t* value) { - if (cluster > (clusterCount_ + 1)) return false; - uint32_t lba = fatStartBlock_ + (cluster >> 8); - if (lba != cacheBlockNumber_) { - if (!cacheRawBlock(lba)) return false; - } - *value = cacheBuffer_.fat[cluster & 0XFF]; - return true; -} -//------------------------------------------------------------------------------ -uint8_t Fat16::fatPut(fat_t cluster, fat_t value) { - if (cluster < 2) return false; - if (cluster > (clusterCount_ + 1)) return false; - uint32_t lba = fatStartBlock_ + (cluster >> 8); - if (lba != cacheBlockNumber_) { - if (!cacheRawBlock(lba)) return false; - } - cacheBuffer_.fat[cluster & 0XFF] = value; - cacheSetDirty(); - // mirror second FAT - if (fatCount_ > 1) cacheMirrorBlock_ = lba + blocksPerFat_; - return true; -} -//------------------------------------------------------------------------------ -// free a cluster chain -uint8_t Fat16::freeChain(fat_t cluster) { - while (1) { - fat_t next; - if (!fatGet(cluster, &next)) return false; - if (!fatPut(cluster, 0)) return false; - if (isEOC(next)) return true; - cluster = next; - } -} -//------------------------------------------------------------------------------ -/** - * Initialize a FAT16 volume. - * - * \param[in] dev The SdCard where the volume is located. - * - * \param[in] part The partition to be used. Legal values for \a part are - * 1-4 to use the corresponding partition on a device formatted with - * a MBR, Master Boot Record, or zero if the device is formatted as - * a super floppy with the FAT boot sector in block zero. - * - * \return The value one, true, is returned for success and - * the value zero, false, is returned for failure. reasons for - * failure include not finding a valid FAT16 file system in the - * specified partition, a call to init() after a volume has - * been successful initialized or an I/O error. - * - */ -uint8_t Fat16::init(SdCard* dev, uint8_t part) { - // error if invalid partition - if (part > 4) return false; - rawDev_ = dev; - uint32_t volumeStartBlock = 0; - // if part == 0 assume super floppy with FAT16 boot sector in block zero - // if part > 0 assume mbr volume with partition table - if (part) { - if (!cacheRawBlock(volumeStartBlock)) return false; - volumeStartBlock = cacheBuffer_.mbr.part[part - 1].firstSector; - } - if (!cacheRawBlock(volumeStartBlock)) return false; - // check boot block signature - if (cacheBuffer_.data[510] != BOOTSIG0 || - cacheBuffer_.data[511] != BOOTSIG1) return false; - bpb_t* bpb = &cacheBuffer_.fbs.bpb; - fatCount_ = bpb->fatCount; - blocksPerCluster_ = bpb->sectorsPerCluster; - blocksPerFat_ = bpb->sectorsPerFat16; - rootDirEntryCount_ = bpb->rootDirEntryCount; - fatStartBlock_ = volumeStartBlock + bpb->reservedSectorCount; - rootDirStartBlock_ = fatStartBlock_ + bpb->fatCount*bpb->sectorsPerFat16; - dataStartBlock_ = rootDirStartBlock_ - + ((32*bpb->rootDirEntryCount + 511)/512); - uint32_t totalBlocks = bpb->totalSectors16 ? - bpb->totalSectors16 : bpb->totalSectors32; - clusterCount_ = (totalBlocks - (dataStartBlock_ - volumeStartBlock)) - /bpb->sectorsPerCluster; - // verify valid FAT16 volume - if (bpb->bytesPerSector != 512 // only allow 512 byte blocks - || bpb->sectorsPerFat16 == 0 // zero for FAT32 - || clusterCount_ < 4085 // FAT12 if true - || totalBlocks > 0X800000 // Max size for FAT16 volume - || bpb->reservedSectorCount == 0 // invalid volume - || bpb->fatCount == 0 // invalid volume - || bpb->sectorsPerFat16 < (clusterCount_ >> 8) // invalid volume - || bpb->sectorsPerCluster == 0 // invalid volume - // power of 2 test - || bpb->sectorsPerCluster & (bpb->sectorsPerCluster - 1)) { - // not a usable FAT16 bpb - return false; - } - volumeInitialized_ = 1; - return true; -} -//------------------------------------------------------------------------------ -/** List directory contents to Serial. - * - * \param[in] flags The inclusive OR of - * - * LS_DATE - %Print file modification date - * - * LS_SIZE - %Print file size. - */ -void Fat16::ls(uint8_t flags) { - dir_t d; - for (uint16_t index = 0; readDir(&d, &index, DIR_ATT_VOLUME_ID); index++) { - // print file name with possible blank fill - printDirName(d, flags & (LS_DATE | LS_SIZE) ? 14 : 0); - - // print modify date/time if requested - if (flags & LS_DATE) { - printFatDate(d.lastWriteDate); - Serial.write(' '); - printFatTime(d.lastWriteTime); - } - - // print size if requested - if (DIR_IS_FILE(&d) && (flags & LS_SIZE)) { - Serial.write(' '); - Serial.print(d.fileSize); - } - Serial.println(); - } -} -//------------------------------------------------------------------------------ -/** - * Open a file by file name. - * - * \note The file must be in the root directory and must have a DOS - * 8.3 name. - * - * \param[in] fileName A valid 8.3 DOS name for a file in the root directory. - * - * \param[in] oflag Values for \a oflag are constructed by a bitwise-inclusive - * OR of flags from the following list - * - * O_READ - Open for reading. - * - * O_RDONLY - Same as O_READ. - * - * O_WRITE - Open for writing. - * - * O_WRONLY - Same as O_WRITE. - * - * O_RDWR - Open for reading and writing. - * - * O_APPEND - If set, the file offset shall be set to the end of the - * file prior to each write. - * - * O_CREAT - If the file exists, this flag has no effect except as noted - * under O_EXCL below. Otherwise, the file shall be created - * - * O_EXCL - If O_CREAT and O_EXCL are set, open() shall fail if the file exists. - * - * O_SYNC - Call sync() after each write. This flag should not be used with - * write(uint8_t), write_P(PGM_P), writeln_P(PGM_P), or the Arduino Print class. - * These functions do character a time writes so sync() will be called - * after each byte. - * - * O_TRUNC - If the file exists and is a regular file, and the file is - * successfully opened and is not read only, its length shall be truncated to 0. - * - * \return The value one, true, is returned for success and - * the value zero, false, is returned for failure. - * Reasons for failure include the FAT volume has not been initialized, - * a file is already open, \a fileName is invalid, the file does not exist, - * is a directory, or can't be opened in the access mode specified by oflag. - */ -uint8_t Fat16::open(const char* fileName, uint8_t oflag) { - uint8_t dname[11]; // name formated for dir entry - int16_t empty = -1; // index of empty slot - dir_t* p; // pointer to cached dir entry - - if (!volumeInitialized_ || isOpen()) return false; - - // error if invalid name - if (!make83Name(fileName, dname)) return false; - - for (uint16_t index = 0; index < rootDirEntryCount_; index++) { - if (!(p = cacheDirEntry(index))) return false; - if (p->name[0] == DIR_NAME_FREE || p->name[0] == DIR_NAME_DELETED) { - // remember first empty slot - if (empty < 0) empty = index; - // done if no entries follow - if (p->name[0] == DIR_NAME_FREE) break; - } else if (!memcmp(dname, p->name, 11)) { - // don't open existing file if O_CREAT and O_EXCL - if ((oflag & (O_CREAT | O_EXCL)) == (O_CREAT | O_EXCL)) return false; - - // open existing file - return open(index, oflag); - } - } - // error if directory is full - if (empty < 0) return false; - - // only create file if O_CREAT and O_WRITE - if ((oflag & (O_CREAT | O_WRITE)) != (O_CREAT | O_WRITE)) return false; - - if (!(p = cacheDirEntry(empty, CACHE_FOR_WRITE))) return false; - - // initialize as empty file - memset(p, 0, sizeof(dir_t)); - memcpy(p->name, dname, 11); - - // set timestamps - if (dateTime_) { - // call user function - dateTime_(&p->creationDate, &p->creationTime); - } else { - // use default date/time - p->creationDate = FAT_DEFAULT_DATE; - p->creationTime = FAT_DEFAULT_TIME; - } - p->lastAccessDate = p->creationDate; - p->lastWriteDate = p->creationDate; - p->lastWriteTime = p->creationTime; - - // insure created directory entry will be written to storage device - if (!cacheFlush()) return false; - - // open entry - return open(empty, oflag); -} -//------------------------------------------------------------------------------ -/** - * Open a file by file index. - * - * \param[in] index The root directory index of the file to be opened. See \link - * Fat16::readDir() readDir()\endlink. - * - * \param[in] oflag See \link Fat16::open(const char*, uint8_t)\endlink. - * - * \return The value one, true, is returned for success and - * the value zero, false, is returned for failure. - * Reasons for failure include the FAT volume has not been initialized, - * a file is already open, \a index is invalid or is not the index of a - * file or the file cannot be opened in the access mode specified by oflag. - */ -uint8_t Fat16::open(uint16_t index, uint8_t oflag) { - if (!volumeInitialized_ || isOpen()) return false; - if ((oflag & O_TRUNC) && !(oflag & O_WRITE)) return false; - dir_t* d = cacheDirEntry(index); - // if bad file index or I/O error - if (!d) return false; - - // error if unused entry - if (d->name[0] == DIR_NAME_FREE || d->name[0] == DIR_NAME_DELETED) { - return false; - } - // error if long name, volume label or subdirectory - if ((d->attributes & (DIR_ATT_VOLUME_ID | DIR_ATT_DIRECTORY)) != 0) { - return false; - } - // don't allow write or truncate if read-only - if (d->attributes & DIR_ATT_READ_ONLY) { - if (oflag & (O_WRITE | O_TRUNC)) return false; - } - - curCluster_ = 0; - curPosition_ = 0; - dirEntryIndex_ = index; - fileSize_ = d->fileSize; - firstCluster_ = d->firstClusterLow; - flags_ = oflag & (O_ACCMODE | O_SYNC | O_APPEND); - - if (oflag & O_TRUNC ) return truncate(0); - return true; -} -//------------------------------------------------------------------------------ -/** %Print the name field of a directory entry in 8.3 format to Serial. - * - * \param[in] dir The directory structure containing the name. - * \param[in] width Blank fill name if length is less than \a width. - */ -void Fat16::printDirName(const dir_t& dir, uint8_t width) { - uint8_t w = 0; - for (uint8_t i = 0; i < 11; i++) { - if (dir.name[i] == ' ') continue; - if (i == 8) { - Serial.write('.'); - w++; - } - Serial.write(dir.name[i]); - w++; - } - if (DIR_IS_SUBDIR(&dir)) { - Serial.write('/'); - w++; - } - while (w < width) { - Serial.write(' '); - w++; - } -} -//------------------------------------------------------------------------------ -/** %Print a directory date field to Serial. - * - * Format is yyyy-mm-dd. - * - * \param[in] fatDate The date field from a directory entry. - */ -void Fat16::printFatDate(uint16_t fatDate) { - Serial.print(FAT_YEAR(fatDate)); - Serial.write('-'); - printTwoDigits(FAT_MONTH(fatDate)); - Serial.write('-'); - printTwoDigits(FAT_DAY(fatDate)); -} -//------------------------------------------------------------------------------ -/** %Print a directory time field to Serial. - * - * Format is hh:mm:ss. - * - * \param[in] fatTime The time field from a directory entry. - */ -void Fat16::printFatTime(uint16_t fatTime) { - printTwoDigits(FAT_HOUR(fatTime)); - Serial.write(':'); - printTwoDigits(FAT_MINUTE(fatTime)); - Serial.write(':'); - printTwoDigits(FAT_SECOND(fatTime)); -} - -//------------------------------------------------------------------------------ -/** %Print a value as two digits to Serial. - * - * \param[in] v Value to be printed, 0 <= \a v <= 99 - */ -void Fat16::printTwoDigits(uint8_t v) { - char str[3]; - str[0] = '0' + v/10; - str[1] = '0' + v % 10; - str[2] = 0; - Serial.print(str); -} -//------------------------------------------------------------------------------ -/** - * Read the next byte from a file. - * - * \return For success read returns the next byte in the file as an int. - * If an error occurs or end of file is reached -1 is returned. - */ -int16_t Fat16::read(void) { - uint8_t b; - return read(&b, 1) == 1 ? b : -1; -} -//------------------------------------------------------------------------------ -/** - * Read data from a file at starting at the current file position. - * - * \param[out] buf Pointer to the location that will receive the data. - * - * \param[in] nbyte Maximum number of bytes to read. - * - * \return For success read returns the number of bytes read. - * A value less than \a nbyte, including zero, may be returned - * if end of file is reached. - * If an error occurs, read returns -1. Possible errors include - * read called before a file has been opened, the file has not been opened in - * read mode, a corrupt file system, or an I/O error. - */ -int16_t Fat16::read(void* buf, uint16_t nbyte) { - // convert void pointer to uin8_t pointer - uint8_t* dst = reinterpret_cast<uint8_t*>(buf); - - // error if not open for read - if (!(flags_ & O_READ)) return -1; - - // don't read beyond end of file - if ((curPosition_ + nbyte) > fileSize_) nbyte = fileSize_ - curPosition_; - - // bytes left to read in loop - uint16_t nToRead = nbyte; - while (nToRead > 0) { - uint8_t blkOfCluster = blockOfCluster(curPosition_); - uint16_t blockOffset = cacheDataOffset(curPosition_); - if (blkOfCluster == 0 && blockOffset == 0) { - // start next cluster - if (curCluster_ == 0) { - curCluster_ = firstCluster_; - } else { - if (!fatGet(curCluster_, &curCluster_)) return -1; - } - // return error if bad cluster chain - if (curCluster_ < 2 || isEOC(curCluster_)) return -1; - } - // cache data block - if (!cacheRawBlock(dataBlockLba(curCluster_, blkOfCluster))) return -1; - - // location of data in cache - uint8_t* src = cacheBuffer_.data + blockOffset; - - // max number of byte available in block - uint16_t n = 512 - blockOffset; - - // lesser of available and amount to read - if (n > nToRead) n = nToRead; - - // copy data to caller - memcpy(dst, src, n); - - curPosition_ += n; - dst += n; - nToRead -= n; - } - return nbyte; -} -//------------------------------------------------------------------------------ -/** - * Read the next short, 8.3, directory entry. - * - * Unused entries and entries for long names are skipped. - * - * \param[out] dir Location that will receive the entry. - * - * \param[in,out] index The search starts at \a index and \a index is - * updated with the root directory index of the found directory entry. - * If the entry is a file, it may be opened by calling - * \link Fat16::open(uint16_t, uint8_t) \endlink. - * - * \param[in] skip Skip entries that have these attributes. If \a skip - * is not specified, the default is to skip the volume label and directories. - * - * \return The value one, true, is returned for success and the value zero, - * false, is returned if an error occurs or the end of the root directory is - * reached. On success, \a entry is set to the index of the found directory - * entry. - */ -uint8_t Fat16::readDir(dir_t* dir, uint16_t* index, uint8_t skip) { - dir_t* p; - for (uint16_t i = *index; ; i++) { - if (i >= rootDirEntryCount_) return false; - if (!(p = cacheDirEntry(i))) return false; - - // done if beyond last used entry - if (p->name[0] == DIR_NAME_FREE) return false; - - // skip deleted entry - if (p->name[0] == DIR_NAME_DELETED) continue; - - // skip long names - if ((p->attributes & DIR_ATT_LONG_NAME_MASK) == DIR_ATT_LONG_NAME) continue; - - // skip if attribute match - if (p->attributes & skip) continue; - - // return found index - *index = i; - break; - } - memcpy(dir, p, sizeof(dir_t)); - return true; -} -//------------------------------------------------------------------------------ -/** - * Remove a file. The directory entry and all data for the file are deleted. - * - * \note This function should not be used to delete the 8.3 version of a - * file that has a long name. For example if a file has the long name - * "New Text Document.txt" you should not delete the 8.3 name "NEWTEX~1.TXT". - * - * \return The value one, true, is returned for success and - * the value zero, false, is returned for failure. - * Reasons for failure include the file is not open for write - * or an I/O error occurred. - */ -uint8_t Fat16::remove(void) { - // error if file is not open for write - if (!(flags_ & O_WRITE)) return false; - if (firstCluster_) { - if (!freeChain(firstCluster_)) return false; - } - dir_t* d = cacheDirEntry(dirEntryIndex_, CACHE_FOR_WRITE); - if (!d) return false; - d->name[0] = DIR_NAME_DELETED; - flags_ = 0; - return cacheFlush(); -} -//------------------------------------------------------------------------------ -/** - * Remove a file. - * - * The directory entry and all data for the file are deleted. - * - * \param[in] fileName The name of the file to be removed. - * - * \note This function should not be used to delete the 8.3 version of a - * file that has a long name. For example if a file has the long name - * "New Text Document.txt" you should not delete the 8.3 name "NEWTEX~1.TXT". - * - * \return The value one, true, is returned for success and - * the value zero, false, is returned for failure. - * Reasons for failure include the file is read only, \a fileName is not found - * or an I/O error occurred. - */ -uint8_t Fat16::remove(const char* fileName) { - Fat16 file; - if (!file.open(fileName, O_WRITE)) return false; - return file.remove(); -} -//------------------------------------------------------------------------------ -/** - * Sets the file's read/write position. - * - * \param[in] pos The new position in bytes from the beginning of the file. - * - * \return The value one, true, is returned for success and - * the value zero, false, is returned for failure. - */ -uint8_t Fat16::seekSet(uint32_t pos) { - // error if file not open or seek past end of file - if (!isOpen() || pos > fileSize_) return false; - if (pos == 0) { - // set position to start of file - curCluster_ = 0; - curPosition_ = 0; - return true; - } - fat_t n = ((pos - 1) >> 9)/blocksPerCluster_; - if (pos < curPosition_ || curPosition_ == 0) { - // must follow chain from first cluster - curCluster_ = firstCluster_; - } else { - // advance from curPosition - n -= ((curPosition_ - 1) >> 9)/blocksPerCluster_; - } - while (n--) { - if (!fatGet(curCluster_, &curCluster_)) return false; - } - curPosition_ = pos; - return true; -} -//------------------------------------------------------------------------------ -/** - * The sync() call causes all modified data and directory fields - * to be written to the storage device. - * - * \return The value one, true, is returned for success and - * the value zero, false, is returned for failure. - * Reasons for failure include a call to sync() before a file has been - * opened or an I/O error. - */ -uint8_t Fat16::sync(void) { - if (flags_ & F_FILE_DIR_DIRTY) { - // cache directory entry - dir_t* d = cacheDirEntry(dirEntryIndex_, CACHE_FOR_WRITE); - if (!d) return false; - - // update file size and first cluster - d->fileSize = fileSize_; - d->firstClusterLow = firstCluster_; - - // set modify time if user supplied a callback date/time function - if (dateTime_) { - dateTime_(&d->lastWriteDate, &d->lastWriteTime); - d->lastAccessDate = d->lastWriteDate; - } - flags_ &= ~F_FILE_DIR_DIRTY; - } - return cacheFlush(); -} -//------------------------------------------------------------------------------ -/** - * The timestamp() call sets a file's timestamps in its directory entry. - * - * \param[in] flags Values for \a flags are constructed by a bitwise-inclusive - * OR of flags from the following list - * - * T_ACCESS - Set the file's last access date. - * - * T_CREATE - Set the file's creation date and time. - * - * T_WRITE - Set the file's last write/modification date and time. - * - * \param[in] year Valid range 1980 - 2107 inclusive. - * - * \param[in] month Valid range 1 - 12 inclusive. - * - * \param[in] day Valid range 1 - 31 inclusive. - * - * \param[in] hour Valid range 0 - 23 inclusive. - * - * \param[in] minute Valid range 0 - 59 inclusive. - * - * \param[in] second Valid range 0 - 59 inclusive - * - * \note It is possible to set an invalid date since there is no check for - * the number of days in a month. - * - * \return The value one, true, is returned for success and - * the value zero, false, is returned for failure. - */ -uint8_t Fat16::timestamp(uint8_t flags, uint16_t year, uint8_t month, - uint8_t day, uint8_t hour, uint8_t minute, uint8_t second) { - if (!isOpen() - || year < 1980 - || year > 2107 - || month < 1 - || month > 12 - || day < 1 - || day > 31 - || hour > 23 - || minute > 59 - || second > 59) { - return false; - } - dir_t* d = cacheDirEntry(dirEntryIndex_, CACHE_FOR_WRITE); - if (!d) return false; - uint16_t dirDate = FAT_DATE(year, month, day); - uint16_t dirTime = FAT_TIME(hour, minute, second); - if (flags & T_ACCESS) { - d->lastAccessDate = dirDate; - } - if (flags & T_CREATE) { - d->creationDate = dirDate; - d->creationTime = dirTime; - // seems to be units of 1/100 second not 1/10 as Microsoft standard states - d->creationTimeTenths = second & 1 ? 100 : 0; - } - if (flags & T_WRITE) { - d->lastWriteDate = dirDate; - d->lastWriteTime = dirTime; - } - cacheSetDirty(); - return sync(); -} -//------------------------------------------------------------------------------ -/** - * Truncate a file to a specified length. The current file position - * will be maintained if it is less than or equal to \a length otherwise - * it will be set to end of file. - * - * \param[in] length The desired length for the file. - * - * \return The value one, true, is returned for success and - * the value zero, false, is returned for failure. - * Reasons for failure include file is read only, file is a directory, - * \a length is greater than the current file size or an I/O error occurs. - */ -uint8_t Fat16::truncate(uint32_t length) { - // error if file is not open for write - if (!(flags_ & O_WRITE)) return false; - - if (length > fileSize_) return false; - - // fileSize and length are zero - nothing to do - if (fileSize_ == 0) return true; - uint32_t newPos = curPosition_ > length ? length : curPosition_; - if (length == 0) { - // free all clusters - if (!freeChain(firstCluster_)) return false; - curCluster_ = firstCluster_ = 0; - } else { - fat_t toFree; - if (!seekSet(length)) return false; - if (!fatGet(curCluster_, &toFree)) return false; - if (!isEOC(toFree)) { - // free extra clusters - if (!fatPut(curCluster_, FAT16EOC)) return false; - if (!freeChain(toFree)) return false; - } - } - fileSize_ = length; - flags_ |= F_FILE_DIR_DIRTY; - if (!sync()) return false; - return seekSet(newPos); -} -//------------------------------------------------------------------------------ -/** - * Write data at the current position of an open file. - * - * \note Data is moved to the cache but may not be written to the - * storage device until sync() is called. - * - * \param[in] buf Pointer to the location of the data to be written. - * - * \param[in] nbyte Number of bytes to write. - * - * \return For success write() returns the number of bytes written, always - * \a nbyte. If an error occurs, write() returns -1. Possible errors include - * write() is called before a file has been opened, the file has not been opened - * for write, device is full, a corrupt file system or an I/O error. - * - */ -int16_t Fat16::write(const void* buf, uint16_t nbyte) { - uint16_t nToWrite = nbyte; - const uint8_t* src = reinterpret_cast<const uint8_t*>(buf); - - // error if file is not open for write - if (!(flags_ & O_WRITE)) goto writeErrorReturn; - - // go to end of file if O_APPEND - if ((flags_ & O_APPEND) && curPosition_ != fileSize_) { - if (!seekEnd()) goto writeErrorReturn; - } - while (nToWrite > 0) { - uint8_t blkOfCluster = blockOfCluster(curPosition_); - uint16_t blockOffset = cacheDataOffset(curPosition_); - if (blkOfCluster == 0 && blockOffset == 0) { - // start of new cluster - if (curCluster_ == 0) { - if (firstCluster_ == 0) { - // allocate first cluster of file - if (!addCluster()) goto writeErrorReturn; - } else { - curCluster_ = firstCluster_; - } - } else { - fat_t next; - if (!fatGet(curCluster_, &next)) goto writeErrorReturn; - if (isEOC(next)) { - // add cluster if at end of chain - if (!addCluster()) goto writeErrorReturn; - } else { - curCluster_ = next; - } - } - } - uint32_t lba = dataBlockLba(curCluster_, blkOfCluster); - if (blockOffset == 0 && curPosition_ >= fileSize_) { - // start of new block don't need to read into cache - if (!cacheFlush()) goto writeErrorReturn; - cacheBlockNumber_ = lba; - cacheSetDirty(); - } else { - // rewrite part of block - if (!cacheRawBlock(lba, CACHE_FOR_WRITE)) return -1; - } - uint8_t* dst = cacheBuffer_.data + blockOffset; - - // max space in block - uint16_t n = 512 - blockOffset; - - // lesser of space and amount to write - if (n > nToWrite) n = nToWrite; - - // copy data to cache - memcpy(dst, src, n); - - curPosition_ += n; - nToWrite -= n; - src += n; - } - if (curPosition_ > fileSize_) { - // update fileSize and insure sync will update dir entry - fileSize_ = curPosition_; - flags_ |= F_FILE_DIR_DIRTY; - } else if (dateTime_ && nbyte) { - // insure sync will update modified date and time - flags_ |= F_FILE_DIR_DIRTY; - } - - if (flags_ & O_SYNC) { - if (!sync()) goto writeErrorReturn; - } - return nbyte; - - writeErrorReturn: - writeError = true; - return -1; -} -//------------------------------------------------------------------------------ -/** - * Write a byte to a file. Required by the Arduino Print class. - * - * Use Fat16::writeError to check for errors. - */ -#if ARDUINO < 100 -void Fat16::write(uint8_t b) { - write(&b, 1); -} -#else // ARDUINO < 100 -size_t Fat16::write(uint8_t b) { - return write(&b, 1) == 1 ? 1 : 0; -} -#endif // ARDUINO < 100 -//------------------------------------------------------------------------------ -/** - * Write a string to a file. Used by the Arduino Print class. - * - * Use Fat16::writeError to check for errors. - */ -#if ARDUINO < 100 -void Fat16::write(const char* str) { - write(str, strlen(str)); -} -#else // ARDUINO < 100 -int16_t Fat16::write(const char* str) { - return write(str, strlen(str)); -} -#endif // ARDUINO < 100 -//------------------------------------------------------------------------------ -/** - * Write a PROGMEM string to a file. - * - * Use Fat16::writeError to check for errors. - */ -void Fat16::write_P(PGM_P str) { - for (uint8_t c; (c = pgm_read_byte(str)); str++) write(c); -} -//------------------------------------------------------------------------------ -/** - * Write a PROGMEM string followed by CR/LF to a file. - * - * Use Fat16::writeError to check for errors. - */ -void Fat16::writeln_P(PGM_P str) { - write_P(str); - println(); -} diff --git a/libraries/Robot_Control/Fat16.h b/libraries/Robot_Control/Fat16.h deleted file mode 100644 index 935b9b0..0000000 --- a/libraries/Robot_Control/Fat16.h +++ /dev/null @@ -1,378 +0,0 @@ -/* Arduino FAT16 Library - * Copyright (C) 2008 by William Greiman - * - * This file is part of the Arduino FAT16 Library - * - * This Library is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This Library is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - - * You should have received a copy of the GNU General Public License - * along with the Arduino Fat16 Library. If not, see - * <http://www.gnu.org/licenses/>. - */ -#ifndef Fat16_h -#define Fat16_h -/** - * \file - * Fat16 class - */ -#include <string.h> -#include <avr/pgmspace.h> -#include <Print.h> -#include <SdCard.h> -#include <FatStructs.h> -#include <Fat16Config.h> -//------------------------------------------------------------------------------ -/** Fat16 version YYYYMMDD */ -#define FAT16_VERSION 20111205 -//------------------------------------------------------------------------------ -// flags for ls() -/** ls() flag to print modify date */ -uint8_t const LS_DATE = 1; -/** ls() flag to print file size */ -uint8_t const LS_SIZE = 2; - -// use the gnu style oflags -/** open for reading */ -uint8_t const O_READ = 0X01; -/** same as O_READ */ -uint8_t const O_RDONLY = O_READ; -/** open for write */ -uint8_t const O_WRITE = 0X02; -/** same as O_WRITE */ -uint8_t const O_WRONLY = O_WRITE; -/** open for reading and writing */ -uint8_t const O_RDWR = O_READ | O_WRITE; -/** mask for access modes */ -uint8_t const O_ACCMODE = O_READ | O_WRITE; -/** The file offset shall be set to the end of the file prior to each write. */ -uint8_t const O_APPEND = 0X04; -/** synchronous writes - call sync() after each write */ -uint8_t const O_SYNC = 0X08; -/** create the file if nonexistent */ -uint8_t const O_CREAT = 0X10; -/** If O_CREAT and O_EXCL are set, open() shall fail if the file exists */ -uint8_t const O_EXCL = 0X20; -/** truncate the file to zero length */ -uint8_t const O_TRUNC = 0X40; - -// flags for timestamp -/** set the file's last access date */ -uint8_t const T_ACCESS = 1; -/** set the file's creation date and time */ -uint8_t const T_CREATE = 2; -/** Set the file's write date and time */ -uint8_t const T_WRITE = 4; - -/** date field for FAT directory entry */ -static inline uint16_t FAT_DATE(uint16_t year, uint8_t month, uint8_t day) { - return (year - 1980) << 9 | month << 5 | day; -} -/** year part of FAT directory date field */ -static inline uint16_t FAT_YEAR(uint16_t fatDate) { - return 1980 + (fatDate >> 9); -} -/** month part of FAT directory date field */ -static inline uint8_t FAT_MONTH(uint16_t fatDate) { - return (fatDate >> 5) & 0XF; -} -/** day part of FAT directory date field */ -static inline uint8_t FAT_DAY(uint16_t fatDate) { - return fatDate & 0X1F; -} -/** time field for FAT directory entry */ -static inline uint16_t FAT_TIME(uint8_t hour, uint8_t minute, uint8_t second) { - return hour << 11 | minute << 5 | second >> 1; -} -/** hour part of FAT directory time field */ -static inline uint8_t FAT_HOUR(uint16_t fatTime) { - return fatTime >> 11; -} -/** minute part of FAT directory time field */ -static inline uint8_t FAT_MINUTE(uint16_t fatTime) { - return(fatTime >> 5) & 0X3F; -} -/** second part of FAT directory time field */ -static inline uint8_t FAT_SECOND(uint16_t fatTime) { - return 2*(fatTime & 0X1F); -} -/** Default date for file timestamps is 1 Jan 2000 */ -uint16_t const FAT_DEFAULT_DATE = ((2000 - 1980) << 9) | (1 << 5) | 1; -/** Default time for file timestamp is 1 am */ -uint16_t const FAT_DEFAULT_TIME = (1 << 11); -//------------------------------------------------------------------------------ -/** - * \typedef fat_t - * - * \brief Type for FAT16 entry - */ -typedef uint16_t fat_t; -/** - * \union cache16_t - * - * \brief Cache buffer data type - * - */ -union cache16_t { - /** Used to access cached file data blocks. */ - uint8_t data[512]; - /** Used to access cached FAT entries. */ - fat_t fat[256]; - /** Used to access cached directory entries. */ - dir_t dir[16]; - /** Used to access a cached Master Boot Record. */ - mbr_t mbr; - /** Used to access to a cached FAT16 boot sector. */ - fbs_t fbs; -}; -//------------------------------------------------------------------------------ -/** \class Fat16 - * \brief Fat16 implements a minimal Arduino FAT16 Library - * - * Fat16 does not support subdirectories or long file names. - */ -class Fat16 : public Print { - public: - /* - * Public functions - */ - /** create with file closed */ - Fat16(void) : flags_(0) {} - /** \return The current cluster number. */ - fat_t curCluster(void) const {return curCluster_;} - uint8_t close(void); - /** \return The count of clusters in the FAT16 volume. */ - static fat_t clusterCount(void) {return clusterCount_;} - /** \return The number of 512 byte blocks in a cluster */ - static uint8_t clusterSize(void) {return blocksPerCluster_;} - /** \return The current file position. */ - uint32_t curPosition(void) const {return curPosition_;} - /** - * Set the date/time callback function - * - * \param[in] dateTime The user's callback function. The callback - * function is of the form: - * - * \code - * void dateTime(uint16_t* date, uint16_t* time) { - * uint16_t year; - * uint8_t month, day, hour, minute, second; - * - * // User gets date and time from GPS or real-time clock here - * - * // return date using FAT_DATE macro to format fields - * *date = FAT_DATE(year, month, day); - * - * // return time using FAT_TIME macro to format fields - * *time = FAT_TIME(hour, minute, second); - * } - * \endcode - * - * Sets the function that is called when a file is created or when - * a file's directory entry is modified by sync(). All timestamps, - * access, creation, and modify, are set when a file is created. - * sync() maintains the last access date and last modify date/time. - * - * See the timestamp() function. - */ - static void dateTimeCallback( - void (*dateTime)(uint16_t* date, uint16_t* time)) { - dateTime_ = dateTime; - } - /** - * Cancel the date/time callback function. - */ - static void dateTimeCallbackCancel(void) {dateTime_ = NULL;} - uint8_t dirEntry(dir_t* dir); - - /** \return The file's size in bytes. */ - uint32_t fileSize(void) const {return fileSize_;} - static uint8_t init(SdCard* dev, uint8_t part); - /** - * Initialize a FAT16 volume. - * - * First try partition 1 then try super floppy format. - * - * \param[in] dev The SdCard where the volume is located. - * - * \return The value one, true, is returned for success and - * the value zero, false, is returned for failure. reasons for - * failure include not finding a valid FAT16 file system, a call - * to init() after a volume has been successful initialized or - * an I/O error. - * - */ - static uint8_t init(SdCard* dev) { - return init(dev, 1) ? true : init(dev, 0); - } - /** - * Checks the file's open/closed status for this instance of Fat16. - * \return The value true if a file is open otherwise false; - */ - uint8_t isOpen(void) const {return (flags_ & O_ACCMODE) != 0;} - static void ls(uint8_t flags = 0); - uint8_t open(const char* fileName, uint8_t oflag); - uint8_t open(uint16_t entry, uint8_t oflag); - static void printDirName(const dir_t& dir, uint8_t width); - static void printFatDate(uint16_t fatDate); - static void printFatTime(uint16_t fatTime); - static void printTwoDigits(uint8_t v); - int16_t read(void); - int16_t read(void* buf, uint16_t nbyte); - static uint8_t readDir(dir_t* dir, uint16_t* index, - uint8_t skip = (DIR_ATT_VOLUME_ID | DIR_ATT_DIRECTORY)); - - uint8_t remove(void); - static uint8_t remove(const char* fileName); - /** Sets the file's current position to zero. */ - void rewind(void) {curPosition_ = curCluster_ = 0;} - /** \return The number of entries in the root directory. */ - static uint16_t rootDirEntryCount(void) {return rootDirEntryCount_;} - /** Seek to current position plus \a pos bytes. See Fat16::seekSet(). */ - uint8_t seekCur(uint32_t pos) {return seekSet(curPosition_ + pos);} - /** Seek to end of file. See Fat16::seekSet(). */ - uint8_t seekEnd(void) {return seekSet(fileSize_);} - uint8_t seekSet(uint32_t pos); - uint8_t sync(void); - uint8_t timestamp(uint8_t flag, uint16_t year, uint8_t month, uint8_t day, - uint8_t hour, uint8_t minute, uint8_t second); - uint8_t truncate(uint32_t size); - /** Fat16::writeError is set to true if an error occurs during a write(). - * Set Fat16::writeError to false before calling print() and/or write() and check - * for true after calls to write() and/or print(). - */ - bool writeError; - int16_t write(const void *buf, uint16_t nbyte); -#if ARDUINO < 100 - void write(uint8_t b); - void write(const char* str); -#else // ARDUINO < 100 - size_t write(uint8_t b); - int16_t write(const char* str); -#endif // ARDUINO < 100 - void write_P(PGM_P str); - void writeln_P(PGM_P str); -//------------------------------------------------------------------------------ -#if FAT16_DEBUG_SUPPORT - /** For debug only. Do not use in applications. */ - static cache16_t* dbgBufAdd(void) {return &cacheBuffer_;} - /** For debug only. Do not use in applications. */ - static void dbgSetDev(SdCard* dev) {rawDev_ = dev;} - /** For debug only. Do not use in applications. */ - static uint8_t* dbgCacheBlock(uint32_t blockNumber) { - return cacheRawBlock(blockNumber) ? cacheBuffer_.data : 0; } - /** For debug only. Do not use in applications. */ - static dir_t* dbgCacheDir(uint16_t index) { - return cacheDirEntry(index);} -#endif // FAT16_DEBUG_SUPPORT -//------------------------------------------------------------------------------ -#if ALLOW_DEPRECATED_FUNCTIONS -// Deprecated functions - suppress cpplint messages with NOLINT comment - public: - /** - * Deprecated - Use: - * static void Fat16::dateTimeCallback( - * void (*dateTime)(uint16_t* date, uint16_t* time)); - */ - static void dateTimeCallback( - void (*dateTime)(uint16_t& date, uint16_t& time)) { // NOLINT - oldDateTime_ = dateTime; - dateTime_ = dateTime ? oldToNew : 0; - } - /** Deprecated - Use: uint8_t Fat16::dirEntry(dir_t* dir); */ - uint8_t dirEntry(dir_t& dir) { // NOLINT - return dirEntry(&dir); - } - /** Deprecated - Use: static uint8_t Fat16::init(SdCard *dev); */ - static uint8_t init(SdCard& dev) {return init(&dev);} // NOLINT - - /** Deprecated - Use: static uint8_t Fat16::init(SdCard *dev, uint8_t part) */ - static uint8_t init(SdCard& dev, uint8_t part) { // NOLINT - return init(&dev, part); - } - /** - * Deprecated - Use: - * uint8_t Fat16::readDir(dir_t* dir, uint16_t* index, uint8_t skip); - */ - static uint8_t readDir(dir_t& dir, uint16_t& index, // NOLINT - uint8_t skip = (DIR_ATT_VOLUME_ID | DIR_ATT_DIRECTORY)) { - return readDir(&dir, &index, skip); - } -//------------------------------------------------------------------------------ - private: - static void (*oldDateTime_)(uint16_t& date, uint16_t& time); // NOLINT - static void oldToNew(uint16_t *date, uint16_t *time) { - uint16_t d; - uint16_t t; - oldDateTime_(d, t); - *date = d; - *time = t; - } -#endif // ALLOW_DEPRECATED_FUNCTIONS -//------------------------------------------------------------------------------ - private: - // Volume info - static uint8_t volumeInitialized_; // true if volume has been initialized - static uint8_t fatCount_; // number of FATs - static uint8_t blocksPerCluster_; // must be power of 2 - static uint16_t rootDirEntryCount_; // should be 512 for FAT16 - static fat_t blocksPerFat_; // number of blocks in one FAT - static fat_t clusterCount_; // total clusters in volume - static uint32_t fatStartBlock_; // start of first FAT - static uint32_t rootDirStartBlock_; // start of root dir - static uint32_t dataStartBlock_; // start of data clusters - - // block cache - static uint8_t const CACHE_FOR_READ = 0; // cache a block for read - static uint8_t const CACHE_FOR_WRITE = 1; // cache a block and set dirty - static SdCard *rawDev_; // Device - static cache16_t cacheBuffer_; // 512 byte cache for raw blocks - static uint32_t cacheBlockNumber_; // Logical number of block in the cache - static uint8_t cacheDirty_; // cacheFlush() will write block if true - static uint32_t cacheMirrorBlock_; // mirror block for second FAT - - // callback function for date/time - static void (*dateTime_)(uint16_t* date, uint16_t* time); - - // define fields in flags_ - static uint8_t const F_OFLAG = O_ACCMODE | O_APPEND | O_SYNC; - static uint8_t const F_FILE_DIR_DIRTY = 0X80; // require sync directory entry - - uint8_t flags_; // see above for bit definitions - int16_t dirEntryIndex_; // index of directory entry for open file - fat_t firstCluster_; // first cluster of file - uint32_t fileSize_; // fileSize - fat_t curCluster_; // current cluster - uint32_t curPosition_; // current byte offset - - // private functions for cache - static uint8_t blockOfCluster(uint32_t position) { - // depends on blocks per cluster being power of two - return (position >> 9) & (blocksPerCluster_ - 1); - } - static uint16_t cacheDataOffset(uint32_t position) {return position & 0X1FF;} - static dir_t* cacheDirEntry(uint16_t index, uint8_t action = 0); - static uint8_t cacheRawBlock(uint32_t blockNumber, uint8_t action = 0); - static uint8_t cacheFlush(void); - static void cacheSetDirty(void) {cacheDirty_ |= CACHE_FOR_WRITE;} - static uint32_t dataBlockLba(fat_t cluster, uint8_t blockOfCluster) { - return dataStartBlock_ + (uint32_t)(cluster - 2) * blocksPerCluster_ - + blockOfCluster; - } - static uint8_t fatGet(fat_t cluster, fat_t* value); - static uint8_t fatPut(fat_t cluster, fat_t value); - // end of chain test - static uint8_t isEOC(fat_t cluster) {return cluster >= 0XFFF8;} - // allocate a cluster to a file - uint8_t addCluster(void); - // free a cluster chain - uint8_t freeChain(fat_t cluster); -}; -#endif // Fat16_h diff --git a/libraries/Robot_Control/Fat16Config.h b/libraries/Robot_Control/Fat16Config.h deleted file mode 100644 index d598b56..0000000 --- a/libraries/Robot_Control/Fat16Config.h +++ /dev/null @@ -1,38 +0,0 @@ -/* Arduino FAT16 Library - * Copyright (C) 2008 by William Greiman - * - * This file is part of the Arduino FAT16 Library - * - * This Library is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This Library is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - - * You should have received a copy of the GNU General Public License - * along with the Arduino Fat16 Library. If not, see - * <http://www.gnu.org/licenses/>. - */ - /** - * \file - * Configuration file - */ -#ifndef Fat16Config_h -#define Fat16Config_h -/** - * Allow use of deprecated functions if non-zero - */ -#define ALLOW_DEPRECATED_FUNCTIONS 1 -/** - * SdCard::writeBlock will protect block zero if set non-zero - */ -#define SD_PROTECT_BLOCK_ZERO 1 -/** - * Set non-zero to allow access to Fat16 internals by cardInfo debug sketch - */ -#define FAT16_DEBUG_SUPPORT 1 -#endif // Fat16Config_h diff --git a/libraries/Robot_Control/Fat16mainpage.h b/libraries/Robot_Control/Fat16mainpage.h deleted file mode 100644 index 2c4f773..0000000 --- a/libraries/Robot_Control/Fat16mainpage.h +++ /dev/null @@ -1,208 +0,0 @@ -/* Arduino FAT16 Library - * Copyright (C) 2008 by William Greiman - * - * This file is part of the Arduino FAT16 Library - * - * This Library is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This Library is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - - * You should have received a copy of the GNU General Public License - * along with the Arduino Fat16 Library. If not, see - * <http://www.gnu.org/licenses/>. - */ - -/** -\mainpage Arduino Fat16 Library -<CENTER>Copyright © 2008 by William Greiman -</CENTER> - -\section Intro Introduction -The Arduino Fat16 Library is a minimal implementation of the FAT16 file system -on standard SD flash memory cards. Fat16 supports read, write, file -creation, deletion, and truncation. - -The Fat16 class only supports access to files in the root directory and only -supports short 8.3 names. Directory time and date fields for creation -and modification can be maintained by providing a date/time callback -function \link Fat16::dateTimeCallback() dateTimeCallback()\endlink -or calling \link Fat16::timestamp() timestamp()\endlink. - -Fat16 was designed to use the Arduino Print class which -allows files to be written with \link Print::print() print() \endlink and -\link Print::println() println()\endlink. - -\section comment Bugs and Comments - -If you wish to report bugs or have comments, send email to fat16lib@sbcglobal.net. - - -\section SDcard SD Cards - -Arduinos access SD cards using the cards SPI protocol. PCs, Macs, and -most consumer devices use the 4-bit parallel SD protocol. A card that -functions well on A PC or Mac may not work well on the Arduino. - -Most cards have good SPI read performance but cards vary widely in SPI -write performance. Write performance is limited by how efficiently the -card manages internal erase/remapping operations. The Arduino cannot -optimize writes to reduce erase operations because of its limit RAM. - -SanDisk cards generally have good write performance. They seem to have -more internal RAM buffering than other cards and therefore can limit -the number of flash erase operations that the Arduino forces due to its -limited RAM. - -Some Dane-Elec cards have a write speed that is only 20% as fast as -a good SanDisk card. - - -\section Hardware Hardware Configuration -Fat16 was developed using an <A HREF = "http://www.adafruit.com/"> Adafruit Industries</A> -<A HREF = "http://ladyada.net/make/gpsshield/modules.html"> GPS Shield</A>. - -The hardware interface to the SD card should not use a resistor based level -shifter. SdCard::init() sets the SPI bus frequency to 8 MHz which results in -signal rise times that are too slow for the edge detectors in many newer SD card -controllers when resistor voltage dividers are used. - -The 5 to 3.3 V level shifter for 5 V arduinos should be IC based like the -74HC4050N based circuit shown in the file SdLevel.png. The Adafruit Wave Shield -uses a 74AHC125N. Gravitech sells SD and MicroSD Card Adapters based on the -74LCX245. - -If you are using a resistor based level shifter and are having problems try -setting the SPI bus frequency to 4 MHz. This can be done by using -card.init(true) to initialize the SD card. - - -\section Fat16Class Fat16 Usage - -The class Fat16 is a minimal implementation of FAT16 on standard SD cards. -High Capacity SD cards, SDHC, are not supported. It should work on all -standard cards from 8MB to 2GB formatted with a FAT16 file system. - -\note - The Arduino Print class uses character -at a time writes so it was necessary to use a \link Fat16::sync() sync() \endlink -function to control when data is written to the SD card. - -\par -An application which writes to a file using \link Print::print() print()\endlink, -\link Print::println() println() \endlink -or \link Fat16::write write() \endlink must call \link Fat16::sync() sync() \endlink -at the appropriate time to force data and directory information to be written -to the SD Card. Data and directory information are also written to the SD card -when \link Fat16::close() close() \endlink is called. - -\par -Applications must use care calling \link Fat16::sync() sync() \endlink -since 2048 bytes of I/O is required to update file and -directory information. This includes writing the current data block, reading -the block that contains the directory entry for update, writing the directory -block back and reading back the current data block. - -Fat16 only supports access to files in the root directory and only supports -short 8.3 names. - -It is possible to open a file with two or more instances of Fat16. A file may -be corrupted if data is written to the file by more than one instance of Fat16. - -Short names are limited to 8 characters followed by an optional period (.) -and extension of up to 3 characters. The characters may be any combination -of letters and digits. The following special characters are also allowed: - -$ % ' - _ @ ~ ` ! ( ) { } ^ # & - -Short names are always converted to upper case and their original case -value is lost. - -Fat16 uses a slightly restricted form of short names. -Only printable ASCII characters are supported. No characters with code point -values greater than 127 are allowed. Space is not allowed even though space -was allowed in the API of early versions of DOS. - -Fat16 has been optimized for The Arduino ATmega168. Minimizing RAM use is the -highest priority goal followed by flash use and finally performance. -Most SD cards only support 512 byte block write operations so a 512 byte -cache buffer is used by Fat16. This is the main use of RAM. A small -amount of RAM is used to store key volume and file information. -Flash memory usage can be controlled by selecting options in Fat16Config.h. - -\section HowTo How to format SD Cards as FAT16 Volumes - -Microsoft operating systems support removable media formatted with a -Master Boot Record, MBR, or formatted as a super floppy with a FAT Boot Sector -in block zero. - -Microsoft operating systems expect MBR formatted removable media -to have only one partition. The first partition should be used. - -Microsoft operating systems do not support partitioning SD flash cards. -If you erase an SD card with a program like KillDisk, Most versions of -Windows will format the card as a super floppy. - -The best way to restore an SD card's MBR is to use SDFormatter -which can be downloaded from: - -http://www.sdcard.org/consumers/formatter/ - -SDFormatter does not have an option for FAT type so it may format -small cards as FAT12. - -After the MBR is restored by SDFormatter you may need to reformat small -cards that have been formatted FAT12 to force the volume type to be FAT16. - -The FAT type, FAT12, FAT16, or FAT32, is determined by the count -of clusters on the volume and nothing else. - -Microsoft published the following code for determining FAT type: - -\code -if (CountOfClusters < 4085) { - // Volume is FAT12 -} -else if (CountOfClusters < 65525) { - // Volume is FAT16 -} -else { - // Volume is FAT32 -} - -\endcode -If you format a FAT volume with an OS utility , choose a cluster size that -will result in: - -4084 < CountOfClusters && CountOfClusters < 65525 - -The volume will then be FAT16. - -If you are formatting an SD card on OS X or Linux, be sure to use the first -partition. Format this partition with a cluster count in above range. - -\section References References - -The Arduino site: - -http://www.arduino.cc/ - -For more information about FAT file systems see: - -http://www.microsoft.com/whdc/system/platform/firmware/fatgen.mspx - -For information about using SD cards as SPI devices see: - -http://www.sdcard.org/developers/tech/sdcard/pls/Simplified_Physical_Layer_Spec.pdf - -The ATmega328 datasheet: - -http://www.atmel.com/dyn/resources/prod_documents/doc8161.pdf - - - */
\ No newline at end of file diff --git a/libraries/Robot_Control/Fat16util.h b/libraries/Robot_Control/Fat16util.h deleted file mode 100644 index 1fea068..0000000 --- a/libraries/Robot_Control/Fat16util.h +++ /dev/null @@ -1,74 +0,0 @@ -#ifndef Fat16util_h -#define Fat16util_h -/* Arduino FAT16 Library - * Copyright (C) 2008 by William Greiman - * - * This file is part of the Arduino FAT16 Library - * - * This Library is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This Library is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - - * You should have received a copy of the GNU General Public License - * along with the Arduino Fat16 Library. If not, see - * <http://www.gnu.org/licenses/>. - */ -/** - * \file - * Useful utility functions. - */ -#if ARDUINO < 100 -#include <WProgram.h> -#else // ARDUINO -#include <Arduino.h> -#endif // ARDUINO -#include <avr/pgmspace.h> -/** Store and print a string in flash memory.*/ -#define PgmPrint(x) SerialPrint_P(PSTR(x)) -/** Store and print a string in flash memory followed by a CR/LF.*/ -#define PgmPrintln(x) SerialPrintln_P(PSTR(x)) -/** Defined so doxygen works for function definitions. */ -#define NOINLINE __attribute__((noinline)) -//------------------------------------------------------------------------------ -/** Return the number of bytes currently free in RAM. */ -static int FreeRam(void) { - extern int __bss_end; - extern int* __brkval; - int free_memory; - if (reinterpret_cast<int>(__brkval) == 0) { - // if no heap use from end of bss section - free_memory = reinterpret_cast<int>(&free_memory) - - reinterpret_cast<int>(&__bss_end); - } else { - // use from top of stack to heap - free_memory = reinterpret_cast<int>(&free_memory) - - reinterpret_cast<int>(__brkval); - } - return free_memory; -} -//------------------------------------------------------------------------------ -/** - * %Print a string in flash memory to the serial port. - * - * \param[in] str Pointer to string stored in flash memory. - */ -static NOINLINE void SerialPrint_P(PGM_P str) { - for (uint8_t c; (c = pgm_read_byte(str)); str++) Serial.write(c); -} -//------------------------------------------------------------------------------ -/** - * %Print a string in flash memory followed by a CR/LF. - * - * \param[in] str Pointer to string stored in flash memory. - */ -static NOINLINE void SerialPrintln_P(PGM_P str) { - SerialPrint_P(str); - Serial.println(); -} -#endif // #define Fat16util_h diff --git a/libraries/Robot_Control/FatStructs.h b/libraries/Robot_Control/FatStructs.h deleted file mode 100644 index 431bf30..0000000 --- a/libraries/Robot_Control/FatStructs.h +++ /dev/null @@ -1,418 +0,0 @@ -/* Arduino Fat16 Library - * Copyright (C) 2009 by William Greiman - * - * This file is part of the Arduino Fat16 Library - * - * This Library is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This Library is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with the Arduino Fat16 Library. If not, see - * <http://www.gnu.org/licenses/>. - */ -#ifndef FatStructs_h -#define FatStructs_h -/** - * \file - * FAT file structures - */ -/* - * mostly from Microsoft document fatgen103.doc - * http://www.microsoft.com/whdc/system/platform/firmware/fatgen.mspx - */ -//------------------------------------------------------------------------------ -/** Value for byte 510 of boot block or MBR */ -uint8_t const BOOTSIG0 = 0X55; -/** Value for byte 511 of boot block or MBR */ -uint8_t const BOOTSIG1 = 0XAA; -//------------------------------------------------------------------------------ -/** - * \struct partitionTable - * \brief MBR partition table entry - * - * A partition table entry for a MBR formatted storage device. - * The MBR partition table has four entries. - */ -struct partitionTable { - /** - * Boot Indicator . Indicates whether the volume is the active - * partition. Legal values include: 0X00. Do not use for booting. - * 0X80 Active partition. - */ - uint8_t boot; - /** - * Head part of Cylinder-head-sector address of the first block in - * the partition. Legal values are 0-255. Only used in old PC BIOS. - */ - uint8_t beginHead; - /** - * Sector part of Cylinder-head-sector address of the first block in - * the partition. Legal values are 1-63. Only used in old PC BIOS. - */ - unsigned beginSector : 6; - /** High bits cylinder for first block in partition. */ - unsigned beginCylinderHigh : 2; - /** - * Combine beginCylinderLow with beginCylinderHigh. Legal values - * are 0-1023. Only used in old PC BIOS. - */ - uint8_t beginCylinderLow; - /** - * Partition type. See defines that begin with PART_TYPE_ for - * some Microsoft partition types. - */ - uint8_t type; - /** - * head part of cylinder-head-sector address of the last sector in the - * partition. Legal values are 0-255. Only used in old PC BIOS. - */ - uint8_t endHead; - /** - * Sector part of cylinder-head-sector address of the last sector in - * the partition. Legal values are 1-63. Only used in old PC BIOS. - */ - unsigned endSector : 6; - /** High bits of end cylinder */ - unsigned endCylinderHigh : 2; - /** - * Combine endCylinderLow with endCylinderHigh. Legal values - * are 0-1023. Only used in old PC BIOS. - */ - uint8_t endCylinderLow; - /** Logical block address of the first block in the partition. */ - uint32_t firstSector; - /** Length of the partition, in blocks. */ - uint32_t totalSectors; -}; -/** Type name for partitionTable */ -typedef struct partitionTable part_t; -//------------------------------------------------------------------------------ -/** - * \struct masterBootRecord - * - * \brief Master Boot Record - * - * The first block of a storage device that is formatted with a MBR. - */ -struct masterBootRecord { - /** Code Area for master boot program. */ - uint8_t codeArea[440]; - /** Optional WindowsNT disk signature. May contain more boot code. */ - uint32_t diskSignature; - /** Usually zero but may be more boot code. */ - uint16_t usuallyZero; - /** Partition tables. */ - part_t part[4]; - /** First MBR signature byte. Must be 0X55 */ - uint8_t mbrSig0; - /** Second MBR signature byte. Must be 0XAA */ - uint8_t mbrSig1; -}; -/** Type name for masterBootRecord */ -typedef struct masterBootRecord mbr_t; -//------------------------------------------------------------------------------ -/** - * \struct biosParmBlock - * - * \brief BIOS parameter block - * - * The BIOS parameter block describes the physical layout of a FAT volume. - */ -struct biosParmBlock { - /** - * Count of bytes per sector. This value may take on only the - * following values: 512, 1024, 2048 or 4096 - */ - uint16_t bytesPerSector; - /** - * Number of sectors per allocation unit. This value must be a - * power of 2 that is greater than 0. The legal values are - * 1, 2, 4, 8, 16, 32, 64, and 128. - */ - uint8_t sectorsPerCluster; - /** - * Number of sectors before the first FAT. - * This value must not be zero. - */ - uint16_t reservedSectorCount; - /** The count of FAT data structures on the volume. This field should - * always contain the value 2 for any FAT volume of any type. - */ - uint8_t fatCount; - /** - * For FAT12 and FAT16 volumes, this field contains the count of - * 32-byte directory entries in the root directory. For FAT32 volumes, - * this field must be set to 0. For FAT12 and FAT16 volumes, this - * value should always specify a count that when multiplied by 32 - * results in a multiple of bytesPerSector. FAT16 volumes should - * use the value 512. - */ - uint16_t rootDirEntryCount; - /** - * This field is the old 16-bit total count of sectors on the volume. - * This count includes the count of all sectors in all four regions - * of the volume. This field can be 0; if it is 0, then totalSectors32 - * must be non-zero. For FAT32 volumes, this field must be 0. For - * FAT12 and FAT16 volumes, this field contains the sector count, and - * totalSectors32 is 0 if the total sector count fits - * (is less than 0x10000). - */ - uint16_t totalSectors16; - /** - * This dates back to the old MS-DOS 1.x media determination and is - * no longer usually used for anything. 0xF8 is the standard value - * for fixed (non-removable) media. For removable media, 0xF0 is - * frequently used. Legal values are 0xF0 or 0xF8-0xFF. - */ - uint8_t mediaType; - /** - * Count of sectors occupied by one FAT on FAT12/FAT16 volumes. - * On FAT32 volumes this field must be 0, and sectorsPerFat32 - * contains the FAT size count. - */ - uint16_t sectorsPerFat16; - /** Sectors per track for interrupt 0x13. Not used otherwise. */ - uint16_t sectorsPerTrtack; - /** Number of heads for interrupt 0x13. Not used otherwise. */ - uint16_t headCount; - /** - * Count of hidden sectors preceding the partition that contains this - * FAT volume. This field is generally only relevant for media - * visible on interrupt 0x13. - */ - uint32_t hidddenSectors; - /** - * This field is the new 32-bit total count of sectors on the volume. - * This count includes the count of all sectors in all four regions - * of the volume. This field can be 0; if it is 0, then - * totalSectors16 must be non-zero. - */ - uint32_t totalSectors32; - /** - * Count of sectors occupied by one FAT on FAT32 volumes. - */ - uint32_t sectorsPerFat32; - /** - * This field is only defined for FAT32 media and does not exist on - * FAT12 and FAT16 media. - * Bits 0-3 -- Zero-based number of active FAT. - * Only valid if mirroring is disabled. - * Bits 4-6 -- Reserved. - * Bit 7 -- 0 means the FAT is mirrored at runtime into all FATs. - * -- 1 means only one FAT is active; it is the one referenced in bits 0-3. - * Bits 8-15 -- Reserved. - */ - uint16_t fat32Flags; - /** - * FAT32 version. High byte is major revision number. - * Low byte is minor revision number. Only 0.0 define. - */ - uint16_t fat32Version; - /** - * Cluster number of the first cluster of the root directory for FAT32. - * This usually 2 but not required to be 2. - */ - uint32_t fat32RootCluster; - /** - * Sector number of FSINFO structure in the reserved area of the - * FAT32 volume. Usually 1. - */ - uint16_t fat32FSInfo; - /** - * If non-zero, indicates the sector number in the reserved area - * of the volume of a copy of the boot record. Usually 6. - * No value other than 6 is recommended. - */ - uint16_t fat32BackBootBlock; - /** - * Reserved for future expansion. Code that formats FAT32 volumes - * should always set all of the bytes of this field to 0. - */ - uint8_t fat32Reserved[12]; -}; -/** Type name for biosParmBlock */ -typedef struct biosParmBlock bpb_t; -//------------------------------------------------------------------------------ -/** - * \struct fat32BootSector - * - * \brief Boot sector for a FAT16 or FAT32 volume. - * - */ -struct fat32BootSector { - /** X86 jmp to boot program */ - uint8_t jmpToBootCode[3]; - /** informational only - don't depend on it */ - char oemName[8]; - /** BIOS Parameter Block */ - bpb_t bpb; - /** for int0x13 use value 0X80 for hard drive */ - uint8_t driveNumber; - /** used by Windows NT - should be zero for FAT */ - uint8_t reserved1; - /** 0X29 if next three fields are valid */ - uint8_t bootSignature; - /** usually generated by combining date and time */ - uint32_t volumeSerialNumber; - /** should match volume label in root dir */ - char volumeLabel[11]; - /** informational only - don't depend on it */ - char fileSystemType[8]; - /** X86 boot code */ - uint8_t bootCode[420]; - /** must be 0X55 */ - uint8_t bootSectorSig0; - /** must be 0XAA */ - uint8_t bootSectorSig1; -}; -//------------------------------------------------------------------------------ -// End Of Chain values for FAT entries -/** FAT16 end of chain value used by Microsoft. */ -uint16_t const FAT16EOC = 0XFFFF; -/** Minimum value for FAT16 EOC. Use to test for EOC. */ -uint16_t const FAT16EOC_MIN = 0XFFF8; -/** FAT32 end of chain value used by Microsoft. */ -uint32_t const FAT32EOC = 0X0FFFFFFF; -/** Minimum value for FAT32 EOC. Use to test for EOC. */ -uint32_t const FAT32EOC_MIN = 0X0FFFFFF8; -/** Mask a for FAT32 entry. Entries are 28 bits. */ -uint32_t const FAT32MASK = 0X0FFFFFFF; - -/** Type name for fat32BootSector */ -typedef struct fat32BootSector fbs_t; -//------------------------------------------------------------------------------ -/** - * \struct directoryEntry - * \brief FAT short directory entry - * - * Short means short 8.3 name, not the entry size. - * - * Date Format. A FAT directory entry date stamp is a 16-bit field that is - * basically a date relative to the MS-DOS epoch of 01/01/1980. Here is the - * format (bit 0 is the LSB of the 16-bit word, bit 15 is the MSB of the - * 16-bit word): - * - * Bits 9-15: Count of years from 1980, valid value range 0-127 - * inclusive (1980-2107). - * - * Bits 5-8: Month of year, 1 = January, valid value range 1-12 inclusive. - * - * Bits 0-4: Day of month, valid value range 1-31 inclusive. - * - * Time Format. A FAT directory entry time stamp is a 16-bit field that has - * a granularity of 2 seconds. Here is the format (bit 0 is the LSB of the - * 16-bit word, bit 15 is the MSB of the 16-bit word). - * - * Bits 11-15: Hours, valid value range 0-23 inclusive. - * - * Bits 5-10: Minutes, valid value range 0-59 inclusive. - * - * Bits 0-4: 2-second count, valid value range 0-29 inclusive (0 - 58 seconds). - * - * The valid time range is from Midnight 00:00:00 to 23:59:58. - */ -struct directoryEntry { - /** - * Short 8.3 name. - * The first eight bytes contain the file name with blank fill. - * The last three bytes contain the file extension with blank fill. - */ - uint8_t name[11]; - /** Entry attributes. - * - * The upper two bits of the attribute byte are reserved and should - * always be set to 0 when a file is created and never modified or - * looked at after that. See defines that begin with DIR_ATT_. - */ - uint8_t attributes; - /** - * Reserved for use by Windows NT. Set value to 0 when a file is - * created and never modify or look at it after that. - */ - uint8_t reservedNT; - /** - * The granularity of the seconds part of creationTime is 2 seconds - * so this field is a count of tenths of a second and its valid - * value range is 0-199 inclusive. (WHG note - seems to be hundredths) - */ - uint8_t creationTimeTenths; - /** Time file was created. */ - uint16_t creationTime; - /** Date file was created. */ - uint16_t creationDate; - /** - * Last access date. Note that there is no last access time, only - * a date. This is the date of last read or write. In the case of - * a write, this should be set to the same date as lastWriteDate. - */ - uint16_t lastAccessDate; - /** - * High word of this entry's first cluster number (always 0 for a - * FAT12 or FAT16 volume). - */ - uint16_t firstClusterHigh; - /** Time of last write. File creation is considered a write. */ - uint16_t lastWriteTime; - /** Date of last write. File creation is considered a write. */ - uint16_t lastWriteDate; - /** Low word of this entry's first cluster number. */ - uint16_t firstClusterLow; - /** 32-bit unsigned holding this file's size in bytes. */ - uint32_t fileSize; -}; -//------------------------------------------------------------------------------ -// Definitions for directory entries -// -/** Type name for directoryEntry */ -typedef struct directoryEntry dir_t; -/** escape for name[0] = 0XE5 */ -uint8_t const DIR_NAME_0XE5 = 0X05; -/** name[0] value for entry that is free after being "deleted" */ -uint8_t const DIR_NAME_DELETED = 0XE5; -/** name[0] value for entry that is free and no allocated entries follow */ -uint8_t const DIR_NAME_FREE = 0X00; -/** file is read-only */ -uint8_t const DIR_ATT_READ_ONLY = 0X01; -/** File should hidden in directory listings */ -uint8_t const DIR_ATT_HIDDEN = 0X02; -/** Entry is for a system file */ -uint8_t const DIR_ATT_SYSTEM = 0X04; -/** Directory entry contains the volume label */ -uint8_t const DIR_ATT_VOLUME_ID = 0X08; -/** Entry is for a directory */ -uint8_t const DIR_ATT_DIRECTORY = 0X10; -/** Old DOS archive bit for backup support */ -uint8_t const DIR_ATT_ARCHIVE = 0X20; -/** Test value for long name entry. Test is - (d->attributes & DIR_ATT_LONG_NAME_MASK) == DIR_ATT_LONG_NAME. */ -uint8_t const DIR_ATT_LONG_NAME = 0X0F; -/** Test mask for long name entry */ -uint8_t const DIR_ATT_LONG_NAME_MASK = 0X3F; -/** defined attribute bits */ -uint8_t const DIR_ATT_DEFINED_BITS = 0X3F; -/** Directory entry is part of a long name */ -static inline uint8_t DIR_IS_LONG_NAME(const dir_t* dir) { - return (dir->attributes & DIR_ATT_LONG_NAME_MASK) == DIR_ATT_LONG_NAME; -} -/** Mask for file/subdirectory tests */ -uint8_t const DIR_ATT_FILE_TYPE_MASK = (DIR_ATT_VOLUME_ID | DIR_ATT_DIRECTORY); -/** Directory entry is for a file */ -static inline uint8_t DIR_IS_FILE(const dir_t* dir) { - return (dir->attributes & DIR_ATT_FILE_TYPE_MASK) == 0; -} -/** Directory entry is for a subdirectory */ -static inline uint8_t DIR_IS_SUBDIR(const dir_t* dir) { - return (dir->attributes & DIR_ATT_FILE_TYPE_MASK) == DIR_ATT_DIRECTORY; -} -/** Directory entry is for a file or subdirectory */ -static inline uint8_t DIR_IS_FILE_OR_SUBDIR(const dir_t* dir) { - return (dir->attributes & DIR_ATT_VOLUME_ID) == 0; -} -#endif // FatStructs_h diff --git a/libraries/Robot_Control/Melody.cpp b/libraries/Robot_Control/Melody.cpp deleted file mode 100644 index 0341c55..0000000 --- a/libraries/Robot_Control/Melody.cpp +++ /dev/null @@ -1,100 +0,0 @@ -#include "ArduinoRobot.h" -#include "SquawkSD.h" -#include "Fat16.h" - - - -SQUAWK_CONSTRUCT_ISR(SQUAWK_PWM_PIN5); - - -void RobotControl::beginSpeaker(uint16_t frequency){ - SquawkSynth::begin(frequency); - SquawkSynth::play(); - osc[2].vol = 0x7F; -} - -void RobotControl::playNote(byte period, word length, char modifier) { - // Modifier . makes note length 2/3 - if(modifier == '.') length = (length * 2) / 3; - // Set up the play frequency, 352800 is [sample_rate]=44100 * [tuning]=8.0 - osc[2].freq = 352800 / period; - // Delay, silence, delay - delay(length); - osc[2].freq = 0; - delay(length); -} - -void RobotControl::playMelody(char* script){ - // Find length of play string - word length = strlen(script); - // Set the default note time - word time = 500; - // Loop through each character in the play string - for(int n = 0; n < length; n++) { - // Fetch the character AFTER the current one - it may contain a modifier - char modifier = script[n + 1]; - // Fetch the current character and branch accordingly - switch(script[n]) { - // Notes - case 'c': playNote(214, time, modifier); break; // Play a C - case 'C': playNote(202, time, modifier); break; // Play a C# - case 'd': playNote(190, time, modifier); break; // Play a D - case 'D': playNote(180, time, modifier); break; // Play a D# - case 'e': playNote(170, time, modifier); break; // Play an F - case 'f': playNote(160, time, modifier); break; // Play an F - case 'F': playNote(151, time, modifier); break; // Play an F# - case 'g': playNote(143, time, modifier); break; // Play a G - case 'G': playNote(135, time, modifier); break; // Play a G# - case 'a': playNote(127, time, modifier); break; // Play an A - case 'A': playNote(120, time, modifier); break; // Play an A# - case 'b': playNote(113, time, modifier); break; // Play a B - // Delay - case '-': playNote(0, time, modifier); break; // Play a quiet note - // Note lengths - case '1': time = 1000; break; // Full note - case '2': time = 500; break; // Half note - case '4': time = 250; break; // Quarter note - case '8': time = 50; break; // Eigth note - // Modifier '.' makes note length 2/3 - - } - } -} - -void RobotControl::beep(int beep_length){ - char scr1[]="8F"; - char scr2[]="8Fe"; - char scr3[]="1F"; - - switch (beep_length) - { - case BEEP_SIMPLE: - default: - playMelody(scr1); - break; - - case BEEP_DOUBLE: - playMelody(scr2); - break; - - case BEEP_LONG: - playMelody(scr3); - } - -} - -void RobotControl::tempoWrite(int tempo){ - SquawkSynthSD::tempo(tempo); -} -void RobotControl::tuneWrite(float tune){ - SquawkSynthSD::tune(tune); -} - -void RobotControl::playFile(char* filename){ - melody.open(filename,O_READ); - SquawkSynthSD::play(melody); -} - -void RobotControl::stopPlayFile(){ - melody.close(); -}
\ No newline at end of file diff --git a/libraries/Robot_Control/Motors.cpp b/libraries/Robot_Control/Motors.cpp deleted file mode 100644 index 9d5e8b0..0000000 --- a/libraries/Robot_Control/Motors.cpp +++ /dev/null @@ -1 +0,0 @@ -#include "ArduinoRobot.h"
#include "EasyTransfer2.h"
void RobotControl::motorsStop(){
messageOut.writeByte(COMMAND_MOTORS_STOP);
messageOut.sendData();
}
void RobotControl::motorsWrite(int speedLeft,int speedRight){
messageOut.writeByte(COMMAND_RUN);
messageOut.writeInt(speedLeft);
messageOut.writeInt(speedRight);
messageOut.sendData();
}
void RobotControl::motorsWritePct(int speedLeftPct, int speedRightPct){
int16_t speedLeft=255*speedLeftPct;
int16_t speedRight=255*speedRightPct;
motorsWrite(speedLeft,speedRight);
}
void RobotControl::pointTo(int angle){
int target=angle;
uint8_t speed=80;
target=target%360;
if(target<0){
target+=360;
}
int direction=angle;
while(1){
if(direction>0){
motorsWrite(speed,-speed);//right
delay(10);
}else{
motorsWrite(-speed,speed);//left
delay(10);
}
int currentAngle=compassRead();
int diff=target-currentAngle;
if(diff<-180)
diff += 360;
else if(diff> 180)
diff -= 360;
direction=-diff;
if(abs(diff)<5){
motorsWrite(0,0);
return;
}
}
}
void RobotControl::turn(int angle){
int originalAngle=compassRead();
int target=originalAngle+angle;
pointTo(target);
/*uint8_t speed=80;
target=target%360;
if(target<0){
target+=360;
}
int direction=angle;
while(1){
if(direction>0){
motorsWrite(speed,speed);//right
delay(10);
}else{
motorsWrite(-speed,-speed);//left
delay(10);
}
int currentAngle=compassRead();
int diff=target-currentAngle;
if(diff<-180)
diff += 360;
else if(diff> 180)
diff -= 360;
direction=-diff;
if(abs(diff)<5){
motorsWrite(0,0);
return;
}
}*/
}
void RobotControl::moveForward(int speed){
motorsWrite(speed,speed);
}
void RobotControl::moveBackward(int speed){
motorsWrite(speed,speed);
}
void RobotControl::turnLeft(int speed){
motorsWrite(speed,255);
}
void RobotControl::turnRight(int speed){
motorsWrite(255,speed);
}
/*
int RobotControl::getIRrecvResult(){
messageOut.writeByte(COMMAND_GET_IRRECV);
messageOut.sendData();
//delay(10);
while(!messageIn.receiveData());
if(messageIn.readByte()==COMMAND_GET_IRRECV_RE){
return messageIn.readInt();
}
return -1;
}
*/
\ No newline at end of file diff --git a/libraries/Robot_Control/Multiplexer.cpp b/libraries/Robot_Control/Multiplexer.cpp deleted file mode 100644 index 8f7d30e..0000000 --- a/libraries/Robot_Control/Multiplexer.cpp +++ /dev/null @@ -1,37 +0,0 @@ -#include "Multiplexer.h" - -void Multiplexer::begin(uint8_t* selectors, uint8_t Z, uint8_t length){ - for(uint8_t i=0;i<length;i++){ - this->selectors[i]=selectors[i]; - pinMode(selectors[i],OUTPUT); - } - this->length=length; - this->pin_Z=Z; - pinMode(pin_Z,INPUT); -} - -void Multiplexer::selectPin(uint8_t num){ - for(uint8_t i=0;i<length;i++){ - //Serial.print(bitRead(num,i)); - digitalWrite(selectors[i],bitRead(num,i)); - } - //Serial.println(""); -} - -int Multiplexer::getAnalogValue(){ - return analogRead(pin_Z); -} - -bool Multiplexer::getDigitalValue(){ - return digitalRead(pin_Z); -} - -int Multiplexer::getAnalogValueAt(uint8_t num){ - selectPin(num); - return getAnalogValue(); -} - -bool Multiplexer::getDigitalValueAt(uint8_t num){ - selectPin(num); - return getDigitalValue(); -} diff --git a/libraries/Robot_Control/Multiplexer.h b/libraries/Robot_Control/Multiplexer.h deleted file mode 100644 index a0c4c5c..0000000 --- a/libraries/Robot_Control/Multiplexer.h +++ /dev/null @@ -1,24 +0,0 @@ -#ifndef Multiplexer_h -#define Multiplexer_h - -#if ARDUINO >= 100 -#include "Arduino.h" -#else -#include "WProgram.h" -#endif - -class Multiplexer{ - public: - void begin(uint8_t* selectors, uint8_t Z, uint8_t length); - void selectPin(uint8_t num); - int getAnalogValue(); - int getAnalogValueAt(uint8_t num); - bool getDigitalValue(); - bool getDigitalValueAt(uint8_t num); - private: - uint8_t selectors[4]; - uint8_t pin_Z; - uint8_t length; -}; - -#endif diff --git a/libraries/Robot_Control/RobotSdCard.cpp b/libraries/Robot_Control/RobotSdCard.cpp deleted file mode 100644 index df833d2..0000000 --- a/libraries/Robot_Control/RobotSdCard.cpp +++ /dev/null @@ -1,22 +0,0 @@ -#include <ArduinoRobot.h> - -void RobotControl::beginSD(){ - card.init(); - file.init(&card); - melody.init(&card); -} - -void RobotControl::_enableSD(){ - DDRB = DDRB & 0xDF; //pinMode(CS_LCD,INPUT); - DDRB = DDRB | 0x10; //pinMode(CS_SD,OUTPUT); -} - -/* -void RobotControl::sdTest(){ - file.open("Infor.txt",O_READ); - uint8_t buf[7]; - char n; - while ((n = file.read(buf, sizeof(buf))) > 0) { - for (uint8_t i = 0; i < n; i++) Serial.write(buf[i]); - } -}*/
\ No newline at end of file diff --git a/libraries/Robot_Control/SPI.cpp b/libraries/Robot_Control/SPI.cpp deleted file mode 100644 index 5e48073..0000000 --- a/libraries/Robot_Control/SPI.cpp +++ /dev/null @@ -1,66 +0,0 @@ -/* - * Copyright (c) 2010 by Cristian Maglie <c.maglie@bug.st> - * SPI Master library for arduino. - * - * This file is free software; you can redistribute it and/or modify - * it under the terms of either the GNU General Public License version 2 - * or the GNU Lesser General Public License version 2.1, both as - * published by the Free Software Foundation. - */ - -#include "pins_arduino.h" -#include "SPI.h" - -SPIClass SPI; - -void SPIClass::begin() { - - // Set SS to high so a connected chip will be "deselected" by default - digitalWrite(SS, HIGH); - - // When the SS pin is set as OUTPUT, it can be used as - // a general purpose output port (it doesn't influence - // SPI operations). - pinMode(SS, OUTPUT); - - // Warning: if the SS pin ever becomes a LOW INPUT then SPI - // automatically switches to Slave, so the data direction of - // the SS pin MUST be kept as OUTPUT. - SPCR |= _BV(MSTR); - SPCR |= _BV(SPE); - - // Set direction register for SCK and MOSI pin. - // MISO pin automatically overrides to INPUT. - // By doing this AFTER enabling SPI, we avoid accidentally - // clocking in a single bit since the lines go directly - // from "input" to SPI control. - // http://code.google.com/p/arduino/issues/detail?id=888 - pinMode(SCK, OUTPUT); - pinMode(MOSI, OUTPUT); -} - - -void SPIClass::end() { - SPCR &= ~_BV(SPE); -} - -void SPIClass::setBitOrder(uint8_t bitOrder) -{ - if(bitOrder == LSBFIRST) { - SPCR |= _BV(DORD); - } else { - SPCR &= ~(_BV(DORD)); - } -} - -void SPIClass::setDataMode(uint8_t mode) -{ - SPCR = (SPCR & ~SPI_MODE_MASK) | mode; -} - -void SPIClass::setClockDivider(uint8_t rate) -{ - SPCR = (SPCR & ~SPI_CLOCK_MASK) | (rate & SPI_CLOCK_MASK); - SPSR = (SPSR & ~SPI_2XCLOCK_MASK) | ((rate >> 2) & SPI_2XCLOCK_MASK); -} - diff --git a/libraries/Robot_Control/SPI.h b/libraries/Robot_Control/SPI.h deleted file mode 100644 index f647d5c..0000000 --- a/libraries/Robot_Control/SPI.h +++ /dev/null @@ -1,70 +0,0 @@ -/* - * Copyright (c) 2010 by Cristian Maglie <c.maglie@bug.st> - * SPI Master library for arduino. - * - * This file is free software; you can redistribute it and/or modify - * it under the terms of either the GNU General Public License version 2 - * or the GNU Lesser General Public License version 2.1, both as - * published by the Free Software Foundation. - */ - -#ifndef _SPI_H_INCLUDED -#define _SPI_H_INCLUDED - -#include <stdio.h> -#include <Arduino.h> -#include <avr/pgmspace.h> - -#define SPI_CLOCK_DIV4 0x00 -#define SPI_CLOCK_DIV16 0x01 -#define SPI_CLOCK_DIV64 0x02 -#define SPI_CLOCK_DIV128 0x03 -#define SPI_CLOCK_DIV2 0x04 -#define SPI_CLOCK_DIV8 0x05 -#define SPI_CLOCK_DIV32 0x06 -//#define SPI_CLOCK_DIV64 0x07 - -#define SPI_MODE0 0x00 -#define SPI_MODE1 0x04 -#define SPI_MODE2 0x08 -#define SPI_MODE3 0x0C - -#define SPI_MODE_MASK 0x0C // CPOL = bit 3, CPHA = bit 2 on SPCR -#define SPI_CLOCK_MASK 0x03 // SPR1 = bit 1, SPR0 = bit 0 on SPCR -#define SPI_2XCLOCK_MASK 0x01 // SPI2X = bit 0 on SPSR - -class SPIClass { -public: - inline static byte transfer(byte _data); - - // SPI Configuration methods - - inline static void attachInterrupt(); - inline static void detachInterrupt(); // Default - - static void begin(); // Default - static void end(); - - static void setBitOrder(uint8_t); - static void setDataMode(uint8_t); - static void setClockDivider(uint8_t); -}; - -extern SPIClass SPI; - -byte SPIClass::transfer(byte _data) { - SPDR = _data; - while (!(SPSR & _BV(SPIF))) - ; - return SPDR; -} - -void SPIClass::attachInterrupt() { - SPCR |= _BV(SPIE); -} - -void SPIClass::detachInterrupt() { - SPCR &= ~_BV(SPIE); -} - -#endif diff --git a/libraries/Robot_Control/SdCard.cpp b/libraries/Robot_Control/SdCard.cpp deleted file mode 100644 index fbbd8bc..0000000 --- a/libraries/Robot_Control/SdCard.cpp +++ /dev/null @@ -1,279 +0,0 @@ -/* Arduino FAT16 Library - * Copyright (C) 2008 by William Greiman - * - * This file is part of the Arduino FAT16 Library - * - * This Library is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This Library is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - - * You should have received a copy of the GNU General Public License - * along with the Arduino Fat16 Library. If not, see - * <http://www.gnu.org/licenses/>. - */ -#include <avr/pgmspace.h> -#if ARDUINO < 100 -#include <WProgram.h> -#else // ARDUINO -#include <Arduino.h> -#endif // ARDUINO -#include <Fat16Config.h> -#include <SdCard.h> -//------------------------------------------------------------------------------ -// r1 status values -uint8_t const R1_READY_STATE = 0; -uint8_t const R1_IDLE_STATE = 1; -// start data token for read or write -uint8_t const DATA_START_BLOCK = 0XFE; -// data response tokens for write block -uint8_t const DATA_RES_MASK = 0X1F; -uint8_t const DATA_RES_ACCEPTED = 0X05; -uint8_t const DATA_RES_CRC_ERROR = 0X0B; -uint8_t const DATA_RES_WRITE_ERROR = 0X0D; -// -// stop compiler from inlining where speed optimization is not required -#define STATIC_NOINLINE static __attribute__((noinline)) -//------------------------------------------------------------------------------ -// SPI static functions -// -// clock byte in -STATIC_NOINLINE uint8_t spiRec(void) { - SPDR = 0xff; - while (!(SPSR & (1 << SPIF))); - return SPDR; -} -// clock byte out -STATIC_NOINLINE void spiSend(uint8_t b) { - SPDR = b; - while (!(SPSR & (1 << SPIF))); -} -//------------------------------------------------------------------------------ -// wait for card to go not busy -// return false if timeout -static uint8_t waitForToken(uint8_t token, uint16_t timeoutMillis) { - uint16_t t0 = millis(); - while (spiRec() != token) { - if (((uint16_t)millis() - t0) > timeoutMillis) return false; - } - return true; -} -//------------------------------------------------------------------------------ -uint8_t SdCard::cardCommand(uint8_t cmd, uint32_t arg) { - uint8_t r1; - - // select card - chipSelectLow(); - - // wait if busy - waitForToken(0XFF, SD_COMMAND_TIMEOUT); - - // send command - spiSend(cmd | 0x40); - - // send argument - for (int8_t s = 24; s >= 0; s -= 8) spiSend(arg >> s); - - // send CRC - must send valid CRC for CMD0 - spiSend(cmd == CMD0 ? 0x95 : 0XFF); - - // wait for not busy - for (uint8_t retry = 0; (0X80 & (r1 = spiRec())) && retry != 0XFF; retry++); - return r1; -} -//------------------------------------------------------------------------------ -uint8_t SdCard::cardAcmd(uint8_t cmd, uint32_t arg) { - cardCommand(CMD55, 0); - return cardCommand(cmd, arg); -} -//============================================================================== -// SdCard member functions -//------------------------------------------------------------------------------ -/** - * Determine the size of a standard SD flash memory card - * \return The number of 512 byte data blocks in the card - */ -uint32_t SdCard::cardSize(void) { - uint16_t c_size; - csd_t csd; - if (!readReg(CMD9, &csd)) return 0; - uint8_t read_bl_len = csd.read_bl_len; - c_size = (csd.c_size_high << 10) | (csd.c_size_mid << 2) | csd.c_size_low; - uint8_t c_size_mult = (csd.c_size_mult_high << 1) | csd.c_size_mult_low; - return (uint32_t)(c_size+1) << (c_size_mult + read_bl_len - 7); -} -//------------------------------------------------------------------------------ -void SdCard::chipSelectHigh(void) { - digitalWrite(chipSelectPin_, HIGH); - // make sure MISO goes high impedance - spiSend(0XFF); -} -//------------------------------------------------------------------------------ -void SdCard::chipSelectLow(void) { - // Enable SPI, Master, clock rate F_CPU/4 - SPCR = (1 << SPE) | (1 << MSTR); - - // Doubled Clock Frequency to F_CPU/2 unless speed_ is nonzero - if (!speed_) SPSR |= (1 << SPI2X); - - digitalWrite(chipSelectPin_, LOW); -} -//------------------------------------------------------------------------------ -void SdCard::error(uint8_t code, uint8_t data) { - errorData = data; - error(code); -} -//------------------------------------------------------------------------------ -void SdCard::error(uint8_t code) { - errorCode = code; - chipSelectHigh(); -} -//------------------------------------------------------------------------------ -/** - * Initialize a SD flash memory card. - * - * \param[in] speed Set SPI Frequency to F_CPU/2 if speed = 0 or F_CPU/4 - * if speed = 1. - * \param[in] chipSelectPin SD chip select pin number. - * - * \return The value one, true, is returned for success and - * the value zero, false, is returned for failure. - * - */ -uint8_t SdCard::init(uint8_t speed, uint8_t chipSelectPin) { - if (speed > 1) { - error(SD_ERROR_SPI_SPEED); - return false; - } - speed_ = speed; - chipSelectPin_ = chipSelectPin; - errorCode = 0; - uint8_t r; - // 16-bit init start time allows over a minute - uint16_t t0 = (uint16_t)millis(); - - pinMode(chipSelectPin_, OUTPUT); - digitalWrite(chipSelectPin_, HIGH); - pinMode(SPI_MISO_PIN, INPUT); - pinMode(SPI_SS_PIN, OUTPUT); - pinMode(SPI_MOSI_PIN, OUTPUT); - pinMode(SPI_SCK_PIN, OUTPUT); - - // Enable SPI, Master, clock rate F_CPU/128 - SPCR = (1 << SPE) | (1 << MSTR) | (1 << SPR1) | (1 << SPR0); - - // must supply min of 74 clock cycles with CS high. - for (uint8_t i = 0; i < 10; i++) spiSend(0XFF); - digitalWrite(chipSelectPin_, LOW); - - // command to go idle in SPI mode - while ((r = cardCommand(CMD0, 0)) != R1_IDLE_STATE) { - if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) { - error(SD_ERROR_CMD0, r); - return false; - } - } - // start initialization and wait for completed initialization - while ((r = cardAcmd(ACMD41, 0)) != R1_READY_STATE) { - if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) { - error(SD_ERROR_ACMD41, r); - return false; - } - } - chipSelectHigh(); - return true; -} -//------------------------------------------------------------------------------ -/** - * Reads a 512 byte block from a storage device. - * - * \param[in] blockNumber Logical block to be read. - * \param[out] dst Pointer to the location that will receive the data. - * \return The value one, true, is returned for success and - * the value zero, false, is returned for failure. - */ -uint8_t SdCard::readBlock(uint32_t blockNumber, uint8_t* dst) { - if (cardCommand(CMD17, blockNumber << 9)) { - error(SD_ERROR_CMD17); - return false; - } - return readTransfer(dst, 512); -} -//------------------------------------------------------------------------------ -uint8_t SdCard::readReg(uint8_t cmd, void* buf) { - uint8_t* dst = reinterpret_cast<uint8_t*>(buf); - if (cardCommand(cmd, 0)) { - chipSelectHigh(); - return false; - } - return readTransfer(dst, 16); -} -//------------------------------------------------------------------------------ -uint8_t SdCard::readTransfer(uint8_t* dst, uint16_t count) { - // wait for start of data - if (!waitForToken(DATA_START_BLOCK, SD_READ_TIMEOUT)) { - error(SD_ERROR_READ_TIMEOUT); - } - // start first spi transfer - SPDR = 0XFF; - for (uint16_t i = 0; i < count; i++) { - while (!(SPSR & (1 << SPIF))); - dst[i] = SPDR; - SPDR = 0XFF; - } - // wait for first CRC byte - while (!(SPSR & (1 << SPIF))); - spiRec(); // second CRC byte - chipSelectHigh(); - return true; -} -//------------------------------------------------------------------------------ -/** - * Writes a 512 byte block to a storage device. - * - * \param[in] blockNumber Logical block to be written. - * \param[in] src Pointer to the location of the data to be written. - * \return The value one, true, is returned for success and - * the value zero, false, is returned for failure. - */ -uint8_t SdCard::writeBlock(uint32_t blockNumber, const uint8_t* src) { - uint32_t address = blockNumber << 9; -#if SD_PROTECT_BLOCK_ZERO - // don't allow write to first block - if (address == 0) { - error(SD_ERROR_BLOCK_ZERO_WRITE); - return false; - } -#endif // SD_PROTECT_BLOCK_ZERO - if (cardCommand(CMD24, address)) { - error(SD_ERROR_CMD24); - return false; - } - // optimize write loop - SPDR = DATA_START_BLOCK; - for (uint16_t i = 0; i < 512; i++) { - while (!(SPSR & (1 << SPIF))); - SPDR = src[i]; - } - while (!(SPSR & (1 << SPIF))); // wait for last data byte - spiSend(0xFF); // dummy crc - spiSend(0xFF); // dummy crc - - // get write response - uint8_t r1 = spiRec(); - if ((r1 & DATA_RES_MASK) != DATA_RES_ACCEPTED) { - error(SD_ERROR_WRITE_RESPONSE, r1); - return false; - } - // wait for card to complete write programming - if (!waitForToken(0XFF, SD_WRITE_TIMEOUT)) { - error(SD_ERROR_WRITE_TIMEOUT); - } - chipSelectHigh(); - return true; -} diff --git a/libraries/Robot_Control/SdCard.h b/libraries/Robot_Control/SdCard.h deleted file mode 100644 index c03e6ab..0000000 --- a/libraries/Robot_Control/SdCard.h +++ /dev/null @@ -1,192 +0,0 @@ -/* Arduino FAT16 Library - * Copyright (C) 2008 by William Greiman - * - * This file is part of the Arduino FAT16 Library - * - * This Library is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This Library is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - - * You should have received a copy of the GNU General Public License - * along with the Arduino Fat16 Library. If not, see - * <http://www.gnu.org/licenses/>. - */ -#ifndef SdCard_h -#define SdCard_h - /** - * \file - * SdCard class - */ -#include <SdInfo.h> -//------------------------------------------------------------------------------ -// Warning only SD_CHIP_SELECT_PIN, the SD card select pin, may be redefined. -// define hardware SPI pins -#if defined(__AVR_ATmega168__)\ -||defined(__AVR_ATmega168P__)\ -||defined(__AVR_ATmega328P__) -// 168 and 328 Arduinos -/** Slave Select pin */ -uint8_t const SPI_SS_PIN = 10; -/** Master Out Slave In pin */ -uint8_t const SPI_MOSI_PIN = 11; -/** Master In Slave Out pin */ -uint8_t const SPI_MISO_PIN = 12; -/** Serial Clock */ -uint8_t const SPI_SCK_PIN = 13; -//------------------------------------------------------------------------------ -#elif defined(__AVR_ATmega1280__)\ -|| defined(__AVR_ATmega2560__) -// pins for Arduino Mega -uint8_t const SPI_SS_PIN = 53; -uint8_t const SPI_MOSI_PIN = 51; -uint8_t const SPI_MISO_PIN = 50; -uint8_t const SPI_SCK_PIN = 52; -//------------------------------------------------------------------------------ -#elif defined(__AVR_ATmega644P__)\ -|| defined(__AVR_ATmega644__)\ -|| defined(__AVR_ATmega1284P__) -// pins for Sanguino -uint8_t const SPI_SS_PIN = 4; -uint8_t const SPI_MOSI_PIN = 5; -uint8_t const SPI_MISO_PIN = 6; -uint8_t const SPI_SCK_PIN = 7; -//------------------------------------------------------------------------------ -#elif defined(__AVR_ATmega32U4__) -// pins for Teensy 2.0 -uint8_t const SPI_SS_PIN = 8; -uint8_t const SPI_MOSI_PIN = 16; -uint8_t const SPI_MISO_PIN = 14; -uint8_t const SPI_SCK_PIN = 15; -//------------------------------------------------------------------------------ -#elif defined(__AVR_AT90USB646__)\ -|| defined(__AVR_AT90USB1286__) -// pins for Teensy++ 1.0 & 2.0 -uint8_t const SPI_SS_PIN = 20; -uint8_t const SPI_MOSI_PIN = 22; -uint8_t const SPI_MISO_PIN = 23; -uint8_t const SPI_SCK_PIN = 21; -//------------------------------------------------------------------------------ -#else // SPI pins -#error unknown CPU -#endif // SPI pins -//------------------------------------------------------------------------------ -/** - * SD Chip Select pin - * - * Warning if this pin is redefined the hardware SS pin will be enabled - * as an output by init(). An avr processor will not function as an SPI - * master unless SS is set to output mode. - * - * For example to set SD_CHIP_SELECT_PIN to 8 for the SparkFun microSD shield: - * uint8_t const SD_CHIP_SELECT_PIN = 8; - * - * The default chip select pin for the SD card is SS. - */ -uint8_t const SD_CHIP_SELECT_PIN = SPI_SS_PIN; -//------------------------------------------------------------------------------ -/** command timeout ms */ -uint16_t const SD_COMMAND_TIMEOUT = 300; -/** init timeout ms */ -uint16_t const SD_INIT_TIMEOUT = 2000; -/** read timeout ms */ -uint16_t const SD_READ_TIMEOUT = 300; -/** write timeout ms */ -uint16_t const SD_WRITE_TIMEOUT = 600; -//------------------------------------------------------------------------------ -// error codes -/** Card did not go into SPI mode */ -uint8_t const SD_ERROR_CMD0 = 1; -/** Card did not go ready */ -uint8_t const SD_ERROR_ACMD41 = 2; -/** Write command not accepted */ -uint8_t const SD_ERROR_CMD24 = 3; -/** Read command not accepted */ -uint8_t const SD_ERROR_CMD17 = 4; -/** timeout waiting for read data */ -uint8_t const SD_ERROR_READ_TIMEOUT = 5; -/** write error occurred */ -uint8_t const SD_ERROR_WRITE_RESPONSE = 6; -/** timeout waiting for write status */ -uint8_t const SD_ERROR_WRITE_TIMEOUT = 7; -/** attempt to write block zero */ -uint8_t const SD_ERROR_BLOCK_ZERO_WRITE = 8; -/** card returned an error to a CMD13 status check after a write */ -uint8_t const SD_ERROR_WRITE_PROGRAMMING = 9; -/** invalid SPI speed in init() call */ -uint8_t const SD_ERROR_SPI_SPEED = 10; -//------------------------------------------------------------------------------ -// SD command codes -/** SEND OPERATING CONDITIONS */ -uint8_t const ACMD41 = 0X29; -/** GO_IDLE_STATE - init card in spi mode if CS low */ -uint8_t const CMD0 = 0X00; -/** SEND_CSD - Card Specific Data */ -uint8_t const CMD9 = 0X09; -/** SEND_CID - Card IDentification */ -uint8_t const CMD10 = 0X0A; -/** SEND_STATUS - read the card status register */ -uint8_t const CMD13 = 0X0D; -/** READ_BLOCK */ -uint8_t const CMD17 = 0X11; -/** WRITE_BLOCK */ -uint8_t const CMD24 = 0X18; -/** APP_CMD - escape for application specific command */ -uint8_t const CMD55 = 0X37; -//------------------------------------------------------------------------------ -/** - * \class SdCard - * \brief Hardware access class for SD flash cards - * - * Supports raw access to a standard SD flash memory card. - * - */ -class SdCard { - public: - /** Code for a SD error. See SdCard.h for definitions. */ - uint8_t errorCode; - /** Data that may be helpful in determining the cause of an error */ - uint8_t errorData; - uint32_t cardSize(void); - /** - * Initialize an SD flash memory card with default clock rate and chip - * select pin. See SdCard::init(uint8_t sckRateID, uint8_t chipSelectPin). - */ - uint8_t init(void) { - return init(0, SD_CHIP_SELECT_PIN); - } - /** - * Initialize an SD flash memory card with the selected SPI clock rate - * and the default SD chip select pin. - * See SdCard::init(uint8_t slow, uint8_t chipSelectPin). - */ - uint8_t init(uint8_t speed) { - return init(speed, SD_CHIP_SELECT_PIN); - } - uint8_t init(uint8_t speed, uint8_t chipselectPin); - uint8_t readBlock(uint32_t block, uint8_t* dst); - /** Read the CID register which contains info about the card. - * This includes Manufacturer ID, OEM ID, product name, version, - * serial number, and manufacturing date. */ - uint8_t readCID(cid_t* cid) { - return readReg(CMD10, cid); - } - uint8_t writeBlock(uint32_t block, const uint8_t* src); - private: - uint8_t cardAcmd(uint8_t cmd, uint32_t arg); - uint8_t cardCommand(uint8_t cmd, uint32_t arg); - uint8_t chipSelectPin_; - uint8_t speed_; - void chipSelectHigh(void); - void chipSelectLow(void); - void error(uint8_t code, uint8_t data); - void error(uint8_t code); - uint8_t readReg(uint8_t cmd, void* buf); - uint8_t readTransfer(uint8_t* dst, uint16_t count); -}; -#endif // SdCard_h diff --git a/libraries/Robot_Control/SdInfo.h b/libraries/Robot_Control/SdInfo.h deleted file mode 100644 index 4c82e0b..0000000 --- a/libraries/Robot_Control/SdInfo.h +++ /dev/null @@ -1,117 +0,0 @@ -/* Arduino FAT16 Library - * Copyright (C) 2008 by William Greiman - * - * This file is part of the Arduino FAT16 Library - * - * This Library is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This Library is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - - * You should have received a copy of the GNU General Public License - * along with the Arduino Fat16 Library. If not, see - * <http://www.gnu.org/licenses/>. - */ -#ifndef SdInfo_h -#define SdInfo_h -#include <stdint.h> -// Based on the document: -// -// SD Specifications -// Part 1 -// Physical Layer -// Simplified Specification -// Version 2.00 -// September 25, 2006 -// -// www.sdcard.org/developers/tech/sdcard/pls/Simplified_Physical_Layer_Spec.pdf -// -// Card IDentification (CID) register -typedef struct CID { - // byte 0 - uint8_t mid; // Manufacturer ID - // byte 1-2 - char oid[2]; // OEM/Application ID - // byte 3-7 - char pnm[5]; // Product name - // byte 8 - unsigned prv_m : 4; // Product revision n.m - unsigned prv_n : 4; - // byte 9-12 - uint32_t psn; // Product serial number - // byte 13 - unsigned mdt_year_high : 4; // Manufacturing date - unsigned reserved : 4; - // byte 14 - unsigned mdt_month : 4; - unsigned mdt_year_low :4; - // byte 15 - unsigned always1 : 1; - unsigned crc : 7; -}cid_t; -// Card-Specific Data register -typedef struct CSD { - // byte 0 - unsigned reserved1 : 6; - unsigned csd_ver : 2; - // byte 1 - uint8_t taac; - // byte 2 - uint8_t nsac; - // byte 3 - uint8_t tran_speed; - // byte 4 - uint8_t ccc_high; - // byte 5 - unsigned read_bl_len : 4; - unsigned ccc_low : 4; - // byte 6 - unsigned c_size_high : 2; - unsigned reserved2 : 2; - unsigned dsr_imp : 1; - unsigned read_blk_misalign :1; - unsigned write_blk_misalign : 1; - unsigned read_bl_partial : 1; - // byte 7 - uint8_t c_size_mid; - // byte 8 - unsigned vdd_r_curr_max : 3; - unsigned vdd_r_curr_min : 3; - unsigned c_size_low :2; - // byte 9 - unsigned c_size_mult_high : 2; - unsigned vdd_w_cur_max : 3; - unsigned vdd_w_curr_min : 3; - // byte 10 - unsigned sector_size_high : 6; - unsigned erase_blk_en : 1; - unsigned c_size_mult_low : 1; - // byte 11 - unsigned wp_grp_size : 7; - unsigned sector_size_low : 1; - // byte 12 - unsigned write_bl_len_high : 2; - unsigned r2w_factor : 3; - unsigned reserved3 : 2; - unsigned wp_grp_enable : 1; - // byte 13 - unsigned reserved4 : 5; - unsigned write_partial : 1; - unsigned write_bl_len_low : 2; - // byte 14 - unsigned reserved5: 2; - unsigned file_format : 2; - unsigned tmp_write_protect : 1; - unsigned perm_write_protect : 1; - unsigned copy : 1; - unsigned file_format_grp : 1; - // byte 15 - unsigned always1 : 1; - unsigned crc : 7; -}csd_t; -#endif // SdInfo_h diff --git a/libraries/Robot_Control/Sensors.cpp b/libraries/Robot_Control/Sensors.cpp deleted file mode 100644 index b651c28..0000000 --- a/libraries/Robot_Control/Sensors.cpp +++ /dev/null @@ -1,274 +0,0 @@ -#include "ArduinoRobot.h" -#include "Multiplexer.h" -#include "Wire.h" -bool RobotControl::digitalRead(uint8_t port){ - uint8_t type=_getTypeCode(port); - switch(type){ - case TYPE_TOP_TK: - return _digitalReadTopMux(port); - break; - case TYPE_TOP_TKD: - return _digitalReadTopPin(port); - break; - case TYPE_BOTTOM_TK: - return _requestDigitalRead(port); - break; - } -} -int RobotControl::analogRead(uint8_t port){ - uint8_t type=_getTypeCode(port); - switch(type){ - case TYPE_TOP_TK: - return _analogReadTopMux(port); - break; - case TYPE_TOP_TKD: - return _analogReadTopPin(port); - break; - case TYPE_BOTTOM_TK: - return _requestAnalogRead(port); - break; - } -} -void RobotControl::digitalWrite(uint8_t port, bool value){ - uint8_t type=_getTypeCode(port); - switch(type){ - case TYPE_TOP_TK: - //Top TKs can't use digitalWrite? - break; - case TYPE_TOP_TKD: - _digitalWriteTopPin(port, value); - break; - case TYPE_BOTTOM_TK: - _requestDigitalWrite(port, value); - break; - } -} -void RobotControl::analogWrite(uint8_t port, uint8_t value){ - if(port==TKD4) - ::analogWrite(port,value); -} - -uint8_t RobotControl::_getTypeCode(uint8_t port){ - switch(port){ - case TK0: - case TK1: - case TK2: - case TK3: - case TK4: - case TK5: - case TK6: - case TK7: - return TYPE_TOP_TK; - break; - - case TKD0: - case TKD1: - case TKD2: - case TKD3: - case TKD4: - case TKD5: - case LED1: - return TYPE_TOP_TKD; - break; - - case B_TK1: - case B_TK2: - case B_TK3: - case B_TK4: - return TYPE_BOTTOM_TK; - break; - } -} -uint8_t RobotControl::_portToTopMux(uint8_t port){ - switch(port){ - case TK0: - return 0; - case TK1: - return 1; - case TK2: - return 2; - case TK3: - return 3; - case TK4: - return 4; - case TK5: - return 5; - case TK6: - return 6; - case TK7: - return 7; - } -} -uint8_t RobotControl::_topDPortToAPort(uint8_t port){ - switch(port){ - case TKD0: - return A1; - case TKD1: - return A2; - case TKD2: - return A3; - case TKD3: - return A4; - case TKD4: - return A7; - case TKD5: - return A11; - } -} -int* RobotControl::parseMBDPort(uint8_t port){ - //Serial.println(port); - switch(port){ - case B_TK1: - return &motorBoardData._B_TK1; - case B_TK2: - return &motorBoardData._B_TK2; - case B_TK3: - return &motorBoardData._B_TK3; - case B_TK4: - return &motorBoardData._B_TK4; - - /* - case B_IR0: - return &motorBoardData._B_IR0; - case B_IR1: - return &motorBoardData._B_IR1; - case B_IR2: - return &motorBoardData._B_IR2; - case B_IR3: - return &motorBoardData._B_IR3; - case B_IR4: - return &motorBoardData._B_IR4;*/ - } -} -int RobotControl::get_motorBoardData(uint8_t port){ - return *parseMBDPort(port); -} -void RobotControl::set_motorBoardData(uint8_t port, int data){ - *parseMBDPort(port)=data; -} - -bool RobotControl::_digitalReadTopMux(uint8_t port){ - uint8_t num=_portToTopMux(port); - return Multiplexer::getDigitalValueAt(num); -} - -int RobotControl::_analogReadTopMux(uint8_t port){ - uint8_t num=_portToTopMux(port); - return Multiplexer::getAnalogValueAt(num); -} - -bool RobotControl::_digitalReadTopPin(uint8_t port){ - return ::digitalRead(port); -} -int RobotControl::_analogReadTopPin(uint8_t port){ - uint8_t aPin=_topDPortToAPort(port); - return ::analogRead(aPin); -} -void RobotControl::_digitalWriteTopPin(uint8_t port, bool value){ - ::digitalWrite(port, value); -} - -bool RobotControl::_requestDigitalRead(uint8_t port){ - messageOut.writeByte(COMMAND_DIGITAL_READ); - messageOut.writeByte(port);//B_TK1 - B_TK4 - messageOut.sendData(); - delay(10); - if(messageIn.receiveData()){ - //Serial.println("*************"); - uint8_t cmd=messageIn.readByte(); - //Serial.print("cmd: "); - //Serial.println(cmd); - if(!(cmd==COMMAND_DIGITAL_READ_RE)) - return false; - - uint8_t pt=messageIn.readByte(); //Bottom TK port codename - //Serial.print("pt: "); - //Serial.println(pt); - set_motorBoardData(pt,messageIn.readByte()); - return get_motorBoardData(port); - } -} -int RobotControl::_requestAnalogRead(uint8_t port){ - messageOut.writeByte(COMMAND_ANALOG_READ); - messageOut.writeByte(port);//B_TK1 - B_TK4 - messageOut.sendData(); - delay(10); - if(messageIn.receiveData()){ - uint8_t cmd=messageIn.readByte(); - //Serial.println("*************"); - //Serial.print("cmd: "); - //Serial.println(cmd); - if(!(cmd==COMMAND_ANALOG_READ_RE)) - return false; - - uint8_t pt=messageIn.readByte(); - //Serial.print("pt: "); - //Serial.println(pt); - set_motorBoardData(pt,messageIn.readInt()); - return get_motorBoardData(port); - } -} -void RobotControl::_requestDigitalWrite(uint8_t selector, uint8_t value){ - messageOut.writeByte(COMMAND_DIGITAL_WRITE); - messageOut.writeByte(selector);//B_TK1 - B_TK4 - messageOut.writeByte(value); - messageOut.sendData(); -} - - - - - -void RobotControl::updateIR(){ - messageOut.writeByte(COMMAND_READ_IR); - messageOut.sendData(); - delay(10); - if(messageIn.receiveData()){ - if(messageIn.readByte()==COMMAND_READ_IR_RE){ - for(int i=0;i<5;i++){ - IRarray[i]=messageIn.readInt(); - } - } - } -} - -int RobotControl::knobRead(){ - return ::analogRead(POT); -} - -int RobotControl::trimRead(){ - messageOut.writeByte(COMMAND_READ_TRIM); - messageOut.sendData(); - delay(10); - if(messageIn.receiveData()){ - uint8_t cmd=messageIn.readByte(); - if(!(cmd==COMMAND_READ_TRIM_RE)) - return false; - - uint16_t pt=messageIn.readInt(); - return pt; - } -} - -uint16_t RobotControl::compassRead(){ - return Compass::getReading(); -} - -/* -void RobotControl::beginUR(uint8_t pinTrigger, uint8_t pinEcho){ - pinTrigger_UR=pinTrigger; - pinEcho_UR=pinEcho; - - pinMode(pinEcho_UR, INPUT); - pinMode(pinTrigger_UR, OUTPUT); -} -uint16_t RobotControl::getDistance(){ - digitalWrite(pinTrigger_UR, LOW); // Set the trigger pin to low for 2uS - delayMicroseconds(2); - digitalWrite(pinTrigger_UR, HIGH); // Send a 10uS high to trigger ranging - delayMicroseconds(10); - digitalWrite(pinTrigger_UR, LOW); // Send pin low again - uint16_t distance = pulseIn(pinEcho_UR, HIGH); // Read in times pulse - distance= distance/58; // Calculate distance from time of pulse - return distance; -}*/
\ No newline at end of file diff --git a/libraries/Robot_Control/Squawk.cpp b/libraries/Robot_Control/Squawk.cpp deleted file mode 100644 index 5b39ebe..0000000 --- a/libraries/Robot_Control/Squawk.cpp +++ /dev/null @@ -1,601 +0,0 @@ -// Squawk Soft-Synthesizer Library for Arduino -// -// Davey Taylor 2013 -// d.taylor@arduino.cc - -#include "Squawk.h" - -// Period range, used for clamping -#define PERIOD_MIN 28 -#define PERIOD_MAX 3424 - -// Convenience macros -#define LO4(V) ((V) & 0x0F) -#define HI4(V) (((V) & 0xF0) >> 4) -#define MIN(A, B) ((A) < (B) ? (A) : (B)) -#define MAX(A, B) ((A) > (B) ? (A) : (B)) -#define FREQ(PERIOD) (tuning_long / (PERIOD)) - -// SquawkStream class for PROGMEM data -class StreamROM : public SquawkStream { - private: - uint8_t *p_start; - uint8_t *p_cursor; - public: - StreamROM(const uint8_t *p_rom = NULL) { p_start = p_cursor = (uint8_t*)p_rom; } - uint8_t read() { return pgm_read_byte(p_cursor++); } - void seek(size_t offset) { p_cursor = p_start + offset; } -}; - -// Oscillator memory -typedef struct { - uint8_t fxp; - uint8_t offset; - uint8_t mode; -} pto_t; - -// Deconstructed cell -typedef struct { - uint8_t fxc, fxp, ixp; -} cel_t; - -// Effect memory -typedef struct { - int8_t volume; - uint8_t port_speed; - uint16_t port_target; - bool glissando; - pto_t vibr; - pto_t trem; - uint16_t period; - uint8_t param; -} fxm_t; - -// Locals -static uint8_t order_count; -static uint8_t order[64]; -static uint8_t speed; -static uint8_t tick; -static uint8_t ix_row; -static uint8_t ix_order; -static uint8_t ix_nextrow; -static uint8_t ix_nextorder; -static uint8_t row_delay; -static fxm_t fxm[4]; -static cel_t cel[4]; -static uint32_t tuning_long; -static uint16_t sample_rate; -static float tuning = 1.0; -static uint16_t tick_rate = 50; - -static SquawkStream *stream; -static uint16_t stream_base; -static StreamROM rom; - -// Imports -extern intptr_t squawk_register; -extern uint16_t cia; - -// Exports -osc_t osc[4]; -uint8_t pcm = 128; - -// ProTracker period tables -uint16_t period_tbl[84] PROGMEM = { - 3424, 3232, 3048, 2880, 2712, 2560, 2416, 2280, 2152, 2032, 1920, 1814, - 1712, 1616, 1524, 1440, 1356, 1280, 1208, 1140, 1076, 1016, 960, 907, - 856, 808, 762, 720, 678, 640, 604, 570, 538, 508, 480, 453, - 428, 404, 381, 360, 339, 320, 302, 285, 269, 254, 240, 226, - 214, 202, 190, 180, 170, 160, 151, 143, 135, 127, 120, 113, - 107, 101, 95, 90, 85, 80, 75, 71, 67, 63, 60, 56, - 53, 50, 47, 45, 42, 40, 37, 35, 33, 31, 30, 28, -}; - -// ProTracker sine table -int8_t sine_tbl[32] PROGMEM = { - 0x00, 0x0C, 0x18, 0x25, 0x30, 0x3C, 0x47, 0x51, 0x5A, 0x62, 0x6A, 0x70, 0x76, 0x7A, 0x7D, 0x7F, - 0x7F, 0x7F, 0x7D, 0x7A, 0x76, 0x70, 0x6A, 0x62, 0x5A, 0x51, 0x47, 0x3C, 0x30, 0x25, 0x18, 0x0C, -}; - -// Squawk object -SquawkSynth Squawk; - -// Look up or generate waveform for ProTracker vibrato/tremolo oscillator -static int8_t do_osc(pto_t *p_osc) { - int8_t sample = 0; - int16_t mul; - switch(p_osc->mode & 0x03) { - case 0: // Sine - sample = pgm_read_byte(&sine_tbl[(p_osc->offset) & 0x1F]); - if(p_osc->offset & 0x20) sample = -sample; - break; - case 1: // Square - sample = (p_osc->offset & 0x20) ? 127 : -128; - break; - case 2: // Saw - sample = -(p_osc->offset << 2); - break; - case 3: // Noise (random) - sample = rand(); - break; - } - mul = sample * LO4(p_osc->fxp); - p_osc->offset = (p_osc->offset + HI4(p_osc->fxp)); - return mul >> 6; -} - -// Calculates and returns arpeggio period -// Essentially finds period of current note + halftones -static inline uint16_t arpeggio(uint8_t ch, uint8_t halftones) { - uint8_t n; - for(n = 0; n != 47; n++) { - if(fxm[ch].period >= pgm_read_word(&period_tbl[n])) break; - } - return pgm_read_word(&period_tbl[MIN(n + halftones, 47)]); -} - -// Calculates and returns glissando period -// Essentially snaps a sliding frequency to the closest note -static inline uint16_t glissando(uint8_t ch) { - uint8_t n; - uint16_t period_h, period_l; - for(n = 0; n != 47; n++) { - period_l = pgm_read_word(&period_tbl[n]); - period_h = pgm_read_word(&period_tbl[n + 1]); - if(fxm[ch].period < period_l && fxm[ch].period >= period_h) { - if(period_l - fxm[ch].period <= fxm[ch].period - period_h) { - period_h = period_l; - } - break; - } - } - return period_h; -} - -// Tunes Squawk to a different frequency -void SquawkSynth::tune(float new_tuning) { - tuning = new_tuning; - tuning_long = (long)(((double)3669213184.0 / (double)sample_rate) * (double)tuning); - -} - -// Sets tempo -void SquawkSynth::tempo(uint16_t new_tempo) { - tick_rate = new_tempo; - cia = sample_rate / tick_rate; // not atomic? -} - -// Initializes Squawk -// Sets up the selected port, and the sample grinding ISR -void SquawkSynth::begin(uint16_t hz) { - word isr_rr; - - sample_rate = hz; - tuning_long = (long)(((double)3669213184.0 / (double)sample_rate) * (double)tuning); - cia = sample_rate / tick_rate; - - if(squawk_register == (intptr_t)&OCR0A) { - // Squawk uses PWM on OCR0A/PD5(ATMega328/168)/PB7(ATMega32U4) -#ifdef __AVR_ATmega32U4__ - DDRB |= 0b10000000; // TODO: FAIL on 32U4 -#else - DDRD |= 0b01000000; -#endif - TCCR0A = 0b10000011; // Fast-PWM 8-bit - TCCR0B = 0b00000001; // 62500Hz - OCR0A = 0x7F; - } else if(squawk_register == (intptr_t)&OCR0B) { - // Squawk uses PWM on OCR0B/PC5(ATMega328/168)/PD0(ATMega32U4) -#ifdef __AVR_ATmega32U4__ - DDRD |= 0b00000001; -#else - DDRD |= 0b00100000; -#endif // Set timer mode to - TCCR0A = 0b00100011; // Fast-PWM 8-bit - TCCR0B = 0b00000001; // 62500Hz - OCR0B = 0x7F; -#ifdef OCR2A - } else if(squawk_register == (intptr_t)&OCR2A) { - // Squawk uses PWM on OCR2A/PB3 - DDRB |= 0b00001000; // Set timer mode to - TCCR2A = 0b10000011; // Fast-PWM 8-bit - TCCR2B = 0b00000001; // 62500Hz - OCR2A = 0x7F; -#endif -#ifdef OCR2B - } else if(squawk_register == (intptr_t)&OCR2B) { - // Squawk uses PWM on OCR2B/PD3 - DDRD |= 0b00001000; // Set timer mode to - TCCR2A = 0b00100011; // Fast-PWM 8-bit - TCCR2B = 0b00000001; // 62500Hz - OCR2B = 0x7F; -#endif -#ifdef OCR3AL - } else if(squawk_register == (intptr_t)&OCR3AL) { - // Squawk uses PWM on OCR3AL/PC6 - DDRC |= 0b01000000; // Set timer mode to - TCCR3A = 0b10000001; // Fast-PWM 8-bit - TCCR3B = 0b00001001; // 62500Hz - OCR3AH = 0x00; - OCR3AL = 0x7F; -#endif - } else if(squawk_register == (intptr_t)&SPDR) { - // NOT YET SUPPORTED - // Squawk uses external DAC via SPI - // TODO: Configure SPI - // TODO: Needs SS toggle in sample grinder - } else if(squawk_register == (intptr_t)&PORTB) { - // NOT YET SUPPORTED - // Squawk uses resistor ladder on PORTB - // TODO: Needs shift right in sample grinder - DDRB = 0b11111111; - } else if(squawk_register == (intptr_t)&PORTC) { - // NOT YET SUPPORTED - // Squawk uses resistor ladder on PORTC - // TODO: Needs shift right in sample grinder - DDRC = 0b11111111; - } - - // Seed LFSR (needed for noise) - osc[3].freq = 0x2000; - - // Set up ISR to run at sample_rate (may not be exact) - isr_rr = F_CPU / sample_rate; - TCCR1A = 0b00000000; // Set timer mode - TCCR1B = 0b00001001; - OCR1AH = isr_rr >> 8; // Set freq - OCR1AL = isr_rr & 0xFF; -} - -// Decrunches a 9 byte row into a useful data -static void decrunch_row() { - uint8_t data; - - // Initial decrunch - stream->seek(stream_base + ((order[ix_order] << 6) + ix_row) * 9); - data = stream->read(); cel[0].fxc = data << 0x04; - cel[1].fxc = data & 0xF0; - data = stream->read(); cel[0].fxp = data; - data = stream->read(); cel[1].fxp = data; - data = stream->read(); cel[2].fxc = data << 0x04; - cel[3].fxc = data >> 0x04; - data = stream->read(); cel[2].fxp = data; - data = stream->read(); cel[3].fxp = data; - data = stream->read(); cel[0].ixp = data; - data = stream->read(); cel[1].ixp = data; - data = stream->read(); cel[2].ixp = data; - - // Decrunch extended effects - if(cel[0].fxc == 0xE0) { cel[0].fxc |= cel[0].fxp >> 4; cel[0].fxp &= 0x0F; } - if(cel[1].fxc == 0xE0) { cel[1].fxc |= cel[1].fxp >> 4; cel[1].fxp &= 0x0F; } - if(cel[2].fxc == 0xE0) { cel[2].fxc |= cel[2].fxp >> 4; cel[2].fxp &= 0x0F; } - - // Decrunch cell 3 ghetto-style - cel[3].ixp = ((cel[3].fxp & 0x80) ? 0x00 : 0x7F) | ((cel[3].fxp & 0x40) ? 0x80 : 0x00); - cel[3].fxp &= 0x3F; - switch(cel[3].fxc) { - case 0x02: - case 0x03: if(cel[3].fxc & 0x01) cel[3].fxp |= 0x40; cel[3].fxp = (cel[3].fxp >> 4) | (cel[3].fxp << 4); cel[3].fxc = 0x70; break; - case 0x01: if(cel[3].fxp & 0x08) cel[3].fxp = (cel[3].fxp & 0x07) << 4; cel[3].fxc = 0xA0; break; - case 0x04: cel[3].fxc = 0xC0; break; - case 0x05: cel[3].fxc = 0xB0; break; - case 0x06: cel[3].fxc = 0xD0; break; - case 0x07: cel[3].fxc = 0xF0; break; - case 0x08: cel[3].fxc = 0xE7; break; - case 0x09: cel[3].fxc = 0xE9; break; - case 0x0A: cel[3].fxc = (cel[3].fxp & 0x08) ? 0xEA : 0xEB; cel[3].fxp &= 0x07; break; - case 0x0B: cel[3].fxc = (cel[3].fxp & 0x10) ? 0xED : 0xEC; cel[3].fxp &= 0x0F; break; - case 0x0C: cel[3].fxc = 0xEE; break; - } - - // Apply generic effect parameter memory - uint8_t ch; - cel_t *p_cel = cel; - fxm_t *p_fxm = fxm; - for(ch = 0; ch != 4; ch++) { - uint8_t fx = p_cel->fxc; - if(fx == 0x10 || fx == 0x20 || fx == 0xE1 || fx == 0xE2 || fx == 0x50 || fx == 0x60 || fx == 0xA0) { - if(p_cel->fxp) { - p_fxm->param = p_cel->fxp; - } else { - p_cel->fxp = p_fxm->param; - } - } - p_cel++; p_fxm++; - } -} - -// Resets playback -static void playroutine_reset() { - memset(fxm, 0, sizeof(fxm)); - tick = 0; - ix_row = 0; - ix_order = 0; - ix_nextrow = 0xFF; - ix_nextorder = 0xFF; - row_delay = 0; - speed = 6; - decrunch_row(); -} - -// Start grinding samples -void SquawkSynth::play() { - TIMSK1 = 1 << OCIE1A; // Enable interrupt -} - -// Load a melody stream and start grinding samples -void SquawkSynth::play(SquawkStream *melody) { - uint8_t n; - pause(); - stream = melody; - stream->seek(0); - n = stream->read(); - if(n == 'S') { - // Squawk SD file - stream->seek(4); - stream_base = stream->read() << 8; - stream_base |= stream->read(); - stream_base += 6; - } else { - // Squawk ROM array - stream_base = 1; - } - stream->seek(stream_base); - order_count = stream->read(); - if(order_count <= 64) { - stream_base += order_count + 1; - for(n = 0; n < order_count; n++) order[n] = stream->read(); - playroutine_reset(); - play(); - } else { - order_count = 0; - } -} - -// Load a melody in PROGMEM and start grinding samples -void SquawkSynth::play(const uint8_t *melody) { - pause(); - rom = StreamROM(melody); - play(&rom); -} - -// Pause playback -void SquawkSynth::pause() { - TIMSK1 = 0; // Disable interrupt -} - -// Stop playing, unload melody -void SquawkSynth::stop() { - pause(); - order_count = 0; // Unload melody -} - -// Progress module by one tick -void squawk_playroutine() { - static bool lockout = false; - - if(!order_count) return; - - // Protect from re-entry via ISR - cli(); - if(lockout) { - sei(); - return; - } - lockout = true; - sei(); - - // Handle row delay - if(row_delay) { - if(tick == 0) row_delay--; - // Advance tick - if(++tick == speed) tick = 0; - } else { - - // Quick pointer access - fxm_t *p_fxm = fxm; - osc_t *p_osc = osc; - cel_t *p_cel = cel; - - // Temps - uint8_t ch, fx, fxp; - bool pattern_jump = false; - uint8_t ix_period; - - for(ch = 0; ch != 4; ch++) { - uint8_t temp; - - // Local register copy - fx = p_cel->fxc; - fxp = p_cel->fxp; - ix_period = p_cel->ixp; - - // If first tick - if(tick == (fx == 0xED ? fxp : 0)) { - - // Reset volume - if(ix_period & 0x80) p_osc->vol = p_fxm->volume = 0x20; - - if((ix_period & 0x7F) != 0x7F) { - - // Reset oscillators (unless continous flag set) - if((p_fxm->vibr.mode & 0x4) == 0x0) p_fxm->vibr.offset = 0; - if((p_fxm->trem.mode & 0x4) == 0x0) p_fxm->trem.offset = 0; - - // Cell has note - if(fx == 0x30 || fx == 0x50) { - - // Tone-portamento effect setup - p_fxm->port_target = pgm_read_word(&period_tbl[ix_period & 0x7F]); - } else { - - // Set required effect memory parameters - p_fxm->period = pgm_read_word(&period_tbl[ix_period & 0x7F]); - - // Start note - if(ch != 3) p_osc->freq = FREQ(p_fxm->period); - - } - } - - // Effects processed when tick = 0 - switch(fx) { - case 0x30: // Portamento - if(fxp) p_fxm->port_speed = fxp; - break; - case 0xB0: // Jump to pattern - ix_nextorder = (fxp >= order_count ? 0x00 : fxp); - ix_nextrow = 0; - pattern_jump = true; - break; - case 0xC0: // Set volume - p_osc->vol = p_fxm->volume = MIN(fxp, 0x20); - break; - case 0xD0: // Jump to row - if(!pattern_jump) ix_nextorder = ((ix_order + 1) >= order_count ? 0x00 : ix_order + 1); - pattern_jump = true; - ix_nextrow = (fxp > 63 ? 0 : fxp); - break; - case 0xF0: // Set speed, BPM(CIA) not supported - if(fxp <= 0x20) speed = fxp; - break; - case 0x40: // Vibrato - if(fxp) p_fxm->vibr.fxp = fxp; - break; - case 0x70: // Tremolo - if(fxp) p_fxm->trem.fxp = fxp; - break; - case 0xE1: // Fine slide up - if(ch != 3) { - p_fxm->period = MAX(p_fxm->period - fxp, PERIOD_MIN); - p_osc->freq = FREQ(p_fxm->period); - } - break; - case 0xE2: // Fine slide down - if(ch != 3) { - p_fxm->period = MIN(p_fxm->period + fxp, PERIOD_MAX); - p_osc->freq = FREQ(p_fxm->period); - } - break; - case 0xE3: // Glissando control - p_fxm->glissando = (fxp != 0); - break; - case 0xE4: // Set vibrato waveform - p_fxm->vibr.mode = fxp; - break; - case 0xE7: // Set tremolo waveform - p_fxm->trem.mode = fxp; - break; - case 0xEA: // Fine volume slide up - p_osc->vol = p_fxm->volume = MIN(p_fxm->volume + fxp, 0x20); - break; - case 0xEB: // Fine volume slide down - p_osc->vol = p_fxm->volume = MAX(p_fxm->volume - fxp, 0); - break; - case 0xEE: // Delay - row_delay = fxp; - break; - } - } else { - - // Effects processed when tick > 0 - switch(fx) { - case 0x10: // Slide up - if(ch != 3) { - p_fxm->period = MAX(p_fxm->period - fxp, PERIOD_MIN); - p_osc->freq = FREQ(p_fxm->period); - } - break; - case 0x20: // Slide down - if(ch != 3) { - p_fxm->period = MIN(p_fxm->period + fxp, PERIOD_MAX); - p_osc->freq = FREQ(p_fxm->period); - } - break; -/* - // Just feels... ugly - case 0xE9: // Retrigger note - temp = tick; while(temp >= fxp) temp -= fxp; - if(!temp) { - if(ch == 3) { - p_osc->freq = p_osc->phase = 0x2000; - } else { - p_osc->phase = 0; - } - } - break; -*/ - case 0xEC: // Note cut - if(fxp == tick) p_osc->vol = 0x00; - break; - default: // Multi-effect processing - - // Portamento - if(ch != 3 && (fx == 0x30 || fx == 0x50)) { - if(p_fxm->period < p_fxm->port_target) p_fxm->period = MIN(p_fxm->period + p_fxm->port_speed, p_fxm->port_target); - else p_fxm->period = MAX(p_fxm->period - p_fxm->port_speed, p_fxm->port_target); - if(p_fxm->glissando) p_osc->freq = FREQ(glissando(ch)); - else p_osc->freq = FREQ(p_fxm->period); - } - - // Volume slide - if(fx == 0x50 || fx == 0x60 || fx == 0xA0) { - if((fxp & 0xF0) == 0) p_fxm->volume -= (LO4(fxp)); - if((fxp & 0x0F) == 0) p_fxm->volume += (HI4(fxp)); - p_osc->vol = p_fxm->volume = MAX(MIN(p_fxm->volume, 0x20), 0); - } - } - } - - // Normal play and arpeggio - if(fx == 0x00) { - if(ch != 3) { - temp = tick; while(temp > 2) temp -= 2; - if(temp == 0) { - - // Reset - p_osc->freq = FREQ(p_fxm->period); - } else if(fxp) { - - // Arpeggio - p_osc->freq = FREQ(arpeggio(ch, (temp == 1 ? HI4(fxp) : LO4(fxp)))); - } - } - } else if(fx == 0x40 || fx == 0x60) { - - // Vibrato - if(ch != 3) p_osc->freq = FREQ((p_fxm->period + do_osc(&p_fxm->vibr))); - } else if(fx == 0x70) { - int8_t trem = p_fxm->volume + do_osc(&p_fxm->trem); - p_osc->vol = MAX(MIN(trem, 0x20), 0); - } - - // Next channel - p_fxm++; p_cel++; p_osc++; - } - - // Advance tick - if(++tick == speed) tick = 0; - - // Advance playback - if(tick == 0) { - if(++ix_row == 64) { - ix_row = 0; - if(++ix_order >= order_count) ix_order = 0; - } - // Forced order/row - if( ix_nextorder != 0xFF ) { - ix_order = ix_nextorder; - ix_nextorder = 0xFF; - } - if( ix_nextrow != 0xFF ) { - ix_row = ix_nextrow; - ix_nextrow = 0xFF; - } - decrunch_row(); - } - - } - - lockout = false; -}
\ No newline at end of file diff --git a/libraries/Robot_Control/Squawk.h b/libraries/Robot_Control/Squawk.h deleted file mode 100644 index 3481acf..0000000 --- a/libraries/Robot_Control/Squawk.h +++ /dev/null @@ -1,265 +0,0 @@ -// Squawk Soft-Synthesizer Library for Arduino -// -// Davey Taylor 2013 -// d.taylor@arduino.cc - -#ifndef _SQUAWK_H_ -#define _SQUAWK_H_ -#include <stddef.h> -#include <inttypes.h> -#include "Arduino.h" - -#define Melody const uint8_t PROGMEM - -class SquawkStream { - public: - virtual ~SquawkStream() = 0; - virtual uint8_t read() = 0; - virtual void seek(size_t offset) = 0; -}; -inline SquawkStream::~SquawkStream() { } - -class SquawkSynth { - -protected: - // Load and play specified melody - void play(SquawkStream *melody); - -public: - SquawkSynth() {}; - - // Initialize Squawk to generate samples at sample_rate Hz - void begin(uint16_t sample_rate); - - // Load and play specified melody - // melody needs to point to PROGMEM data - void play(const uint8_t *melody); - - // Resume currently loaded melody (or enable direct osc manipulation by sketch) - void play(); - - // Pause playback - void pause(); - - // Stop playback (unloads song) - void stop(); - - // Tune Squawk to a different frequency - default is 1.0 - void tune(float tuning); - - // Change the tempo - default is 50 - void tempo(uint16_t tempo); -}; - -extern SquawkSynth Squawk; - -// oscillator structure -typedef struct { - uint8_t vol; - uint16_t freq; - uint16_t phase; -} osc_t; - -typedef osc_t Oscillator; - -// oscillator memory -extern osc_t osc[4]; -extern uint8_t pcm; -// channel 0 is pulse wave @ 25% duty -// channel 1 is square wave -// channel 2 is triangle wave -// channel 3 is noise - -// For channel 3, freq is used as part of its LFSR and should not be changed. -// LFSR: Linear feedback shift register, a method of producing a -// pseudo-random bit sequence, used to generate nasty noise. - -#ifdef __AVR_ATmega32U4__ -// Supported configurations for ATmega32U4 -#define SQUAWK_PWM_PIN5 OCR3AL -#define SQUAWK_PWM_PIN11 OCR0A -#define SQUAWK_PWM_PIN3 OCR0B -/* -// NOT SUPPORTED YET -#define SQUAWK_PWM_PIN6 OCR4D -#define SQUAWK_PWM_PIN9 OCR4B -#define SQUAWK_PWM_PIN10 OCR4B -*/ -#endif - -#ifdef __AVR_ATmega168__ -// Supported configurations for ATmega168 -#define SQUAWK_PWM_PIN6 OCR0A -#define SQUAWK_PWM_PIN5 OCR0B -#define SQUAWK_PWM_PIN11 OCR2A -#define SQUAWK_PWM_PIN3 OCR2B -#endif - -#ifdef __AVR_ATmega328P__ -// Supported configurations for ATmega328P -#define SQUAWK_PWM_PIN6 OCR0A -#define SQUAWK_PWM_PIN5 OCR0B -#define SQUAWK_PWM_PIN11 OCR2A -#define SQUAWK_PWM_PIN3 OCR2B -#endif - -/* -// NOT SUPPORTED YET -#define SQUAWK_SPI SPDR -#define SQUAWK_RLD_PORTB PORTB -#define SQUAWK_RLD_PORTC PORTC -*/ - -extern void squawk_playroutine() asm("squawk_playroutine"); - -// SAMPLE GRINDER -// generates samples and updates oscillators -// uses 132 cycles (not counting playroutine) -// ~1/3 CPU @ 44kHz on 16MHz -#define SQUAWK_CONSTRUCT_ISR(TARGET_REGISTER) \ -uint16_t cia, cia_count; \ -intptr_t squawk_register = (intptr_t)&TARGET_REGISTER; \ -ISR(TIMER1_COMPA_vect, ISR_NAKED) { \ - asm volatile( \ - "push r2 " "\n\t" \ - "in r2, __SREG__ " "\n\t" \ - "push r18 " "\n\t" \ - "push r27 " "\n\t" \ - "push r26 " "\n\t" \ - "push r0 " "\n\t" \ - "push r1 " "\n\t" \ -\ - "lds r18, osc+2*%[mul]+%[fre] " "\n\t" \ - "lds r0, osc+2*%[mul]+%[pha] " "\n\t" \ - "add r0, r18 " "\n\t" \ - "sts osc+2*%[mul]+%[pha], r0 " "\n\t" \ - "lds r18, osc+2*%[mul]+%[fre]+1" "\n\t" \ - "lds r1, osc+2*%[mul]+%[pha]+1" "\n\t" \ - "adc r1, r18 " "\n\t" \ - "sts osc+2*%[mul]+%[pha]+1, r1 " "\n\t" \ -\ - "mov r27, r1 " "\n\t" \ - "sbrc r27, 7 " "\n\t" \ - "com r27 " "\n\t" \ - "lsl r27 " "\n\t" \ - "lds r26, osc+2*%[mul]+%[vol] " "\n\t" \ - "subi r27, 128 " "\n\t" \ - "muls r27, r26 " "\n\t" \ - "lsl r1 " "\n\t" \ - "mov r26, r1 " "\n\t" \ -\ - "lds r18, osc+0*%[mul]+%[fre] " "\n\t" \ - "lds r0, osc+0*%[mul]+%[pha] " "\n\t" \ - "add r0, r18 " "\n\t" \ - "sts osc+0*%[mul]+%[pha], r0 " "\n\t" \ - "lds r18, osc+0*%[mul]+%[fre]+1" "\n\t" \ - "lds r1, osc+0*%[mul]+%[pha]+1" "\n\t" \ - "adc r1, r18 " "\n\t" \ - "sts osc+0*%[mul]+%[pha]+1, r1 " "\n\t" \ -\ - "mov r18, r1 " "\n\t" \ - "lsl r18 " "\n\t" \ - "and r18, r1 " "\n\t" \ - "lds r27, osc+0*%[mul]+%[vol] " "\n\t" \ - "sbrc r18, 7 " "\n\t" \ - "neg r27 " "\n\t" \ - "add r26, r27 " "\n\t" \ -\ - "lds r18, osc+1*%[mul]+%[fre] " "\n\t" \ - "lds r0, osc+1*%[mul]+%[pha] " "\n\t" \ - "add r0, r18 " "\n\t" \ - "sts osc+1*%[mul]+%[pha], r0 " "\n\t" \ - "lds r18, osc+1*%[mul]+%[fre]+1" "\n\t" \ - "lds r1, osc+1*%[mul]+%[pha]+1" "\n\t" \ - "adc r1, r18 " "\n\t" \ - "sts osc+1*%[mul]+%[pha]+1, r1 " "\n\t" \ -\ - "lds r27, osc+1*%[mul]+%[vol] " "\n\t" \ - "sbrc r1, 7 " "\n\t" \ - "neg r27 " "\n\t" \ - "add r26, r27 " "\n\t" \ -\ - "ldi r27, 1 " "\n\t" \ - "lds r0, osc+3*%[mul]+%[fre] " "\n\t" \ - "lds r1, osc+3*%[mul]+%[fre]+1" "\n\t" \ - "add r0, r0 " "\n\t" \ - "adc r1, r1 " "\n\t" \ - "sbrc r1, 7 " "\n\t" \ - "eor r0, r27 " "\n\t" \ - "sbrc r1, 6 " "\n\t" \ - "eor r0, r27 " "\n\t" \ - "sts osc+3*%[mul]+%[fre], r0 " "\n\t" \ - "sts osc+3*%[mul]+%[fre]+1, r1 " "\n\t" \ -\ - "lds r27, osc+3*%[mul]+%[vol] " "\n\t" \ - "sbrc r1, 7 " "\n\t" \ - "neg r27 " "\n\t" \ - "add r26, r27 " "\n\t" \ -\ - "lds r27, pcm " "\n\t" \ - "add r26, r27 " "\n\t" \ - "sts %[reg], r26 " "\n\t" \ -\ - "lds r27, cia_count+1 " "\n\t" \ - "lds r26, cia_count " "\n\t" \ - "sbiw r26, 1 " "\n\t" \ - "breq call_playroutine " "\n\t" \ - "sts cia_count+1, r27 " "\n\t" \ - "sts cia_count, r26 " "\n\t" \ - "pop r1 " "\n\t" \ - "pop r0 " "\n\t" \ - "pop r26 " "\n\t" \ - "pop r27 " "\n\t" \ - "pop r18 " "\n\t" \ - "out __SREG__, r2 " "\n\t" \ - "pop r2 " "\n\t" \ - "reti " "\n\t" \ - "call_playroutine: " "\n\t" \ -\ - "lds r27, cia+1 " "\n\t" \ - "lds r26, cia " "\n\t" \ - "sts cia_count+1, r27 " "\n\t" \ - "sts cia_count, r26 " "\n\t" \ -\ - "sei " "\n\t" \ - "push r19 " "\n\t" \ - "push r20 " "\n\t" \ - "push r21 " "\n\t" \ - "push r22 " "\n\t" \ - "push r23 " "\n\t" \ - "push r24 " "\n\t" \ - "push r25 " "\n\t" \ - "push r30 " "\n\t" \ - "push r31 " "\n\t" \ -\ - "clr r1 " "\n\t" \ - "call squawk_playroutine " "\n\t" \ -\ - "pop r31 " "\n\t" \ - "pop r30 " "\n\t" \ - "pop r25 " "\n\t" \ - "pop r24 " "\n\t" \ - "pop r23 " "\n\t" \ - "pop r22 " "\n\t" \ - "pop r21 " "\n\t" \ - "pop r20 " "\n\t" \ - "pop r19 " "\n\t" \ -\ - "pop r1 " "\n\t" \ - "pop r0 " "\n\t" \ - "pop r26 " "\n\t" \ - "pop r27 " "\n\t" \ - "pop r18 " "\n\t" \ - "out __SREG__, r2 " "\n\t" \ - "pop r2 " "\n\t" \ - "reti " "\n\t" \ - : \ - : [reg] "M" _SFR_MEM_ADDR(TARGET_REGISTER), \ - [mul] "M" (sizeof(Oscillator)), \ - [pha] "M" (offsetof(Oscillator, phase)), \ - [fre] "M" (offsetof(Oscillator, freq)), \ - [vol] "M" (offsetof(Oscillator, vol)) \ - ); \ -} - -#endif
\ No newline at end of file diff --git a/libraries/Robot_Control/SquawkSD.cpp b/libraries/Robot_Control/SquawkSD.cpp deleted file mode 100644 index 3c97ef4..0000000 --- a/libraries/Robot_Control/SquawkSD.cpp +++ /dev/null @@ -1,182 +0,0 @@ -#include <SquawkSD.h> - -SquawkSynthSD SquawkSD; - -class StreamFile : public SquawkStream { - private: - Fat16 f; - public: - StreamFile(Fat16 file = Fat16()) { f = file; } - uint8_t read() { return f.read(); } - void seek(size_t offset) { f.seekSet(offset); } -}; - -static StreamFile file; - -extern uint16_t period_tbl[84] PROGMEM; - -void SquawkSynthSD::play(Fat16 melody) { - SquawkSynth::pause(); - file = StreamFile(melody); - SquawkSynth::play(&file); -} - -/* -void SquawkSynthSD::convert(Fat16 in, Fat16 out) { - unsigned int n; - uint8_t patterns = 0, order_count; - unsigned int ptn, row, chn; - uint8_t temp; - - uint8_t fxc[4], fxp[4], note[4], sample[4]; - uint16_t period; - - out.write('S'); // ID - out.write('Q'); - out.write('M'); - out.write('1'); - out.write((uint8_t)0); // No meta data - out.write((uint8_t)0); - - // Write order list, count patterns - in.seek(0x3B6); - order_count = in.read(); - out.write(order_count); - in.seek(0x3B8); - for(n = 0; n < order_count; n++) { - temp = in.read(); - if(temp >= patterns) patterns = temp + 1; - out.write(temp); - } - - // Write patterns - in.seek(0x43C); - for(ptn = 0; ptn < patterns; ptn++) { - for(row = 0; row < 64; row++) { - for(chn = 0; chn < 4; chn++) { - - // Basic extraction - temp = in.read(); // sample.msb and period.msb - period = (temp & 0x0F) << 8; - sample[chn] = temp & 0xF0; - period |= in.read(); // period.lsb - temp = in.read(); // sample.lsb and effect - sample[chn] |= temp >> 4; - fxc[chn] = (temp & 0x0F) << 4; - fxp[chn] = in.read(); // parameters - if(fxc[chn] == 0xE0) { - fxc[chn] |= fxp[chn] >> 4; // extended parameters - fxp[chn] &= 0x0F; - } - - #define DIF(A, B) ((A) > (B) ? ((int32_t)(A) - (int32_t)(B)) : ((int32_t)(B) - (int32_t)(A))) - // Find closest matching period - if(period == 0) { - note[chn] = 0x7F; - } else { - int16_t best = DIF(period, pgm_read_word(&period_tbl[0])); - note[chn] = 0; - for(n = 0; n < sizeof(period_tbl) / sizeof(uint16_t); n++) { - if(DIF(period, pgm_read_word(&period_tbl[n])) < best) { - note[chn] = n; - best = DIF(period, pgm_read_word(&period_tbl[n])); - } - } - } - - // Crunch volume/decimal commands - if(fxc[chn] == 0x50 || fxc[chn] == 0x60 || fxc[chn] == 0xA0) { - fxp[chn] = (fxp[chn] >> 1) & 0x77; - } else if(fxc[chn] == 0x70) { - fxp[chn] = (fxp[chn] & 0xF0) | ((fxp[chn] & 0x0F) >> 1); - } else if(fxc[chn] == 0xC0 || fxc[chn] == 0xEA || fxc[chn] == 0xEB) { - fxp[chn] >>= 1; - } else if(fxc[chn] == 0xD0) { - fxp[chn] = ((fxp[chn] >> 4) * 10) | (fxp[chn] & 0x0F); - } - - // Re-nibblify - it's a word! - if(chn != 3) { - if((fxc[chn] & 0xF0) == 0xE0) fxp[chn] |= fxc[chn] << 4; - fxc[chn] >>= 4; - } - - } - - // Ghetto crunch the last channel to save a byte - switch(fxc[3]) { - case 0x50: case 0x60: case 0xA0: - fxc[3] = 0x1; - if((fxp[3] >> 4) >= (fxp[3] & 0x0F)) { - fxp[3] = 0x80 + ((fxp[3] >> 4) - (fxp[3] & 0x0F)); - } else { - fxp[3] = ((fxp[3] & 0x0F) - (fxp[3] >> 4)); - } - break; - case 0x70: - fxc[3] = (fxp[3] & 0x4) ? 0x3 : 0x2; - fxp[3] = (fxp[3] >> 4) | ((fxp[3] & 0x03) << 4); - break; - case 0xC0: - fxc[3] = 0x4; - fxp[3] &= 0x1F; - break; - case 0xB0: - fxc[3] = 0x5; - fxp[3] &= 0x1F; - break; - case 0xD0: - fxc[3] = 0x6; - if(fxp[3] > 63) fxp[3] = 0; - break; - case 0xF0: - if(fxp[3] > 0x20) { - fxc[3] = 0x0; - fxp[3] = 0x00; - } else { - fxc[3] = 0x7; - } - break; - case 0xE7: - fxc[3] = 0x8; - break; - case 0xE9: - fxc[3] = 0x9; - break; - case 0xEA: - fxc[3] = 0xA; - fxp[3] |= 0x08; - break; - case 0xEB: - fxc[3] = 0xA; - break; - case 0xEC: - fxc[3] = 0xB; - break; - case 0xED: - fxc[3] = 0xB; - fxp[3] |= 0x10; - break; - case 0xEE: - fxc[3] = 0xC; - break; - default: - fxc[3] = 0; - fxp[3] = 0; - } - if(note[3] != 0x7F) fxp[3] |= 0x80; - if(sample[3]) fxp[3] |= 0x40; - - // Write out - out.write((fxc[0]) | fxc[1] << 4); - out.write(fxp[0]); - out.write(fxp[1]); - out.write((fxc[2]) | fxc[3] << 4); - out.write(fxp[2]); - out.write(fxp[3]); - out.write(note[0] | (sample[0] == 0 ? 0x00 : 0x80)); - out.write(note[1] | (sample[1] == 0 ? 0x00 : 0x80)); - out.write(note[2] | (sample[2] == 0 ? 0x00 : 0x80)); - } - } -}*/
\ No newline at end of file diff --git a/libraries/Robot_Control/SquawkSD.h b/libraries/Robot_Control/SquawkSD.h deleted file mode 100644 index 89d46a5..0000000 --- a/libraries/Robot_Control/SquawkSD.h +++ /dev/null @@ -1,17 +0,0 @@ -#ifndef _SQUAWKSD_H_ -#define _SQUAWKSD_H_ -#include <Squawk.h> -#include "Fat16.h" - -class SquawkSynthSD : public SquawkSynth { - private: - Fat16 f; - public: - inline void play() { Squawk.play(); }; - void play(Fat16 file); - //void convert(Fat16 in, Fat16 out); -}; - -extern SquawkSynthSD SquawkSD; - -#endif
\ No newline at end of file diff --git a/libraries/Robot_Control/Wire.cpp b/libraries/Robot_Control/Wire.cpp deleted file mode 100644 index 4e7a17c..0000000 --- a/libraries/Robot_Control/Wire.cpp +++ /dev/null @@ -1,298 +0,0 @@ -/* - TwoWire.cpp - TWI/I2C library for Wiring & Arduino - Copyright (c) 2006 Nicholas Zambetti. All right reserved. - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA - - Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts -*/ - -extern "C" { - #include <stdlib.h> - #include <string.h> - #include <inttypes.h> - #include "twi.h" -} - -#include "Wire.h" - -// Initialize Class Variables ////////////////////////////////////////////////// - -uint8_t TwoWire::rxBuffer[BUFFER_LENGTH]; -uint8_t TwoWire::rxBufferIndex = 0; -uint8_t TwoWire::rxBufferLength = 0; - -uint8_t TwoWire::txAddress = 0; -uint8_t TwoWire::txBuffer[BUFFER_LENGTH]; -uint8_t TwoWire::txBufferIndex = 0; -uint8_t TwoWire::txBufferLength = 0; - -uint8_t TwoWire::transmitting = 0; -void (*TwoWire::user_onRequest)(void); -void (*TwoWire::user_onReceive)(int); - -// Constructors //////////////////////////////////////////////////////////////// - -TwoWire::TwoWire() -{ -} - -// Public Methods ////////////////////////////////////////////////////////////// - -void TwoWire::begin(void) -{ - rxBufferIndex = 0; - rxBufferLength = 0; - - txBufferIndex = 0; - txBufferLength = 0; - - twi_init(); -} - -void TwoWire::begin(uint8_t address) -{ - twi_setAddress(address); - twi_attachSlaveTxEvent(onRequestService); - twi_attachSlaveRxEvent(onReceiveService); - begin(); -} - -void TwoWire::begin(int address) -{ - begin((uint8_t)address); -} - -uint8_t TwoWire::requestFrom(uint8_t address, uint8_t quantity, uint8_t sendStop) -{ - // clamp to buffer length - if(quantity > BUFFER_LENGTH){ - quantity = BUFFER_LENGTH; - } - // perform blocking read into buffer - uint8_t read = twi_readFrom(address, rxBuffer, quantity, sendStop); - // set rx buffer iterator vars - rxBufferIndex = 0; - rxBufferLength = read; - - return read; -} - -uint8_t TwoWire::requestFrom(uint8_t address, uint8_t quantity) -{ - return requestFrom((uint8_t)address, (uint8_t)quantity, (uint8_t)true); -} - -uint8_t TwoWire::requestFrom(int address, int quantity) -{ - return requestFrom((uint8_t)address, (uint8_t)quantity, (uint8_t)true); -} - -uint8_t TwoWire::requestFrom(int address, int quantity, int sendStop) -{ - return requestFrom((uint8_t)address, (uint8_t)quantity, (uint8_t)sendStop); -} - -void TwoWire::beginTransmission(uint8_t address) -{ - // indicate that we are transmitting - transmitting = 1; - // set address of targeted slave - txAddress = address; - // reset tx buffer iterator vars - txBufferIndex = 0; - txBufferLength = 0; -} - -void TwoWire::beginTransmission(int address) -{ - beginTransmission((uint8_t)address); -} - -// -// Originally, 'endTransmission' was an f(void) function. -// It has been modified to take one parameter indicating -// whether or not a STOP should be performed on the bus. -// Calling endTransmission(false) allows a sketch to -// perform a repeated start. -// -// WARNING: Nothing in the library keeps track of whether -// the bus tenure has been properly ended with a STOP. It -// is very possible to leave the bus in a hung state if -// no call to endTransmission(true) is made. Some I2C -// devices will behave oddly if they do not see a STOP. -// -uint8_t TwoWire::endTransmission(uint8_t sendStop) -{ - // transmit buffer (blocking) - int8_t ret = twi_writeTo(txAddress, txBuffer, txBufferLength, 1, sendStop); - // reset tx buffer iterator vars - txBufferIndex = 0; - txBufferLength = 0; - // indicate that we are done transmitting - transmitting = 0; - return ret; -} - -// This provides backwards compatibility with the original -// definition, and expected behaviour, of endTransmission -// -uint8_t TwoWire::endTransmission(void) -{ - return endTransmission(true); -} - -// must be called in: -// slave tx event callback -// or after beginTransmission(address) -size_t TwoWire::write(uint8_t data) -{ - if(transmitting){ - // in master transmitter mode - // don't bother if buffer is full - if(txBufferLength >= BUFFER_LENGTH){ - setWriteError(); - return 0; - } - // put byte in tx buffer - txBuffer[txBufferIndex] = data; - ++txBufferIndex; - // update amount in buffer - txBufferLength = txBufferIndex; - }else{ - // in slave send mode - // reply to master - twi_transmit(&data, 1); - } - return 1; -} - -// must be called in: -// slave tx event callback -// or after beginTransmission(address) -size_t TwoWire::write(const uint8_t *data, size_t quantity) -{ - if(transmitting){ - // in master transmitter mode - for(size_t i = 0; i < quantity; ++i){ - write(data[i]); - } - }else{ - // in slave send mode - // reply to master - twi_transmit(data, quantity); - } - return quantity; -} - -// must be called in: -// slave rx event callback -// or after requestFrom(address, numBytes) -int TwoWire::available(void) -{ - return rxBufferLength - rxBufferIndex; -} - -// must be called in: -// slave rx event callback -// or after requestFrom(address, numBytes) -int TwoWire::read(void) -{ - int value = -1; - - // get each successive byte on each call - if(rxBufferIndex < rxBufferLength){ - value = rxBuffer[rxBufferIndex]; - ++rxBufferIndex; - } - - return value; -} - -// must be called in: -// slave rx event callback -// or after requestFrom(address, numBytes) -int TwoWire::peek(void) -{ - int value = -1; - - if(rxBufferIndex < rxBufferLength){ - value = rxBuffer[rxBufferIndex]; - } - - return value; -} - -void TwoWire::flush(void) -{ - // XXX: to be implemented. -} - -// behind the scenes function that is called when data is received -void TwoWire::onReceiveService(uint8_t* inBytes, int numBytes) -{ - // don't bother if user hasn't registered a callback - if(!user_onReceive){ - return; - } - // don't bother if rx buffer is in use by a master requestFrom() op - // i know this drops data, but it allows for slight stupidity - // meaning, they may not have read all the master requestFrom() data yet - if(rxBufferIndex < rxBufferLength){ - return; - } - // copy twi rx buffer into local read buffer - // this enables new reads to happen in parallel - for(uint8_t i = 0; i < numBytes; ++i){ - rxBuffer[i] = inBytes[i]; - } - // set rx iterator vars - rxBufferIndex = 0; - rxBufferLength = numBytes; - // alert user program - user_onReceive(numBytes); -} - -// behind the scenes function that is called when data is requested -void TwoWire::onRequestService(void) -{ - // don't bother if user hasn't registered a callback - if(!user_onRequest){ - return; - } - // reset tx buffer iterator vars - // !!! this will kill any pending pre-master sendTo() activity - txBufferIndex = 0; - txBufferLength = 0; - // alert user program - user_onRequest(); -} - -// sets function called on slave write -void TwoWire::onReceive( void (*function)(int) ) -{ - user_onReceive = function; -} - -// sets function called on slave read -void TwoWire::onRequest( void (*function)(void) ) -{ - user_onRequest = function; -} - -// Preinstantiate Objects ////////////////////////////////////////////////////// - -TwoWire Wire = TwoWire(); - diff --git a/libraries/Robot_Control/Wire.h b/libraries/Robot_Control/Wire.h deleted file mode 100644 index a93d0f5..0000000 --- a/libraries/Robot_Control/Wire.h +++ /dev/null @@ -1,79 +0,0 @@ -/* - TwoWire.h - TWI/I2C library for Arduino & Wiring - Copyright (c) 2006 Nicholas Zambetti. All right reserved. - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA - - Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts -*/ - -#ifndef TwoWire_h -#define TwoWire_h - -#include <inttypes.h> -#include "Stream.h" - -#define BUFFER_LENGTH 32 - -class TwoWire : public Stream -{ - private: - static uint8_t rxBuffer[]; - static uint8_t rxBufferIndex; - static uint8_t rxBufferLength; - - static uint8_t txAddress; - static uint8_t txBuffer[]; - static uint8_t txBufferIndex; - static uint8_t txBufferLength; - - static uint8_t transmitting; - static void (*user_onRequest)(void); - static void (*user_onReceive)(int); - static void onRequestService(void); - static void onReceiveService(uint8_t*, int); - public: - TwoWire(); - void begin(); - void begin(uint8_t); - void begin(int); - void beginTransmission(uint8_t); - void beginTransmission(int); - uint8_t endTransmission(void); - uint8_t endTransmission(uint8_t); - uint8_t requestFrom(uint8_t, uint8_t); - uint8_t requestFrom(uint8_t, uint8_t, uint8_t); - uint8_t requestFrom(int, int); - uint8_t requestFrom(int, int, int); - virtual size_t write(uint8_t); - virtual size_t write(const uint8_t *, size_t); - virtual int available(void); - virtual int read(void); - virtual int peek(void); - virtual void flush(void); - void onReceive( void (*)(int) ); - void onRequest( void (*)(void) ); - - inline size_t write(unsigned long n) { return write((uint8_t)n); } - inline size_t write(long n) { return write((uint8_t)n); } - inline size_t write(unsigned int n) { return write((uint8_t)n); } - inline size_t write(int n) { return write((uint8_t)n); } - using Print::write; -}; - -extern TwoWire Wire; - -#endif - diff --git a/libraries/Robot_Control/communication.cpp b/libraries/Robot_Control/communication.cpp deleted file mode 100644 index eaf5346..0000000 --- a/libraries/Robot_Control/communication.cpp +++ /dev/null @@ -1 +0,0 @@ -#include <ArduinoRobot.h>
bool RobotControl::isActionDone(){
if(messageIn.receiveData()){
if(messageIn.readByte()==COMMAND_ACTION_DONE){
return true;
}
}
return false;
}
void RobotControl::pauseMode(uint8_t onOff){
messageOut.writeByte(COMMAND_PAUSE_MODE);
if(onOff){
messageOut.writeByte(true);
}else{
messageOut.writeByte(false);
}
messageOut.sendData();
}
void RobotControl::lineFollowConfig(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime){
messageOut.writeByte(COMMAND_LINE_FOLLOW_CONFIG);
messageOut.writeByte(KP);
messageOut.writeByte(KD);
messageOut.writeByte(robotSpeed);
messageOut.writeByte(intergrationTime);
messageOut.sendData();
}
\ No newline at end of file diff --git a/libraries/Robot_Control/examples/explore/R01_Logo/R01_Logo.ino b/libraries/Robot_Control/examples/explore/R01_Logo/R01_Logo.ino deleted file mode 100644 index 794479e..0000000 --- a/libraries/Robot_Control/examples/explore/R01_Logo/R01_Logo.ino +++ /dev/null @@ -1,134 +0,0 @@ -/* Robot Logo - - This sketch demonstrates basic movement of the Robot. - When the sketch starts, press the on-board buttons to tell - the robot how to move. Pressing the middle button will - save the pattern, and the robot will follow accordingly. - You can record up to 20 commands. The robot will move for - one second per command. - - This example uses images on an SD card. It looks for - files named "lg0.bmp" and "lg1.bmp" and draws them on the - screen. - - Circuit: - * Arduino Robot - - created 1 May 2013 - by X. Yang - modified 12 May 2013 - by D. Cuartielles - - This example is in the public domain - */ - -#include <ArduinoRobot.h> // include the robot library - -int commands[20]; // array for storing commands - -void setup() { - // initialize the Robot, SD card, and display - Robot.begin(); - Robot.beginTFT(); - Robot.beginSD(); - - // draw "lg0.bmp" and "lg1.bmp" on the screen - Robot.displayLogos(); -} - -void loop() { - - Robot.drawBMP("intro.bmp", 0, 0); //display background image - - iniCommands(); // remove commands from the array - addCommands(); // add commands to the array - - delay(1000); // wait for a second - - executeCommands(); // follow orders - - Robot.stroke(0,0,0); - Robot.text("Done!", 5, 103); // write some text to the display - delay(1500); // wait for a moment -} - -// empty the commands array -void iniCommands() { - for(int i=0; i<20; i++) - commands[i]=-1; -} - -// add commands to the array -void addCommands() { - Robot.stroke(0,0,0); - // display text on the screen - Robot.text("1. Press buttons to\n add commands.\n\n 2. Middle to finish.", 5, 5); - - // read the buttons' state - for(int i=0; i<20;) { //max 20 commands - int key = Robot.keyboardRead(); - if(key == BUTTON_MIDDLE) { //finish input - break; - }else if(key == BUTTON_NONE) { //if no button is pressed - continue; - } - commands[i] = key; // save the button to the array - PrintCommandI(i, 46); // print the command on the screen - delay(100); - i++; - } -} - -// run through the array and move the robot -void executeCommands() { - // print status to the screen - Robot.text("Excuting...",5,70); - - // read through the array and move accordingly - for(int i=0; i<20; i++) { - switch(commands[i]) { - case BUTTON_LEFT: - Robot.turn(-90); - break; - case BUTTON_RIGHT: - Robot.turn(90); - break; - case BUTTON_UP: - Robot.motorsWrite(255, 255); - break; - case BUTTON_DOWN: - Robot.motorsWrite(-255, -255); - break; - case BUTTON_NONE: - return; - } - // print the current command to the screen - Robot.stroke(255,0,0); - PrintCommandI(i, 86); - delay(1000); - - // stop moving for a second - Robot.motorsStop(); - delay(1000); - } -} - -// convert the button press to a single character -char keyToChar(int key) { - switch(key) { - case BUTTON_LEFT: - return '<'; - case BUTTON_RIGHT: - return '>'; - case BUTTON_UP: - return '^'; - case BUTTON_DOWN: - return 'v'; - } -} - -// display a command -void PrintCommandI(int i, int originY) { - Robot.text(keyToChar(commands[i]), i%14*8+5, i/14*10+originY); -} - diff --git a/libraries/Robot_Control/examples/explore/R02_Line_Follow/R02_Line_Follow.ino b/libraries/Robot_Control/examples/explore/R02_Line_Follow/R02_Line_Follow.ino deleted file mode 100644 index 58de253..0000000 --- a/libraries/Robot_Control/examples/explore/R02_Line_Follow/R02_Line_Follow.ino +++ /dev/null @@ -1,73 +0,0 @@ -/* Robot Line Follow - - This sketch demonstrates the line following capabilities - of the Arduino Robot. On the floor, place some black - electrical tape along the path you wish the robot to follow. - To indicate a stopping point, place another piece of tape - perpendicular to the path. - - Circuit: - * Arduino Robot - - created 1 May 2013 - by X. Yang - modified 12 May 2013 - by D. Cuartielles - - This example is in the public domain - */ - -#include <ArduinoRobot.h> // include the robot library - -long timerOrigin; // used for counting elapsed time - -void setup() { - // initialize the Robot, SD card, display, and speaker - Robot.begin(); - Robot.beginTFT(); - Robot.beginSD(); - Robot.beginSpeaker(); - - // show the logots on the TFT screen - Robot.displayLogos(); - - Robot.drawBMP("lf.bmp", 0, 0); // display background image - - Robot.playFile("chase.sqm"); // play a song from the SD card - - // add the instructions - Robot.text("Line Following\n\n place the robot on\n the track and \n see it run", 5, 5); - Robot.text("Press the middle\n button to start...", 5, 61); - Robot.waitContinue(); - - // These are some general values that work for line following - // uncomment one or the other to see the different behaviors of the robot - // Robot.lineFollowConfig(11, 5, 50, 10); - Robot.lineFollowConfig(14, 9, 50, 10); - - //set the motor board into line-follow mode - Robot.setMode(MODE_LINE_FOLLOW); - - // start - Robot.fill(255, 255, 255); - Robot.stroke(255, 255, 255); - Robot.rect(0, 0, 128, 80); // erase the previous text - Robot.stroke(0, 0, 0); - Robot.text("Start", 5, 5); - - Robot.stroke(0, 0, 0); // choose color for the text - Robot.text("Time passed:", 5, 21); // write some text to the screen - - timerOrigin=millis(); // keep track of the elapsed time - - while(!Robot.isActionDone()) { //wait for the finish signal - Robot.debugPrint(millis()-timerOrigin, 5, 29); // show how much time has passed - } - - Robot.stroke(0, 0, 0); - Robot.text("Done!", 5, 45); -} -void loop() { - //nothing here, the program only runs once. Reset the robot - //to do it again! -} diff --git a/libraries/Robot_Control/examples/explore/R03_Disco_Bot/R03_Disco_Bot.ino b/libraries/Robot_Control/examples/explore/R03_Disco_Bot/R03_Disco_Bot.ino deleted file mode 100644 index 3574b01..0000000 --- a/libraries/Robot_Control/examples/explore/R03_Disco_Bot/R03_Disco_Bot.ino +++ /dev/null @@ -1,179 +0,0 @@ -/* Disco Bot - - This sketch shows you how to use the melody playing - feature of the robot, with some really cool 8-bit music. - Music will play when the robot is turned on, and it - will show you some dance moves. - - Circuit: - * Arduino Robot - - created 1 May 2013 - by X. Yang - modified 12 May 2013 - by D. Cuartielles - - This example is in the public domain - */ - -#include <ArduinoRobot.h> // include the robot library - -/* Dancing steps: - S: stop - L: turn left - R: turn right - F: go forward - B: go backwards - - The number after each command determines how long - each step lasts. Each number is 1/2 second long. - - The "\0" indicates end of string -*/ -char danceScript[] = "S4L1R1S2F1B1S1\0"; - -int currentScript = 0; // what step are we at - -int currentSong = 0; // keep track of the current song -static const int SONGS_COUNT = 3; // number of songs - -// an array to hold the songs -char musics[][11] = { - "melody.sqm", - "menu.sqm", - "chase.sqm", -}; - -// variables for non-blocking delay -long waitFrom; -long waitTime = 0; - -void setup() { - // initialize the Robot, SD card, display, and speaker - Robot.begin(); - Robot.beginSpeaker(); - Robot.beginSD(); - Robot.beginTFT(); - - // draw "lg0.bmp" and "lg1.bmp" on the screen - Robot.displayLogos(); - - // Print instructions to the screen - Robot.text("1. Use left and\n right key to switch\n song", 5, 5); - Robot.text("2. Put robot on the\n ground to dance", 5, 33); - - // wait for a few soconds - delay(3000); - - setInterface(); // display the current song - play(0); //play the first song in the array - - resetWait(); //Initialize non-blocking delay -} - -void loop() { - // read the butttons on the robot - int key = Robot.keyboardRead(); - - // Right/left buttons play next/previous song - switch(key) { - case BUTTON_UP: - case BUTTON_LEFT: - play(-1); //play previous song - break; - case BUTTON_DOWN: - case BUTTON_RIGHT: - play(1); //play next song - break; - } - - // dance! - runScript(); -} - -// Dancing function -void runScript() { - if(!waiting()) { // if the previous instructions have finished - // get the next 2 commands (direction and duration) - parseCommand(danceScript[currentScript], danceScript[currentScript+1]); - currentScript += 2; - if(danceScript[currentScript] == '\0') // at the end of the array - currentScript = 0; // start again at the beginning - } -} - -// instead of delay, use this timer -boolean waiting() { - if(millis()-waitFrom >= waitTime) - return false; - else - return true; -} - -// how long to wait -void wait(long t) { - resetWait(); - waitTime = t; -} - -// reset the timer -void resetWait() { - waitFrom = millis(); -} - -// read the direction and dirstion of the steps -void parseCommand(char dir, char duration) { - //convert the scripts to action - switch(dir) { - case 'L': - Robot.motorsWrite(-255, 255); - break; - case 'R': - Robot.motorsWrite(255, -255); - break; - case 'F': - Robot.motorsWrite(255, 255); - break; - case 'B': - Robot.motorsWrite(-255, -255); - break; - case 'S': - Robot.motorsStop(); - break; - } - //You can change "500" to change the pace of dancing - wait(500*(duration-'0')); -} - -// display the song -void setInterface() { - Robot.clearScreen(); - Robot.stroke(0, 0, 0); - Robot.text(musics[0], 0, 0); -} - -// display the next song -void select(int seq, boolean onOff) { - if(onOff){//select - Robot.stroke(0, 0, 0); - Robot.text(musics[seq], 0, 0); - }else{//deselect - Robot.stroke(255, 255, 255); - Robot.text(musics[seq], 0, 0); - } -} - -// play the slected song -void play(int seq) { - select(currentSong, false); - if(currentSong <= 0 && seq == -1) { //previous of 1st song? - currentSong = SONGS_COUNT-1; //go to last song - } else if(currentSong >= SONGS_COUNT-1 && seq == 1) { //next of last? - currentSong = 0; //go to 1st song - } else { - currentSong += seq; //next song - } - Robot.stopPlayFile(); - Robot.playFile(musics[currentSong]); - select(currentSong, true); //display the current song -} diff --git a/libraries/Robot_Control/examples/explore/R04_Compass/R04_Compass.ino b/libraries/Robot_Control/examples/explore/R04_Compass/R04_Compass.ino deleted file mode 100644 index a7a7315..0000000 --- a/libraries/Robot_Control/examples/explore/R04_Compass/R04_Compass.ino +++ /dev/null @@ -1,70 +0,0 @@ -/* Robot Compass - - The robot has an on-board compass module, with - which it can tell the direction the robot is - facing. This sketch will make sure the robot - goes towards a certain direction. - - Beware, magnets will interfere with the compass - readings. - - Circuit: - * Arduino Robot - - created 1 May 2013 - by X. Yang - modified 12 May 2013 - by D. Cuartielles - - This example is in the public domain - */ - -// include the robot library -#include <ArduinoRobot.h> - -int speedLeft; -int speedRight; -int compassValue; -int direc = 180; //Direction the robot is heading - -void setup() { - // initialize the modules - Robot.begin(); - Robot.beginTFT(); - Robot.beginSD(); - Robot.displayLogos(); -} - -void loop() { - // read the compass orientation - compassValue = Robot.compassRead(); - - // how many degrees are we off - int diff = compassValue-direc; - - // modify degress - if(diff > 180) - diff = -360+diff; - else if(diff < -180) - diff = 360+diff; - - // Make the robot turn to its proper orientation - diff = map(diff, -180, 180, -255, 255); - - if(diff > 0) { - // keep the right wheel spinning, - // change the speed of the left wheel - speedLeft = 255-diff; - speedRight = 255; - } else { - // keep the right left spinning, - // change the speed of the left wheel - speedLeft = 255; - speedRight = 255+diff; - } - // write out to the motors - Robot.motorsWrite(speedLeft, speedRight); - - // draw the orientation on the screen - Robot.drawCompass(compassValue); -} diff --git a/libraries/Robot_Control/examples/explore/R05_Inputs/R05_Inputs.ino b/libraries/Robot_Control/examples/explore/R05_Inputs/R05_Inputs.ino deleted file mode 100644 index 1359f8d..0000000 --- a/libraries/Robot_Control/examples/explore/R05_Inputs/R05_Inputs.ino +++ /dev/null @@ -1,166 +0,0 @@ -/* Robot Inputs - - This sketch shows you how to use the on-board - potentiometer and buttons as inputs. - - Turning the potentiometer draws a clock-shaped - circle. The up and down buttons change the pitch, - while the left and right buttons change the tempo. - The middle button resets tempo and pitch. - - Circuit: - * Arduino Robot - - created 1 May 2013 - by X. Yang - modified 12 May 2013 - by D. Cuartielles - - This example is in the public domain - */ - -#include <ArduinoRobot.h> - -// default tempo and pitch of the music -int tempo = 60; -int pitch = 1000; - -void setup() { - // initialize the Robot, SD card, speaker, and display - Robot.begin(); - Robot.beginTFT(); - Robot.beginSpeaker(); - Robot.beginSD(); - - // draw "lg0.bmp" and "lg1.bmp" on the screen - Robot.displayLogos(); - - // play a sound file - Robot.playFile("Melody.sqm"); -} - -void loop() { - // check the value of the buttons - keyDown(Robot.keyboardRead()); - - // check the value of the pot - drawKnob(Robot.knobRead()); -} - -// Draw the basic interface -void renderUI() { - //fill the buttons blank - Robot.fill(255, 255, 255); - Robot.rect(53, 58, 13, 13); // left - Robot.rect(93, 58, 13, 13); // right - Robot.rect(73, 38, 13, 13); // up - Robot.circle(79, 64, 6); // middle - Robot.rect(73, 78, 13, 13); // down - Robot.circle(26, 116, 18); // knob - - //draw the vertical bargraph - int fullPart=map(pitch, 200, 2000, 0, 58); //length of filled bargraph - Robot.fill(255, 255, 255); - Robot.rect(21, 30, 13, 58-fullPart); - Robot.fill(0, 0, 255); - Robot.rect(21, 88-fullPart, 13, fullPart); //58-fullPart+30 - - //draw the horizontal bargraph - fullPart = map(tempo, 20, 100, 0, 58); // length of filled bargraph - Robot.fill(255, 190, 0); - Robot.rect(53, 110, fullPart, 13); - Robot.fill(255, 255, 255); - Robot.rect(53+fullPart, 110, 58-fullPart, 13); -} - -void keyDown(int keyCode) { - // use a static int so it is persistent over time - static int oldKey; - switch(keyCode) { - case BUTTON_LEFT: - //left button pressed, reduces tempo - tempo -= 5; - if(tempo < 20) tempo = 20; //lowest tempo 20 - Robot.fill(255,190,0); - - Robot.rect(53, 58, 13, 13); - break; - case BUTTON_RIGHT: - //right button pressed, increases tempo - tempo += 5; - if(tempo > 100) tempo = 100; //highest tempo 100 - Robot.fill(255,190,0); - Robot.rect(93, 58, 13, 13); - break; - case BUTTON_UP: - //up button pressed, increases pitch - pitch += 120; - if(pitch > 2000) pitch = 2000; - Robot.fill(0, 0, 255); - - Robot.rect(73, 38, 13, 13); - break; - case BUTTON_DOWN: - //down button pressed, reduces pitch - pitch -= 120; - if(pitch < 200){ - pitch = 200; - } - Robot.fill(0, 0, 255); - - Robot.rect(73, 78, 13, 13); - break; - case BUTTON_MIDDLE: - //middle button pressed, resets tempo and pitch - tempo = 60; - pitch = 1000; - Robot.fill(160,160,160); - - Robot.circle(79, 64, 6); - break; - case BUTTON_NONE: - //Only when the keys are released(thus BUTTON_NONE is - //encountered the first time), the interface will be - //re-drawn. - if(oldKey != BUTTON_NONE){ - renderUI(); - } - break; - } - if(oldKey != keyCode) { - // change the song's tempo - Robot.tempoWrite(tempo); - // change the song's pitch - Robot.tuneWrite(float(pitch/1000.0)); - } - oldKey = keyCode; -} - -void drawKnob(int val) { - static int x = 0, y = 0, val_old = 0; - // radian number, -3.14 to 3.14 - float ang = map(val, 0, 1023, -PI*1000, PI*1000) / 1000.0; - - // erase the old line - if (val_old != val) { - Robot.stroke(255, 255, 255); - Robot.line(26, 116, x, y); - } - - // the following lines avoid a glitch in the TFT library - // that seems to appear when drawing a vertical line - if (val < 1011 && val > 265 || val < 253) { - //a bit math for drawing the hand inside the clock - x = 16*sin(ang)+26; - y = 16*cos(ang)+116; - } - if (val > 265 && val < 253) { - x = 10; y = 116; - } - if (val >= 1011) { - x = 27; y = 100; - } - Robot.stroke(0, 0, 0); - Robot.line(26, 116, x, y); - val_old = val; -} diff --git a/libraries/Robot_Control/examples/explore/R06_Wheel_Calibration/R06_Wheel_Calibration.ino b/libraries/Robot_Control/examples/explore/R06_Wheel_Calibration/R06_Wheel_Calibration.ino deleted file mode 100644 index c571b3a..0000000 --- a/libraries/Robot_Control/examples/explore/R06_Wheel_Calibration/R06_Wheel_Calibration.ino +++ /dev/null @@ -1,103 +0,0 @@ -/* 6 Wheel Calibration - - Use this sketch to calibrate the wheels in your robot. - Your robot should drive as straight as possible when - putting both motors at the same speed. - - Run the software and follow the on-screen instructions. - Use the trimmer on the motor board to make sure the - robot is working at its best! - Circuit: - * Arduino Robot - - created 1 May 2013 - by X. Yang - modified 12 May 2013 - by D. Cuartielles - - This example is in the public domain - */ - -#include <ArduinoRobot.h> // inport the robot librsry -// import the utility library -// a description of its funtionality is below -#include <utility/RobotTextManager.h> - -// arrays to hold the text for instructions -char script1[] ="Wheel Calibration"; -char script2[] ="1. Put Robot on a\n flat surface"; -char script3[] ="2. Adjust speed with the knob on top"; -char script4[] ="3. If robot goes\n straight, it's done"; -char script5[] ="4. Use screwdriver\n on the bottom trim"; -char script6[] ="- Robot turns left,\n screw it clockwise;"; -char script7[] ="- Turns right, screw it ct-colockwise;"; -char script8[] ="5. Repeat 4 until\n going straight"; - -int speedRobot; //robot speed -int calibrationValue; //value for calibrate difference between wheels - -void setup(){ - //necessary initialization sequence - Robot.begin(); - Robot.beginTFT(); - Robot.beginSD(); - - // left and top margin for displaying text - // see below for a description of this - textManager.setMargin(5,5); - // write all instructions at once - writeAllscript(); - -} -void loop(){ - //Control the robot's speed with knob on top - int speedRobot=map(Robot.knobRead(),0,1023,-255,255); - Robot.motorsWrite(speedRobot,speedRobot); - - //read value of the pot on motor baord,to clibrate the wheels - int calibrationValue=map(Robot.trimRead(),0,1023,-30,30); - // print the values to the screen - Robot.debugPrint(calibrationValue,110,145); - delay(40); - -} - -void writeAllscript(){ - //prints 8 scripts one after another - textManager.writeText(0,0,script1); - textManager.writeText(1,0,script2); - textManager.writeText(3,0,script3); - textManager.writeText(5,0,script4); - textManager.writeText(7,0,script5); - textManager.writeText(9,0,script6); - textManager.writeText(11,0,script7); - textManager.writeText(13,0,script8); -} - -/** -textManager mostly contains helper functions for -R06_Wheel_Calibration and R01_Hello_User. - - textManager.setMargin(margin_left, margin_top): - Configure the left and top margin for text - display. The margins will be used by - textManager.writeText(). - Parameters: - margin_left, margin_top: int, the margin values - from the top and left side of the screen. - Returns: - none - - textManager.writeText(line,column,text): - Display text on the specific line and column. - It's different from Robot.text() which - uses pixels for positioning the text. - Parameters: - line:int, which line is the text displayed. Each line - is 10px high. - column:int, which column is the text displayed. Each - column is 8px wide. - text:a char array(string) of the text to be displayed. - Returns: - none -*/ diff --git a/libraries/Robot_Control/examples/explore/R07_Runaway_Robot/R07_Runaway_Robot.ino b/libraries/Robot_Control/examples/explore/R07_Runaway_Robot/R07_Runaway_Robot.ino deleted file mode 100644 index 9832d29..0000000 --- a/libraries/Robot_Control/examples/explore/R07_Runaway_Robot/R07_Runaway_Robot.ino +++ /dev/null @@ -1,78 +0,0 @@ -/* Runaway Robot - - Play tag with your robot! With an ultrasonic - distance sensor, it's capable of detecting and avoiding - obstacles, never bumping into walls again! - - You'll need to attach an untrasonic range finder to TK1. - - Circuit: - * Arduino Robot - * US range finder like Maxbotix EZ10, with analog output - - created 1 May 2013 - by X. Yang - modified 12 May 2013 - by D. Cuartielles - - This example is in the public domain - */ - -// include the robot library -#include <ArduinoRobot.h> - -int sensorPin = TK1; // pin is used by the sensor - -void setup() { - // initialize the Robot, SD card, and display - Serial.begin(9600); - Robot.begin(); - Robot.beginTFT(); - Robot.beginSD(); - Robot.displayLogos(); - - // draw a face on the LCD screen - setFace(true); -} - -void loop() { - // If the robot is blocked, turn until free - while(getDistance() < 40) { // If an obstacle is less than 20cm away - setFace(false); //shows an unhappy face - Robot.motorsStop(); // stop the motors - delay(1000); // wait for a moment - Robot.turn(90); // turn to the right and try again - setFace(true); // happy face - } - // if there are no objects in the way, keep moving - Robot.motorsWrite(255, 255); - delay(100); -} - -// return the distance in cm -float getDistance() { - // read the value from the sensor - int sensorValue = Robot.analogRead(sensorPin); - //Convert the sensor input to cm. - float distance_cm = sensorValue*1.27; - return distance_cm; -} - -// make a happy or sad face -void setFace(boolean onOff) { - if(onOff) { - // if true show a happy face - Robot.background(0, 0, 255); - Robot.setCursor(44, 60); - Robot.stroke(0, 255, 0); - Robot.setTextSize(4); - Robot.print(":)"); - }else{ - // if false show an upset face - Robot.background(255, 0, 0); - Robot.setCursor(44, 60); - Robot.stroke(0, 255, 0); - Robot.setTextSize(4); - Robot.print("X("); - } -} diff --git a/libraries/Robot_Control/examples/explore/R08_Remote_Control/R08_Remote_Control.ino b/libraries/Robot_Control/examples/explore/R08_Remote_Control/R08_Remote_Control.ino deleted file mode 100644 index fda21cb..0000000 --- a/libraries/Robot_Control/examples/explore/R08_Remote_Control/R08_Remote_Control.ino +++ /dev/null @@ -1,123 +0,0 @@ -/* 08 Remote Control - - ******************* - *** - ***This example code is in an experimental state. - ***You are welcome to try this with your robot, - ***and no harm will come to it. We will provide a - ***detailed description of an updated version of this - ***in a future update - *** - *** For this example to work you need: - *** - *** - download and install the IR-Remote library by Ken Shirriff - *** to be found at https://github.com/shirriff/Arduino-IRremote - *** - get a Sony remote control - *** - *** This example will be updated soon, come back to the Robot - *** page on the Arduino server for updates!! - *** - ******************* - - If you connect a IR receiver to the robot, - you can control it like you control a TV set. - Using a Sony compatiable remote control, - map some buttons to different actions. - You can make the robot move around without - even touching it! - - Circuit: - * Arduino Robot - * Connect the IRreceiver to TDK2 - * Sony compatible remote control - - based on the IRremote library - by Ken Shirriff - http://arcfn.com - - created 1 May 2013 - by X. Yang - modified 12 May 2013 - by D. Cuartielles - - This example is in the public domain - */ - -// include the necessary libraries -#include <IRremote.h> -#include <ArduinoRobot.h> - -// Define a few commands from your remote control -#define IR_CODE_FORWARD 0x2C9B -#define IR_CODE_BACKWARDS 0x6C9B -#define IR_CODE_TURN_LEFT 0xD4B8F -#define IR_CODE_TURN_RIGHT 0x34B8F - -int RECV_PIN = TKD2; // the pin the IR receiver is connected to -IRrecv irrecv(RECV_PIN); // an instance of the IR receiver object -decode_results results; // container for received IR codes - -void setup() { - // initialize the Robot, SD card, display, and speaker - Robot.begin(); - Robot.beginTFT(); - Robot.beginSD(); - - // print some text to the screen - Robot.stroke(0, 0, 0); - Robot.text("Remote Control code:", 5, 5); - Robot.text("Command:", 5, 26); - irrecv.enableIRIn(); // Start the receiver -} - -void loop() { - // if there is an IR command, process it - if (irrecv.decode(&results)) { - processResult(); - irrecv.resume(); // resume receiver - } -} - -void processResult() { - unsigned long res = results.value; - // print the value to the screen - Robot.debugPrint(res, 5, 15); - - if(res == IR_CODE_FORWARD || res == IR_CODE_BACKWARDS || res == IR_CODE_TURN_LEFT || res == IR_CODE_TURN_RIGHT) { - Robot.fill(255, 255, 255); - Robot.stroke(255, 255, 255); - - Robot.rect(5, 36, 55, 10); - } - switch(results.value){ - case IR_CODE_FORWARD: - Robot.stroke(0, 0, 0); - Robot.text("Forward", 5, 36); - Robot.motorsWrite(255, 255); - delay(300); - Robot.motorsStop(); - break; - case IR_CODE_BACKWARDS: - Robot.stroke(0, 0, 0); - Robot.text("Backwards", 5, 36); - Robot.motorsWrite(-255, -255); - delay(300); - Robot.motorsStop(); - break; - case IR_CODE_TURN_LEFT: - Robot.stroke(0, 0, 0); - Robot.text("Left", 5, 36); - Robot.motorsWrite(-255, 255); - delay(100); - Robot.motorsStop(); - break; - case IR_CODE_TURN_RIGHT: - Robot.stroke(0, 0, 0); - Robot.text("Right", 5, 36); - Robot.motorsWrite(255, -255); - delay(100); - Robot.motorsStop(); - break; - } -} - diff --git a/libraries/Robot_Control/examples/explore/R09_Picture_Browser/R09_Picture_Browser.ino b/libraries/Robot_Control/examples/explore/R09_Picture_Browser/R09_Picture_Browser.ino deleted file mode 100644 index a43348c..0000000 --- a/libraries/Robot_Control/examples/explore/R09_Picture_Browser/R09_Picture_Browser.ino +++ /dev/null @@ -1,159 +0,0 @@ -/* Picture Browser - - You can make your own gallery/picture show with the - Robot. Put some pictures on the SD card, start the - sketch, they will diplay on the screen. - - Use the left/right buttons to navigate through the - previous and next images. - - Press up or down to enter a mode where you change - the pictures by rotating the robot. - - You can add your own pictures onto the SD card, and - view them in the Robot's gallery! - - Pictures must be uncompressed BMP, 24-bit color depth, - 160 pixels wide, and 128 pixels tall. - - They should be named as "picN.bmp". Replace 'N' with a - number between 0 and 9. - - The current code only supports 10 pictures. How would you - improve it to handle more? - - Circuit: - * Arduino Robot - - created 1 May 2013 - by X. Yang - modified 12 May 2013 - by D. Cuartielles - - This example is in the public domain - */ - -#include <ArduinoRobot.h> // include the robot library - -const int NUM_PICS = 4; //Total number of pictures in Gallery - -// name the modes -const int CONTROL_MODE_KEY = 0; -const int CONTROL_MODE_COMPASS = 1; - -char buffer[] = "pic1.bmp"; // current file name -int i = 1; // Current gallery sequence counter -int mode = 0; // Current mode - -// text to display on screen -char modeNames[][9] = { "keyboard", "tilt " }; - -void setup() { - // initialize the Robot, SD card, display, and speaker - Robot.beginSD(); - Robot.beginTFT(); - Robot.begin(); - - // draw "lg0.bmp" and "lg1.bmp" on the screen - Robot.displayLogos(); - - // draw init3.bmp from the SD card on the screen - Robot.drawBMP("init3.bmp", 0, 0); - - // display instructions - Robot.stroke(0, 0, 0); - Robot.text("The gallery\n\n has 2 modes, in\n keyboard mode, L/R\n key for switching\n pictures, U/D key\n for changing modes", 5, 5); - delay(6000); - Robot.clearScreen(); - Robot.drawBMP("pb.bmp", 0, 0); - Robot.text("In tilt mode,\n quickly tilt the\n robot to switch\n pictures", 5, 5); - delay(4000); -} - -void loop() { - buffer[3] = '0'+i;// change filename of the img to be displayed - Robot.drawBMP(buffer, 0, 0); // draw the file on the screen - // change control modes - switch(mode) { - case CONTROL_MODE_COMPASS: - compassControl(3); - break; - case CONTROL_MODE_KEY: - keyboardControl(); - break; - } - delay(200); -} - -void keyboardControl() { - //Use buttons to control the gallery - while(true) { - int keyPressed = Robot.keyboardRead(); // read the button values - switch(keyPressed) { - case BUTTON_LEFT: // display previous picture - if(--i < 1) i = NUM_PICS; - return; - case BUTTON_MIDDLE: // do nothing - case BUTTON_RIGHT: // display next picture - if(++i > NUM_PICS) i = 1; - return; - case BUTTON_UP: // change mode - changeMode(-1); - return; - case BUTTON_DOWN: // change mode - changeMode(1); - return; - } - } -} - -// if controlling by the compass -void compassControl(int change) { - // Rotate the robot to change the pictures - while(true) { - // read the value of the compass - int oldV = Robot.compassRead(); - - //get the change of angle - int diff = Robot.compassRead()-oldV; - if(diff > 180) diff -= 360; - else if(diff < -180) diff += 360; - - if(abs(diff) > change) { - if(++i > NUM_PICS) i = 1; - return; - } - - // chage modes, if buttons are pressed - int keyPressed = Robot.keyboardRead(); - switch(keyPressed) { - case BUTTON_UP: - changeMode(-1); - return; - case BUTTON_DOWN: - changeMode(1); - return; - } - delay(10); - } -} - -// Change the control mode and display it on the LCD -void changeMode(int changeDir) { - // alternate modes - mode += changeDir; - if(mode < 0) { - mode = 1; - } else if(mode > 1) - mode=0; - - // display the mode on screen - Robot.fill(255, 255, 255); - Robot.stroke(255, 255, 255); - Robot.rect(0, 0, 128, 12); - Robot.stroke(0, 0, 0); - Robot.text("Control:", 2, 2); - Robot.text(modeNames[mode], 52, 2); - delay(1000); -} - diff --git a/libraries/Robot_Control/examples/explore/R10_Rescue/R10_Rescue.ino b/libraries/Robot_Control/examples/explore/R10_Rescue/R10_Rescue.ino deleted file mode 100644 index 48044db..0000000 --- a/libraries/Robot_Control/examples/explore/R10_Rescue/R10_Rescue.ino +++ /dev/null @@ -1,124 +0,0 @@ -/* Robot Rescue - - In this example, the robot enters the line following mode and - plays some music until it reaches its target. Once it finds the - target, it pushes it out of the track. It then returns to the - track and looks for a second target. - - You can make the robot push as many objects as you want to, just - add more to calls to the rescue function or even move that code - into the loop. - - Circuit: - * Arduino Robot - * some objects for the robot to push - * a line-following circuit - - created 1 May 2013 - by X. Yang - modified 12 May 2013 - by D. Cuartielles - - This example is in the public domain - */ - -#include <ArduinoRobot.h> // include the robot library - -void setup(){ - // initialize the Robot, SD card, display, and speaker - Robot.begin(); - Robot.beginTFT(); - Robot.beginSD(); - Robot.beginSpeaker(); - - // draw "lg0.bmp" and "lg1.bmp" on the screen - Robot.displayLogos(); - - // display the line following instructional image from the SD card - Robot.drawBMP("lf.bmp", 0, 0); - - // play the chase music file - Robot.playFile("chase.sqm"); - - // add the instructions - Robot.text("Rescue\n\n place the robot on\n the rescue track\n pushing the\n obstacles away", 5, 5); - Robot.text("Press the middle\n button to start...", 5, 61); - Robot.waitContinue(); - - // start - Robot.fill(255, 255, 255); - Robot.stroke(255, 255, 255); - Robot.rect(0, 0, 128, 80); // erase the previous text - Robot.stroke(0, 0, 0); - Robot.text("Start", 5, 5); - - // use this to calibrate the line following algorithm - // uncomment one or the other to see the different behaviors of the robot - // Robot.lineFollowConfig(11, 5, 50, 10); - Robot.lineFollowConfig(14, 9, 50, 10); - - // run the rescue sequence - rescueSequence(); - Robot.text("Found obstacle", 5, 12); - // find the track again - goToNext(); - Robot.text("Found track", 5, 19); - // run the rescue sequence a second time - rescueSequence(); - Robot.text("Found obstacle", 5, 26); - - // here you could go on ... - - // write status on the screen - Robot.stroke(0, 0, 0); - Robot.text("Done!", 5, 25); -} - -void loop(){ - //nothing here, the program only runs once. -} - -// run the sequence -void rescueSequence(){ - //set the motor board into line-follow mode - Robot.setMode(MODE_LINE_FOLLOW); - - while(!Robot.isActionDone()){ // wait until it is no longer following the line - } - delay(1000); - - // do the rescue operation - doRescue(); - delay(1000); -} - -void doRescue(){ - // Reached the endline, engage the target - Robot.motorsWrite(200,200); - delay(250); - Robot.motorsStop(); - delay(1000); - - // Turn the robot - Robot.turn(90); - Robot.motorsStop(); - delay(1000); - - // Move forward - Robot.motorsWrite(200,200); - delay(500); - Robot.motorsStop(); - delay(1000); - - // move backwards, leave the target - Robot.motorsWrite(-200,-200); - delay(500); - Robot.motorsStop(); -} - -void goToNext(){ - // Turn the robot - Robot.turn(-90); - Robot.motorsStop(); - delay(1000); -} diff --git a/libraries/Robot_Control/examples/explore/R11_Hello_User/R11_Hello_User.ino b/libraries/Robot_Control/examples/explore/R11_Hello_User/R11_Hello_User.ino deleted file mode 100644 index 90fbfff..0000000 --- a/libraries/Robot_Control/examples/explore/R11_Hello_User/R11_Hello_User.ino +++ /dev/null @@ -1,181 +0,0 @@ -/* Hello User - - Hello User! This sketch is the first thing you see - when starting this robot. It gives you a warm welcome, - showing you some of the really amazing abilities of - the robot, and make itself really personal to you. - - Circuit: - * Arduino Robot - - created 1 May 2013 - by X. Yang - modified 12 May 2013 - by D. Cuartielles - - This example is in the public domain - */ - -#include <ArduinoRobot.h> // include the robot library -// include the utility function for ths sketch -// see the details below -#include <utility/RobotTextManager.h> - -char buffer[20];//for storing user name - -void setup(){ - //necessary initialization sequence - Robot.begin(); - Robot.beginTFT(); - Robot.beginSpeaker(32000); - Robot.beginSD(); - - // show the logos from the SD card - Robot.displayLogos(); - - // play the music file - Robot.playFile("menu.sqm"); - - // clear the screen - Robot.clearScreen(); - - // From now on, display different slides of - // text/pictures in sequence. The so-called - // scripts are strings of text stored in the - // robot's memory - - // these functions are explained below - - //Script 6 - textManager.writeScript(5, 4, 0); - textManager.writeScript(9, 10, 0); - Robot.waitContinue(); - delay(500); - Robot.clearScreen(); - - //Script 7 - textManager.writeScript(6, 4, 0); - textManager.writeScript(9, 10, 0); - Robot.waitContinue(); - delay(500); - Robot.clearScreen(); - - //Script 8 - // this function enables sound and images at once - textManager.showPicture("init2.bmp", 0, 0); - - textManager.writeScript(7, 2, 0); - textManager.writeScript(9, 7, 0); - Robot.waitContinue(); - delay(500); - Robot.clearScreen(); - - //Script 9 - textManager.showPicture("init3.bmp", 0, 0); - textManager.writeScript(8, 2, 0); - textManager.writeScript(9, 7, 0); - Robot.waitContinue(); - delay(500); - Robot.clearScreen(); - - //Script 11 - textManager.writeScript(10, 4, 0); - textManager.writeScript(9, 10, 0); - Robot.waitContinue(); - delay(500); - Robot.clearScreen(); - - //Input screen - textManager.writeScript(0, 1, 1); - textManager.input(3, 1, USERNAME); - - textManager.writeScript(1, 5, 1); - textManager.input(7, 1, ROBOTNAME); - - delay(1000); - Robot.clearScreen(); - - //last screen - textManager.showPicture("init4.bmp", 0, 0); - textManager.writeText(1, 2, "Hello"); - Robot.userNameRead(buffer); - textManager.writeText(3, 2, buffer); - - textManager.writeScript(4,10,0); - - Robot.waitContinue(BUTTON_LEFT); - Robot.waitContinue(BUTTON_RIGHT); - textManager.showPicture("kt1.bmp", 0, 0); -} - -void loop(){ - // do nothing here -} - - -/** -textManager mostly contains helper functions for -R06_Wheel_Calibration and R01_Hello_User. - -The ones used in this example: - textManager.setMargin(margin_left, margin_top): - Configure the left and top margin for text - display. The margins will be used for - textManager.writeText(). - Parameters: - margin_left, margin_top: the margin values - from the top and left side of the screen. - Returns: - none - - textManager.writeScript(script_number,line,column): - Display a script of Hello User example. - Parameters: - script_number: an int value representing the - script to be displayed. - line, column: in which line,column is the script - displayed. Same as writeText(). - Returns: - none - - textManager.input(line,column,codename): - Print an input indicator(">") in the line and column, - dispaly and receive input from a virtual keyboard, - and save the value into EEPROM represented by codename - Parameters: - line,column: int values represents where the input - starts. Same as wirteText(). - codename: either USERNAME,ROBOTNAME,CITYNAME or - COUNTRYNAME. You can call Robot.userNameRead(), - robotNameRead(),cityNameRead() or countryNameRead() - to access the values later. - Returns: - none; - - textManager.writeText(line,column,text): - Display text on the specific line and column. - It's different from Robot.text() as the later - uses pixels for positioning the text. - Parameters: - line:in which line is the text displayed. Each line - is 10px high. - column:in which column is the text displayed. Each - column is 8px wide. - text:a char array(string) of the text to be displayed. - Returns: - none - - textManager.showPicture(filename, x, y): - It has the same functionality as Robot.drawPicture(), - while fixing the conflict between drawPicture() and - sound playing. Using Robot.drawPicture(), it'll have - glitches when playing sound at the same time. Using - showPicture(), it'll stop sound when displaying - picture, so preventing the problem. - Parameters: - filename:string, name of the bmp file in sd - x,y: int values, position of the picture - Returns: - none - -*/ diff --git a/libraries/Robot_Control/examples/learn/AllIOPorts/AllIOPorts.ino b/libraries/Robot_Control/examples/learn/AllIOPorts/AllIOPorts.ino deleted file mode 100644 index 3520214..0000000 --- a/libraries/Robot_Control/examples/learn/AllIOPorts/AllIOPorts.ino +++ /dev/null @@ -1,149 +0,0 @@ -/* - All IO Ports - - This example goes through all the IO ports on your robot and - reads/writes from/to them. Uncomment the different lines inside - the loop to test the different possibilities. - - The TK inputs on the Control Board are multiplexed and therefore - it is not recommended to use them as outputs. The TKD pins on the - Control Board as well as the TK pins on the Motor Board go directly - to the microcontroller and therefore can be used both as inputs - and outputs. - - Circuit: - * Arduino Robot - - created 1 May 2013 - by X. Yang - modified 12 May 2013 - by D. Cuartielles - - This example is in the public domain - */ - -#include <ArduinoRobot.h> - -// use arrays to store the names of the pins to be read -uint8_t arr[] = { TK0, TK1, TK2, TK3, TK4, TK5, TK6, TK7 }; -uint8_t arr2[] = { TKD0, TKD1, TKD2, TKD3, TKD4, TKD5 }; -uint8_t arr3[] = { B_TK1, B_TK2, B_TK3, B_TK4 }; - -void setup(){ - // initialize the robot - Robot.begin(); - - // open the serial port to send the information of what you are reading - Serial.begin(9600); -} - -void loop(){ - // read all the TK inputs at the Motor Board as analog - analogReadB_TKs(); - - // read all the TK inputs at the Motor Board as digital - //digitalReadB_TKs(); - - // read all the TK inputs at the Control Board as analog - //analogReadTKs(); - - // read all the TK inputs at the Control Board as digital - //digitalReadTKs(); - - // read all the TKD inputs at the Control Board as analog - //analogReadTKDs(); - - // read all the TKD inputs at the Control Board as digital - //digitalReadTKDs(); - - // write all the TK outputs at the Motor Board as digital - //digitalWriteB_TKs(); - - // write all the TKD outputs at the Control Board as digital - //digitalWriteTKDs(); - delay(5); -} - -// read all TK inputs on the Control Board as analog inputs -void analogReadTKs() { - for(int i=0;i<8;i++) { - Serial.print(Robot.analogRead(arr[i])); - Serial.print(","); - } - Serial.println(""); -} - -// read all TK inputs on the Control Board as digital inputs -void digitalReadTKs() { - for(int i=0;i<8;i++) { - Serial.print(Robot.digitalRead(arr[i])); - Serial.print(","); - } - Serial.println(""); -} - -// read all TKD inputs on the Control Board as analog inputs -void analogReadTKDs() { - for(int i=0; i<6; i++) { - Serial.print(Robot.analogRead(arr2[i])); - Serial.print(","); - } - Serial.println(""); -} - -// read all TKD inputs on the Control Board as digital inputs -void digitalReadTKDs() { - for(int i=0; i<6; i++) { - Serial.print(Robot.digitalRead(arr2[i])); - Serial.print(","); - } - Serial.println(""); -} - -// write all TKD outputs on the Control Board as digital outputs -void digitalWriteTKDs() { - // turn all the pins on - for(int i=0; i<6; i++) { - Robot.digitalWrite(arr2[i], HIGH); - } - delay(500); - - // turn all the pins off - for(int i=0; i<6; i++){ - Robot.digitalWrite(arr2[i], LOW); - } - delay(500); -} - -// write all TK outputs on the Motor Board as digital outputs -void digitalWriteB_TKs() { - // turn all the pins on - for(int i=0; i<4; i++) { - Robot.digitalWrite(arr3[i], HIGH); - } - delay(500); - - // turn all the pins off - for(int i=0; i<4; i++) { - Robot.digitalWrite(arr3[i], LOW); - } - delay(500); -} - -// read all TK inputs on the Motor Board as analog inputs -void analogReadB_TKs() { - for(int i=0; i<4; i++) { - Serial.print(Robot.analogRead(arr3[i])); - Serial.print(","); - } - Serial.println(""); -} - -// read all TKD inputs on the Motor Board as digital inputs -void digitalReadB_TKs() { - for(int i=0; i<4; i++) { - Serial.print(Robot.digitalRead(arr3[i])); - Serial.print(","); - } - Serial.println(""); -} diff --git a/libraries/Robot_Control/examples/learn/Beep/Beep.ino b/libraries/Robot_Control/examples/learn/Beep/Beep.ino deleted file mode 100644 index 1a78673..0000000 --- a/libraries/Robot_Control/examples/learn/Beep/Beep.ino +++ /dev/null @@ -1,39 +0,0 @@ -/* - Beep - - Test different pre-configured beeps on - the robot's speaker. - - Possible beeps are: - - BEEP_SIMPLE - - BEEP_DOUBLE - - BEEP_LONG - - Circuit: - * Arduino Robot - - created 1 May 2013 - by X. Yang - modified 12 May 2013 - by D. Cuartielles - - This example is in the public domain - */ - -#include <ArduinoRobot.h> - -void setup() { - // initialize the robot - Robot.begin(); - - // initialize the sound speaker - Robot.beginSpeaker(); -} -void loop() { - Robot.beep(BEEP_SIMPLE); - delay(1000); - Robot.beep(BEEP_DOUBLE); - delay(1000); - Robot.beep(BEEP_LONG); - delay(1000); -} diff --git a/libraries/Robot_Control/examples/learn/CleanEEPROM/CleanEEPROM.ino b/libraries/Robot_Control/examples/learn/CleanEEPROM/CleanEEPROM.ino deleted file mode 100644 index ae14bdd..0000000 --- a/libraries/Robot_Control/examples/learn/CleanEEPROM/CleanEEPROM.ino +++ /dev/null @@ -1,41 +0,0 @@ -/* - Clean EEPROM - - This example erases the user information stored on the - external EEPROM memory chip on your robot. - - BEWARE, this will erase the following information: - - your name - - your robots name given by you - - your city and country if you configured them via software - - EEPROMs shouldn't be rewritten too often, therefore the - code runs only during setup and not inside loop. - - Circuit: - * Arduino Robot - - created 1 May 2013 - by X. Yang - modified 12 May 2013 - by D. Cuartielles - - This example is in the public domain - */ - -#include <ArduinoRobot.h> - -void setup(){ - // initialize the robot - Robot.begin(); - - // write empty strings for the different fields - Robot.userNameWrite(""); - Robot.robotNameWrite(""); - Robot.cityNameWrite(""); - Robot.countryNameWrite(""); -} - -void loop(){ - // do nothing -} diff --git a/libraries/Robot_Control/examples/learn/Compass/Compass.ino b/libraries/Robot_Control/examples/learn/Compass/Compass.ino deleted file mode 100644 index 4170ab7..0000000 --- a/libraries/Robot_Control/examples/learn/Compass/Compass.ino +++ /dev/null @@ -1,41 +0,0 @@ -/* - Compass - - Try the compass both on the robot's TFT - and through the serial port. - - Circuit: - * Arduino Robot - - created 1 May 2013 - by X. Yang - modified 12 May 2013 - by D. Cuartielles - - This example is in the public domain - */ - -#include <ArduinoRobot.h> - -void setup() { - // initialize the robot - Robot.begin(); - - // initialize the robot's screen - Robot.beginTFT(); - - // initialize the serial port - Serial.begin(9600); -} - -void loop() { - // read the compass - int compass = Robot.compassRead(); - - // print out the sensor's value - Serial.println(compass); - - // show the value on the robot's screen - Robot.drawCompass(compass); -} - diff --git a/libraries/Robot_Control/examples/learn/IRArray/IRArray.ino b/libraries/Robot_Control/examples/learn/IRArray/IRArray.ino deleted file mode 100644 index 36b4acf..0000000 --- a/libraries/Robot_Control/examples/learn/IRArray/IRArray.ino +++ /dev/null @@ -1,44 +0,0 @@ -/* - IR array - - Read the analog value of the IR sensors at the - bottom of the robot. The also-called line following - sensors are a series of pairs of IR sender/receiver - used to detect how dark it is underneath the robot. - - The information coming from the sensor array is stored - into the Robot.IRarray[] and updated using the Robot.updateIR() - method. - - Circuit: - * Arduino Robot - - created 1 May 2013 - by X. Yang - modified 12 May 2013 - by D. Cuartielles - - This example is in the public domain - */ - -#include <ArduinoRobot.h> - -void setup(){ - // initialize the robot - Robot.begin(); - - // initialize the serial port - Serial.begin(9600); -} - -void loop(){ - // store the sensor information into the array - Robot.updateIR(); - - // iterate the array and print the data to the Serial port - for(int i=0; i<5; i++){ - Serial.print(Robot.IRarray[i]); - Serial.print(" "); - } - Serial.println(""); -} diff --git a/libraries/Robot_Control/examples/learn/LCDDebugPrint/LCDDebugPrint.ino b/libraries/Robot_Control/examples/learn/LCDDebugPrint/LCDDebugPrint.ino deleted file mode 100644 index 0078b77..0000000 --- a/libraries/Robot_Control/examples/learn/LCDDebugPrint/LCDDebugPrint.ino +++ /dev/null @@ -1,37 +0,0 @@ -/* - LCD Debug Print - - Use the Robot's library function debugPrint() to - quickly send a sensor reading to the robot's creen. - - Circuit: - * Arduino Robot - - created 1 May 2013 - by X. Yang - modified 12 May 2013 - by D. Cuartielles - - This example is in the public domain - */ - -#include <ArduinoRobot.h> - -int value; - -void setup() { - // initialize the robot - Robot.begin(); - - // initialize the screen - Robot.beginTFT(); -} -void loop(){ - // read a value - value = analogRead(A4); - - // send the value to the screen - Robot.debugPrint(value); - - delay(40); -} diff --git a/libraries/Robot_Control/examples/learn/LCDPrint/LCDPrint.ino b/libraries/Robot_Control/examples/learn/LCDPrint/LCDPrint.ino deleted file mode 100644 index d34168c..0000000 --- a/libraries/Robot_Control/examples/learn/LCDPrint/LCDPrint.ino +++ /dev/null @@ -1,44 +0,0 @@ -/* - LCD Print - - Print the reading from a sensor to the screen. - - Circuit: - * Arduino Robot - - created 1 May 2013 - by X. Yang - modified 12 May 2013 - by D. Cuartielles - - This example is in the public domain - */ - -#include <ArduinoRobot.h> - -int value; - -void setup() { - // initialize the robot - Robot.begin(); - - // initialize the robot's screen - Robot.beginLCD(); -} - -void loop() { - // read a analog port - value=Robot.analogRead(TK4); - - // write the sensor value on the screen - Robot.fill(0, 255, 0); - Robot.textSize(1); - Robot.text(value, 0, 0); - - delay(500); - - // erase the previous text on the screen - Robot.fill(255, 255, 255); - Robot.textSize(1); - Robot.text(value, 0, 0); -} diff --git a/libraries/Robot_Control/examples/learn/LCDWriteText/LCDWriteText.ino b/libraries/Robot_Control/examples/learn/LCDWriteText/LCDWriteText.ino deleted file mode 100644 index e34a7d2..0000000 --- a/libraries/Robot_Control/examples/learn/LCDWriteText/LCDWriteText.ino +++ /dev/null @@ -1,41 +0,0 @@ -/* - LCD Write Text - - Use the Robot's library function text() to - print out text to the robot's screen. Take - into account that you need to erase the - information before continuing writing. - - Circuit: - * Arduino Robot - - created 1 May 2013 - by X. Yang - modified 12 May 2013 - by D. Cuartielles - - This example is in the public domain - */ - -#include <ArduinoRobot.h> - -void setup() { - // initialize the robot - Robot.begin(); - - // initialize the screen - Robot.beginTFT(); -} -void loop() { - Robot.stroke(0, 0, 0); // choose the color black - Robot.text("Hello World", 0, 0); // print the text - delay(2000); - Robot.stroke(255, 255, 255); // choose the color white - Robot.text("Hello World", 0, 0); // writing text in the same color as the BG erases the text! - - Robot.stroke(0, 0, 0); // choose the color black - Robot.text("I am a robot", 0, 0); // print the text - delay(3000); - Robot.stroke(255, 255, 255); // choose the color black - Robot.text("I am a robot", 0, 0); // print the text -} diff --git a/libraries/Robot_Control/examples/learn/LineFollowWithPause/LineFollowWithPause.ino b/libraries/Robot_Control/examples/learn/LineFollowWithPause/LineFollowWithPause.ino deleted file mode 100644 index a3d3fc0..0000000 --- a/libraries/Robot_Control/examples/learn/LineFollowWithPause/LineFollowWithPause.ino +++ /dev/null @@ -1,49 +0,0 @@ -/* - Line Following with Pause - - As the robot has two processors, one to command the motors and one to - take care of the screen and user input, it is possible to write - programs that put one part of the robot to do something and get the - other half to control it. - - This example shows how the Control Board assigns the Motor one to - follow a line, but asks it to stop every 3 seconds. - - Circuit: - * Arduino Robot - - created 1 May 2013 - by X. Yang - modified 12 May 2013 - by D. Cuartielles - - This example is in the public domain - */ - -#include <ArduinoRobot.h> - -void setup() { - // initialize the robot - Robot.begin(); - - // initialize the screen - Robot.beginTFT(); - - // get some time to place the robot on the ground - delay(3000); - - // set the robot in line following mode - Robot.setMode(MODE_LINE_FOLLOW); -} - -void loop() { - // tell the robot to take a break and stop - Robot.pauseMode(true); - Robot.debugPrint('p'); - delay(3000); - - // tell the robot to move on - Robot.pauseMode(false); - Robot.debugPrint('>'); - delay(3000); -} diff --git a/libraries/Robot_Control/examples/learn/Melody/Melody.ino b/libraries/Robot_Control/examples/learn/Melody/Melody.ino deleted file mode 100644 index 6c049a7..0000000 --- a/libraries/Robot_Control/examples/learn/Melody/Melody.ino +++ /dev/null @@ -1,62 +0,0 @@ -/* - Melody - - Plays a melody stored in a string. - - The notes and durations are encoded as follows: - - NOTES: - c play "C" - C play "#C" - d play "D" - D play "#D" - e play "E" - f play "F" - F play "#F" - g play "G" - G play "#G" - a play "A" - A play "#A" - b play "B" - - silence - - DURATIONS: - 1 Set as full note - 2 Set as half note - 4 Set as quarter note - 8 Set as eigth note - - SPECIAL NOTATION: - . Make the previous note 3/4 the length - - Circuit: - * Arduino Robot - - created 1 May 2013 - by X. Yang - modified 12 May 2013 - by D. Cuartielles - - This example is in the public domain - - This code uses the Squawk sound library designed by STG. For - more information about it check: http://github.com/stg/squawk - */ - -#include <ArduinoRobot.h> - -void setup() { - // initialize the robot - Robot.begin(); - - // initialize the sound library - Robot.beginSpeaker(); -} - -void loop() { - // array containing the melody - char aTinyMelody[] = "8eF-FFga4b.a.g.F.8beee-d2e.1-"; - - // play the melody - Robot.playMelody(aTinyMelody); -} diff --git a/libraries/Robot_Control/examples/learn/MotorTest/MotorTest.ino b/libraries/Robot_Control/examples/learn/MotorTest/MotorTest.ino deleted file mode 100644 index baaaf06..0000000 --- a/libraries/Robot_Control/examples/learn/MotorTest/MotorTest.ino +++ /dev/null @@ -1,41 +0,0 @@ -/* - Motor Test - - Just see if the robot can move and turn. - - Circuit: - * Arduino Robot - - created 1 May 2013 - by X. Yang - modified 12 May 2013 - by D. Cuartielles - - This example is in the public domain - */ - -#include <ArduinoRobot.h> - -void setup() { - // initialize the robot - Robot.begin(); -} - -void loop() { - Robot.motorsWrite(255,255); // move forward - delay(2000); - Robot.motorsStop(); // fast stop - delay(1000); - Robot.motorsWrite(-255,-255); // backward - delay(1000); - Robot.motorsWrite(0,0); // slow stop - delay(1000); - Robot.motorsWrite(-255,255); // turn left - delay(2000); - Robot.motorsStop(); // fast stop - delay(1000); - Robot.motorsWrite(255,-255); // turn right - delay(2000); - Robot.motorsStop(); // fast stop - delay(1000); -} diff --git a/libraries/Robot_Control/examples/learn/SpeedByPotentiometer/SpeedByPotentiometer.ino b/libraries/Robot_Control/examples/learn/SpeedByPotentiometer/SpeedByPotentiometer.ino deleted file mode 100644 index e97f48d..0000000 --- a/libraries/Robot_Control/examples/learn/SpeedByPotentiometer/SpeedByPotentiometer.ino +++ /dev/null @@ -1,39 +0,0 @@ -/* - Speed by Potentiometer - - Control the robot's speed using the on-board - potentiometer. The speed will be printed on - the TFT screen. - - Circuit: - * Arduino Robot - - created 1 May 2013 - by X. Yang - modified 12 May 2013 - by D. Cuartielles - - This example is in the public domain - */ - -#include <ArduinoRobot.h> - -void setup() { - // initialize the robot - Robot.begin(); - - // initialize the screen - Robot.beginTFT(); -} - -void loop() { - // read the value of the potentiometer - int val=map(Robot.knobRead(), 0, 1023, -255, 255); - - // print the value to the TFT screen - Robot.debugPrint(val); - - // set the same speed on both of the robot's wheels - Robot.motorsWrite(val,val); - delay(10); -} diff --git a/libraries/Robot_Control/examples/learn/TurnTest/TurnTest.ino b/libraries/Robot_Control/examples/learn/TurnTest/TurnTest.ino deleted file mode 100644 index 543c06c..0000000 --- a/libraries/Robot_Control/examples/learn/TurnTest/TurnTest.ino +++ /dev/null @@ -1,32 +0,0 @@ -/* - Turn Test - - Check if the robot turns a certain amount of degrees. - - Circuit: - * Arduino Robot - - created 1 May 2013 - by X. Yang - modified 12 May 2013 - by D. Cuartielles - - This example is in the public domain - */ - -#include <ArduinoRobot.h> - -void setup() { - // initialize the robot - Robot.begin(); -} - -void loop(){ - Robot.turn(50); //turn 50 degrees to the right - Robot.motorsStop(); - delay(1000); - - Robot.turn(-100); //turn 100 degrees to the left - Robot.motorsStop(); - delay(1000); -} diff --git a/libraries/Robot_Control/examples/learn/TurnTest/TurnTest.ino.orig b/libraries/Robot_Control/examples/learn/TurnTest/TurnTest.ino.orig deleted file mode 100644 index 4e3624f..0000000 --- a/libraries/Robot_Control/examples/learn/TurnTest/TurnTest.ino.orig +++ /dev/null @@ -1,37 +0,0 @@ -/* - Turn Test - - Check if the robot turns a certain amount of degrees. - - Circuit: - * Arduino Robot - - created 1 May 2013 - by X. Yang - modified 12 May 2013 - by D. Cuartielles - - This example is in the public domain - */ - -#include <ArduinoRobot.h> - -void setup() { - // initialize the robot - Robot.begin(); -} - -<<<<<<< HEAD -void loop() { - Robot.turn(50); //turn 50 degrees to the right -======= -void loop(){ - Robot.turn(50);//turn 50 degrees to the right - Robot.motorsStop(); ->>>>>>> f062f704463222e83390b4a954e211f0f7e6e66f - delay(1000); - - Robot.turn(-100);//turn 100 degrees to the left - Robot.motorsStop(); - delay(1000); -} diff --git a/libraries/Robot_Control/examples/learn/keyboardTest/keyboardTest.ino b/libraries/Robot_Control/examples/learn/keyboardTest/keyboardTest.ino deleted file mode 100644 index 5bbc0e5..0000000 --- a/libraries/Robot_Control/examples/learn/keyboardTest/keyboardTest.ino +++ /dev/null @@ -1,38 +0,0 @@ -/* - Keyboard Test - - Check how the robot's keyboard works. This example - sends the data about the key pressed through the - serial port. - - All the buttons on the Control Board are tied up to a - single analog input pin, in this way it is possible to multiplex a - whole series of buttons on one single pin. - - It is possible to recalibrate the thresholds of the buttons using - the Robot.keyboardCalibrate() function, that takes a 5 ints long - array as parameter - - Circuit: - * Arduino Robot - - created 1 May 2013 - by X. Yang - modified 12 May 2013 - by D. Cuartielles - - This example is in the public domain - */ - -#include <ArduinoRobot.h> - -void setup() { - // initialize the serial port - Serial.begin(9600); -} - -void loop() { - // print out the keyboard readings - Serial.println(Robot.keyboardRead()); - delay(100); -} diff --git a/libraries/Robot_Control/examples/learn/keyboardTest/keyboardTest.ino.orig b/libraries/Robot_Control/examples/learn/keyboardTest/keyboardTest.ino.orig deleted file mode 100644 index 6ee6c05..0000000 --- a/libraries/Robot_Control/examples/learn/keyboardTest/keyboardTest.ino.orig +++ /dev/null @@ -1,49 +0,0 @@ -/* - Keyboard Test - - Check how the robot's keyboard works. This example - sends the data about the key pressed through the - serial port. - - All the buttons on the Control Board are tied up to a - single analog input pin, in this way it is possible to multiplex a - whole series of buttons on one single pin. - - It is possible to recalibrate the thresholds of the buttons using - the Robot.keyboardCalibrate() function, that takes a 5 ints long - array as parameter - - Circuit: - * Arduino Robot - - created 1 May 2013 - by X. Yang - modified 12 May 2013 - by D. Cuartielles - - This example is in the public domain - */ - -#include <ArduinoRobot.h> - -<<<<<<< HEAD -// it is possible to use an array to calibrate -//int vals[] = { 0, 133, 305, 481, 724 }; - -void setup() { - // initialize the serial port - Serial.begin(9600); - - // calibrate the keyboard - //Robot.keyboardCalibrate(vals);//For the new robot only. -======= -void setup(){ - Serial.begin(9600); ->>>>>>> f062f704463222e83390b4a954e211f0f7e6e66f -} - -void loop() { - // print out the keyboard readings - Serial.println(Robot.keyboardRead()); - delay(100); -} diff --git a/libraries/Robot_Control/glcdfont.c b/libraries/Robot_Control/glcdfont.c deleted file mode 100644 index abc3631..0000000 --- a/libraries/Robot_Control/glcdfont.c +++ /dev/null @@ -1,266 +0,0 @@ -#include <avr/io.h> -#include <avr/pgmspace.h> - -#ifndef FONT5X7_H -#define FONT5X7_H - -// standard ascii 5x7 font - -static unsigned char font[] PROGMEM = { - 0x00, 0x00, 0x00, 0x00, 0x00, - 0x3E, 0x5B, 0x4F, 0x5B, 0x3E, - 0x3E, 0x6B, 0x4F, 0x6B, 0x3E, - 0x1C, 0x3E, 0x7C, 0x3E, 0x1C, - 0x18, 0x3C, 0x7E, 0x3C, 0x18, - 0x1C, 0x57, 0x7D, 0x57, 0x1C, - 0x1C, 0x5E, 0x7F, 0x5E, 0x1C, - 0x00, 0x18, 0x3C, 0x18, 0x00, - 0xFF, 0xE7, 0xC3, 0xE7, 0xFF, - 0x00, 0x18, 0x24, 0x18, 0x00, - 0xFF, 0xE7, 0xDB, 0xE7, 0xFF, - 0x30, 0x48, 0x3A, 0x06, 0x0E, - 0x26, 0x29, 0x79, 0x29, 0x26, - 0x40, 0x7F, 0x05, 0x05, 0x07, - 0x40, 0x7F, 0x05, 0x25, 0x3F, - 0x5A, 0x3C, 0xE7, 0x3C, 0x5A, - 0x7F, 0x3E, 0x1C, 0x1C, 0x08, - 0x08, 0x1C, 0x1C, 0x3E, 0x7F, - 0x14, 0x22, 0x7F, 0x22, 0x14, - 0x5F, 0x5F, 0x00, 0x5F, 0x5F, - 0x06, 0x09, 0x7F, 0x01, 0x7F, - 0x00, 0x66, 0x89, 0x95, 0x6A, - 0x60, 0x60, 0x60, 0x60, 0x60, - 0x94, 0xA2, 0xFF, 0xA2, 0x94, - 0x08, 0x04, 0x7E, 0x04, 0x08, - 0x10, 0x20, 0x7E, 0x20, 0x10, - 0x08, 0x08, 0x2A, 0x1C, 0x08, - 0x08, 0x1C, 0x2A, 0x08, 0x08, - 0x1E, 0x10, 0x10, 0x10, 0x10, - 0x0C, 0x1E, 0x0C, 0x1E, 0x0C, - 0x30, 0x38, 0x3E, 0x38, 0x30, - 0x06, 0x0E, 0x3E, 0x0E, 0x06, - 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x5F, 0x00, 0x00, - 0x00, 0x07, 0x00, 0x07, 0x00, - 0x14, 0x7F, 0x14, 0x7F, 0x14, - 0x24, 0x2A, 0x7F, 0x2A, 0x12, - 0x23, 0x13, 0x08, 0x64, 0x62, - 0x36, 0x49, 0x56, 0x20, 0x50, - 0x00, 0x08, 0x07, 0x03, 0x00, - 0x00, 0x1C, 0x22, 0x41, 0x00, - 0x00, 0x41, 0x22, 0x1C, 0x00, - 0x2A, 0x1C, 0x7F, 0x1C, 0x2A, - 0x08, 0x08, 0x3E, 0x08, 0x08, - 0x00, 0x80, 0x70, 0x30, 0x00, - 0x08, 0x08, 0x08, 0x08, 0x08, - 0x00, 0x00, 0x60, 0x60, 0x00, - 0x20, 0x10, 0x08, 0x04, 0x02, - 0x3E, 0x51, 0x49, 0x45, 0x3E, - 0x00, 0x42, 0x7F, 0x40, 0x00, - 0x72, 0x49, 0x49, 0x49, 0x46, - 0x21, 0x41, 0x49, 0x4D, 0x33, - 0x18, 0x14, 0x12, 0x7F, 0x10, - 0x27, 0x45, 0x45, 0x45, 0x39, - 0x3C, 0x4A, 0x49, 0x49, 0x31, - 0x41, 0x21, 0x11, 0x09, 0x07, - 0x36, 0x49, 0x49, 0x49, 0x36, - 0x46, 0x49, 0x49, 0x29, 0x1E, - 0x00, 0x00, 0x14, 0x00, 0x00, - 0x00, 0x40, 0x34, 0x00, 0x00, - 0x00, 0x08, 0x14, 0x22, 0x41, - 0x14, 0x14, 0x14, 0x14, 0x14, - 0x00, 0x41, 0x22, 0x14, 0x08, - 0x02, 0x01, 0x59, 0x09, 0x06, - 0x3E, 0x41, 0x5D, 0x59, 0x4E, - 0x7C, 0x12, 0x11, 0x12, 0x7C, - 0x7F, 0x49, 0x49, 0x49, 0x36, - 0x3E, 0x41, 0x41, 0x41, 0x22, - 0x7F, 0x41, 0x41, 0x41, 0x3E, - 0x7F, 0x49, 0x49, 0x49, 0x41, - 0x7F, 0x09, 0x09, 0x09, 0x01, - 0x3E, 0x41, 0x41, 0x51, 0x73, - 0x7F, 0x08, 0x08, 0x08, 0x7F, - 0x00, 0x41, 0x7F, 0x41, 0x00, - 0x20, 0x40, 0x41, 0x3F, 0x01, - 0x7F, 0x08, 0x14, 0x22, 0x41, - 0x7F, 0x40, 0x40, 0x40, 0x40, - 0x7F, 0x02, 0x1C, 0x02, 0x7F, - 0x7F, 0x04, 0x08, 0x10, 0x7F, - 0x3E, 0x41, 0x41, 0x41, 0x3E, - 0x7F, 0x09, 0x09, 0x09, 0x06, - 0x3E, 0x41, 0x51, 0x21, 0x5E, - 0x7F, 0x09, 0x19, 0x29, 0x46, - 0x26, 0x49, 0x49, 0x49, 0x32, - 0x03, 0x01, 0x7F, 0x01, 0x03, - 0x3F, 0x40, 0x40, 0x40, 0x3F, - 0x1F, 0x20, 0x40, 0x20, 0x1F, - 0x3F, 0x40, 0x38, 0x40, 0x3F, - 0x63, 0x14, 0x08, 0x14, 0x63, - 0x03, 0x04, 0x78, 0x04, 0x03, - 0x61, 0x59, 0x49, 0x4D, 0x43, - 0x00, 0x7F, 0x41, 0x41, 0x41, - 0x02, 0x04, 0x08, 0x10, 0x20, - 0x00, 0x41, 0x41, 0x41, 0x7F, - 0x04, 0x02, 0x01, 0x02, 0x04, - 0x40, 0x40, 0x40, 0x40, 0x40, - 0x00, 0x03, 0x07, 0x08, 0x00, - 0x20, 0x54, 0x54, 0x78, 0x40, - 0x7F, 0x28, 0x44, 0x44, 0x38, - 0x38, 0x44, 0x44, 0x44, 0x28, - 0x38, 0x44, 0x44, 0x28, 0x7F, - 0x38, 0x54, 0x54, 0x54, 0x18, - 0x00, 0x08, 0x7E, 0x09, 0x02, - 0x18, 0xA4, 0xA4, 0x9C, 0x78, - 0x7F, 0x08, 0x04, 0x04, 0x78, - 0x00, 0x44, 0x7D, 0x40, 0x00, - 0x20, 0x40, 0x40, 0x3D, 0x00, - 0x7F, 0x10, 0x28, 0x44, 0x00, - 0x00, 0x41, 0x7F, 0x40, 0x00, - 0x7C, 0x04, 0x78, 0x04, 0x78, - 0x7C, 0x08, 0x04, 0x04, 0x78, - 0x38, 0x44, 0x44, 0x44, 0x38, - 0xFC, 0x18, 0x24, 0x24, 0x18, - 0x18, 0x24, 0x24, 0x18, 0xFC, - 0x7C, 0x08, 0x04, 0x04, 0x08, - 0x48, 0x54, 0x54, 0x54, 0x24, - 0x04, 0x04, 0x3F, 0x44, 0x24, - 0x3C, 0x40, 0x40, 0x20, 0x7C, - 0x1C, 0x20, 0x40, 0x20, 0x1C, - 0x3C, 0x40, 0x30, 0x40, 0x3C, - 0x44, 0x28, 0x10, 0x28, 0x44, - 0x4C, 0x90, 0x90, 0x90, 0x7C, - 0x44, 0x64, 0x54, 0x4C, 0x44, - 0x00, 0x08, 0x36, 0x41, 0x00, - 0x00, 0x00, 0x77, 0x00, 0x00, - 0x00, 0x41, 0x36, 0x08, 0x00, - 0x02, 0x01, 0x02, 0x04, 0x02, - 0x3C, 0x26, 0x23, 0x26, 0x3C, - 0x1E, 0xA1, 0xA1, 0x61, 0x12, - 0x3A, 0x40, 0x40, 0x20, 0x7A, - 0x38, 0x54, 0x54, 0x55, 0x59, - 0x21, 0x55, 0x55, 0x79, 0x41, - 0x21, 0x54, 0x54, 0x78, 0x41, - 0x21, 0x55, 0x54, 0x78, 0x40, - 0x20, 0x54, 0x55, 0x79, 0x40, - 0x0C, 0x1E, 0x52, 0x72, 0x12, - 0x39, 0x55, 0x55, 0x55, 0x59, - 0x39, 0x54, 0x54, 0x54, 0x59, - 0x39, 0x55, 0x54, 0x54, 0x58, - 0x00, 0x00, 0x45, 0x7C, 0x41, - 0x00, 0x02, 0x45, 0x7D, 0x42, - 0x00, 0x01, 0x45, 0x7C, 0x40, - 0xF0, 0x29, 0x24, 0x29, 0xF0, - 0xF0, 0x28, 0x25, 0x28, 0xF0, - 0x7C, 0x54, 0x55, 0x45, 0x00, - 0x20, 0x54, 0x54, 0x7C, 0x54, - 0x7C, 0x0A, 0x09, 0x7F, 0x49, - 0x32, 0x49, 0x49, 0x49, 0x32, - 0x32, 0x48, 0x48, 0x48, 0x32, - 0x32, 0x4A, 0x48, 0x48, 0x30, - 0x3A, 0x41, 0x41, 0x21, 0x7A, - 0x3A, 0x42, 0x40, 0x20, 0x78, - 0x00, 0x9D, 0xA0, 0xA0, 0x7D, - 0x39, 0x44, 0x44, 0x44, 0x39, - 0x3D, 0x40, 0x40, 0x40, 0x3D, - 0x3C, 0x24, 0xFF, 0x24, 0x24, - 0x48, 0x7E, 0x49, 0x43, 0x66, - 0x2B, 0x2F, 0xFC, 0x2F, 0x2B, - 0xFF, 0x09, 0x29, 0xF6, 0x20, - 0xC0, 0x88, 0x7E, 0x09, 0x03, - 0x20, 0x54, 0x54, 0x79, 0x41, - 0x00, 0x00, 0x44, 0x7D, 0x41, - 0x30, 0x48, 0x48, 0x4A, 0x32, - 0x38, 0x40, 0x40, 0x22, 0x7A, - 0x00, 0x7A, 0x0A, 0x0A, 0x72, - 0x7D, 0x0D, 0x19, 0x31, 0x7D, - 0x26, 0x29, 0x29, 0x2F, 0x28, - 0x26, 0x29, 0x29, 0x29, 0x26, - 0x30, 0x48, 0x4D, 0x40, 0x20, - 0x38, 0x08, 0x08, 0x08, 0x08, - 0x08, 0x08, 0x08, 0x08, 0x38, - 0x2F, 0x10, 0xC8, 0xAC, 0xBA, - 0x2F, 0x10, 0x28, 0x34, 0xFA, - 0x00, 0x00, 0x7B, 0x00, 0x00, - 0x08, 0x14, 0x2A, 0x14, 0x22, - 0x22, 0x14, 0x2A, 0x14, 0x08, - 0xAA, 0x00, 0x55, 0x00, 0xAA, - 0xAA, 0x55, 0xAA, 0x55, 0xAA, - 0x00, 0x00, 0x00, 0xFF, 0x00, - 0x10, 0x10, 0x10, 0xFF, 0x00, - 0x14, 0x14, 0x14, 0xFF, 0x00, - 0x10, 0x10, 0xFF, 0x00, 0xFF, - 0x10, 0x10, 0xF0, 0x10, 0xF0, - 0x14, 0x14, 0x14, 0xFC, 0x00, - 0x14, 0x14, 0xF7, 0x00, 0xFF, - 0x00, 0x00, 0xFF, 0x00, 0xFF, - 0x14, 0x14, 0xF4, 0x04, 0xFC, - 0x14, 0x14, 0x17, 0x10, 0x1F, - 0x10, 0x10, 0x1F, 0x10, 0x1F, - 0x14, 0x14, 0x14, 0x1F, 0x00, - 0x10, 0x10, 0x10, 0xF0, 0x00, - 0x00, 0x00, 0x00, 0x1F, 0x10, - 0x10, 0x10, 0x10, 0x1F, 0x10, - 0x10, 0x10, 0x10, 0xF0, 0x10, - 0x00, 0x00, 0x00, 0xFF, 0x10, - 0x10, 0x10, 0x10, 0x10, 0x10, - 0x10, 0x10, 0x10, 0xFF, 0x10, - 0x00, 0x00, 0x00, 0xFF, 0x14, - 0x00, 0x00, 0xFF, 0x00, 0xFF, - 0x00, 0x00, 0x1F, 0x10, 0x17, - 0x00, 0x00, 0xFC, 0x04, 0xF4, - 0x14, 0x14, 0x17, 0x10, 0x17, - 0x14, 0x14, 0xF4, 0x04, 0xF4, - 0x00, 0x00, 0xFF, 0x00, 0xF7, - 0x14, 0x14, 0x14, 0x14, 0x14, - 0x14, 0x14, 0xF7, 0x00, 0xF7, - 0x14, 0x14, 0x14, 0x17, 0x14, - 0x10, 0x10, 0x1F, 0x10, 0x1F, - 0x14, 0x14, 0x14, 0xF4, 0x14, - 0x10, 0x10, 0xF0, 0x10, 0xF0, - 0x00, 0x00, 0x1F, 0x10, 0x1F, - 0x00, 0x00, 0x00, 0x1F, 0x14, - 0x00, 0x00, 0x00, 0xFC, 0x14, - 0x00, 0x00, 0xF0, 0x10, 0xF0, - 0x10, 0x10, 0xFF, 0x10, 0xFF, - 0x14, 0x14, 0x14, 0xFF, 0x14, - 0x10, 0x10, 0x10, 0x1F, 0x00, - 0x00, 0x00, 0x00, 0xF0, 0x10, - 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, - 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, - 0xFF, 0xFF, 0xFF, 0x00, 0x00, - 0x00, 0x00, 0x00, 0xFF, 0xFF, - 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, - 0x38, 0x44, 0x44, 0x38, 0x44, - 0x7C, 0x2A, 0x2A, 0x3E, 0x14, - 0x7E, 0x02, 0x02, 0x06, 0x06, - 0x02, 0x7E, 0x02, 0x7E, 0x02, - 0x63, 0x55, 0x49, 0x41, 0x63, - 0x38, 0x44, 0x44, 0x3C, 0x04, - 0x40, 0x7E, 0x20, 0x1E, 0x20, - 0x06, 0x02, 0x7E, 0x02, 0x02, - 0x99, 0xA5, 0xE7, 0xA5, 0x99, - 0x1C, 0x2A, 0x49, 0x2A, 0x1C, - 0x4C, 0x72, 0x01, 0x72, 0x4C, - 0x30, 0x4A, 0x4D, 0x4D, 0x30, - 0x30, 0x48, 0x78, 0x48, 0x30, - 0xBC, 0x62, 0x5A, 0x46, 0x3D, - 0x3E, 0x49, 0x49, 0x49, 0x00, - 0x7E, 0x01, 0x01, 0x01, 0x7E, - 0x2A, 0x2A, 0x2A, 0x2A, 0x2A, - 0x44, 0x44, 0x5F, 0x44, 0x44, - 0x40, 0x51, 0x4A, 0x44, 0x40, - 0x40, 0x44, 0x4A, 0x51, 0x40, - 0x00, 0x00, 0xFF, 0x01, 0x03, - 0xE0, 0x80, 0xFF, 0x00, 0x00, - 0x08, 0x08, 0x6B, 0x6B, 0x08, - 0x36, 0x12, 0x36, 0x24, 0x36, - 0x06, 0x0F, 0x09, 0x0F, 0x06, - 0x00, 0x00, 0x18, 0x18, 0x00, - 0x00, 0x00, 0x10, 0x10, 0x00, - 0x30, 0x40, 0xFF, 0x01, 0x01, - 0x00, 0x1F, 0x01, 0x01, 0x1E, - 0x00, 0x19, 0x1D, 0x17, 0x12, - 0x00, 0x3C, 0x3C, 0x3C, 0x3C, - 0x00, 0x00, 0x00, 0x00, 0x00, -}; -#endif diff --git a/libraries/Robot_Control/helper.cpp b/libraries/Robot_Control/helper.cpp deleted file mode 100644 index a7a956a..0000000 --- a/libraries/Robot_Control/helper.cpp +++ /dev/null @@ -1,45 +0,0 @@ -#include "ArduinoRobot.h" - -void RobotControl::drawBase(){ - Arduino_LCD::drawCircle(64,80,50,foreGround); - Arduino_LCD::drawLine(64,30,64,20,foreGround); -} -void RobotControl::drawDire(int16_t dire){ - static uint8_t x_old; - static uint8_t y_old; - static uint8_t x_t_old; - static uint8_t y_t_old; - - uint8_t x=60*sin(dire/360.0*6.28)+64; - uint8_t x_t=40*sin(dire/360.0*6.28)+64; - uint8_t y=60*cos(dire/360.0*6.28)+80; - uint8_t y_t=40*cos(dire/360.0*6.28)+80; - - Arduino_LCD::drawLine(x_t_old,y_t_old,x_old,y_old,backGround); - Arduino_LCD::drawLine(x_t,y_t,x,y,RED); - - x_old=x; - y_old=y; - x_t_old=x_t; - y_t_old=y_t; -} - -void RobotControl::drawCompass(uint16_t value){ - drawBase(); - drawDire(value); - debugPrint(value,57,76); -} - -//display logos -void RobotControl::displayLogos(){ - _drawBMP("lg0.bmp",0,0); - delay(2000); - _drawBMP("lg1.bmp",0,0); - delay(2000); - clearScreen(); -} - -//wait for a button to be pressed -void RobotControl::waitContinue(uint8_t key){ - while(!(Robot.keyboardRead()==key)); -} diff --git a/libraries/Robot_Control/information.cpp b/libraries/Robot_Control/information.cpp deleted file mode 100644 index c36e9ce..0000000 --- a/libraries/Robot_Control/information.cpp +++ /dev/null @@ -1,41 +0,0 @@ -/*#include <ArduinoRobot.h> -//0 - 319: pic array, - -//320 - 337 username, -#define ADDRESS_USERNAME 320 -//338 - 355 robotname, -#define ADDRESS_ROBOTNAME 338 -//356 - 373 cityname, -#define ADDRESS_CITYNAME 356 - //374- 391 countryname, -#define ADDRESS_COUNTRYNAME 374 -//508-511 robot info -#define ADDRESS_ROBOTINFO 508 - - -void RobotControl::getMyName(char* container){ - EEPROM_I2C::readBuffer(ADDRESS_USERNAME,(uint8_t*)container,18); -} -void RobotControl::getRobotName(char* container){ - EEPROM_I2C::readBuffer(ADDRESS_ROBOTNAME,(uint8_t*)container,18); -} -void RobotControl::getMyCity(char* container){ - EEPROM_I2C::readBuffer(ADDRESS_CITYNAME,(uint8_t*)container,18); -} -void RobotControl::getMyCountry(char* container){ - EEPROM_I2C::readBuffer(ADDRESS_COUNTRYNAME,(uint8_t*)container,18); -} - -void RobotControl::setMyName(char* text){ - EEPROM_I2C::writePage(ADDRESS_USERNAME,(uint8_t*)text,18); -} -void RobotControl::setRobotName(char* text){ - EEPROM_I2C::writePage(ADDRESS_ROBOTNAME,(uint8_t*)text,18); -} -void RobotControl::setMyCity(char* text){ - EEPROM_I2C::writePage(ADDRESS_CITYNAME,(uint8_t*)text,18); -} -void RobotControl::setMyCountry(char* text){ - EEPROM_I2C::writePage(ADDRESS_COUNTRYNAME,(uint8_t*)text,18); -} -*/
\ No newline at end of file diff --git a/libraries/Robot_Control/keyboard.cpp b/libraries/Robot_Control/keyboard.cpp deleted file mode 100644 index 7e647bb..0000000 --- a/libraries/Robot_Control/keyboard.cpp +++ /dev/null @@ -1,65 +0,0 @@ -#include "ArduinoRobot.h" - -#if ARDUINO >= 100 -#include "Arduino.h" -#else -#include "WProgram.h" -#endif -int pul_min[]={0,133,319,494,732}; -int pul_max[]={10,153,339,514,752}; -/*int pul_min[]={0,123,295,471,714}; -int pul_max[]={0,143,315,491,734};*/ -/* -int pul_min[]={0,133,319,494,732}; -int pul_max[]={10,153,339,514,752}; -*/ -void sort(int* v); - -void RobotControl::keyboardCalibrate(int *vals){ - for(int i=0;i<5;i++){ - pul_min[i]=vals[i]-10; - pul_max[i]=vals[i]+10; - } -} -int8_t RobotControl::keyboardRead(void) -{ - - int lectura_pul; - int8_t conta_pul=0; - static int anterior=0; - - lectura_pul = this->averageAnalogInput(KEY); - - while ((conta_pul < NUMBER_BUTTONS) && !(lectura_pul >= pul_min[conta_pul] && lectura_pul <= pul_max[conta_pul])) - conta_pul++; - - if (conta_pul >= NUMBER_BUTTONS) - conta_pul = -1; - else - delay(100); - - return conta_pul; -} - -int RobotControl::averageAnalogInput(int pinNum) -{ - int vals[5]; - for(int i=0;i<5;i++){ - for(int j=i;j<5;j++){ - vals[j]=::analogRead(pinNum); - } - sort(vals); - } - return vals[0]; -} -void sort(int* v){ - int tmp; - for(int i=0;i<4;i++) - for(int j=i+1;j<5;j++) - if(v[j]<v[i]){ - tmp=v[j]; - v[j]=v[i]; - v[i]=tmp; - } - v[0]=v[3]; -}
\ No newline at end of file diff --git a/libraries/Robot_Control/lcd.cpp b/libraries/Robot_Control/lcd.cpp deleted file mode 100644 index 1f9f2ce..0000000 --- a/libraries/Robot_Control/lcd.cpp +++ /dev/null @@ -1,279 +0,0 @@ -#include "ArduinoRobot.h" -#include "Wire.h" - -#define BUFFPIXEL 20 - -bool cmp(char* str1, char* str2, uint8_t len); -uint16_t read16(Fat16& f); -uint32_t read32(Fat16& f); -//uint16_t color565(uint8_t r, uint8_t g, uint8_t b); - -void RobotControl::beginTFT(uint16_t foreGround, uint16_t backGround){ - //TFT initialization - Arduino_LCD::initB(); - Arduino_LCD::fillScreen(backGround); - Arduino_LCD::setTextColor(foreGround); - Arduino_LCD::setTextSize(1); - this->foreGround=foreGround; - this->backGround=backGround; -} -void RobotControl::_enableLCD(){ - DDRB = DDRB & 0xEF; //pinMode(CS_SD,INPUT); - DDRB = DDRB | 0x20; //pinMode(CS_LCD,OUTPUT); -} -/*void RobotControl::_setErase(uint8_t posX, uint8_t posY){ - Arduino_LCD::setCursor(posX,posY); - Arduino_LCD::setTextColor(backGround); - Arduino_LCD::setTextSize(1); -} -void RobotControl::_setWrite(uint8_t posX, uint8_t posY){ - Arduino_LCD::setCursor(posX,posY); - Arduino_LCD::setTextColor(foreGround); - Arduino_LCD::setTextSize(1); -}*/ -/* -void RobotControl::text(int value, uint8_t posX, uint8_t posY, bool EW){ - if(EW) - _setWrite(posX,posY); - else - _setErase(posX,posY); - Arduino_LCD::print(value); -} -void RobotControl::text(long value, uint8_t posX, uint8_t posY, bool EW){ - if(EW) - _setWrite(posX,posY); - else - _setErase(posX,posY); - Arduino_LCD::print(value); -} -void RobotControl::text(char* value, uint8_t posX, uint8_t posY, bool EW){ - if(EW) - _setWrite(posX,posY); - else - _setErase(posX,posY); - Arduino_LCD::print(value); -} -void RobotControl::text(char value, uint8_t posX, uint8_t posY, bool EW){ - if(EW) - _setWrite(posX,posY); - else - _setErase(posX,posY); - Arduino_LCD::print(value); -} -*/ - -void RobotControl::debugPrint(long value, uint8_t x, uint8_t y){ - static long oldVal=0; - Arduino_LCD::stroke(backGround); - text(oldVal,x,y); - Arduino_LCD::stroke(foreGround); - text(value,x,y); - oldVal=value; -} - -void RobotControl::clearScreen(){ - Arduino_LCD::fillScreen(backGround); -} - -void RobotControl::drawBMP(char* filename, uint8_t x, uint8_t y){ - /*for(int j=0;j<NUM_EEPROM_BMP;j++){ - Serial.println(_eeprom_bmp[j].name); - Serial.print(" "); - Serial.print(_eeprom_bmp[j].address); - Serial.print(" "); - Serial.print(_eeprom_bmp[j].width); - Serial.print(" "); - Serial.println(_eeprom_bmp[j].height); - } - Serial.println();*/ - if(_isEEPROM_BMP_Allocated){ - for(int i=0;i<NUM_EEPROM_BMP;i++){ - if(cmp(_eeprom_bmp[i].name,filename,7)){ - /*Serial.println(_eeprom_bmp[i].name); - Serial.print(" "); - Serial.print(_eeprom_bmp[i].address); - Serial.print(" "); - Serial.print(_eeprom_bmp[i].width); - Serial.print(" "); - Serial.println(_eeprom_bmp[i].height);*/ - _drawBMP(_eeprom_bmp[i].address,x,y,_eeprom_bmp[i].width,_eeprom_bmp[i].height); - return; - } - } - }else{ - _drawBMP(filename,x,y);//goes to SD - } -} -bool cmp(char* str1, char* str2, uint8_t len){ - for(uint8_t i=0;i<len;i++){ - if(str1[i]==' ')break; - if(str1[i]!=str2[i])return false; - } - return true; -} - -void RobotControl::_drawBMP(uint32_t iconOffset, uint8_t x, uint8_t y, uint8_t width, uint8_t height){ - uint8_t screenWidth=Arduino_LCD::width(); - uint8_t screenHeight=Arduino_LCD::height(); - if((x >= screenWidth) || (y >= screenHeight)) return; - - // Crop area to be loaded - if((x+width-1) >= screenWidth) width = screenWidth - x; - if((y+height-1) >= screenHeight) height = screenHeight - y; - - // Set TFT address window to clipped image bounds - Arduino_LCD::setAddrWindow(x, y, x+width-1, y+height-1); - - // launch the reading command - _drawBMP_EEPROM(iconOffset, width, height); -} - -// Draw BMP from SD card through the filename -void RobotControl::_drawBMP(char* filename, uint8_t posX, uint8_t posY){ - uint8_t bmpWidth, bmpHeight; // W+H in pixels - uint8_t bmpDepth; // Bit depth (currently must be 24) - uint32_t bmpImageoffset; // Start of image data in file - uint32_t rowSize; // Not always = bmpWidth; may have padding - uint8_t sdbuffer[3*BUFFPIXEL]; // pixel buffer (R+G+B per pixel) - uint8_t buffidx = sizeof(sdbuffer); // Current position in sdbuffer - bool goodBmp = false; // Set to true on valid header parse - bool flip = true; // BMP is stored bottom-to-top - uint8_t w, h, row, col; - uint8_t r, g, b; - uint32_t pos = 0; - - // Open requested file on SD card - if ((file.open(filename,O_READ)) == NULL) { - return; - } - - // Parse BMP header - if(read16(file) == 0x4D42) { // BMP signature - read32(file);//uint32_t aux = read32(file); - (void)read32(file); // Read & ignore creator bytes - bmpImageoffset = read32(file); // Start of image data - - // Read DIB header - (void)read32(file);//aux = read32(file); - bmpWidth = read32(file); - bmpHeight = read32(file); - - if(read16(file) == 1) { // # planes -- must be '1' - bmpDepth = read16(file); // bits per pixel - if((bmpDepth == 24) && (read32(file) == 0)) { // 0 = uncompressed - goodBmp = true; // Supported BMP format -- proceed! - - // BMP rows are padded (if needed) to 4-byte boundary - rowSize = (bmpWidth * 3 + 3) & ~3; - - // If bmpHeight is negative, image is in top-down order. - // This is not canon but has been observed in the wild. - if(bmpHeight < 0) { - bmpHeight = -bmpHeight; - flip = false; - } - - // Crop area to be loaded - w = bmpWidth; - h = bmpHeight; - - // Start drawing - //_enableLCD(); - Arduino_LCD::setAddrWindow(posX, posY, posX+bmpWidth-1, posY+bmpHeight-1); - - for (row=0; row<h; row++) { // For each scanline... - if(flip) // Bitmap is stored bottom-to-top order (normal BMP) - pos = bmpImageoffset + (bmpHeight - 1 - row) * rowSize; - else // Bitmap is stored top-to-bottom - pos = bmpImageoffset + row * rowSize; - - if(file.curPosition() != pos) { // Need seek? - //_enableSD(); - file.seekSet(pos); - buffidx = sizeof(sdbuffer); // Force buffer reload - //_enableLCD(); - } - for (col=0; col<w; col++) { // For each pixel... - // Time to read more pixel data? - if (buffidx >= sizeof(sdbuffer)) { // Indeed - //_enableSD(); - file.read(sdbuffer, sizeof(sdbuffer)); - buffidx = 0; // Set index to beginning - //_enableLCD(); - } - // Convert pixel from BMP to TFT format, push to display - b = sdbuffer[buffidx++]; - g = sdbuffer[buffidx++]; - r = sdbuffer[buffidx++]; - - int color = Arduino_LCD::Color565(r,g,b); - - Arduino_LCD::pushColor(color); - } // end pixel - } // end scanline - //_enableSD(); - } // end goodBmp*/ - } - } - file.close(); - //_enableLCD(); -} -uint16_t read16(Fat16& f) { - uint16_t result; - f.read(&result,sizeof(result)); - return result; -} -uint32_t read32(Fat16& f) { - uint32_t result; - f.read(&result,sizeof(result)); - return result; -} -/* -uint16_t color565(uint8_t r, uint8_t g, uint8_t b) { - return ((r & 0xF8) << 8) | ((g & 0xFC) << 3) | (b >> 3); -}*/ - - -void RobotControl::_drawBMP_EEPROM(uint16_t address, uint8_t width, uint8_t height){ - uint16_t u16retVal = 0; - EEPROM_I2C::_beginTransmission(address); - EEPROM_I2C::_endTransmission(); - /*Wire.beginTransmission(DEVICEADDRESS); - Wire.write( (address >> 8) & 0xFF ); - Wire.write( (address >> 0) & 0xFF ); - Wire.endTransmission();*/ - - long s = width * height ; - for(long j = 0; j < (long) s >> 4; j++) { // divided by 32, times 2 - Wire.requestFrom(DEVICEADDRESS, 32); - for(int i = 0; i < 32; i+=2) { - u16retVal = Wire.read(); - u16retVal = (u16retVal << 8) + Wire.read(); - Arduino_LCD::pushColor(u16retVal); - } - } - -} -void RobotControl::beginBMPFromEEPROM(){ - _eeprom_bmp=(EEPROM_BMP*)malloc(NUM_EEPROM_BMP*sizeof(EEPROM_BMP)); - EEPROM_I2C::_beginTransmission(0); - EEPROM_I2C::_endTransmission(); - - for(uint8_t j=0;j<NUM_EEPROM_BMP;j++){ - Wire.requestFrom(DEVICEADDRESS, sizeof(EEPROM_BMP)); - for(uint8_t i=0;i<8;i++){ - _eeprom_bmp[j].name[i]=Wire.read();//name - } - _eeprom_bmp[j].width=Wire.read();//width - _eeprom_bmp[j].height=Wire.read();//height - - _eeprom_bmp[j].address=Wire.read(); - _eeprom_bmp[j].address=_eeprom_bmp[j].address + (Wire.read() << 8);//address - } - _isEEPROM_BMP_Allocated=true; - -} -void RobotControl::endBMPFromEEPROM(){ - free(_eeprom_bmp); - _isEEPROM_BMP_Allocated=false; -} diff --git a/libraries/Robot_Control/utility/RobotTextManager.cpp b/libraries/Robot_Control/utility/RobotTextManager.cpp deleted file mode 100644 index b516409..0000000 --- a/libraries/Robot_Control/utility/RobotTextManager.cpp +++ /dev/null @@ -1,192 +0,0 @@ -#include <avr/pgmspace.h> -#include <ArduinoRobot.h> -#include "VirtualKeyboard.h" -#include "RobotTextManager.h" -#include "scripts_Hello_User.h" - -const int TextManager::lineHeight=10; -const int TextManager::charWidth=6; - - -void TextManager::setMargin(int margin_left,int margin_top){ - this->margin_left=margin_left; - this->margin_top=margin_top; -} -int TextManager::getLin(int lineNum){ - return lineNum*lineHeight+margin_top; -} - -int TextManager::getCol(int colNum){ - return colNum*charWidth+margin_left; -} - -void TextManager::writeText(int lineNum, int colNum, char* txt, bool onOff){ - if(!onOff) - Robot.setTextColor(WHITE); - - Robot.setCursor(getCol(colNum),getLin(lineNum)); - Robot.print(txt); - - Robot.setTextColor(BLACK); -} - -void TextManager::drawInput(bool onOff){ - if(!onOff) - Robot.setTextColor(WHITE); - - Robot.setCursor(getCol(inputCol),getLin(inputLin)+1); - Robot.print('_'); - - Robot.setTextColor(BLACK); - -} - -void TextManager::mvInput(int dire){ - drawInput(0); - if(dire<0){ - if(inputPos>0){ - inputPos--; - inputCol--; - } - }else{ - if(inputPos<16){ - inputPos++; - inputCol++; - } - } - drawInput(1); -} - -char TextManager::selectLetter(){ - static int oldVal; - char val=map(Robot.knobRead(),0,1023,32,125); - if(val==oldVal){ - return 0; //No changes - }else{ - oldVal=val; - return val; //Current letter - } -} - -void TextManager::refreshCurrentLetter(char letter){ - if(letter){ - writeText(inputLin,inputCol,inputPool+inputPos,false);//erase - inputPool[inputPos]=letter; - writeText(inputLin,inputCol,inputPool+inputPos,true);//write - } -} - - -void TextManager::getInput(int lin, int col){ - writeText(lin,col,">"); //Input indicator - - writeText(lin, col+1, inputPool); - - inputLin=lin; //Ini input cursor - inputCol=col+1; - inputPos=0; - drawInput(true); - - Vkey.display(100);//Vkey is a object of VirtualKeyboard class - - while(true){ - switch(Robot.keyboardRead()){ - case BUTTON_LEFT: - //Robot.beep(BEEP_SIMPLE); - mvInput(-1); - break; - case BUTTON_RIGHT: - //Robot.beep(BEEP_SIMPLE); - mvInput(1); - break; - case BUTTON_MIDDLE: - //Robot.beep(BEEP_DOUBLE); - char selection=Vkey.getSelection(); - if(selection!='\0'){ - refreshCurrentLetter(selection); - mvInput(1); - }else{ - drawInput(false); - return; - } - } - Vkey.run(); - delay(10); - } -} -void TextManager::setInputPool(int code){ - switch(code){ - case USERNAME: - Robot.userNameRead(inputPool); - break; - case ROBOTNAME: - Robot.robotNameRead(inputPool); - break; - case CITYNAME: - Robot.cityNameRead(inputPool); - break; - case COUNTRYNAME: - Robot.countryNameRead(inputPool); - break; - } - for(int i=0;i<18;i++){ - if(inputPool[i]=='\0'){ - for(int j=i;j<18;j++){ - inputPool[j]='\0'; - } - break; - } - } -} -void TextManager::pushInput(int code){ - switch(code){ - case USERNAME: - Robot.userNameWrite(inputPool); - break; - case ROBOTNAME: - Robot.robotNameWrite(inputPool); - break; - case CITYNAME: - Robot.cityNameWrite(inputPool); - break; - case COUNTRYNAME: - Robot.countryNameWrite(inputPool); - break; - } - for(int i=0;i<18;i++){ - inputPool[i]='\0'; - } -} -void TextManager::input(int lin,int col, int code){ - setInputPool(code); - getInput(lin,col); - pushInput(code); -} - -void TextManager::showPicture(char * filename, int posX, int posY){ - Robot.pause(); - Robot._drawBMP(filename,posX,posY); - Robot.play(); -} - -void TextManager::getPGMtext(int seq){ - //It takes a string from program space, and fill it - //in the buffer - //if(in hello user example){ - if(true){ - strcpy_P(PGMbuffer,(char*)pgm_read_word(&(::scripts_Hello_User[seq]))); - } -} - -void TextManager::writeScript(int seq, int line, int col){ - //print a string from program space to a specific line, - //column on the LCD - - //first fill the buffer with text from program space - getPGMtext(seq); - //then print it to the screen - textManager.writeText(line,col,PGMbuffer); -} - - -TextManager textManager=TextManager(); diff --git a/libraries/Robot_Control/utility/RobotTextManager.h b/libraries/Robot_Control/utility/RobotTextManager.h deleted file mode 100644 index 6c0b7bd..0000000 --- a/libraries/Robot_Control/utility/RobotTextManager.h +++ /dev/null @@ -1,77 +0,0 @@ -#ifndef ROBOTTEXTMANAGER_H -#define ROBOTTEXTMANAGER_H - -#define USERNAME 0 -#define ROBOTNAME 1 -#define CITYNAME 2 -#define COUNTRYNAME 3 -#define EMPTY 4 - -class TextManager{ - //The TextManager class is a collection of features specific for Hello - //User example. - // - //- It includes solution for setting text position based on - // line/column. The original Robot.text(), or the more low level - // print() function can only set text position on pixels from left, - // top. - // - //- The process of accepting input with the virtual keyboard, saving - // into or reading from EEPROM is delt with here. - // - //- A workflow for stop the music while displaying image. Trouble - // will happen otherwise. - - public: - //add some margin to the text, left side only atm. - void setMargin(int margin_left,int margin_top); - - //print text based on line, column. - void writeText(int lineNum, int colNum, char* txt, bool onOff=true); - - //print a script from the scripts library - void writeScript(int seq, int line, int col); - - //The whole process of getting input - void input(int lin,int col, int code); - //Print a cursor and virtual keyboard on screen, and save the user's input - void getInput(int lin, int col); - //Get user name, robot name, city name or country name from EEPROM - //and store in the input pool. - void setInputPool(int code); - //save user input to EEPROM - void pushInput(int code); - - //Replaces Robot.drawPicture(), as this one solves collision between - //image and music - void showPicture(char * filename, int posX, int posY); - - private: - int margin_left,margin_top; - int getLin(int lineNum); //Convert line to pixels from top - int getCol(int colNum); //Convert line to pixels from left - - static const int lineHeight;//8+2=10 - static const int charWidth;//5+1=6 - - int inputPos; - int inputLin; - int inputCol; - - void drawInput(bool onOff); - void mvInput(int dire); - - char selectLetter(); - void refreshCurrentLetter(char letter); - - void getPGMtext(int seq); - - char PGMbuffer[85]; //the buffer for storing strings - char inputPool[18]; -}; - -//a trick for removing the need of creating an object of TextManager. -//So you can call me.somefunction() directly in the sketch. -extern TextManager textManager; - -#endif diff --git a/libraries/Robot_Control/utility/VirtualKeyboard.cpp b/libraries/Robot_Control/utility/VirtualKeyboard.cpp deleted file mode 100644 index ad73c75..0000000 --- a/libraries/Robot_Control/utility/VirtualKeyboard.cpp +++ /dev/null @@ -1,127 +0,0 @@ -#include "VirtualKeyboard.h" - -int VirtualKeyboard::getColLin(int val){ - uint8_t col,lin; - lin=val/10; - col=val%10; // saving 36 bytes :( - /*if(0<=val && 9>=val){ - col=val; - lin=0; - }else if(10<=val && 19>=val){ - col=val-10; - lin=1; - }else if(20<=val && 29>=val){ - col=val-20; - lin=2; - }else if(30<=val && 39>=val){ - col=val-30; - lin=3; - }*/ - return (col<<8)+lin; //Put col and lin in one int -} -void VirtualKeyboard::run(){ -/** visually select a letter on the keyboard -* The selection boarder is 1px higher than the character, -* 1px on the bottom, 2px to the left and 2px to the right. -* -*/ - if(!onOff)return; - //Serial.println(onOff); - static int oldColLin=0; - uint8_t val=map(Robot.knobRead(),0,1023,0,38); - if(val==38)val=37; //The last value is jumpy when using batteries - int colLin=getColLin(val); - - if(oldColLin!=colLin){ - uint8_t x=(oldColLin>>8 & 0xFF)*11+10;//col*11+1+9 - uint8_t y=(oldColLin & 0xFF)*11+1+top;//lin*11+1+top - uint8_t w=9; - if(oldColLin==1795) //last item "Enter", col=7 lin=3 - w=33; //(5+1)*6-1+2+2 charWidth=5, charMargin=1, count("Enter")=6, lastItem_MarginRight=0, marginLeft==marginRight=2 - Robot.drawRect(x,y,w,9,hideColor); - - - x=(colLin>>8 & 0xFF)*11+10; - y=(colLin & 0xFF)*11+1+top; - w=9; - if(colLin==1795) //last item "Enter", col=7 lin=3 - w=33; //(5+1)*6-1+2+2 charWidth=5, charMargin=1, count("Enter")=6, lastItem_MarginRight=0, marginLeft==marginRight=2 - Robot.drawRect(x,y,w,9,showColor); - oldColLin=colLin; - } -} - -char VirtualKeyboard::getSelection(){ - if(!onOff)return -1; - - uint8_t val=map(Robot.knobRead(),0,1023,0,38); - if(0<=val && 9>=val) - val='0'+val; - else if(10<=val && 35>=val) - val='A'+val-10; - else if(val==36) - val=' '; - else if(val>=37) - val='\0'; - - return val; -} -void VirtualKeyboard::hide(){ - onOff=false; - Robot.fillRect(0,top,128,44,hideColor);//11*4 -} - -void VirtualKeyboard::display(uint8_t top, uint16_t showColor, uint16_t hideColor){ -/** Display the keyboard at y position of top -* formular: -* When text size is 1, one character is 5*7 -* margin-left==margin-right==3, -* margin-top==margin-bottom==2, -* keyWidth=5+3+3==11, -* keyHeight=7+2+2==11, -* keyboard-margin-left=keyboard-margin-right==9 -* so character-x=11*col+9+3=11*col+12 -* character-y=11*lin+2+top -* -**/ - this->top=top; - this->onOff=true; - - this->showColor=showColor; - this->hideColor=hideColor; - - for(uint8_t i=0;i<36;i++){ - Robot.setCursor(i%10*11+12,2+top+i/10*11); - if(i<10) - Robot.print(char('0'+i)); - else - Robot.print(char(55+i));//'A'-10=55 - }//for saving 58 bytes :( - - /*for(int i=0;i<10;i++){ - Robot.setCursor(i*11+12,2+top);//11*0+2+top - Robot.print(char('0'+i));//line_1: 0-9 - } - for(int i=0;i<10;i++){ - Robot.setCursor(i*11+12,13+top);//11*1+2+top - Robot.print(char('A'+i));//line_2: A-J - } - for(int i=0;i<10;i++){ - Robot.setCursor(i*11+12,24+top);//11*2+2+top - Robot.print(char('K'+i));//line_3: K-T - } - for(int i=0;i<6;i++){ - Robot.setCursor(i*11+12,35+top);//11*3+2+top - Robot.print(char('U'+i));//line_4: U-Z - }*/ - //space and enter at the end of the last line. - Robot.setCursor(78,35+top);//6*11+12=78 - Robot.print('_');//_ - - Robot.setCursor(89,35+top);//7*11+12=89 - Robot.print("Enter");//enter -} - - - -VirtualKeyboard Vkey=VirtualKeyboard();
\ No newline at end of file diff --git a/libraries/Robot_Control/utility/VirtualKeyboard.h b/libraries/Robot_Control/utility/VirtualKeyboard.h deleted file mode 100644 index 273edb7..0000000 --- a/libraries/Robot_Control/utility/VirtualKeyboard.h +++ /dev/null @@ -1,28 +0,0 @@ -#ifndef VIRTUAL_KEYBOARD_H -#define VIRTUAL_KEYBOARD_H - -#include <Arduino.h> -#include <ArduinoRobot.h> - -class VirtualKeyboard{ - public: - //void begin(); - void display(uint8_t top, uint16_t showColor=BLACK, uint16_t hideColor=WHITE); - void hide(); - - char getSelection(); - void run(); - - private: - uint8_t top; - bool onOff; - - uint16_t showColor; - uint16_t hideColor; - - int getColLin(int val); - -}; - -extern VirtualKeyboard Vkey; -#endif
\ No newline at end of file diff --git a/libraries/Robot_Control/utility/scripts_Hello_User.h b/libraries/Robot_Control/utility/scripts_Hello_User.h deleted file mode 100644 index 29f085f..0000000 --- a/libraries/Robot_Control/utility/scripts_Hello_User.h +++ /dev/null @@ -1,51 +0,0 @@ -#include <avr/pgmspace.h> - -//an advanced trick for storing strings inside the program space -//as the ram of Arduino is very tiny, keeping too many string in it -//can kill the program - -prog_char hello_user_script1[] PROGMEM="What's your name?"; -prog_char hello_user_script2[] PROGMEM="Give me a name!"; -prog_char hello_user_script3[] PROGMEM="And the country?"; -prog_char hello_user_script4[] PROGMEM="The city you're in?"; -prog_char hello_user_script5[] PROGMEM=" Plug me to\n\n your computer\n\n and start coding!"; - -prog_char hello_user_script6[] PROGMEM=" Hello User!\n\n It's me, your robot\n\n I'm alive! <3"; -prog_char hello_user_script7[] PROGMEM=" First I need some\n\n input from you!"; -prog_char hello_user_script8[] PROGMEM=" Use the knob\n\n to select letters"; -prog_char hello_user_script9[] PROGMEM=" Use L/R button\n\n to move the cursor,\n\n middle to confirm"; -prog_char hello_user_script10[] PROGMEM=" Press middle key\n to continue..."; -prog_char hello_user_script11[] PROGMEM=" Choose \"enter\" to\n\n finish the input"; - -PROGMEM const char *scripts_Hello_User[]={ - hello_user_script1, - hello_user_script2, - hello_user_script3, - hello_user_script4, - hello_user_script5, - hello_user_script6, - hello_user_script7, - hello_user_script8, - hello_user_script9, - hello_user_script10, - hello_user_script11, -}; - -/* -void getPGMtext(int seq){ - //It takes a string from program space, and fill it - //in the buffer - strcpy_P(buffer,(char*)pgm_read_word(&(scripts[seq]))); -} - -void writeScript(int seq, int line, int col){ - //print a string from program space to a specific line, - //column on the LCD - - //first fill the buffer with text from program space - getPGMtext(seq); - //then print it to the screen - textManager.writeText(line,col,buffer); -} - -*/
\ No newline at end of file diff --git a/libraries/Robot_Control/utility/twi.c b/libraries/Robot_Control/utility/twi.c deleted file mode 100644 index 6b2db3c..0000000 --- a/libraries/Robot_Control/utility/twi.c +++ /dev/null @@ -1,527 +0,0 @@ -/* - twi.c - TWI/I2C library for Wiring & Arduino - Copyright (c) 2006 Nicholas Zambetti. All right reserved. - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA - - Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts -*/ - -#include <math.h> -#include <stdlib.h> -#include <inttypes.h> -#include <avr/io.h> -#include <avr/interrupt.h> -#include <compat/twi.h> -#include "Arduino.h" // for digitalWrite - -#ifndef cbi -#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) -#endif - -#ifndef sbi -#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) -#endif - -#include "pins_arduino.h" -#include "twi.h" - -static volatile uint8_t twi_state; -static volatile uint8_t twi_slarw; -static volatile uint8_t twi_sendStop; // should the transaction end with a stop -static volatile uint8_t twi_inRepStart; // in the middle of a repeated start - -static void (*twi_onSlaveTransmit)(void); -static void (*twi_onSlaveReceive)(uint8_t*, int); - -static uint8_t twi_masterBuffer[TWI_BUFFER_LENGTH]; -static volatile uint8_t twi_masterBufferIndex; -static volatile uint8_t twi_masterBufferLength; - -static uint8_t twi_txBuffer[TWI_BUFFER_LENGTH]; -static volatile uint8_t twi_txBufferIndex; -static volatile uint8_t twi_txBufferLength; - -static uint8_t twi_rxBuffer[TWI_BUFFER_LENGTH]; -static volatile uint8_t twi_rxBufferIndex; - -static volatile uint8_t twi_error; - -/* - * Function twi_init - * Desc readys twi pins and sets twi bitrate - * Input none - * Output none - */ -void twi_init(void) -{ - // initialize state - twi_state = TWI_READY; - twi_sendStop = true; // default value - twi_inRepStart = false; - - // activate internal pullups for twi. - digitalWrite(SDA, 1); - digitalWrite(SCL, 1); - - // initialize twi prescaler and bit rate - cbi(TWSR, TWPS0); - cbi(TWSR, TWPS1); - TWBR = ((F_CPU / TWI_FREQ) - 16) / 2; - - /* twi bit rate formula from atmega128 manual pg 204 - SCL Frequency = CPU Clock Frequency / (16 + (2 * TWBR)) - note: TWBR should be 10 or higher for master mode - It is 72 for a 16mhz Wiring board with 100kHz TWI */ - - // enable twi module, acks, and twi interrupt - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA); -} - -/* - * Function twi_slaveInit - * Desc sets slave address and enables interrupt - * Input none - * Output none - */ -void twi_setAddress(uint8_t address) -{ - // set twi slave address (skip over TWGCE bit) - TWAR = address << 1; -} - -/* - * Function twi_readFrom - * Desc attempts to become twi bus master and read a - * series of bytes from a device on the bus - * Input address: 7bit i2c device address - * data: pointer to byte array - * length: number of bytes to read into array - * sendStop: Boolean indicating whether to send a stop at the end - * Output number of bytes read - */ -uint8_t twi_readFrom(uint8_t address, uint8_t* data, uint8_t length, uint8_t sendStop) -{ - uint8_t i; - - // ensure data will fit into buffer - if(TWI_BUFFER_LENGTH < length){ - return 0; - } - - // wait until twi is ready, become master receiver - while(TWI_READY != twi_state){ - continue; - } - twi_state = TWI_MRX; - twi_sendStop = sendStop; - // reset error state (0xFF.. no error occured) - twi_error = 0xFF; - - // initialize buffer iteration vars - twi_masterBufferIndex = 0; - twi_masterBufferLength = length-1; // This is not intuitive, read on... - // On receive, the previously configured ACK/NACK setting is transmitted in - // response to the received byte before the interrupt is signalled. - // Therefor we must actually set NACK when the _next_ to last byte is - // received, causing that NACK to be sent in response to receiving the last - // expected byte of data. - - // build sla+w, slave device address + w bit - twi_slarw = TW_READ; - twi_slarw |= address << 1; - - if (true == twi_inRepStart) { - // if we're in the repeated start state, then we've already sent the start, - // (@@@ we hope), and the TWI statemachine is just waiting for the address byte. - // We need to remove ourselves from the repeated start state before we enable interrupts, - // since the ISR is ASYNC, and we could get confused if we hit the ISR before cleaning - // up. Also, don't enable the START interrupt. There may be one pending from the - // repeated start that we sent outselves, and that would really confuse things. - twi_inRepStart = false; // remember, we're dealing with an ASYNC ISR - TWDR = twi_slarw; - TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE); // enable INTs, but not START - } - else - // send start condition - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA); - - // wait for read operation to complete - while(TWI_MRX == twi_state){ - continue; - } - - if (twi_masterBufferIndex < length) - length = twi_masterBufferIndex; - - // copy twi buffer to data - for(i = 0; i < length; ++i){ - data[i] = twi_masterBuffer[i]; - } - - return length; -} - -/* - * Function twi_writeTo - * Desc attempts to become twi bus master and write a - * series of bytes to a device on the bus - * Input address: 7bit i2c device address - * data: pointer to byte array - * length: number of bytes in array - * wait: boolean indicating to wait for write or not - * sendStop: boolean indicating whether or not to send a stop at the end - * Output 0 .. success - * 1 .. length to long for buffer - * 2 .. address send, NACK received - * 3 .. data send, NACK received - * 4 .. other twi error (lost bus arbitration, bus error, ..) - */ -uint8_t twi_writeTo(uint8_t address, uint8_t* data, uint8_t length, uint8_t wait, uint8_t sendStop) -{ - uint8_t i; - - // ensure data will fit into buffer - if(TWI_BUFFER_LENGTH < length){ - return 1; - } - - // wait until twi is ready, become master transmitter - while(TWI_READY != twi_state){ - continue; - } - twi_state = TWI_MTX; - twi_sendStop = sendStop; - // reset error state (0xFF.. no error occured) - twi_error = 0xFF; - - // initialize buffer iteration vars - twi_masterBufferIndex = 0; - twi_masterBufferLength = length; - - // copy data to twi buffer - for(i = 0; i < length; ++i){ - twi_masterBuffer[i] = data[i]; - } - - // build sla+w, slave device address + w bit - twi_slarw = TW_WRITE; - twi_slarw |= address << 1; - - // if we're in a repeated start, then we've already sent the START - // in the ISR. Don't do it again. - // - if (true == twi_inRepStart) { - // if we're in the repeated start state, then we've already sent the start, - // (@@@ we hope), and the TWI statemachine is just waiting for the address byte. - // We need to remove ourselves from the repeated start state before we enable interrupts, - // since the ISR is ASYNC, and we could get confused if we hit the ISR before cleaning - // up. Also, don't enable the START interrupt. There may be one pending from the - // repeated start that we sent outselves, and that would really confuse things. - twi_inRepStart = false; // remember, we're dealing with an ASYNC ISR - TWDR = twi_slarw; - TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE); // enable INTs, but not START - } - else - // send start condition - TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE) | _BV(TWSTA); // enable INTs - - // wait for write operation to complete - while(wait && (TWI_MTX == twi_state)){ - continue; - } - - if (twi_error == 0xFF) - return 0; // success - else if (twi_error == TW_MT_SLA_NACK) - return 2; // error: address send, nack received - else if (twi_error == TW_MT_DATA_NACK) - return 3; // error: data send, nack received - else - return 4; // other twi error -} - -/* - * Function twi_transmit - * Desc fills slave tx buffer with data - * must be called in slave tx event callback - * Input data: pointer to byte array - * length: number of bytes in array - * Output 1 length too long for buffer - * 2 not slave transmitter - * 0 ok - */ -uint8_t twi_transmit(const uint8_t* data, uint8_t length) -{ - uint8_t i; - - // ensure data will fit into buffer - if(TWI_BUFFER_LENGTH < length){ - return 1; - } - - // ensure we are currently a slave transmitter - if(TWI_STX != twi_state){ - return 2; - } - - // set length and copy data into tx buffer - twi_txBufferLength = length; - for(i = 0; i < length; ++i){ - twi_txBuffer[i] = data[i]; - } - - return 0; -} - -/* - * Function twi_attachSlaveRxEvent - * Desc sets function called before a slave read operation - * Input function: callback function to use - * Output none - */ -void twi_attachSlaveRxEvent( void (*function)(uint8_t*, int) ) -{ - twi_onSlaveReceive = function; -} - -/* - * Function twi_attachSlaveTxEvent - * Desc sets function called before a slave write operation - * Input function: callback function to use - * Output none - */ -void twi_attachSlaveTxEvent( void (*function)(void) ) -{ - twi_onSlaveTransmit = function; -} - -/* - * Function twi_reply - * Desc sends byte or readys receive line - * Input ack: byte indicating to ack or to nack - * Output none - */ -void twi_reply(uint8_t ack) -{ - // transmit master read ready signal, with or without ack - if(ack){ - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT) | _BV(TWEA); - }else{ - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT); - } -} - -/* - * Function twi_stop - * Desc relinquishes bus master status - * Input none - * Output none - */ -void twi_stop(void) -{ - // send stop condition - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTO); - - // wait for stop condition to be exectued on bus - // TWINT is not set after a stop condition! - while(TWCR & _BV(TWSTO)){ - continue; - } - - // update twi state - twi_state = TWI_READY; -} - -/* - * Function twi_releaseBus - * Desc releases bus control - * Input none - * Output none - */ -void twi_releaseBus(void) -{ - // release bus - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT); - - // update twi state - twi_state = TWI_READY; -} - -SIGNAL(TWI_vect) -{ - switch(TW_STATUS){ - // All Master - case TW_START: // sent start condition - case TW_REP_START: // sent repeated start condition - // copy device address and r/w bit to output register and ack - TWDR = twi_slarw; - twi_reply(1); - break; - - // Master Transmitter - case TW_MT_SLA_ACK: // slave receiver acked address - case TW_MT_DATA_ACK: // slave receiver acked data - // if there is data to send, send it, otherwise stop - if(twi_masterBufferIndex < twi_masterBufferLength){ - // copy data to output register and ack - TWDR = twi_masterBuffer[twi_masterBufferIndex++]; - twi_reply(1); - }else{ - if (twi_sendStop) - twi_stop(); - else { - twi_inRepStart = true; // we're gonna send the START - // don't enable the interrupt. We'll generate the start, but we - // avoid handling the interrupt until we're in the next transaction, - // at the point where we would normally issue the start. - TWCR = _BV(TWINT) | _BV(TWSTA)| _BV(TWEN) ; - twi_state = TWI_READY; - } - } - break; - case TW_MT_SLA_NACK: // address sent, nack received - twi_error = TW_MT_SLA_NACK; - twi_stop(); - break; - case TW_MT_DATA_NACK: // data sent, nack received - twi_error = TW_MT_DATA_NACK; - twi_stop(); - break; - case TW_MT_ARB_LOST: // lost bus arbitration - twi_error = TW_MT_ARB_LOST; - twi_releaseBus(); - break; - - // Master Receiver - case TW_MR_DATA_ACK: // data received, ack sent - // put byte into buffer - twi_masterBuffer[twi_masterBufferIndex++] = TWDR; - case TW_MR_SLA_ACK: // address sent, ack received - // ack if more bytes are expected, otherwise nack - if(twi_masterBufferIndex < twi_masterBufferLength){ - twi_reply(1); - }else{ - twi_reply(0); - } - break; - case TW_MR_DATA_NACK: // data received, nack sent - // put final byte into buffer - twi_masterBuffer[twi_masterBufferIndex++] = TWDR; - if (twi_sendStop) - twi_stop(); - else { - twi_inRepStart = true; // we're gonna send the START - // don't enable the interrupt. We'll generate the start, but we - // avoid handling the interrupt until we're in the next transaction, - // at the point where we would normally issue the start. - TWCR = _BV(TWINT) | _BV(TWSTA)| _BV(TWEN) ; - twi_state = TWI_READY; - } - break; - case TW_MR_SLA_NACK: // address sent, nack received - twi_stop(); - break; - // TW_MR_ARB_LOST handled by TW_MT_ARB_LOST case - - // Slave Receiver - case TW_SR_SLA_ACK: // addressed, returned ack - case TW_SR_GCALL_ACK: // addressed generally, returned ack - case TW_SR_ARB_LOST_SLA_ACK: // lost arbitration, returned ack - case TW_SR_ARB_LOST_GCALL_ACK: // lost arbitration, returned ack - // enter slave receiver mode - twi_state = TWI_SRX; - // indicate that rx buffer can be overwritten and ack - twi_rxBufferIndex = 0; - twi_reply(1); - break; - case TW_SR_DATA_ACK: // data received, returned ack - case TW_SR_GCALL_DATA_ACK: // data received generally, returned ack - // if there is still room in the rx buffer - if(twi_rxBufferIndex < TWI_BUFFER_LENGTH){ - // put byte in buffer and ack - twi_rxBuffer[twi_rxBufferIndex++] = TWDR; - twi_reply(1); - }else{ - // otherwise nack - twi_reply(0); - } - break; - case TW_SR_STOP: // stop or repeated start condition received - // put a null char after data if there's room - if(twi_rxBufferIndex < TWI_BUFFER_LENGTH){ - twi_rxBuffer[twi_rxBufferIndex] = '\0'; - } - // sends ack and stops interface for clock stretching - twi_stop(); - // callback to user defined callback - twi_onSlaveReceive(twi_rxBuffer, twi_rxBufferIndex); - // since we submit rx buffer to "wire" library, we can reset it - twi_rxBufferIndex = 0; - // ack future responses and leave slave receiver state - twi_releaseBus(); - break; - case TW_SR_DATA_NACK: // data received, returned nack - case TW_SR_GCALL_DATA_NACK: // data received generally, returned nack - // nack back at master - twi_reply(0); - break; - - // Slave Transmitter - case TW_ST_SLA_ACK: // addressed, returned ack - case TW_ST_ARB_LOST_SLA_ACK: // arbitration lost, returned ack - // enter slave transmitter mode - twi_state = TWI_STX; - // ready the tx buffer index for iteration - twi_txBufferIndex = 0; - // set tx buffer length to be zero, to verify if user changes it - twi_txBufferLength = 0; - // request for txBuffer to be filled and length to be set - // note: user must call twi_transmit(bytes, length) to do this - twi_onSlaveTransmit(); - // if they didn't change buffer & length, initialize it - if(0 == twi_txBufferLength){ - twi_txBufferLength = 1; - twi_txBuffer[0] = 0x00; - } - // transmit first byte from buffer, fall - case TW_ST_DATA_ACK: // byte sent, ack returned - // copy data to output register - TWDR = twi_txBuffer[twi_txBufferIndex++]; - // if there is more to send, ack, otherwise nack - if(twi_txBufferIndex < twi_txBufferLength){ - twi_reply(1); - }else{ - twi_reply(0); - } - break; - case TW_ST_DATA_NACK: // received nack, we are done - case TW_ST_LAST_DATA: // received ack, but we are done already! - // ack future responses - twi_reply(1); - // leave slave receiver state - twi_state = TWI_READY; - break; - - // All - case TW_NO_INFO: // no state information - break; - case TW_BUS_ERROR: // bus error, illegal stop/start - twi_error = TW_BUS_ERROR; - twi_stop(); - break; - } -} - diff --git a/libraries/Robot_Control/utility/twi.h b/libraries/Robot_Control/utility/twi.h deleted file mode 100644 index 6526593..0000000 --- a/libraries/Robot_Control/utility/twi.h +++ /dev/null @@ -1,53 +0,0 @@ -/* - 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 - |