From db605dd18b11ecfb5cd9f92c721c52cb70543384 Mon Sep 17 00:00:00 2001 From: "David A. Mellis" Date: Mon, 1 Jun 2009 08:32:11 +0000 Subject: First integration of the Arduino code in Processing 5503: PreProcessor and Compiler have been integrated with changes to the Sketch. Compilation still has problems (Thread error on success, and can't handle non-pde files in a sketch). Modified the Mac OS X make.sh to copy the hardware, avr tools, and example over. Removing some of the antlr stuff. Disabling the Commander (command-line execution) for now. Added Library, LibraryManager, and Target. Added support for prefixed preferences (e.g. for boards and programmers). --- .../examples/AnalogFirmata/AnalogFirmata.pde | 83 ++++ libraries/Firmata/examples/AnalogFirmata/Makefile | 263 ++++++++++++ .../Firmata/examples/EchoString/EchoString.pde | 40 ++ libraries/Firmata/examples/EchoString/Makefile | 263 ++++++++++++ libraries/Firmata/examples/ServoFirmata/Makefile | 263 ++++++++++++ .../Firmata/examples/ServoFirmata/ServoFirmata.pde | 39 ++ .../Firmata/examples/SimpleAnalogFirmata/Makefile | 263 ++++++++++++ .../SimpleAnalogFirmata/SimpleAnalogFirmata.pde | 32 ++ .../Firmata/examples/SimpleDigitalFirmata/Makefile | 263 ++++++++++++ .../SimpleDigitalFirmata/SimpleDigitalFirmata.pde | 58 +++ .../Firmata/examples/StandardFirmata/LICENSE.txt | 458 +++++++++++++++++++++ .../Firmata/examples/StandardFirmata/Makefile | 261 ++++++++++++ .../examples/StandardFirmata/StandardFirmata.pde | 226 ++++++++++ 13 files changed, 2512 insertions(+) create mode 100644 libraries/Firmata/examples/AnalogFirmata/AnalogFirmata.pde create mode 100644 libraries/Firmata/examples/AnalogFirmata/Makefile create mode 100644 libraries/Firmata/examples/EchoString/EchoString.pde create mode 100644 libraries/Firmata/examples/EchoString/Makefile create mode 100644 libraries/Firmata/examples/ServoFirmata/Makefile create mode 100644 libraries/Firmata/examples/ServoFirmata/ServoFirmata.pde create mode 100644 libraries/Firmata/examples/SimpleAnalogFirmata/Makefile create mode 100644 libraries/Firmata/examples/SimpleAnalogFirmata/SimpleAnalogFirmata.pde create mode 100644 libraries/Firmata/examples/SimpleDigitalFirmata/Makefile create mode 100644 libraries/Firmata/examples/SimpleDigitalFirmata/SimpleDigitalFirmata.pde create mode 100644 libraries/Firmata/examples/StandardFirmata/LICENSE.txt create mode 100644 libraries/Firmata/examples/StandardFirmata/Makefile create mode 100644 libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde (limited to 'libraries/Firmata/examples') diff --git a/libraries/Firmata/examples/AnalogFirmata/AnalogFirmata.pde b/libraries/Firmata/examples/AnalogFirmata/AnalogFirmata.pde new file mode 100644 index 0000000..fcd8e5e --- /dev/null +++ b/libraries/Firmata/examples/AnalogFirmata/AnalogFirmata.pde @@ -0,0 +1,83 @@ +/* This firmware supports as many analog ports as possible, all analog inputs, + * four PWM outputs, and two with servo support. + * + * This example code is in the public domain. + */ +#include +#include + +/*============================================================================== + * GLOBAL VARIABLES + *============================================================================*/ + +/* servos */ +Servo servo9, servo10; // one instance per pin +/* analog inputs */ +int analogInputsToReport = 0; // bitwise array to store pin reporting +int analogPin = 0; // counter for reading analog pins +/* timer variables */ +unsigned long currentMillis; // store the current value from millis() +unsigned long nextExecuteMillis; // for comparison with currentMillis + + +/*============================================================================== + * FUNCTIONS + *============================================================================*/ + +void analogWriteCallback(byte pin, int value) +{ + switch(pin) { + case 9: servo9.write(value); break; + case 10: servo10.write(value); break; + case 3: + case 5: + case 6: + case 11: // PWM pins + analogWrite(pin, value); + break; + } +} +// ----------------------------------------------------------------------------- +// sets bits in a bit array (int) to toggle the reporting of the analogIns +void reportAnalogCallback(byte pin, int value) +{ + if(value == 0) { + analogInputsToReport = analogInputsToReport &~ (1 << pin); + } + else { // everything but 0 enables reporting of that pin + analogInputsToReport = analogInputsToReport | (1 << pin); + } + // TODO: save status to EEPROM here, if changed +} + +/*============================================================================== + * SETUP() + *============================================================================*/ +void setup() +{ + Firmata.setFirmwareVersion(0, 2); + Firmata.attach(ANALOG_MESSAGE, analogWriteCallback); + Firmata.attach(REPORT_ANALOG, reportAnalogCallback); + + servo9.attach(9); + servo10.attach(10); + Firmata.begin(); +} + +/*============================================================================== + * LOOP() + *============================================================================*/ +void loop() +{ + while(Firmata.available()) + Firmata.processInput(); + currentMillis = millis(); + if(currentMillis > nextExecuteMillis) { + nextExecuteMillis = currentMillis + 19; // run this every 20ms + for(analogPin=0;analogPin +# +# - Write prototypes for all your functions (or define them before you +# call them). A prototype declares the types of parameters a +# function will take and what type of value it will return. This +# means that you can have a call to a function before the definition +# of the function. A function prototype looks like the first line of +# the function, with a semi-colon at the end. For example: +# int digitalRead(int pin); +# +# Instructions for using the makefile: +# +# 1. Copy this file into the folder with your sketch. +# +# 2. Below, modify the line containing "TARGET" to refer to the name of +# of your program's file without an extension (e.g. TARGET = foo). +# +# 3. Modify the line containg "ARDUINO" to point the directory that +# contains the Arduino core (for normal Arduino installations, this +# is the hardware/cores/arduino sub-directory). +# +# 4. Modify the line containing "PORT" to refer to the filename +# representing the USB or serial connection to your Arduino board +# (e.g. PORT = /dev/tty.USB0). If the exact name of this file +# changes, you can use * as a wildcard (e.g. PORT = /dev/tty.USB*). +# +# 5. At the command line, change to the directory containing your +# program's file and the makefile. +# +# 6. Type "make" and press enter to compile/verify your program. +# +# 7. Type "make upload", reset your Arduino board, and press enter to +# upload your program to the Arduino board. +# +# $Id: Makefile,v 1.7 2007/04/13 05:28:23 eighthave Exp $ + +PORT = /dev/tty.usbserial-* +TARGET := $(shell pwd | sed 's|.*/\(.*\)|\1|') +ARDUINO = /Applications/arduino +ARDUINO_SRC = $(ARDUINO)/hardware/cores/arduino +ARDUINO_LIB_SRC = $(ARDUINO)/hardware/libraries +INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/hardware/tools/avr/avr/include \ + -I$(ARDUINO_LIB_SRC)/EEPROM \ + -I$(ARDUINO_LIB_SRC)/Firmata \ + -I$(ARDUINO_LIB_SRC)/Servo \ + -I$(ARDUINO_LIB_SRC) +SRC = $(wildcard $(ARDUINO_SRC)/*.c) +CXXSRC = applet/$(TARGET).cpp $(ARDUINO_SRC)/HardwareSerial.cpp \ + $(ARDUINO_LIB_SRC)/EEPROM/EEPROM.cpp \ + $(ARDUINO_LIB_SRC)/Firmata/Firmata.cpp \ + $(ARDUINO_LIB_SRC)/Servo/Servo.cpp \ + $(ARDUINO_SRC)/WMath.cpp +HEADERS = $(wildcard $(ARDUINO_SRC)/*.h) $(wildcard $(ARDUINO_LIB_SRC)/*/*.h) + +MCU = atmega168 +#MCU = atmega8 +F_CPU = 16000000 +FORMAT = ihex +UPLOAD_RATE = 19200 + +# Name of this Makefile (used for "make depend"). +MAKEFILE = Makefile + +# Debugging format. +# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. +# AVR (extended) COFF requires stabs, plus an avr-objcopy run. +DEBUG = stabs + +OPT = s + +# Place -D or -U options here +CDEFS = -DF_CPU=$(F_CPU) +CXXDEFS = -DF_CPU=$(F_CPU) + +# Compiler flag to set the C Standard level. +# c89 - "ANSI" C +# gnu89 - c89 plus GCC extensions +# c99 - ISO C99 standard (not yet fully implemented) +# gnu99 - c99 plus GCC extensions +CSTANDARD = -std=gnu99 +CDEBUG = -g$(DEBUG) +CWARN = -Wall -Wstrict-prototypes +CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums +#CEXTRA = -Wa,-adhlns=$(<:.c=.lst) + +CFLAGS = $(CDEBUG) $(CDEFS) $(INCLUDE) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA) +CXXFLAGS = $(CDEFS) $(INCLUDE) -O$(OPT) +#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs +LDFLAGS = + + +# Programming support using avrdude. Settings and variables. +AVRDUDE_PROGRAMMER = stk500 +AVRDUDE_PORT = $(PORT) +AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex +AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \ + -b $(UPLOAD_RATE) -q -V + +# Program settings +CC = avr-gcc +CXX = avr-g++ +OBJCOPY = avr-objcopy +OBJDUMP = avr-objdump +SIZE = avr-size +NM = avr-nm +AVRDUDE = avrdude +REMOVE = rm -f +MV = mv -f + +# Define all object files. +OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o) + +# Define all listing files. +LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst) + +# Combine all necessary flags and optional flags. +# Add target processor to flags. +ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) +ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS) +ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) + + +# Default target. +all: build + +build: applet/$(TARGET).hex + +eep: applet/$(TARGET).eep +lss: applet/$(TARGET).lss +sym: applet/$(TARGET).sym + + +# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. +COFFCONVERT=$(OBJCOPY) --debugging \ +--change-section-address .data-0x800000 \ +--change-section-address .bss-0x800000 \ +--change-section-address .noinit-0x800000 \ +--change-section-address .eeprom-0x810000 + + +coff: applet/$(TARGET).elf + $(COFFCONVERT) -O coff-avr applet/$(TARGET).elf applet/$(TARGET).cof + + +extcoff: applet/$(TARGET).elf + $(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf applet/$(TARGET).cof + + +.SUFFIXES: .elf .hex .eep .lss .sym .pde + +.elf.hex: + $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ + +.elf.eep: + -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ + --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ + +# Create extended listing file from ELF output file. +.elf.lss: + $(OBJDUMP) -h -S $< > $@ + +# Create a symbol table from ELF output file. +.elf.sym: + $(NM) -n $< > $@ + + +# Compile: create object files from C++ source files. +.cpp.o: $(HEADERS) + $(CXX) -c $(ALL_CXXFLAGS) $< -o $@ + +# Compile: create object files from C source files. +.c.o: $(HEADERS) + $(CC) -c $(ALL_CFLAGS) $< -o $@ + + +# Compile: create assembler files from C source files. +.c.s: + $(CC) -S $(ALL_CFLAGS) $< -o $@ + + +# Assemble: create object files from assembler source files. +.S.o: + $(CC) -c $(ALL_ASFLAGS) $< -o $@ + + + +applet/$(TARGET).cpp: $(TARGET).pde + test -d applet || mkdir applet + echo '#include "WProgram.h"' > applet/$(TARGET).cpp + echo '#include "avr/interrupt.h"' >> applet/$(TARGET).cpp + sed -n 's|^\(void .*)\).*|\1;|p' $(TARGET).pde | grep -v 'setup()' | \ + grep -v 'loop()' >> applet/$(TARGET).cpp + cat $(TARGET).pde >> applet/$(TARGET).cpp + cat $(ARDUINO_SRC)/main.cxx >> applet/$(TARGET).cpp + +# Link: create ELF output file from object files. +applet/$(TARGET).elf: applet/$(TARGET).cpp $(OBJ) + $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) + +pd_close_serial: + echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true + +# Program the device. +upload: applet/$(TARGET).hex + $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) + + +pd_test: build pd_close_serial upload + +# Target: clean project. +clean: + $(REMOVE) -- applet/$(TARGET).hex applet/$(TARGET).eep \ + applet/$(TARGET).cof applet/$(TARGET).elf $(TARGET).map \ + applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp \ + $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d) + rmdir -- applet + +depend: + if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \ + then \ + sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \ + $(MAKEFILE).$$$$ && \ + $(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \ + fi + echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \ + >> $(MAKEFILE); \ + $(CC) -M -mmcu=$(MCU) $(CDEFS) $(INCLUDE) $(SRC) $(ASRC) >> $(MAKEFILE) + +.PHONY: all build eep lss sym coff extcoff clean depend pd_close_serial pd_test + +# for emacs +etags: + make etags_`uname -s` + etags *.pde \ + $(ARDUINO_SRC)/*.[ch] \ + $(ARDUINO_SRC)/*.cpp \ + $(ARDUINO_LIB_SRC)/*/*.[ch] \ + $(ARDUINO_LIB_SRC)/*/*.cpp \ + $(ARDUINO)/hardware/tools/avr/avr/include/avr/*.[ch] \ + $(ARDUINO)/hardware/tools/avr/avr/include/*.[ch] + +etags_Darwin: +# etags -a + +etags_Linux: +# etags -a /usr/include/*.h linux/input.h /usr/include/sys/*.h + +etags_MINGW: +# etags -a /usr/include/*.h /usr/include/sys/*.h + + + diff --git a/libraries/Firmata/examples/EchoString/EchoString.pde b/libraries/Firmata/examples/EchoString/EchoString.pde new file mode 100644 index 0000000..ed13ad8 --- /dev/null +++ b/libraries/Firmata/examples/EchoString/EchoString.pde @@ -0,0 +1,40 @@ +/* This sketch accepts strings and raw sysex messages and echos them back. + * + * This example code is in the public domain. + */ +#include + +byte analogPin; + +void stringCallback(char *myString) +{ + Firmata.sendString(myString); +} + + +void sysexCallback(byte command, byte argc, byte*argv) +{ + Serial.print(START_SYSEX, BYTE); + Serial.print(command, BYTE); + for(byte i=0; i +# +# - Write prototypes for all your functions (or define them before you +# call them). A prototype declares the types of parameters a +# function will take and what type of value it will return. This +# means that you can have a call to a function before the definition +# of the function. A function prototype looks like the first line of +# the function, with a semi-colon at the end. For example: +# int digitalRead(int pin); +# +# Instructions for using the makefile: +# +# 1. Copy this file into the folder with your sketch. +# +# 2. Below, modify the line containing "TARGET" to refer to the name of +# of your program's file without an extension (e.g. TARGET = foo). +# +# 3. Modify the line containg "ARDUINO" to point the directory that +# contains the Arduino core (for normal Arduino installations, this +# is the hardware/cores/arduino sub-directory). +# +# 4. Modify the line containing "PORT" to refer to the filename +# representing the USB or serial connection to your Arduino board +# (e.g. PORT = /dev/tty.USB0). If the exact name of this file +# changes, you can use * as a wildcard (e.g. PORT = /dev/tty.USB*). +# +# 5. At the command line, change to the directory containing your +# program's file and the makefile. +# +# 6. Type "make" and press enter to compile/verify your program. +# +# 7. Type "make upload", reset your Arduino board, and press enter to +# upload your program to the Arduino board. +# +# $Id: Makefile,v 1.7 2007/04/13 05:28:23 eighthave Exp $ + +PORT = /dev/tty.usbserial-* +TARGET := $(shell pwd | sed 's|.*/\(.*\)|\1|') +ARDUINO = /Applications/arduino +ARDUINO_SRC = $(ARDUINO)/hardware/cores/arduino +ARDUINO_LIB_SRC = $(ARDUINO)/hardware/libraries +INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/hardware/tools/avr/avr/include \ + -I$(ARDUINO_LIB_SRC)/EEPROM \ + -I$(ARDUINO_LIB_SRC)/Firmata \ + -I$(ARDUINO_LIB_SRC)/Servo \ + -I$(ARDUINO_LIB_SRC) +SRC = $(wildcard $(ARDUINO_SRC)/*.c) +CXXSRC = applet/$(TARGET).cpp $(ARDUINO_SRC)/HardwareSerial.cpp \ + $(ARDUINO_LIB_SRC)/EEPROM/EEPROM.cpp \ + $(ARDUINO_LIB_SRC)/Firmata/Firmata.cpp \ + $(ARDUINO_LIB_SRC)/Servo/Servo.cpp \ + $(ARDUINO_SRC)/WMath.cpp +HEADERS = $(wildcard $(ARDUINO_SRC)/*.h) $(wildcard $(ARDUINO_LIB_SRC)/*/*.h) + +MCU = atmega168 +#MCU = atmega8 +F_CPU = 16000000 +FORMAT = ihex +UPLOAD_RATE = 19200 + +# Name of this Makefile (used for "make depend"). +MAKEFILE = Makefile + +# Debugging format. +# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. +# AVR (extended) COFF requires stabs, plus an avr-objcopy run. +DEBUG = stabs + +OPT = s + +# Place -D or -U options here +CDEFS = -DF_CPU=$(F_CPU) +CXXDEFS = -DF_CPU=$(F_CPU) + +# Compiler flag to set the C Standard level. +# c89 - "ANSI" C +# gnu89 - c89 plus GCC extensions +# c99 - ISO C99 standard (not yet fully implemented) +# gnu99 - c99 plus GCC extensions +CSTANDARD = -std=gnu99 +CDEBUG = -g$(DEBUG) +CWARN = -Wall -Wstrict-prototypes +CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums +#CEXTRA = -Wa,-adhlns=$(<:.c=.lst) + +CFLAGS = $(CDEBUG) $(CDEFS) $(INCLUDE) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA) +CXXFLAGS = $(CDEFS) $(INCLUDE) -O$(OPT) +#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs +LDFLAGS = + + +# Programming support using avrdude. Settings and variables. +AVRDUDE_PROGRAMMER = stk500 +AVRDUDE_PORT = $(PORT) +AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex +AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \ + -b $(UPLOAD_RATE) -q -V + +# Program settings +CC = avr-gcc +CXX = avr-g++ +OBJCOPY = avr-objcopy +OBJDUMP = avr-objdump +SIZE = avr-size +NM = avr-nm +AVRDUDE = avrdude +REMOVE = rm -f +MV = mv -f + +# Define all object files. +OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o) + +# Define all listing files. +LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst) + +# Combine all necessary flags and optional flags. +# Add target processor to flags. +ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) +ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS) +ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) + + +# Default target. +all: build + +build: applet/$(TARGET).hex + +eep: applet/$(TARGET).eep +lss: applet/$(TARGET).lss +sym: applet/$(TARGET).sym + + +# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. +COFFCONVERT=$(OBJCOPY) --debugging \ +--change-section-address .data-0x800000 \ +--change-section-address .bss-0x800000 \ +--change-section-address .noinit-0x800000 \ +--change-section-address .eeprom-0x810000 + + +coff: applet/$(TARGET).elf + $(COFFCONVERT) -O coff-avr applet/$(TARGET).elf applet/$(TARGET).cof + + +extcoff: applet/$(TARGET).elf + $(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf applet/$(TARGET).cof + + +.SUFFIXES: .elf .hex .eep .lss .sym .pde + +.elf.hex: + $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ + +.elf.eep: + -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ + --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ + +# Create extended listing file from ELF output file. +.elf.lss: + $(OBJDUMP) -h -S $< > $@ + +# Create a symbol table from ELF output file. +.elf.sym: + $(NM) -n $< > $@ + + +# Compile: create object files from C++ source files. +.cpp.o: $(HEADERS) + $(CXX) -c $(ALL_CXXFLAGS) $< -o $@ + +# Compile: create object files from C source files. +.c.o: $(HEADERS) + $(CC) -c $(ALL_CFLAGS) $< -o $@ + + +# Compile: create assembler files from C source files. +.c.s: + $(CC) -S $(ALL_CFLAGS) $< -o $@ + + +# Assemble: create object files from assembler source files. +.S.o: + $(CC) -c $(ALL_ASFLAGS) $< -o $@ + + + +applet/$(TARGET).cpp: $(TARGET).pde + test -d applet || mkdir applet + echo '#include "WProgram.h"' > applet/$(TARGET).cpp + echo '#include "avr/interrupt.h"' >> applet/$(TARGET).cpp + sed -n 's|^\(void .*)\).*|\1;|p' $(TARGET).pde | grep -v 'setup()' | \ + grep -v 'loop()' >> applet/$(TARGET).cpp + cat $(TARGET).pde >> applet/$(TARGET).cpp + cat $(ARDUINO_SRC)/main.cxx >> applet/$(TARGET).cpp + +# Link: create ELF output file from object files. +applet/$(TARGET).elf: applet/$(TARGET).cpp $(OBJ) + $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) + +pd_close_serial: + echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true + +# Program the device. +upload: applet/$(TARGET).hex + $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) + + +pd_test: build pd_close_serial upload + +# Target: clean project. +clean: + $(REMOVE) -- applet/$(TARGET).hex applet/$(TARGET).eep \ + applet/$(TARGET).cof applet/$(TARGET).elf $(TARGET).map \ + applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp \ + $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d) + rmdir -- applet + +depend: + if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \ + then \ + sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \ + $(MAKEFILE).$$$$ && \ + $(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \ + fi + echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \ + >> $(MAKEFILE); \ + $(CC) -M -mmcu=$(MCU) $(CDEFS) $(INCLUDE) $(SRC) $(ASRC) >> $(MAKEFILE) + +.PHONY: all build eep lss sym coff extcoff clean depend pd_close_serial pd_test + +# for emacs +etags: + make etags_`uname -s` + etags *.pde \ + $(ARDUINO_SRC)/*.[ch] \ + $(ARDUINO_SRC)/*.cpp \ + $(ARDUINO_LIB_SRC)/*/*.[ch] \ + $(ARDUINO_LIB_SRC)/*/*.cpp \ + $(ARDUINO)/hardware/tools/avr/avr/include/avr/*.[ch] \ + $(ARDUINO)/hardware/tools/avr/avr/include/*.[ch] + +etags_Darwin: +# etags -a + +etags_Linux: +# etags -a /usr/include/*.h linux/input.h /usr/include/sys/*.h + +etags_MINGW: +# etags -a /usr/include/*.h /usr/include/sys/*.h + + + diff --git a/libraries/Firmata/examples/ServoFirmata/Makefile b/libraries/Firmata/examples/ServoFirmata/Makefile new file mode 100644 index 0000000..e968c0a --- /dev/null +++ b/libraries/Firmata/examples/ServoFirmata/Makefile @@ -0,0 +1,263 @@ +# Arduino makefile +# +# This makefile allows you to build sketches from the command line +# without the Arduino environment (or Java). +# +# The Arduino environment does preliminary processing on a sketch before +# compiling it. If you're using this makefile instead, you'll need to do +# a few things differently: +# +# - Give your program's file a .cpp extension (e.g. foo.cpp). +# +# - Put this line at top of your code: #include +# +# - Write prototypes for all your functions (or define them before you +# call them). A prototype declares the types of parameters a +# function will take and what type of value it will return. This +# means that you can have a call to a function before the definition +# of the function. A function prototype looks like the first line of +# the function, with a semi-colon at the end. For example: +# int digitalRead(int pin); +# +# Instructions for using the makefile: +# +# 1. Copy this file into the folder with your sketch. +# +# 2. Below, modify the line containing "TARGET" to refer to the name of +# of your program's file without an extension (e.g. TARGET = foo). +# +# 3. Modify the line containg "ARDUINO" to point the directory that +# contains the Arduino core (for normal Arduino installations, this +# is the hardware/cores/arduino sub-directory). +# +# 4. Modify the line containing "PORT" to refer to the filename +# representing the USB or serial connection to your Arduino board +# (e.g. PORT = /dev/tty.USB0). If the exact name of this file +# changes, you can use * as a wildcard (e.g. PORT = /dev/tty.USB*). +# +# 5. At the command line, change to the directory containing your +# program's file and the makefile. +# +# 6. Type "make" and press enter to compile/verify your program. +# +# 7. Type "make upload", reset your Arduino board, and press enter to +# upload your program to the Arduino board. +# +# $Id: Makefile,v 1.7 2007/04/13 05:28:23 eighthave Exp $ + +PORT = /dev/tty.usbserial-* +TARGET := $(shell pwd | sed 's|.*/\(.*\)|\1|') +ARDUINO = /Applications/arduino +ARDUINO_SRC = $(ARDUINO)/hardware/cores/arduino +ARDUINO_LIB_SRC = $(ARDUINO)/hardware/libraries +INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/hardware/tools/avr/avr/include \ + -I$(ARDUINO_LIB_SRC)/EEPROM \ + -I$(ARDUINO_LIB_SRC)/Firmata \ + -I$(ARDUINO_LIB_SRC)/Servo \ + -I$(ARDUINO_LIB_SRC) +SRC = $(wildcard $(ARDUINO_SRC)/*.c) +CXXSRC = applet/$(TARGET).cpp $(ARDUINO_SRC)/HardwareSerial.cpp \ + $(ARDUINO_LIB_SRC)/EEPROM/EEPROM.cpp \ + $(ARDUINO_LIB_SRC)/Firmata/Firmata.cpp \ + $(ARDUINO_LIB_SRC)/Servo/Servo.cpp \ + $(ARDUINO_SRC)/WMath.cpp +HEADERS = $(wildcard $(ARDUINO_SRC)/*.h) $(wildcard $(ARDUINO_LIB_SRC)/*/*.h) + +MCU = atmega168 +#MCU = atmega8 +F_CPU = 16000000 +FORMAT = ihex +UPLOAD_RATE = 19200 + +# Name of this Makefile (used for "make depend"). +MAKEFILE = Makefile + +# Debugging format. +# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. +# AVR (extended) COFF requires stabs, plus an avr-objcopy run. +DEBUG = stabs + +OPT = s + +# Place -D or -U options here +CDEFS = -DF_CPU=$(F_CPU) +CXXDEFS = -DF_CPU=$(F_CPU) + +# Compiler flag to set the C Standard level. +# c89 - "ANSI" C +# gnu89 - c89 plus GCC extensions +# c99 - ISO C99 standard (not yet fully implemented) +# gnu99 - c99 plus GCC extensions +CSTANDARD = -std=gnu99 +CDEBUG = -g$(DEBUG) +CWARN = -Wall -Wstrict-prototypes +CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums +#CEXTRA = -Wa,-adhlns=$(<:.c=.lst) + +CFLAGS = $(CDEBUG) $(CDEFS) $(INCLUDE) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA) +CXXFLAGS = $(CDEFS) $(INCLUDE) -O$(OPT) +#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs +LDFLAGS = + + +# Programming support using avrdude. Settings and variables. +AVRDUDE_PROGRAMMER = stk500 +AVRDUDE_PORT = $(PORT) +AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex +AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \ + -b $(UPLOAD_RATE) -q -V + +# Program settings +CC = avr-gcc +CXX = avr-g++ +OBJCOPY = avr-objcopy +OBJDUMP = avr-objdump +SIZE = avr-size +NM = avr-nm +AVRDUDE = avrdude +REMOVE = rm -f +MV = mv -f + +# Define all object files. +OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o) + +# Define all listing files. +LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst) + +# Combine all necessary flags and optional flags. +# Add target processor to flags. +ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) +ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS) +ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) + + +# Default target. +all: build + +build: applet/$(TARGET).hex + +eep: applet/$(TARGET).eep +lss: applet/$(TARGET).lss +sym: applet/$(TARGET).sym + + +# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. +COFFCONVERT=$(OBJCOPY) --debugging \ +--change-section-address .data-0x800000 \ +--change-section-address .bss-0x800000 \ +--change-section-address .noinit-0x800000 \ +--change-section-address .eeprom-0x810000 + + +coff: applet/$(TARGET).elf + $(COFFCONVERT) -O coff-avr applet/$(TARGET).elf applet/$(TARGET).cof + + +extcoff: applet/$(TARGET).elf + $(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf applet/$(TARGET).cof + + +.SUFFIXES: .elf .hex .eep .lss .sym .pde + +.elf.hex: + $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ + +.elf.eep: + -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ + --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ + +# Create extended listing file from ELF output file. +.elf.lss: + $(OBJDUMP) -h -S $< > $@ + +# Create a symbol table from ELF output file. +.elf.sym: + $(NM) -n $< > $@ + + +# Compile: create object files from C++ source files. +.cpp.o: $(HEADERS) + $(CXX) -c $(ALL_CXXFLAGS) $< -o $@ + +# Compile: create object files from C source files. +.c.o: $(HEADERS) + $(CC) -c $(ALL_CFLAGS) $< -o $@ + + +# Compile: create assembler files from C source files. +.c.s: + $(CC) -S $(ALL_CFLAGS) $< -o $@ + + +# Assemble: create object files from assembler source files. +.S.o: + $(CC) -c $(ALL_ASFLAGS) $< -o $@ + + + +applet/$(TARGET).cpp: $(TARGET).pde + test -d applet || mkdir applet + echo '#include "WProgram.h"' > applet/$(TARGET).cpp + echo '#include "avr/interrupt.h"' >> applet/$(TARGET).cpp + sed -n 's|^\(void .*)\).*|\1;|p' $(TARGET).pde | grep -v 'setup()' | \ + grep -v 'loop()' >> applet/$(TARGET).cpp + cat $(TARGET).pde >> applet/$(TARGET).cpp + cat $(ARDUINO_SRC)/main.cxx >> applet/$(TARGET).cpp + +# Link: create ELF output file from object files. +applet/$(TARGET).elf: applet/$(TARGET).cpp $(OBJ) + $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) + +pd_close_serial: + echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true + +# Program the device. +upload: applet/$(TARGET).hex + $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) + + +pd_test: build pd_close_serial upload + +# Target: clean project. +clean: + $(REMOVE) -- applet/$(TARGET).hex applet/$(TARGET).eep \ + applet/$(TARGET).cof applet/$(TARGET).elf $(TARGET).map \ + applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp \ + $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d) + rmdir -- applet + +depend: + if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \ + then \ + sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \ + $(MAKEFILE).$$$$ && \ + $(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \ + fi + echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \ + >> $(MAKEFILE); \ + $(CC) -M -mmcu=$(MCU) $(CDEFS) $(INCLUDE) $(SRC) $(ASRC) >> $(MAKEFILE) + +.PHONY: all build eep lss sym coff extcoff clean depend pd_close_serial pd_test + +# for emacs +etags: + make etags_`uname -s` + etags *.pde \ + $(ARDUINO_SRC)/*.[ch] \ + $(ARDUINO_SRC)/*.cpp \ + $(ARDUINO_LIB_SRC)/*/*.[ch] \ + $(ARDUINO_LIB_SRC)/*/*.cpp \ + $(ARDUINO)/hardware/tools/avr/avr/include/avr/*.[ch] \ + $(ARDUINO)/hardware/tools/avr/avr/include/*.[ch] + +etags_Darwin: +# etags -a + +etags_Linux: +# etags -a /usr/include/*.h linux/input.h /usr/include/sys/*.h + +etags_MINGW: +# etags -a /usr/include/*.h /usr/include/sys/*.h + + + diff --git a/libraries/Firmata/examples/ServoFirmata/ServoFirmata.pde b/libraries/Firmata/examples/ServoFirmata/ServoFirmata.pde new file mode 100644 index 0000000..a3c609c --- /dev/null +++ b/libraries/Firmata/examples/ServoFirmata/ServoFirmata.pde @@ -0,0 +1,39 @@ +/* This firmware supports as many servos as possible using the Servo" library + * included in Arduino 0012 + * + * TODO add message to configure minPulse/maxPulse/degrees + * + * This example code is in the public domain. + */ + +#include +#include + +Servo servo9; +Servo servo10; + +void analogWriteCallback(byte pin, int value) +{ + if(pin == 9) + servo9.write(value); + if(pin == 10) + servo10.write(value); +} + +void setup() +{ + Firmata.setFirmwareVersion(0, 2); + Firmata.attach(ANALOG_MESSAGE, analogWriteCallback); + + servo9.attach(9); + servo10.attach(10); + + Firmata.begin(); +} + +void loop() +{ + while(Firmata.available()) + Firmata.processInput(); +} + diff --git a/libraries/Firmata/examples/SimpleAnalogFirmata/Makefile b/libraries/Firmata/examples/SimpleAnalogFirmata/Makefile new file mode 100644 index 0000000..e968c0a --- /dev/null +++ b/libraries/Firmata/examples/SimpleAnalogFirmata/Makefile @@ -0,0 +1,263 @@ +# Arduino makefile +# +# This makefile allows you to build sketches from the command line +# without the Arduino environment (or Java). +# +# The Arduino environment does preliminary processing on a sketch before +# compiling it. If you're using this makefile instead, you'll need to do +# a few things differently: +# +# - Give your program's file a .cpp extension (e.g. foo.cpp). +# +# - Put this line at top of your code: #include +# +# - Write prototypes for all your functions (or define them before you +# call them). A prototype declares the types of parameters a +# function will take and what type of value it will return. This +# means that you can have a call to a function before the definition +# of the function. A function prototype looks like the first line of +# the function, with a semi-colon at the end. For example: +# int digitalRead(int pin); +# +# Instructions for using the makefile: +# +# 1. Copy this file into the folder with your sketch. +# +# 2. Below, modify the line containing "TARGET" to refer to the name of +# of your program's file without an extension (e.g. TARGET = foo). +# +# 3. Modify the line containg "ARDUINO" to point the directory that +# contains the Arduino core (for normal Arduino installations, this +# is the hardware/cores/arduino sub-directory). +# +# 4. Modify the line containing "PORT" to refer to the filename +# representing the USB or serial connection to your Arduino board +# (e.g. PORT = /dev/tty.USB0). If the exact name of this file +# changes, you can use * as a wildcard (e.g. PORT = /dev/tty.USB*). +# +# 5. At the command line, change to the directory containing your +# program's file and the makefile. +# +# 6. Type "make" and press enter to compile/verify your program. +# +# 7. Type "make upload", reset your Arduino board, and press enter to +# upload your program to the Arduino board. +# +# $Id: Makefile,v 1.7 2007/04/13 05:28:23 eighthave Exp $ + +PORT = /dev/tty.usbserial-* +TARGET := $(shell pwd | sed 's|.*/\(.*\)|\1|') +ARDUINO = /Applications/arduino +ARDUINO_SRC = $(ARDUINO)/hardware/cores/arduino +ARDUINO_LIB_SRC = $(ARDUINO)/hardware/libraries +INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/hardware/tools/avr/avr/include \ + -I$(ARDUINO_LIB_SRC)/EEPROM \ + -I$(ARDUINO_LIB_SRC)/Firmata \ + -I$(ARDUINO_LIB_SRC)/Servo \ + -I$(ARDUINO_LIB_SRC) +SRC = $(wildcard $(ARDUINO_SRC)/*.c) +CXXSRC = applet/$(TARGET).cpp $(ARDUINO_SRC)/HardwareSerial.cpp \ + $(ARDUINO_LIB_SRC)/EEPROM/EEPROM.cpp \ + $(ARDUINO_LIB_SRC)/Firmata/Firmata.cpp \ + $(ARDUINO_LIB_SRC)/Servo/Servo.cpp \ + $(ARDUINO_SRC)/WMath.cpp +HEADERS = $(wildcard $(ARDUINO_SRC)/*.h) $(wildcard $(ARDUINO_LIB_SRC)/*/*.h) + +MCU = atmega168 +#MCU = atmega8 +F_CPU = 16000000 +FORMAT = ihex +UPLOAD_RATE = 19200 + +# Name of this Makefile (used for "make depend"). +MAKEFILE = Makefile + +# Debugging format. +# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. +# AVR (extended) COFF requires stabs, plus an avr-objcopy run. +DEBUG = stabs + +OPT = s + +# Place -D or -U options here +CDEFS = -DF_CPU=$(F_CPU) +CXXDEFS = -DF_CPU=$(F_CPU) + +# Compiler flag to set the C Standard level. +# c89 - "ANSI" C +# gnu89 - c89 plus GCC extensions +# c99 - ISO C99 standard (not yet fully implemented) +# gnu99 - c99 plus GCC extensions +CSTANDARD = -std=gnu99 +CDEBUG = -g$(DEBUG) +CWARN = -Wall -Wstrict-prototypes +CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums +#CEXTRA = -Wa,-adhlns=$(<:.c=.lst) + +CFLAGS = $(CDEBUG) $(CDEFS) $(INCLUDE) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA) +CXXFLAGS = $(CDEFS) $(INCLUDE) -O$(OPT) +#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs +LDFLAGS = + + +# Programming support using avrdude. Settings and variables. +AVRDUDE_PROGRAMMER = stk500 +AVRDUDE_PORT = $(PORT) +AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex +AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \ + -b $(UPLOAD_RATE) -q -V + +# Program settings +CC = avr-gcc +CXX = avr-g++ +OBJCOPY = avr-objcopy +OBJDUMP = avr-objdump +SIZE = avr-size +NM = avr-nm +AVRDUDE = avrdude +REMOVE = rm -f +MV = mv -f + +# Define all object files. +OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o) + +# Define all listing files. +LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst) + +# Combine all necessary flags and optional flags. +# Add target processor to flags. +ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) +ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS) +ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) + + +# Default target. +all: build + +build: applet/$(TARGET).hex + +eep: applet/$(TARGET).eep +lss: applet/$(TARGET).lss +sym: applet/$(TARGET).sym + + +# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. +COFFCONVERT=$(OBJCOPY) --debugging \ +--change-section-address .data-0x800000 \ +--change-section-address .bss-0x800000 \ +--change-section-address .noinit-0x800000 \ +--change-section-address .eeprom-0x810000 + + +coff: applet/$(TARGET).elf + $(COFFCONVERT) -O coff-avr applet/$(TARGET).elf applet/$(TARGET).cof + + +extcoff: applet/$(TARGET).elf + $(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf applet/$(TARGET).cof + + +.SUFFIXES: .elf .hex .eep .lss .sym .pde + +.elf.hex: + $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ + +.elf.eep: + -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ + --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ + +# Create extended listing file from ELF output file. +.elf.lss: + $(OBJDUMP) -h -S $< > $@ + +# Create a symbol table from ELF output file. +.elf.sym: + $(NM) -n $< > $@ + + +# Compile: create object files from C++ source files. +.cpp.o: $(HEADERS) + $(CXX) -c $(ALL_CXXFLAGS) $< -o $@ + +# Compile: create object files from C source files. +.c.o: $(HEADERS) + $(CC) -c $(ALL_CFLAGS) $< -o $@ + + +# Compile: create assembler files from C source files. +.c.s: + $(CC) -S $(ALL_CFLAGS) $< -o $@ + + +# Assemble: create object files from assembler source files. +.S.o: + $(CC) -c $(ALL_ASFLAGS) $< -o $@ + + + +applet/$(TARGET).cpp: $(TARGET).pde + test -d applet || mkdir applet + echo '#include "WProgram.h"' > applet/$(TARGET).cpp + echo '#include "avr/interrupt.h"' >> applet/$(TARGET).cpp + sed -n 's|^\(void .*)\).*|\1;|p' $(TARGET).pde | grep -v 'setup()' | \ + grep -v 'loop()' >> applet/$(TARGET).cpp + cat $(TARGET).pde >> applet/$(TARGET).cpp + cat $(ARDUINO_SRC)/main.cxx >> applet/$(TARGET).cpp + +# Link: create ELF output file from object files. +applet/$(TARGET).elf: applet/$(TARGET).cpp $(OBJ) + $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) + +pd_close_serial: + echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true + +# Program the device. +upload: applet/$(TARGET).hex + $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) + + +pd_test: build pd_close_serial upload + +# Target: clean project. +clean: + $(REMOVE) -- applet/$(TARGET).hex applet/$(TARGET).eep \ + applet/$(TARGET).cof applet/$(TARGET).elf $(TARGET).map \ + applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp \ + $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d) + rmdir -- applet + +depend: + if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \ + then \ + sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \ + $(MAKEFILE).$$$$ && \ + $(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \ + fi + echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \ + >> $(MAKEFILE); \ + $(CC) -M -mmcu=$(MCU) $(CDEFS) $(INCLUDE) $(SRC) $(ASRC) >> $(MAKEFILE) + +.PHONY: all build eep lss sym coff extcoff clean depend pd_close_serial pd_test + +# for emacs +etags: + make etags_`uname -s` + etags *.pde \ + $(ARDUINO_SRC)/*.[ch] \ + $(ARDUINO_SRC)/*.cpp \ + $(ARDUINO_LIB_SRC)/*/*.[ch] \ + $(ARDUINO_LIB_SRC)/*/*.cpp \ + $(ARDUINO)/hardware/tools/avr/avr/include/avr/*.[ch] \ + $(ARDUINO)/hardware/tools/avr/avr/include/*.[ch] + +etags_Darwin: +# etags -a + +etags_Linux: +# etags -a /usr/include/*.h linux/input.h /usr/include/sys/*.h + +etags_MINGW: +# etags -a /usr/include/*.h /usr/include/sys/*.h + + + diff --git a/libraries/Firmata/examples/SimpleAnalogFirmata/SimpleAnalogFirmata.pde b/libraries/Firmata/examples/SimpleAnalogFirmata/SimpleAnalogFirmata.pde new file mode 100644 index 0000000..2950c01 --- /dev/null +++ b/libraries/Firmata/examples/SimpleAnalogFirmata/SimpleAnalogFirmata.pde @@ -0,0 +1,32 @@ +/* Supports as many analog inputs and analog PWM outputs as possible. + * + * This example code is in the public domain. + */ +#include + +byte analogPin; + +void analogWriteCallback(byte pin, int value) +{ + pinMode(pin,OUTPUT); + analogWrite(pin, value); +} + +void setup() +{ + Firmata.setFirmwareVersion(0, 1); + Firmata.attach(ANALOG_MESSAGE, analogWriteCallback); + Firmata.begin(); +} + +void loop() +{ + while(Firmata.available()) { + Firmata.processInput(); + } + for(analogPin = 0; analogPin < TOTAL_ANALOG_PINS; analogPin++) { + Firmata.sendAnalog(analogPin, analogRead(analogPin)); + } +} + + diff --git a/libraries/Firmata/examples/SimpleDigitalFirmata/Makefile b/libraries/Firmata/examples/SimpleDigitalFirmata/Makefile new file mode 100644 index 0000000..e968c0a --- /dev/null +++ b/libraries/Firmata/examples/SimpleDigitalFirmata/Makefile @@ -0,0 +1,263 @@ +# Arduino makefile +# +# This makefile allows you to build sketches from the command line +# without the Arduino environment (or Java). +# +# The Arduino environment does preliminary processing on a sketch before +# compiling it. If you're using this makefile instead, you'll need to do +# a few things differently: +# +# - Give your program's file a .cpp extension (e.g. foo.cpp). +# +# - Put this line at top of your code: #include +# +# - Write prototypes for all your functions (or define them before you +# call them). A prototype declares the types of parameters a +# function will take and what type of value it will return. This +# means that you can have a call to a function before the definition +# of the function. A function prototype looks like the first line of +# the function, with a semi-colon at the end. For example: +# int digitalRead(int pin); +# +# Instructions for using the makefile: +# +# 1. Copy this file into the folder with your sketch. +# +# 2. Below, modify the line containing "TARGET" to refer to the name of +# of your program's file without an extension (e.g. TARGET = foo). +# +# 3. Modify the line containg "ARDUINO" to point the directory that +# contains the Arduino core (for normal Arduino installations, this +# is the hardware/cores/arduino sub-directory). +# +# 4. Modify the line containing "PORT" to refer to the filename +# representing the USB or serial connection to your Arduino board +# (e.g. PORT = /dev/tty.USB0). If the exact name of this file +# changes, you can use * as a wildcard (e.g. PORT = /dev/tty.USB*). +# +# 5. At the command line, change to the directory containing your +# program's file and the makefile. +# +# 6. Type "make" and press enter to compile/verify your program. +# +# 7. Type "make upload", reset your Arduino board, and press enter to +# upload your program to the Arduino board. +# +# $Id: Makefile,v 1.7 2007/04/13 05:28:23 eighthave Exp $ + +PORT = /dev/tty.usbserial-* +TARGET := $(shell pwd | sed 's|.*/\(.*\)|\1|') +ARDUINO = /Applications/arduino +ARDUINO_SRC = $(ARDUINO)/hardware/cores/arduino +ARDUINO_LIB_SRC = $(ARDUINO)/hardware/libraries +INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/hardware/tools/avr/avr/include \ + -I$(ARDUINO_LIB_SRC)/EEPROM \ + -I$(ARDUINO_LIB_SRC)/Firmata \ + -I$(ARDUINO_LIB_SRC)/Servo \ + -I$(ARDUINO_LIB_SRC) +SRC = $(wildcard $(ARDUINO_SRC)/*.c) +CXXSRC = applet/$(TARGET).cpp $(ARDUINO_SRC)/HardwareSerial.cpp \ + $(ARDUINO_LIB_SRC)/EEPROM/EEPROM.cpp \ + $(ARDUINO_LIB_SRC)/Firmata/Firmata.cpp \ + $(ARDUINO_LIB_SRC)/Servo/Servo.cpp \ + $(ARDUINO_SRC)/WMath.cpp +HEADERS = $(wildcard $(ARDUINO_SRC)/*.h) $(wildcard $(ARDUINO_LIB_SRC)/*/*.h) + +MCU = atmega168 +#MCU = atmega8 +F_CPU = 16000000 +FORMAT = ihex +UPLOAD_RATE = 19200 + +# Name of this Makefile (used for "make depend"). +MAKEFILE = Makefile + +# Debugging format. +# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. +# AVR (extended) COFF requires stabs, plus an avr-objcopy run. +DEBUG = stabs + +OPT = s + +# Place -D or -U options here +CDEFS = -DF_CPU=$(F_CPU) +CXXDEFS = -DF_CPU=$(F_CPU) + +# Compiler flag to set the C Standard level. +# c89 - "ANSI" C +# gnu89 - c89 plus GCC extensions +# c99 - ISO C99 standard (not yet fully implemented) +# gnu99 - c99 plus GCC extensions +CSTANDARD = -std=gnu99 +CDEBUG = -g$(DEBUG) +CWARN = -Wall -Wstrict-prototypes +CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums +#CEXTRA = -Wa,-adhlns=$(<:.c=.lst) + +CFLAGS = $(CDEBUG) $(CDEFS) $(INCLUDE) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA) +CXXFLAGS = $(CDEFS) $(INCLUDE) -O$(OPT) +#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs +LDFLAGS = + + +# Programming support using avrdude. Settings and variables. +AVRDUDE_PROGRAMMER = stk500 +AVRDUDE_PORT = $(PORT) +AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex +AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \ + -b $(UPLOAD_RATE) -q -V + +# Program settings +CC = avr-gcc +CXX = avr-g++ +OBJCOPY = avr-objcopy +OBJDUMP = avr-objdump +SIZE = avr-size +NM = avr-nm +AVRDUDE = avrdude +REMOVE = rm -f +MV = mv -f + +# Define all object files. +OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o) + +# Define all listing files. +LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst) + +# Combine all necessary flags and optional flags. +# Add target processor to flags. +ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) +ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS) +ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) + + +# Default target. +all: build + +build: applet/$(TARGET).hex + +eep: applet/$(TARGET).eep +lss: applet/$(TARGET).lss +sym: applet/$(TARGET).sym + + +# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. +COFFCONVERT=$(OBJCOPY) --debugging \ +--change-section-address .data-0x800000 \ +--change-section-address .bss-0x800000 \ +--change-section-address .noinit-0x800000 \ +--change-section-address .eeprom-0x810000 + + +coff: applet/$(TARGET).elf + $(COFFCONVERT) -O coff-avr applet/$(TARGET).elf applet/$(TARGET).cof + + +extcoff: applet/$(TARGET).elf + $(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf applet/$(TARGET).cof + + +.SUFFIXES: .elf .hex .eep .lss .sym .pde + +.elf.hex: + $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ + +.elf.eep: + -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ + --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ + +# Create extended listing file from ELF output file. +.elf.lss: + $(OBJDUMP) -h -S $< > $@ + +# Create a symbol table from ELF output file. +.elf.sym: + $(NM) -n $< > $@ + + +# Compile: create object files from C++ source files. +.cpp.o: $(HEADERS) + $(CXX) -c $(ALL_CXXFLAGS) $< -o $@ + +# Compile: create object files from C source files. +.c.o: $(HEADERS) + $(CC) -c $(ALL_CFLAGS) $< -o $@ + + +# Compile: create assembler files from C source files. +.c.s: + $(CC) -S $(ALL_CFLAGS) $< -o $@ + + +# Assemble: create object files from assembler source files. +.S.o: + $(CC) -c $(ALL_ASFLAGS) $< -o $@ + + + +applet/$(TARGET).cpp: $(TARGET).pde + test -d applet || mkdir applet + echo '#include "WProgram.h"' > applet/$(TARGET).cpp + echo '#include "avr/interrupt.h"' >> applet/$(TARGET).cpp + sed -n 's|^\(void .*)\).*|\1;|p' $(TARGET).pde | grep -v 'setup()' | \ + grep -v 'loop()' >> applet/$(TARGET).cpp + cat $(TARGET).pde >> applet/$(TARGET).cpp + cat $(ARDUINO_SRC)/main.cxx >> applet/$(TARGET).cpp + +# Link: create ELF output file from object files. +applet/$(TARGET).elf: applet/$(TARGET).cpp $(OBJ) + $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) + +pd_close_serial: + echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true + +# Program the device. +upload: applet/$(TARGET).hex + $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) + + +pd_test: build pd_close_serial upload + +# Target: clean project. +clean: + $(REMOVE) -- applet/$(TARGET).hex applet/$(TARGET).eep \ + applet/$(TARGET).cof applet/$(TARGET).elf $(TARGET).map \ + applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp \ + $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d) + rmdir -- applet + +depend: + if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \ + then \ + sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \ + $(MAKEFILE).$$$$ && \ + $(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \ + fi + echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \ + >> $(MAKEFILE); \ + $(CC) -M -mmcu=$(MCU) $(CDEFS) $(INCLUDE) $(SRC) $(ASRC) >> $(MAKEFILE) + +.PHONY: all build eep lss sym coff extcoff clean depend pd_close_serial pd_test + +# for emacs +etags: + make etags_`uname -s` + etags *.pde \ + $(ARDUINO_SRC)/*.[ch] \ + $(ARDUINO_SRC)/*.cpp \ + $(ARDUINO_LIB_SRC)/*/*.[ch] \ + $(ARDUINO_LIB_SRC)/*/*.cpp \ + $(ARDUINO)/hardware/tools/avr/avr/include/avr/*.[ch] \ + $(ARDUINO)/hardware/tools/avr/avr/include/*.[ch] + +etags_Darwin: +# etags -a + +etags_Linux: +# etags -a /usr/include/*.h linux/input.h /usr/include/sys/*.h + +etags_MINGW: +# etags -a /usr/include/*.h /usr/include/sys/*.h + + + diff --git a/libraries/Firmata/examples/SimpleDigitalFirmata/SimpleDigitalFirmata.pde b/libraries/Firmata/examples/SimpleDigitalFirmata/SimpleDigitalFirmata.pde new file mode 100644 index 0000000..1104a92 --- /dev/null +++ b/libraries/Firmata/examples/SimpleDigitalFirmata/SimpleDigitalFirmata.pde @@ -0,0 +1,58 @@ +/* Supports as many digital inputs and outputs as possible. + * + * This example code is in the public domain. + */ +#include + +byte previousPIN[2]; // PIN means PORT for input +byte previousPORT[2]; + +void outputPort(byte portNumber, byte portValue) +{ +// only send the data when it changes, otherwise you get too many messages! + if(previousPIN[portNumber] != portValue) { + Firmata.sendDigitalPort(portNumber, portValue); + previousPIN[portNumber] = portValue; + Firmata.sendDigitalPort(portNumber, portValue); + } +} + +void setPinModeCallback(byte pin, int mode) { + if(pin > 1) { // don't touch RxTx pins (0,1) + pinMode(pin, mode); + } +} + +void digitalWriteCallback(byte port, int value) +{ + byte i; + byte currentPinValue, previousPinValue; + + if(value != previousPORT[port]) { + for(i=0; i<8; i++) { + currentPinValue = (byte) value & (1 << i); + previousPinValue = previousPORT[port] & (1 << i); + if(currentPinValue != previousPinValue) { + digitalWrite(i + (port*8), currentPinValue); + } + } + previousPORT[port] = value; + } +} + +void setup() +{ + Firmata.setFirmwareVersion(0, 1); + Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback); + Firmata.attach(SET_PIN_MODE, setPinModeCallback); + Firmata.begin(); +} + +void loop() +{ + outputPort(0, PIND &~ B00000011); // pins 0-7, ignoring Rx/Tx pins (0/1) + outputPort(1, PINB); // pins 8-13 + while(Firmata.available()) { + Firmata.processInput(); + } +} diff --git a/libraries/Firmata/examples/StandardFirmata/LICENSE.txt b/libraries/Firmata/examples/StandardFirmata/LICENSE.txt new file mode 100644 index 0000000..77cec6d --- /dev/null +++ b/libraries/Firmata/examples/StandardFirmata/LICENSE.txt @@ -0,0 +1,458 @@ + + GNU LESSER GENERAL PUBLIC LICENSE + Version 2.1, February 1999 + + Copyright (C) 1991, 1999 Free Software Foundation, Inc. + 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + +[This is the first released version of the Lesser GPL. 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For software which is +copyrighted by the Free Software Foundation, write to the Free +Software Foundation; we sometimes make exceptions for this. Our +decision will be guided by the two goals of preserving the free status +of all derivatives of our free software and of promoting the sharing +and reuse of software generally. + + NO WARRANTY + + 15. BECAUSE THE LIBRARY IS LICENSED FREE OF CHARGE, THERE IS NO +WARRANTY FOR THE LIBRARY, TO THE EXTENT PERMITTED BY APPLICABLE LAW. +EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR +OTHER PARTIES PROVIDE THE LIBRARY "AS IS" WITHOUT WARRANTY OF ANY +KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR +PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE +LIBRARY IS WITH YOU. SHOULD THE LIBRARY PROVE DEFECTIVE, YOU ASSUME +THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION. + + 16. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN +WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY +AND/OR REDISTRIBUTE THE LIBRARY AS PERMITTED ABOVE, BE LIABLE TO YOU +FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR +CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE +LIBRARY (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING +RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A +FAILURE OF THE LIBRARY TO OPERATE WITH ANY OTHER SOFTWARE), EVEN IF +SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH +DAMAGES. + diff --git a/libraries/Firmata/examples/StandardFirmata/Makefile b/libraries/Firmata/examples/StandardFirmata/Makefile new file mode 100644 index 0000000..55ca8c2 --- /dev/null +++ b/libraries/Firmata/examples/StandardFirmata/Makefile @@ -0,0 +1,261 @@ +# Arduino makefile +# +# This makefile allows you to build sketches from the command line +# without the Arduino environment (or Java). +# +# The Arduino environment does preliminary processing on a sketch before +# compiling it. If you're using this makefile instead, you'll need to do +# a few things differently: +# +# - Give your program's file a .cpp extension (e.g. foo.cpp). +# +# - Put this line at top of your code: #include +# +# - Write prototypes for all your functions (or define them before you +# call them). A prototype declares the types of parameters a +# function will take and what type of value it will return. This +# means that you can have a call to a function before the definition +# of the function. A function prototype looks like the first line of +# the function, with a semi-colon at the end. For example: +# int digitalRead(int pin); +# +# Instructions for using the makefile: +# +# 1. Copy this file into the folder with your sketch. +# +# 2. Below, modify the line containing "TARGET" to refer to the name of +# of your program's file without an extension (e.g. TARGET = foo). +# +# 3. Modify the line containg "ARDUINO" to point the directory that +# contains the Arduino core (for normal Arduino installations, this +# is the hardware/cores/arduino sub-directory). +# +# 4. Modify the line containing "PORT" to refer to the filename +# representing the USB or serial connection to your Arduino board +# (e.g. PORT = /dev/tty.USB0). If the exact name of this file +# changes, you can use * as a wildcard (e.g. PORT = /dev/tty.USB*). +# +# 5. At the command line, change to the directory containing your +# program's file and the makefile. +# +# 6. Type "make" and press enter to compile/verify your program. +# +# 7. Type "make upload", reset your Arduino board, and press enter to +# upload your program to the Arduino board. +# +# $Id: Makefile,v 1.7 2007/04/13 05:28:23 eighthave Exp $ + +PORT = /dev/tty.usbserial-* +TARGET := $(shell pwd | sed 's|.*/\(.*\)|\1|') +ARDUINO = /Applications/arduino +ARDUINO_SRC = $(ARDUINO)/hardware/cores/arduino +ARDUINO_LIB_SRC = $(ARDUINO)/hardware/libraries +INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/hardware/tools/avr/avr/include \ + -I$(ARDUINO_LIB_SRC)/EEPROM \ + -I$(ARDUINO_LIB_SRC)/Firmata \ + -I$(ARDUINO_LIB_SRC) +SRC = $(wildcard $(ARDUINO_SRC)/*.c) +CXXSRC = applet/$(TARGET).cpp $(ARDUINO_SRC)/HardwareSerial.cpp \ + $(ARDUINO_LIB_SRC)/EEPROM/EEPROM.cpp \ + $(ARDUINO_LIB_SRC)/Firmata/Firmata.cpp \ + $(ARDUINO_SRC)/WMath.cpp +HEADERS = $(wildcard $(ARDUINO_SRC)/*.h) $(wildcard $(ARDUINO_LIB_SRC)/*/*.h) + +MCU = atmega168 +#MCU = atmega8 +F_CPU = 16000000 +FORMAT = ihex +UPLOAD_RATE = 19200 + +# Name of this Makefile (used for "make depend"). +MAKEFILE = Makefile + +# Debugging format. +# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. +# AVR (extended) COFF requires stabs, plus an avr-objcopy run. +DEBUG = stabs + +OPT = s + +# Place -D or -U options here +CDEFS = -DF_CPU=$(F_CPU) +CXXDEFS = -DF_CPU=$(F_CPU) + +# Compiler flag to set the C Standard level. +# c89 - "ANSI" C +# gnu89 - c89 plus GCC extensions +# c99 - ISO C99 standard (not yet fully implemented) +# gnu99 - c99 plus GCC extensions +CSTANDARD = -std=gnu99 +CDEBUG = -g$(DEBUG) +CWARN = -Wall -Wstrict-prototypes +CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums +#CEXTRA = -Wa,-adhlns=$(<:.c=.lst) + +CFLAGS = $(CDEBUG) $(CDEFS) $(INCLUDE) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA) +CXXFLAGS = $(CDEFS) $(INCLUDE) -O$(OPT) +#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs +LDFLAGS = + + +# Programming support using avrdude. Settings and variables. +AVRDUDE_PROGRAMMER = stk500 +AVRDUDE_PORT = $(PORT) +AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex +AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \ + -b $(UPLOAD_RATE) -q -V + +# Program settings +CC = avr-gcc +CXX = avr-g++ +OBJCOPY = avr-objcopy +OBJDUMP = avr-objdump +SIZE = avr-size +NM = avr-nm +AVRDUDE = avrdude +REMOVE = rm -f +MV = mv -f + +# Define all object files. +OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o) + +# Define all listing files. +LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst) + +# Combine all necessary flags and optional flags. +# Add target processor to flags. +ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) +ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS) +ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) + + +# Default target. +all: build + +build: applet/$(TARGET).hex + +eep: applet/$(TARGET).eep +lss: applet/$(TARGET).lss +sym: applet/$(TARGET).sym + + +# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. +COFFCONVERT=$(OBJCOPY) --debugging \ +--change-section-address .data-0x800000 \ +--change-section-address .bss-0x800000 \ +--change-section-address .noinit-0x800000 \ +--change-section-address .eeprom-0x810000 + + +coff: applet/$(TARGET).elf + $(COFFCONVERT) -O coff-avr applet/$(TARGET).elf applet/$(TARGET).cof + + +extcoff: applet/$(TARGET).elf + $(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf applet/$(TARGET).cof + + +.SUFFIXES: .elf .hex .eep .lss .sym .pde + +.elf.hex: + $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ + +.elf.eep: + -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ + --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ + +# Create extended listing file from ELF output file. +.elf.lss: + $(OBJDUMP) -h -S $< > $@ + +# Create a symbol table from ELF output file. +.elf.sym: + $(NM) -n $< > $@ + + +# Compile: create object files from C++ source files. +.cpp.o: $(HEADERS) + $(CXX) -c $(ALL_CXXFLAGS) $< -o $@ + +# Compile: create object files from C source files. +.c.o: $(HEADERS) + $(CC) -c $(ALL_CFLAGS) $< -o $@ + + +# Compile: create assembler files from C source files. +.c.s: + $(CC) -S $(ALL_CFLAGS) $< -o $@ + + +# Assemble: create object files from assembler source files. +.S.o: + $(CC) -c $(ALL_ASFLAGS) $< -o $@ + + + +applet/$(TARGET).cpp: $(TARGET).pde + test -d applet || mkdir applet + echo '#include "WProgram.h"' > applet/$(TARGET).cpp + echo '#include "avr/interrupt.h"' >> applet/$(TARGET).cpp + sed -n 's|^\(void .*)\).*|\1;|p' $(TARGET).pde | grep -v 'setup()' | \ + grep -v 'loop()' >> applet/$(TARGET).cpp + cat $(TARGET).pde >> applet/$(TARGET).cpp + cat $(ARDUINO_SRC)/main.cxx >> applet/$(TARGET).cpp + +# Link: create ELF output file from object files. +applet/$(TARGET).elf: applet/$(TARGET).cpp $(OBJ) + $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) + +pd_close_serial: + echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true + +# Program the device. +upload: applet/$(TARGET).hex + $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) + + +pd_test: build pd_close_serial upload + +# Target: clean project. +clean: + $(REMOVE) -- applet/$(TARGET).hex applet/$(TARGET).eep \ + applet/$(TARGET).cof applet/$(TARGET).elf $(TARGET).map \ + applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp \ + $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d) + rmdir -- applet + +depend: + if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \ + then \ + sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \ + $(MAKEFILE).$$$$ && \ + $(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \ + fi + echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \ + >> $(MAKEFILE); \ + $(CC) -M -mmcu=$(MCU) $(CDEFS) $(INCLUDE) $(SRC) $(ASRC) >> $(MAKEFILE) + +.PHONY: all build eep lss sym coff extcoff clean depend pd_close_serial pd_test + +# for emacs +etags: + make etags_`uname -s` + etags *.pde \ + $(ARDUINO_SRC)/*.[ch] \ + $(ARDUINO_SRC)/*.cpp \ + $(ARDUINO_LIB_SRC)/*/*.[ch] \ + $(ARDUINO_LIB_SRC)/*/*.cpp \ + $(ARDUINO)/hardware/tools/avr/avr/include/avr/*.[ch] \ + $(ARDUINO)/hardware/tools/avr/avr/include/*.[ch] + +etags_Darwin: +# etags -a + +etags_Linux: +# etags -a /usr/include/*.h linux/input.h /usr/include/sys/*.h + +etags_MINGW: +# etags -a /usr/include/*.h /usr/include/sys/*.h + + + diff --git a/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde b/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde new file mode 100644 index 0000000..4cc8539 --- /dev/null +++ b/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde @@ -0,0 +1,226 @@ +/* + Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + See file LICENSE.txt for further informations on licensing terms. + */ + +/* + * TODO: add Servo support using setPinMode(pin, SERVO); + * TODO: use Program Control to load stored profiles from EEPROM + */ + +#include +#include + +/*============================================================================== + * GLOBAL VARIABLES + *============================================================================*/ + +/* analog inputs */ +int analogInputsToReport = 0; // bitwise array to store pin reporting +int analogPin = 0; // counter for reading analog pins + +/* digital pins */ +byte reportPINs[TOTAL_PORTS]; // PIN == input port +byte previousPINs[TOTAL_PORTS]; // PIN == input port +byte pinStatus[TOTAL_DIGITAL_PINS]; // store pin status, default OUTPUT +byte portStatus[TOTAL_PORTS]; + +/* timer variables */ +unsigned long currentMillis; // store the current value from millis() +unsigned long nextExecuteMillis; // for comparison with currentMillis + + +/*============================================================================== + * FUNCTIONS + *============================================================================*/ + +void outputPort(byte portNumber, byte portValue) +{ + portValue = portValue &~ portStatus[portNumber]; + if(previousPINs[portNumber] != portValue) { + Firmata.sendDigitalPort(portNumber, portValue); + previousPINs[portNumber] = portValue; + Firmata.sendDigitalPort(portNumber, portValue); + } +} + +/* ----------------------------------------------------------------------------- + * check all the active digital inputs for change of state, then add any events + * to the Serial output queue using Serial.print() */ +void checkDigitalInputs(void) +{ + byte i, tmp; + for(i=0; i < TOTAL_PORTS; i++) { + if(reportPINs[i]) { + switch(i) { + case 0: outputPort(0, PIND &~ B00000011); break; // ignore Rx/Tx 0/1 + case 1: outputPort(1, PINB); break; + case ANALOG_PORT: outputPort(ANALOG_PORT, PINC); break; + } + } + } +} + +// ----------------------------------------------------------------------------- +/* sets the pin mode to the correct state and sets the relevant bits in the + * two bit-arrays that track Digital I/O and PWM status + */ +void setPinModeCallback(byte pin, int mode) { + byte port = 0; + byte offset = 0; + + if (pin < 8) { + port = 0; + offset = 0; + } else if (pin < 14) { + port = 1; + offset = 8; + } else if (pin < 22) { + port = 2; + offset = 14; + } + + if(pin > 1) { // ignore RxTx (pins 0 and 1) + pinStatus[pin] = mode; + switch(mode) { + case INPUT: + pinMode(pin, INPUT); + portStatus[port] = portStatus[port] &~ (1 << (pin - offset)); + break; + case OUTPUT: + digitalWrite(pin, LOW); // disable PWM + case PWM: + pinMode(pin, OUTPUT); + portStatus[port] = portStatus[port] | (1 << (pin - offset)); + break; + //case ANALOG: // TODO figure this out + default: + Firmata.sendString(""); + } + // TODO: save status to EEPROM here, if changed + } +} + +void analogWriteCallback(byte pin, int value) +{ + setPinModeCallback(pin,PWM); + analogWrite(pin, value); +} + +void digitalWriteCallback(byte port, int value) +{ + switch(port) { + case 0: // pins 2-7 (don't change Rx/Tx, pins 0 and 1) + // 0xFF03 == B1111111100000011 0x03 == B00000011 + PORTD = (value &~ 0xFF03) | (PORTD & 0x03); + break; + case 1: // pins 8-13 (14,15 are disabled for the crystal) + PORTB = (byte)value; + break; + case 2: // analog pins used as digital + PORTC = (byte)value; + break; + } +} + +// ----------------------------------------------------------------------------- +/* sets bits in a bit array (int) to toggle the reporting of the analogIns + */ +//void FirmataClass::setAnalogPinReporting(byte pin, byte state) { +//} +void reportAnalogCallback(byte pin, int value) +{ + if(value == 0) { + analogInputsToReport = analogInputsToReport &~ (1 << pin); + } + else { // everything but 0 enables reporting of that pin + analogInputsToReport = analogInputsToReport | (1 << pin); + } + // TODO: save status to EEPROM here, if changed +} + +void reportDigitalCallback(byte port, int value) +{ + reportPINs[port] = (byte)value; + if(port == ANALOG_PORT) // turn off analog reporting when used as digital + analogInputsToReport = 0; +} + +/*============================================================================== + * SETUP() + *============================================================================*/ +void setup() +{ + byte i; + + Firmata.setFirmwareVersion(2, 0); + + Firmata.attach(ANALOG_MESSAGE, analogWriteCallback); + Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback); + Firmata.attach(REPORT_ANALOG, reportAnalogCallback); + Firmata.attach(REPORT_DIGITAL, reportDigitalCallback); + Firmata.attach(SET_PIN_MODE, setPinModeCallback); + + portStatus[0] = B00000011; // ignore Tx/RX pins + portStatus[1] = B11000000; // ignore 14/15 pins + portStatus[2] = B00000000; + +// for(i=0; i nextExecuteMillis) { + nextExecuteMillis = currentMillis + 19; // run this every 20ms + /* SERIALREAD - Serial.read() uses a 128 byte circular buffer, so handle + * all serialReads at once, i.e. empty the buffer */ + while(Firmata.available()) + Firmata.processInput(); + /* SEND FTDI WRITE BUFFER - make sure that the FTDI buffer doesn't go over + * 60 bytes. use a timer to sending an event character every 4 ms to + * trigger the buffer to dump. */ + + /* ANALOGREAD - right after the event character, do all of the + * analogReads(). These only need to be done every 4ms. */ + for(analogPin=0;analogPin Date: Tue, 14 Jul 2009 21:32:55 +0000 Subject: Updating to Firmata-2.1beta1 (rev 23). --- .../examples/AnalogFirmata/AnalogFirmata.pde | 2 +- .../Firmata/examples/EchoString/EchoString.pde | 4 +- .../Firmata/examples/I2CFirmata/I2CFirmata.pde | 220 +++++++++++++++ .../Firmata/examples/ServoFirmata/ServoFirmata.pde | 2 +- .../SimpleAnalogFirmata/SimpleAnalogFirmata.pde | 2 +- .../SimpleDigitalFirmata/SimpleDigitalFirmata.pde | 2 +- .../Firmata/examples/StandardFirmata/Makefile | 26 +- .../examples/StandardFirmata/StandardFirmata.pde | 312 +++++++++++++-------- 8 files changed, 434 insertions(+), 136 deletions(-) create mode 100644 libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde (limited to 'libraries/Firmata/examples') diff --git a/libraries/Firmata/examples/AnalogFirmata/AnalogFirmata.pde b/libraries/Firmata/examples/AnalogFirmata/AnalogFirmata.pde index fcd8e5e..ab83726 100644 --- a/libraries/Firmata/examples/AnalogFirmata/AnalogFirmata.pde +++ b/libraries/Firmata/examples/AnalogFirmata/AnalogFirmata.pde @@ -61,7 +61,7 @@ void setup() servo9.attach(9); servo10.attach(10); - Firmata.begin(); + Firmata.begin(57600); } /*============================================================================== diff --git a/libraries/Firmata/examples/EchoString/EchoString.pde b/libraries/Firmata/examples/EchoString/EchoString.pde index ed13ad8..6559ae1 100644 --- a/libraries/Firmata/examples/EchoString/EchoString.pde +++ b/libraries/Firmata/examples/EchoString/EchoString.pde @@ -25,9 +25,9 @@ void sysexCallback(byte command, byte argc, byte*argv) void setup() { Firmata.setFirmwareVersion(0, 1); - Firmata.attach(FIRMATA_STRING, stringCallback); + Firmata.attach(STRING_DATA, stringCallback); Firmata.attach(START_SYSEX, sysexCallback); - Firmata.begin(); + Firmata.begin(57600); } void loop() diff --git a/libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde b/libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde new file mode 100644 index 0000000..ffcb589 --- /dev/null +++ b/libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde @@ -0,0 +1,220 @@ +/* + Copyright (C) 2009 Jeff Hoefs. All rights reserved. + Copyright (C) 2009 Shigeru Kobayashi. All rights reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + See file LICENSE.txt for further informations on licensing terms. + */ + +#include +#include + + +#define I2C_WRITE B00000000 +#define I2C_READ B00001000 +#define I2C_READ_CONTINUOUSLY B00010000 +#define I2C_STOP_READING B00011000 +#define I2C_READ_WRITE_MODE_MASK B00011000 + +#define MAX_QUERIES 8 + +unsigned long currentMillis; // store the current value from millis() +unsigned long nextExecuteMillis; // for comparison with currentMillis +unsigned int samplingInterval = 32; // default sampling interval is 33ms +unsigned int i2cReadDelayTime = 0; // default delay time between i2c read request and Wire.requestFrom() +unsigned int powerPinsEnabled = 0; // use as boolean to prevent enablePowerPins from being called more than once + +#define MINIMUM_SAMPLING_INTERVAL 10 + +#define REGISTER_NOT_SPECIFIED -1 + +struct i2c_device_info { + byte addr; + byte reg; + byte bytes; +}; + +i2c_device_info query[MAX_QUERIES]; + +byte i2cRxData[32]; +boolean readingContinuously = false; +byte queryIndex = 0; + +void readAndReportData(byte address, int theRegister, byte numBytes) +{ + if (theRegister != REGISTER_NOT_SPECIFIED) { + Wire.beginTransmission(address); + Wire.send((byte)theRegister); + Wire.endTransmission(); + delayMicroseconds(i2cReadDelayTime); // delay is necessary for some devices such as WiiNunchuck + } + else { + theRegister = 0; // fill the register with a dummy value + } + + Wire.requestFrom(address, numBytes); + + // check to be sure correct number of bytes were returned by slave + if(numBytes == Wire.available()) { + i2cRxData[0] = address; + i2cRxData[1] = theRegister; + for (int i = 0; i < numBytes; i++) { + i2cRxData[2 + i] = Wire.receive(); + } + // send slave address, register and received bytes + Firmata.sendSysex(I2C_REPLY, numBytes + 2, i2cRxData); + } + else { + if(numBytes > Wire.available()) { + Firmata.sendString("I2C Read Error: Too many bytes received"); + } else { + Firmata.sendString("I2C Read Error: Too few bytes received"); + } + } + +} + +void sysexCallback(byte command, byte argc, byte *argv) +{ + byte mode; + byte slaveAddress; + byte slaveRegister; + byte data; + int delayTime; + + if (command == I2C_REQUEST) { + mode = argv[1] & I2C_READ_WRITE_MODE_MASK; + slaveAddress = argv[0]; + + switch(mode) { + case I2C_WRITE: + Wire.beginTransmission(slaveAddress); + for (byte i = 2; i < argc; i += 2) { + data = argv[i] + (argv[i + 1] << 7); + Wire.send(data); + } + Wire.endTransmission(); + delayMicroseconds(70); // TODO is this needed? + break; + case I2C_READ: + if (argc == 6) { + // a slave register is specified + slaveRegister = argv[2] + (argv[3] << 7); + data = argv[4] + (argv[5] << 7); // bytes to read + readAndReportData(slaveAddress, (int)slaveRegister, data); + } + else { + // a slave register is NOT specified + data = argv[2] + (argv[3] << 7); // bytes to read + readAndReportData(slaveAddress, (int)REGISTER_NOT_SPECIFIED, data); + } + break; + case I2C_READ_CONTINUOUSLY: + if ((queryIndex + 1) >= MAX_QUERIES) { + // too many queries, just ignore + Firmata.sendString("too many queries"); + break; + } + query[queryIndex].addr = slaveAddress; + query[queryIndex].reg = argv[2] + (argv[3] << 7); + query[queryIndex].bytes = argv[4] + (argv[5] << 7); + readingContinuously = true; + queryIndex++; + break; + case I2C_STOP_READING: + readingContinuously = false; + queryIndex = 0; + break; + default: + break; + } + } + else if (command == SAMPLING_INTERVAL) { + samplingInterval = argv[0] + (argv[1] << 7); + + if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) { + samplingInterval = MINIMUM_SAMPLING_INTERVAL; + } + + samplingInterval -= 1; + Firmata.sendString("sampling interval"); + } + + else if (command == I2C_CONFIG) { + delayTime = (argv[4] + (argv[5] << 7)); // MSB + delayTime = (delayTime << 8) + (argv[2] + (argv[3] << 7)); // add LSB + + if((argv[0] + (argv[1] << 7)) > 0) { + enablePowerPins(PC3, PC2); + } + + if(delayTime > 0) { + i2cReadDelayTime = delayTime; + } + + if(argc > 6) { + // If you extend I2C_Config, handle your data here + } + + } +} + +void systemResetCallback() +{ + readingContinuously = false; + queryIndex = 0; +} + +/* reference: BlinkM_funcs.h by Tod E. Kurt, ThingM, http://thingm.com/ */ +// Enables Pins A2 and A3 to be used as GND and Power +// so that I2C devices can be plugged directly +// into Arduino header (pins A2 - A5) +static void enablePowerPins(byte pwrpin, byte gndpin) +{ + if(powerPinsEnabled == 0) { + DDRC |= _BV(pwrpin) | _BV(gndpin); + PORTC &=~ _BV(gndpin); + PORTC |= _BV(pwrpin); + powerPinsEnabled = 1; + Firmata.sendString("Power pins enabled"); + delay(100); + } +} + +void setup() +{ + Firmata.setFirmwareVersion(2, 0); + + Firmata.attach(START_SYSEX, sysexCallback); + Firmata.attach(SYSTEM_RESET, systemResetCallback); + + for (int i = 0; i < TOTAL_DIGITAL_PINS; ++i) { + pinMode(i, OUTPUT); + } + + /* I2C data is not reliable at higher baud rates, you'll need to change the + baud rate on the host computer as well. To get a firmware running with + minimal effort, you can try using the default baud rate (115200) */ + Firmata.begin(38400); + Wire.begin(); +} + +void loop() +{ + while (Firmata.available()) { + Firmata.processInput(); + } + + currentMillis = millis(); + if (currentMillis > nextExecuteMillis) { + nextExecuteMillis = currentMillis + samplingInterval; + + for (byte i = 0; i < queryIndex; i++) { + readAndReportData(query[i].addr, query[i].reg, query[i].bytes); + } + } +} diff --git a/libraries/Firmata/examples/ServoFirmata/ServoFirmata.pde b/libraries/Firmata/examples/ServoFirmata/ServoFirmata.pde index a3c609c..fa48e2b 100644 --- a/libraries/Firmata/examples/ServoFirmata/ServoFirmata.pde +++ b/libraries/Firmata/examples/ServoFirmata/ServoFirmata.pde @@ -28,7 +28,7 @@ void setup() servo9.attach(9); servo10.attach(10); - Firmata.begin(); + Firmata.begin(57600); } void loop() diff --git a/libraries/Firmata/examples/SimpleAnalogFirmata/SimpleAnalogFirmata.pde b/libraries/Firmata/examples/SimpleAnalogFirmata/SimpleAnalogFirmata.pde index 2950c01..430d0d0 100644 --- a/libraries/Firmata/examples/SimpleAnalogFirmata/SimpleAnalogFirmata.pde +++ b/libraries/Firmata/examples/SimpleAnalogFirmata/SimpleAnalogFirmata.pde @@ -16,7 +16,7 @@ void setup() { Firmata.setFirmwareVersion(0, 1); Firmata.attach(ANALOG_MESSAGE, analogWriteCallback); - Firmata.begin(); + Firmata.begin(57600); } void loop() diff --git a/libraries/Firmata/examples/SimpleDigitalFirmata/SimpleDigitalFirmata.pde b/libraries/Firmata/examples/SimpleDigitalFirmata/SimpleDigitalFirmata.pde index 1104a92..9c4e05d 100644 --- a/libraries/Firmata/examples/SimpleDigitalFirmata/SimpleDigitalFirmata.pde +++ b/libraries/Firmata/examples/SimpleDigitalFirmata/SimpleDigitalFirmata.pde @@ -45,7 +45,7 @@ void setup() Firmata.setFirmwareVersion(0, 1); Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback); Firmata.attach(SET_PIN_MODE, setPinModeCallback); - Firmata.begin(); + Firmata.begin(57600); } void loop() diff --git a/libraries/Firmata/examples/StandardFirmata/Makefile b/libraries/Firmata/examples/StandardFirmata/Makefile index 55ca8c2..835187a 100644 --- a/libraries/Firmata/examples/StandardFirmata/Makefile +++ b/libraries/Firmata/examples/StandardFirmata/Makefile @@ -50,14 +50,20 @@ TARGET := $(shell pwd | sed 's|.*/\(.*\)|\1|') ARDUINO = /Applications/arduino ARDUINO_SRC = $(ARDUINO)/hardware/cores/arduino ARDUINO_LIB_SRC = $(ARDUINO)/hardware/libraries +ARDUINO_TOOLS = $(ARDUINO)/hardware/tools INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/hardware/tools/avr/avr/include \ -I$(ARDUINO_LIB_SRC)/EEPROM \ -I$(ARDUINO_LIB_SRC)/Firmata \ + -I$(ARDUINO_LIB_SRC)/Matrix \ + -I$(ARDUINO_LIB_SRC)/Servo \ + -I$(ARDUINO_LIB_SRC)/Wire \ -I$(ARDUINO_LIB_SRC) SRC = $(wildcard $(ARDUINO_SRC)/*.c) CXXSRC = applet/$(TARGET).cpp $(ARDUINO_SRC)/HardwareSerial.cpp \ $(ARDUINO_LIB_SRC)/EEPROM/EEPROM.cpp \ $(ARDUINO_LIB_SRC)/Firmata/Firmata.cpp \ + $(ARDUINO_LIB_SRC)/Servo/Servo.cpp \ + $(ARDUINO_SRC)/Print.cpp \ $(ARDUINO_SRC)/WMath.cpp HEADERS = $(wildcard $(ARDUINO_SRC)/*.h) $(wildcard $(ARDUINO_LIB_SRC)/*/*.h) @@ -106,12 +112,14 @@ AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \ -b $(UPLOAD_RATE) -q -V # Program settings -CC = avr-gcc -CXX = avr-g++ -OBJCOPY = avr-objcopy -OBJDUMP = avr-objdump -SIZE = avr-size -NM = avr-nm +ARDUINO_AVR_BIN = $(ARDUINO_TOOLS)/avr/bin +CC = $(ARDUINO_AVR_BIN)/avr-gcc +CXX = $(ARDUINO_AVR_BIN)/avr-g++ +OBJCOPY = $(ARDUINO_AVR_BIN)/avr-objcopy +OBJDUMP = $(ARDUINO_AVR_BIN)/avr-objdump +SIZE = $(ARDUINO_AVR_BIN)/avr-size +NM = $(ARDUINO_AVR_BIN)/avr-nm +#AVRDUDE = $(ARDUINO_AVR_BIN)/avrdude AVRDUDE = avrdude REMOVE = rm -f MV = mv -f @@ -204,7 +212,8 @@ applet/$(TARGET).cpp: $(TARGET).pde # Link: create ELF output file from object files. applet/$(TARGET).elf: applet/$(TARGET).cpp $(OBJ) - $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) + $(CC) $(ALL_CFLAGS) $(OBJ) -lm --output $@ $(LDFLAGS) +# $(CC) $(ALL_CFLAGS) $(OBJ) $(ARDUINO_TOOLS)/avr/avr/lib/avr5/crtm168.o --output $@ $(LDFLAGS) pd_close_serial: echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true @@ -258,4 +267,7 @@ etags_MINGW: # etags -a /usr/include/*.h /usr/include/sys/*.h +path: + echo $(PATH) + echo $$PATH diff --git a/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde b/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde index 4cc8539..02192cc 100644 --- a/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde +++ b/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde @@ -1,21 +1,24 @@ /* Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved. - + This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. See file LICENSE.txt for further informations on licensing terms. - */ + + formatted using the GNU C formatting and indenting +*/ + /* - * TODO: add Servo support using setPinMode(pin, SERVO); + * TODO: add Servo support using setPinModeCallback(pin, SERVO); * TODO: use Program Control to load stored profiles from EEPROM */ -#include #include +#include /*============================================================================== * GLOBAL VARIABLES @@ -34,37 +37,45 @@ byte portStatus[TOTAL_PORTS]; /* timer variables */ unsigned long currentMillis; // store the current value from millis() unsigned long nextExecuteMillis; // for comparison with currentMillis +int samplingInterval = 19; // how often to run the main loop (in ms) +Servo servos[2]; // the servo library can control servos on pins 9 and 10 only /*============================================================================== - * FUNCTIONS + * FUNCTIONS *============================================================================*/ void outputPort(byte portNumber, byte portValue) { portValue = portValue &~ portStatus[portNumber]; if(previousPINs[portNumber] != portValue) { - Firmata.sendDigitalPort(portNumber, portValue); - previousPINs[portNumber] = portValue; - Firmata.sendDigitalPort(portNumber, portValue); - } + Firmata.sendDigitalPort(portNumber, portValue); + previousPINs[portNumber] = portValue; + Firmata.sendDigitalPort(portNumber, portValue); + } } /* ----------------------------------------------------------------------------- * check all the active digital inputs for change of state, then add any events * to the Serial output queue using Serial.print() */ -void checkDigitalInputs(void) +void checkDigitalInputs(void) { - byte i, tmp; - for(i=0; i < TOTAL_PORTS; i++) { - if(reportPINs[i]) { - switch(i) { - case 0: outputPort(0, PIND &~ B00000011); break; // ignore Rx/Tx 0/1 - case 1: outputPort(1, PINB); break; - case ANALOG_PORT: outputPort(ANALOG_PORT, PINC); break; - } - } + byte i, tmp; + for(i=0; i < TOTAL_PORTS; i++) { + if(reportPINs[i]) { + switch(i) { + case 0: + outputPort(0, PIND &~ B00000011); // ignore Rx/Tx 0/1 + break; + case 1: + outputPort(1, PINB); + break; + case ANALOG_PORT: + outputPort(ANALOG_PORT, PINC); + break; + } } + } } // ----------------------------------------------------------------------------- @@ -72,61 +83,87 @@ void checkDigitalInputs(void) * two bit-arrays that track Digital I/O and PWM status */ void setPinModeCallback(byte pin, int mode) { - byte port = 0; - byte offset = 0; - - if (pin < 8) { - port = 0; - offset = 0; - } else if (pin < 14) { - port = 1; - offset = 8; - } else if (pin < 22) { - port = 2; - offset = 14; - } + byte port = 0; + byte offset = 0; - if(pin > 1) { // ignore RxTx (pins 0 and 1) + // TODO: abstract for different boards + if (pin < 8) { + port = 0; + offset = 0; + } else if (pin < 14) { + port = 1; + offset = 8; + } else if (pin < 22) { + port = 2; + offset = 14; + } + + if(pin > 1) { // ignore RxTx (pins 0 and 1) + reportAnalogCallback(pin - 14, mode == ANALOG ? 1 : 0); // turn on/off reporting + switch(mode) { + case ANALOG: + digitalWrite(pin, LOW); // disable internal pull-ups and fall thru to 'case INPUT:' + case INPUT: + pinStatus[pin] = mode; + pinMode(pin, INPUT); + portStatus[port] = portStatus[port] &~ (1 << (pin - offset)); + break; + case OUTPUT: + digitalWrite(pin, LOW); // disable PWM and fall thru to 'case PWM:' + case PWM: + pinStatus[pin] = mode; + pinMode(pin, OUTPUT); + portStatus[port] = portStatus[port] | (1 << (pin - offset)); + break; + case SERVO: + if((pin == 9 || pin == 10)) pinStatus[pin] = mode; - switch(mode) { - case INPUT: - pinMode(pin, INPUT); - portStatus[port] = portStatus[port] &~ (1 << (pin - offset)); - break; - case OUTPUT: - digitalWrite(pin, LOW); // disable PWM - case PWM: - pinMode(pin, OUTPUT); - portStatus[port] = portStatus[port] | (1 << (pin - offset)); - break; - //case ANALOG: // TODO figure this out - default: - Firmata.sendString(""); - } - // TODO: save status to EEPROM here, if changed + else + Firmata.sendString("Servo only on pins 9 and 10"); + break; + case I2C: + pinStatus[pin] = mode; + Firmata.sendString("I2C mode not yet supported"); + break; + default: + Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM } + // TODO: save status to EEPROM here, if changed + } } void analogWriteCallback(byte pin, int value) { - setPinModeCallback(pin,PWM); + switch(pinStatus[pin]) { + case SERVO: + if(pin == 9) servos[0].write(value); + if(pin == 10) servos[1].write(value); + break; + case PWM: analogWrite(pin, value); + break; + } } void digitalWriteCallback(byte port, int value) { - switch(port) { - case 0: // pins 2-7 (don't change Rx/Tx, pins 0 and 1) - // 0xFF03 == B1111111100000011 0x03 == B00000011 - PORTD = (value &~ 0xFF03) | (PORTD & 0x03); - break; - case 1: // pins 8-13 (14,15 are disabled for the crystal) - PORTB = (byte)value; - break; - case 2: // analog pins used as digital - PORTC = (byte)value; - break; - } + switch(port) { + case 0: // pins 2-7 (don't change Rx/Tx, pins 0 and 1) + // 0xFF03 == B1111111100000011 0x03 == B00000011 + PORTD = (value &~ 0xFF03) | (PORTD & 0x03); + break; + case 1: // pins 8-13 (14,15 are disabled for the crystal) + PORTB = (byte)value; + break; + case 2: // analog pins used as digital + byte pin; + byte pinModeMask; + for(pin=0; pin<8; pin++) + if(pinStatus[pin] == OUTPUT) + pinModeMask += 1 << pin; + PORTC = (byte)value & pinModeMask; + break; + } } // ----------------------------------------------------------------------------- @@ -136,64 +173,93 @@ void digitalWriteCallback(byte port, int value) //} void reportAnalogCallback(byte pin, int value) { - if(value == 0) { - analogInputsToReport = analogInputsToReport &~ (1 << pin); - } - else { // everything but 0 enables reporting of that pin - analogInputsToReport = analogInputsToReport | (1 << pin); - } - // TODO: save status to EEPROM here, if changed + if(value == 0) { + analogInputsToReport = analogInputsToReport &~ (1 << pin); + } + else { // everything but 0 enables reporting of that pin + analogInputsToReport = analogInputsToReport | (1 << pin); + setPinModeCallback(pin, ANALOG); + } + // TODO: save status to EEPROM here, if changed } void reportDigitalCallback(byte port, int value) { - reportPINs[port] = (byte)value; - if(port == ANALOG_PORT) // turn off analog reporting when used as digital - analogInputsToReport = 0; + reportPINs[port] = (byte)value; + if(port == ANALOG_PORT) // turn off analog reporting when used as digital + analogInputsToReport = 0; +} + +/*============================================================================== + * SYSEX-BASED commands + *============================================================================*/ + +void sysexCallback(byte command, byte argc, byte *argv) +{ + switch(command) { + case SERVO_CONFIG: + if(argc > 4) { + // these vars are here for clarity, they'll optimized away by the compiler + byte pin = argv[0] - 9; // servos are pins 9 and 10, so offset for array + int minPulse = argv[1] + (argv[2] << 7); + int maxPulse = argv[3] + (argv[4] << 7); + servos[pin].attach(argv[0], minPulse, maxPulse); + // TODO does the Servo have to be detach()ed before reconfiguring? + setPinModeCallback(pin, SERVO); + } + break; + case SAMPLING_INTERVAL: + if (argc > 1) + samplingInterval = argv[0] + (argv[1] << 7); + else + Firmata.sendString("Not enough data"); + break; + } } + /*============================================================================== * SETUP() *============================================================================*/ void setup() { - byte i; + byte i; - Firmata.setFirmwareVersion(2, 0); + Firmata.setFirmwareVersion(2, 1); - Firmata.attach(ANALOG_MESSAGE, analogWriteCallback); - Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback); - Firmata.attach(REPORT_ANALOG, reportAnalogCallback); - Firmata.attach(REPORT_DIGITAL, reportDigitalCallback); - Firmata.attach(SET_PIN_MODE, setPinModeCallback); + Firmata.attach(ANALOG_MESSAGE, analogWriteCallback); + Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback); + Firmata.attach(REPORT_ANALOG, reportAnalogCallback); + Firmata.attach(REPORT_DIGITAL, reportDigitalCallback); + Firmata.attach(SET_PIN_MODE, setPinModeCallback); + Firmata.attach(START_SYSEX, sysexCallback); - portStatus[0] = B00000011; // ignore Tx/RX pins - portStatus[1] = B11000000; // ignore 14/15 pins - portStatus[2] = B00000000; + portStatus[0] = B00000011; // ignore Tx/RX pins + portStatus[1] = B11000000; // ignore 14/15 pins + portStatus[2] = B00000000; -// for(i=0; i nextExecuteMillis) { - nextExecuteMillis = currentMillis + 19; // run this every 20ms - /* SERIALREAD - Serial.read() uses a 128 byte circular buffer, so handle - * all serialReads at once, i.e. empty the buffer */ - while(Firmata.available()) - Firmata.processInput(); - /* SEND FTDI WRITE BUFFER - make sure that the FTDI buffer doesn't go over - * 60 bytes. use a timer to sending an event character every 4 ms to - * trigger the buffer to dump. */ + /* DIGITALREAD - as fast as possible, check for changes and output them to the + * FTDI buffer using Serial.print() */ + checkDigitalInputs(); + currentMillis = millis(); + if(currentMillis > nextExecuteMillis) { + nextExecuteMillis = currentMillis + samplingInterval; + /* SERIALREAD - Serial.read() uses a 128 byte circular buffer, so handle + * all serialReads at once, i.e. empty the buffer */ + while(Firmata.available()) + Firmata.processInput(); + /* SEND FTDI WRITE BUFFER - make sure that the FTDI buffer doesn't go over + * 60 bytes. use a timer to sending an event character every 4 ms to + * trigger the buffer to dump. */ - /* ANALOGREAD - right after the event character, do all of the - * analogReads(). These only need to be done every 4ms. */ - for(analogPin=0;analogPin Date: Tue, 21 Jul 2009 05:18:50 +0000 Subject: Updating to revision 25 of firmata (slightly post version 2.1beta2). --- libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'libraries/Firmata/examples') diff --git a/libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde b/libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde index ffcb589..3cd2451 100644 --- a/libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde +++ b/libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde @@ -149,7 +149,7 @@ void sysexCallback(byte command, byte argc, byte *argv) delayTime = (delayTime << 8) + (argv[2] + (argv[3] << 7)); // add LSB if((argv[0] + (argv[1] << 7)) > 0) { - enablePowerPins(PC3, PC2); + enablePowerPins(PORTC3, PORTC2); } if(delayTime > 0) { -- cgit v1.2.3-18-g5258 From 8032397b18db0a9d564988056dbe03bfb2a6658b Mon Sep 17 00:00:00 2001 From: "David A. Mellis" Date: Thu, 30 Jul 2009 20:48:59 +0000 Subject: Updating to rev. 27 of Firmata. --- libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde | 5 +---- libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde | 3 ++- 2 files changed, 3 insertions(+), 5 deletions(-) (limited to 'libraries/Firmata/examples') diff --git a/libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde b/libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde index 3cd2451..796a8d5 100644 --- a/libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde +++ b/libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde @@ -196,10 +196,7 @@ void setup() pinMode(i, OUTPUT); } - /* I2C data is not reliable at higher baud rates, you'll need to change the - baud rate on the host computer as well. To get a firmware running with - minimal effort, you can try using the default baud rate (115200) */ - Firmata.begin(38400); + Firmata.begin(57600); Wire.begin(); } diff --git a/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde b/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde index 02192cc..16c8b87 100644 --- a/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde +++ b/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde @@ -99,7 +99,8 @@ void setPinModeCallback(byte pin, int mode) { } if(pin > 1) { // ignore RxTx (pins 0 and 1) - reportAnalogCallback(pin - 14, mode == ANALOG ? 1 : 0); // turn on/off reporting + if(pin > 13) + reportAnalogCallback(pin - 14, mode == ANALOG ? 1 : 0); // turn on/off reporting switch(mode) { case ANALOG: digitalWrite(pin, LOW); // disable internal pull-ups and fall thru to 'case INPUT:' -- cgit v1.2.3-18-g5258