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copying Firmata-0.4beta2 release into trunk, then I'll adjust it to Arduino-0012
This commit is contained in:
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453
hardware/libraries/Firmata/Firmata.cpp
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453
hardware/libraries/Firmata/Firmata.cpp
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/*
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Firmata.cpp - Firmata library
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Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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See file LICENSE.txt for further informations on licensing terms.
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*/
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/*
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* TODO generalized SysEx support
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* TODO firmware name/version reporting (i.e. some firmwares will use the Firmata
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* protocol, but will only support specific devices, like ultrasound
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* rangefinders or servos)
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* TODO implement v2 protocol using digital ports
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*/
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//******************************************************************************
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//* Includes
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//******************************************************************************
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#include "WProgram.h"
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#include "HardwareSerial.h"
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#include "Firmata.h"
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extern "C" {
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#include <string.h>
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#include <stdlib.h>
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}
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//******************************************************************************
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//* Support Functions
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//******************************************************************************
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void sendValueAsTwo7bitBytes(int value)
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{
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Serial.print(value & B01111111, BYTE); // LSB
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Serial.print(value >> 7 & B01111111, BYTE); // MSB
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}
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void startSysex(void)
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{
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Serial.print(START_SYSEX, BYTE);
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}
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void endSysex(void)
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{
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Serial.print(END_SYSEX, BYTE);
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}
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//******************************************************************************
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//* Constructors
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//******************************************************************************
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FirmataClass::FirmataClass(void)
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{
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firmwareVersionCount = 0;
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systemReset();
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}
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//******************************************************************************
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//* Public Methods
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//******************************************************************************
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/* begin method for overriding default serial bitrate */
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void FirmataClass::begin(void)
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{
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Serial.begin(115200);
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blinkVersion();
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delay(300);
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printVersion();
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}
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/* begin method for overriding default serial bitrate */
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void FirmataClass::begin(long speed)
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{
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blinkVersion();
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#if defined(__AVR_ATmega128__) // Wiring
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Serial.begin((uint32_t)speed);
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#else
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Serial.begin(speed);
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#endif
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delay(300);
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printVersion();
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printFirmwareVersion();
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}
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// output the protocol version message to the serial port
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void FirmataClass::printVersion(void) {
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Serial.print(REPORT_VERSION, BYTE);
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Serial.print(FIRMATA_MAJOR_VERSION, BYTE);
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Serial.print(FIRMATA_MINOR_VERSION, BYTE);
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}
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void FirmataClass::blinkVersion(void)
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{
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// flash the pin with the protocol version
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pinMode(VERSION_BLINK_PIN,OUTPUT);
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pin13strobe(FIRMATA_MAJOR_VERSION, 200, 400);
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delay(300);
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pin13strobe(2,1,4); // separator, a quick burst
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delay(300);
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pin13strobe(FIRMATA_MINOR_VERSION, 200, 400);
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}
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void FirmataClass::printFirmwareVersion(void)
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{
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byte i;
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if(firmwareVersionCount) { // make sure that the name has been set before reporting
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startSysex();
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Serial.print(REPORT_FIRMWARE, BYTE);
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Serial.print(firmwareVersionVector[0]); // major version number
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Serial.print(firmwareVersionVector[1]); // minor version number
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for(i=2; i<firmwareVersionCount; ++i) {
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sendValueAsTwo7bitBytes(firmwareVersionVector[i]);
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}
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endSysex();
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}
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}
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void FirmataClass::setFirmwareNameAndVersion(const char *name, byte major, byte minor)
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{
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const char *filename;
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char *extension;
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// parse out ".cpp" and "applet/" that comes from using __FILE__
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extension = strstr(name, ".cpp");
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filename = strrchr(name, '/') + 1; //points to slash, +1 gets to start of filename
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// add two bytes for version numbers
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if(extension && filename) {
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firmwareVersionCount = extension - filename + 2;
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} else {
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firmwareVersionCount = strlen(name) + 2;
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filename = name;
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}
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firmwareVersionVector = (byte *) malloc(firmwareVersionCount);
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firmwareVersionVector[firmwareVersionCount] = 0;
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firmwareVersionVector[0] = major;
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firmwareVersionVector[1] = minor;
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strncpy((char*)firmwareVersionVector + 2, filename, firmwareVersionCount - 2);
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// alas, no snprintf on Arduino
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// snprintf(firmwareVersionVector, MAX_DATA_BYTES, "%c%c%s",
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// (char)major, (char)minor, firmwareVersionVector);
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}
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//------------------------------------------------------------------------------
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// Serial Receive Handling
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int FirmataClass::available(void)
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{
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return Serial.available();
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}
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void FirmataClass::processSysexMessage(void)
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{
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switch(storedInputData[0]) { //first byte in buffer is command
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case REPORT_FIRMWARE:
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printFirmwareVersion();
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break;
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case FIRMATA_STRING:
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if(currentStringCallback) {
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byte bufferLength = (sysexBytesRead - 1) / 2;
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char *buffer = (char*)malloc(bufferLength * sizeof(char));
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byte i = 1;
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byte j = 0;
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while(j < bufferLength) {
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buffer[j] = (char)storedInputData[i];
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i++;
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buffer[j] += (char)(storedInputData[i] << 7);
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i++;
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j++;
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}
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(*currentStringCallback)(buffer);
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}
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break;
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default:
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if(currentSysexCallback)
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(*currentSysexCallback)(storedInputData[0], sysexBytesRead - 1, storedInputData + 1);
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}
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}
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void FirmataClass::processInput(void)
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{
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int inputData = Serial.read(); // this is 'int' to handle -1 when no data
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int command;
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// TODO make sure it handles -1 properly
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if (parsingSysex) {
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if(inputData == END_SYSEX) {
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//stop sysex byte
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parsingSysex = false;
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//fire off handler function
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processSysexMessage();
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} else {
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//normal data byte - add to buffer
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storedInputData[sysexBytesRead] = inputData;
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sysexBytesRead++;
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}
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} else if( (waitForData > 0) && (inputData < 128) ) {
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waitForData--;
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storedInputData[waitForData] = inputData;
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if( (waitForData==0) && executeMultiByteCommand ) { // got the whole message
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switch(executeMultiByteCommand) {
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case ANALOG_MESSAGE:
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if(currentAnalogCallback) {
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(*currentAnalogCallback)(multiByteChannel,
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(storedInputData[0] << 7)
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+ storedInputData[1]);
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}
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break;
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case DIGITAL_MESSAGE:
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if(currentDigitalCallback) {
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(*currentDigitalCallback)(multiByteChannel,
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(storedInputData[0] << 7)
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+ storedInputData[1]);
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}
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break;
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case SET_PIN_MODE:
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if(currentPinModeCallback)
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(*currentPinModeCallback)(storedInputData[1], storedInputData[0]);
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break;
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case REPORT_ANALOG:
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if(currentReportAnalogCallback)
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(*currentReportAnalogCallback)(multiByteChannel,storedInputData[0]);
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break;
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case REPORT_DIGITAL:
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if(currentReportDigitalCallback)
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(*currentReportDigitalCallback)(multiByteChannel,storedInputData[0]);
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break;
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}
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executeMultiByteCommand = 0;
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}
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} else {
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// remove channel info from command byte if less than 0xF0
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if(inputData < 0xF0) {
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command = inputData & 0xF0;
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multiByteChannel = inputData & 0x0F;
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} else {
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command = inputData;
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// commands in the 0xF* range don't use channel data
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}
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switch (command) {
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case ANALOG_MESSAGE:
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case DIGITAL_MESSAGE:
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case SET_PIN_MODE:
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waitForData = 2; // two data bytes needed
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executeMultiByteCommand = command;
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break;
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case REPORT_ANALOG:
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case REPORT_DIGITAL:
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waitForData = 1; // two data bytes needed
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executeMultiByteCommand = command;
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break;
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case START_SYSEX:
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parsingSysex = true;
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sysexBytesRead = 0;
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break;
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case SYSTEM_RESET:
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systemReset();
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break;
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case REPORT_VERSION:
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Firmata.printVersion();
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break;
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}
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}
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}
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//------------------------------------------------------------------------------
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// Serial Send Handling
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// send an analog message
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void FirmataClass::sendAnalog(byte pin, int value)
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{
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// pin can only be 0-15, so chop higher bits
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Serial.print(ANALOG_MESSAGE | (pin & 0xF), BYTE);
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sendValueAsTwo7bitBytes(value);
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}
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// send a single digital pin in a digital message
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void FirmataClass::sendDigital(byte pin, int value)
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{
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/* TODO add single pin digital messages to the protocol, this needs to
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* track the last digital data sent so that it can be sure to change just
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* one bit in the packet. This is complicated by the fact that the
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* numbering of the pins will probably differ on Arduino, Wiring, and
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* other boards. The DIGITAL_MESSAGE sends 14 bits at a time, but it is
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* probably easier to send 8 bit ports for any board with more than 14
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* digital pins.
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*/
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// TODO: the digital message should not be sent on the serial port every
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// time sendDigital() is called. Instead, it should add it to an int
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// which will be sent on a schedule. If a pin changes more than once
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// before the digital message is sent on the serial port, it should send a
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// digital message for each change.
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// if(value == 0)
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// sendDigitalPortPair();
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}
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// send 14-bits in a single digital message (protocol v1)
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// send an 8-bit port in a single digital message (protocol v2)
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void FirmataClass::sendDigitalPort(byte portNumber, int portData)
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{
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Serial.print(DIGITAL_MESSAGE | (portNumber & 0xF),BYTE);
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Serial.print(portData % 128, BYTE); // Tx bits 0-6
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Serial.print(portData >> 7, BYTE); // Tx bits 7-13
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}
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void FirmataClass::sendSysex(byte command, byte bytec, byte* bytev)
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{
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byte i;
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startSysex();
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Serial.print(command, BYTE);
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for(i=0; i<bytec; i++) {
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sendValueAsTwo7bitBytes(bytev[i]);
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}
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endSysex();
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}
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void FirmataClass::sendString(byte command, const char* string)
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{
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sendSysex(command, strlen(string), (byte *)string);
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}
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// send a string as the protocol string type
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void FirmataClass::sendString(const char* string)
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{
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sendString(FIRMATA_STRING, string);
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}
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// Internal Actions/////////////////////////////////////////////////////////////
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// generic callbacks
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void FirmataClass::attach(byte command, callbackFunction newFunction)
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{
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switch(command) {
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case ANALOG_MESSAGE: currentAnalogCallback = newFunction; break;
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case DIGITAL_MESSAGE: currentDigitalCallback = newFunction; break;
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case REPORT_ANALOG: currentReportAnalogCallback = newFunction; break;
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case REPORT_DIGITAL: currentReportDigitalCallback = newFunction; break;
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case SET_PIN_MODE: currentPinModeCallback = newFunction; break;
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}
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}
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void FirmataClass::attach(byte command, systemResetCallbackFunction newFunction)
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{
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switch(command) {
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case SYSTEM_RESET: currentSystemResetCallback = newFunction; break;
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}
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}
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void FirmataClass::attach(byte command, stringCallbackFunction newFunction)
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{
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switch(command) {
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case FIRMATA_STRING: currentStringCallback = newFunction; break;
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}
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}
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void FirmataClass::attach(byte command, sysexCallbackFunction newFunction)
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{
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currentSysexCallback = newFunction;
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}
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void FirmataClass::detach(byte command)
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{
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switch(command) {
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case SYSTEM_RESET: currentSystemResetCallback = NULL; break;
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case FIRMATA_STRING: currentStringCallback = NULL; break;
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case START_SYSEX: currentSysexCallback = NULL; break;
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default:
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attach(command, (callbackFunction)NULL);
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}
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}
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// sysex callbacks
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/*
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* this is too complicated for analogReceive, but maybe for Sysex?
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void FirmataClass::attachSysex(sysexFunction newFunction)
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{
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byte i;
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byte tmpCount = analogReceiveFunctionCount;
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analogReceiveFunction* tmpArray = analogReceiveFunctionArray;
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analogReceiveFunctionCount++;
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analogReceiveFunctionArray = (analogReceiveFunction*) calloc(analogReceiveFunctionCount, sizeof(analogReceiveFunction));
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for(i = 0; i < tmpCount; i++) {
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analogReceiveFunctionArray[i] = tmpArray[i];
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}
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analogReceiveFunctionArray[tmpCount] = newFunction;
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free(tmpArray);
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}
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*/
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//******************************************************************************
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//* Private Methods
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//******************************************************************************
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// resets the system state upon a SYSTEM_RESET message from the host software
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void FirmataClass::systemReset(void)
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{
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byte i;
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waitForData = 0; // this flag says the next serial input will be data
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executeMultiByteCommand = 0; // execute this after getting multi-byte data
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multiByteChannel = 0; // channel data for multiByteCommands
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for(i=0; i<MAX_DATA_BYTES; i++) {
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storedInputData[i] = 0;
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}
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parsingSysex = false;
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sysexBytesRead = 0;
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if(currentSystemResetCallback)
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(*currentSystemResetCallback)();
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//flush(); //TODO uncomment when Firmata is a subclass of HardwareSerial
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}
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// =============================================================================
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// used for flashing the pin for the version number
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void FirmataClass::pin13strobe(int count, int onInterval, int offInterval)
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{
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byte i;
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pinMode(VERSION_BLINK_PIN, OUTPUT);
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for(i=0; i<count; i++) {
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delay(offInterval);
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digitalWrite(VERSION_BLINK_PIN, HIGH);
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delay(onInterval);
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digitalWrite(VERSION_BLINK_PIN, LOW);
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}
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}
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// make one instance for the user to use
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FirmataClass Firmata;
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||||
|
168
hardware/libraries/Firmata/Firmata.h
Normal file
168
hardware/libraries/Firmata/Firmata.h
Normal file
@ -0,0 +1,168 @@
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/*
|
||||
Firmata.h - Firmata library
|
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Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved.
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|
||||
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.
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||||
|
||||
See file LICENSE.txt for further informations on licensing terms.
|
||||
*/
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#ifndef Firmata_h
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#define Firmata_h
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#include <inttypes.h>
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||||
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/* Version numbers for the protocol. The protocol is still changing, so these
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* version numbers are important. This number can be queried so that host
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* software can test whether it will be compatible with the currently
|
||||
* installed firmware. */
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#define FIRMATA_MAJOR_VERSION 2 // for non-compatible changes
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#define FIRMATA_MINOR_VERSION 0 // for backwards compatible changes
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#define VERSION_BLINK_PIN 13 // digital pin to blink version on
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||||
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||||
#define MAX_DATA_BYTES 32 // max number of data bytes in non-Sysex messages
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||||
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||||
// message command bytes (128-255/0x80-0xFF)
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#define DIGITAL_MESSAGE 0x90 // send data for a digital pin
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#define ANALOG_MESSAGE 0xE0 // send data for an analog pin (or PWM)
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#define REPORT_ANALOG 0xC0 // enable analog input by pin #
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#define REPORT_DIGITAL 0xD0 // enable digital input by port pair
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||||
//
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#define SET_PIN_MODE 0xF4 // set a pin to INPUT/OUTPUT/PWM/etc
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||||
//
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||||
#define REPORT_VERSION 0xF9 // report protocol version
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||||
#define SYSTEM_RESET 0xFF // reset from MIDI
|
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//
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||||
#define START_SYSEX 0xF0 // start a MIDI Sysex message
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||||
#define END_SYSEX 0xF7 // end a MIDI Sysex message
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||||
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||||
// extended command set using sysex (0-127/0x00-0x7F)
|
||||
/* 0x00-0x0F reserved for custom commands */
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||||
#define SERVO_CONFIG 0x70 // set max angle, minPulse, maxPulse, freq
|
||||
#define FIRMATA_STRING 0x71 // a string message with 14-bits per char
|
||||
#define REPORT_FIRMWARE 0x79 // report name and version of the firmware
|
||||
#define SYSEX_NON_REALTIME 0x7E // MIDI Reserved for non-realtime messages
|
||||
#define SYSEX_REALTIME 0x7F // MIDI Reserved for realtime messages
|
||||
|
||||
// pin modes
|
||||
//#define INPUT 0x00 // defined in wiring.h
|
||||
//#define OUTPUT 0x01 // defined in wiring.h
|
||||
#define ANALOG 0x02 // analog pin in analogInput mode
|
||||
#define PWM 0x03 // digital pin in PWM output mode
|
||||
#define SERVO 0x04 // digital pin in Servo output mode
|
||||
|
||||
|
||||
extern "C" {
|
||||
// callback function types
|
||||
typedef void (*callbackFunction)(byte, int);
|
||||
typedef void (*systemResetCallbackFunction)(void);
|
||||
typedef void (*stringCallbackFunction)(char*);
|
||||
typedef void (*sysexCallbackFunction)(byte command, byte argc, byte*argv);
|
||||
}
|
||||
|
||||
|
||||
// TODO make it a subclass of HardwareSerial
|
||||
class FirmataClass
|
||||
{
|
||||
public:
|
||||
FirmataClass();
|
||||
/* Arduino constructors */
|
||||
void begin();
|
||||
void begin(long);
|
||||
/* querying functions */
|
||||
void printVersion(void);
|
||||
void blinkVersion(void);
|
||||
void printFirmwareVersion(void);
|
||||
// void setFirmwareVersion(byte major, byte minor); // see macro below
|
||||
void setFirmwareNameAndVersion(const char *name, byte major, byte minor);
|
||||
/* serial receive handling */
|
||||
int available(void);
|
||||
void processInput(void);
|
||||
/* serial send handling */
|
||||
void sendAnalog(byte pin, int value);
|
||||
void sendDigital(byte pin, int value);
|
||||
void sendDigitalPort(byte portNumber, int portData);
|
||||
void sendString(const char* string);
|
||||
void sendString(byte command, const char* string);
|
||||
void sendSysex(byte command, byte bytec, byte* bytev);
|
||||
// void print(); // TODO implement so it's compatible to Serial
|
||||
// void println(); // TODO implement so it's compatible to Serial
|
||||
/* attach & detach callback functions to messages */
|
||||
void attach(byte command, callbackFunction newFunction);
|
||||
void attach(byte command, systemResetCallbackFunction newFunction);
|
||||
void attach(byte command, stringCallbackFunction newFunction);
|
||||
void attach(byte command, sysexCallbackFunction newFunction);
|
||||
void detach(byte command);
|
||||
// void flush(); // TODO implement flush, probably by subclassing
|
||||
|
||||
private:
|
||||
/* firmware name and version */
|
||||
byte firmwareVersionCount;
|
||||
byte *firmwareVersionVector;
|
||||
/* input message handling */
|
||||
byte waitForData; // this flag says the next serial input will be data
|
||||
byte executeMultiByteCommand; // execute this after getting multi-byte data
|
||||
byte multiByteChannel; // channel data for multiByteCommands
|
||||
byte storedInputData[MAX_DATA_BYTES]; // multi-byte data
|
||||
/* sysex */
|
||||
boolean parsingSysex;
|
||||
int sysexBytesRead;
|
||||
/* callback functions */
|
||||
callbackFunction currentAnalogCallback;
|
||||
callbackFunction currentDigitalCallback;
|
||||
callbackFunction currentReportAnalogCallback;
|
||||
callbackFunction currentReportDigitalCallback;
|
||||
callbackFunction currentPinModeCallback;
|
||||
systemResetCallbackFunction currentSystemResetCallback;
|
||||
stringCallbackFunction currentStringCallback;
|
||||
sysexCallbackFunction currentSysexCallback;
|
||||
|
||||
/* private methods ------------------------------ */
|
||||
void processSysexMessage(void);
|
||||
void systemReset(void);
|
||||
void pin13strobe(int count, int onInterval, int offInterval);
|
||||
};
|
||||
|
||||
extern FirmataClass Firmata;
|
||||
|
||||
/*==============================================================================
|
||||
* MACROS
|
||||
*============================================================================*/
|
||||
|
||||
/* shortcut for setFirmwareNameAndVersion() that uses __FILE__ to set the
|
||||
* firmware name. It needs to be a macro so that __FILE__ is included in the
|
||||
* firmware source file rather than the library source file.
|
||||
*/
|
||||
#define setFirmwareVersion(x, y) setFirmwareNameAndVersion(__FILE__, x, y)
|
||||
|
||||
// total number of pins currently supported
|
||||
#if defined(__AVR_ATmega168__) // Arduino NG and Diecimila
|
||||
#define TOTAL_ANALOG_PINS 8
|
||||
#define TOTAL_DIGITAL_PINS 22 // 14 digital + 8 analog
|
||||
#define TOTAL_PORTS 3 // total number of ports for the board
|
||||
#define ANALOG_PORT 2 // port# of analog used as digital
|
||||
#elif defined(__AVR_ATmega8__) // old Arduinos
|
||||
#define TOTAL_ANALOG_PINS 6
|
||||
#define TOTAL_DIGITAL_PINS 20 // 14 digital + 6 analog
|
||||
#define TOTAL_PORTS 3 // total number of ports for the board
|
||||
#define ANALOG_PORT 2 // port# of analog used as digital
|
||||
#elif defined(__AVR_ATmega128__)// Wiring
|
||||
#define TOTAL_ANALOG_PINS 8
|
||||
#define TOTAL_DIGITAL_PINS 51
|
||||
#define TOTAL_PORTS 6 // total number of ports for the board
|
||||
#define ANALOG_PORT 2 // port# of analog used as digital
|
||||
#else // anything else
|
||||
#define TOTAL_ANALOG_PINS 6
|
||||
#define TOTAL_DIGITAL_PINS 14
|
||||
#define TOTAL_PORTS 3 // total number of ports for the board
|
||||
#define ANALOG_PORT 2 // port# of analog used as digital
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
#endif /* Firmata_h */
|
||||
|
458
hardware/libraries/Firmata/LICENSE.txt
Normal file
458
hardware/libraries/Firmata/LICENSE.txt
Normal file
@ -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. It also counts
|
||||
as the successor of the GNU Library Public License, version 2, hence
|
||||
the version number 2.1.]
|
||||
|
||||
Preamble
|
||||
|
||||
The licenses for most software are designed to take away your
|
||||
freedom to share and change it. By contrast, the GNU General Public
|
||||
Licenses are intended to guarantee your freedom to share and change
|
||||
free software--to make sure the software is free for all its users.
|
||||
|
||||
This license, the Lesser General Public License, applies to some
|
||||
specially designated software packages--typically libraries--of the
|
||||
Free Software Foundation and other authors who decide to use it. You
|
||||
can use it too, but we suggest you first think carefully about whether
|
||||
this license or the ordinary General Public License is the better
|
||||
strategy to use in any particular case, based on the explanations below.
|
||||
|
||||
When we speak of free software, we are referring to freedom of use,
|
||||
not price. Our General Public Licenses are designed to make sure that
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
To protect your rights, we need to make restrictions that forbid
|
||||
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|
||||
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|
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|
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||||
For example, if you distribute copies of the library, whether gratis
|
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|
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|
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|
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|
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|
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|
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|
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|
||||
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||||
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|
||||
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|
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|
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
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|
||||
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|
||||
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|
||||
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||||
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|
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|
||||
We call this license the "Lesser" General Public License because it
|
||||
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|
||||
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|
||||
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|
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|
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|
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For example, on rare occasions, there may be a special need to
|
||||
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|
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|
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|
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|
||||
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|
||||
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|
||||
|
||||
In other cases, permission to use a particular library in non-free
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
Although the Lesser General Public License is Less protective of the
|
||||
users' freedom, it does ensure that the user of a program that is
|
||||
linked with the Library has the freedom and the wherewithal to run
|
||||
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The precise terms and conditions for copying, distribution and
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
GNU LESSER GENERAL PUBLIC LICENSE
|
||||
TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
|
||||
|
||||
0. This License Agreement applies to any software library or other
|
||||
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|
||||
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|
||||
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Each licensee is addressed as "you".
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A "library" means a collection of software functions and/or data
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The "Library", below, refers to any such software library or work
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||||
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|
||||
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||||
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||||
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|
||||
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|
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|
||||
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||||
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||||
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|
||||
materials or that you have already sent this user a copy.
|
||||
|
||||
For an executable, the required form of the "work that uses the
|
||||
Library" must include any data and utility programs needed for
|
||||
reproducing the executable from it. However, as a special exception,
|
||||
the materials to be distributed need not include anything that is
|
||||
normally distributed (in either source or binary form) with the major
|
||||
components (compiler, kernel, and so on) of the operating system on
|
||||
which the executable runs, unless that component itself accompanies
|
||||
the executable.
|
||||
|
||||
It may happen that this requirement contradicts the license
|
||||
restrictions of other proprietary libraries that do not normally
|
||||
accompany the operating system. Such a contradiction means you cannot
|
||||
use both them and the Library together in an executable that you
|
||||
distribute.
|
||||
|
||||
7. You may place library facilities that are a work based on the
|
||||
Library side-by-side in a single library together with other library
|
||||
facilities not covered by this License, and distribute such a combined
|
||||
library, provided that the separate distribution of the work based on
|
||||
the Library and of the other library facilities is otherwise
|
||||
permitted, and provided that you do these two things:
|
||||
|
||||
a) Accompany the combined library with a copy of the same work
|
||||
based on the Library, uncombined with any other library
|
||||
facilities. This must be distributed under the terms of the
|
||||
Sections above.
|
||||
|
||||
b) Give prominent notice with the combined library of the fact
|
||||
that part of it is a work based on the Library, and explaining
|
||||
where to find the accompanying uncombined form of the same work.
|
||||
|
||||
8. You may not copy, modify, sublicense, link with, or distribute
|
||||
the Library except as expressly provided under this License. Any
|
||||
attempt otherwise to copy, modify, sublicense, link with, or
|
||||
distribute the Library is void, and will automatically terminate your
|
||||
rights under this License. However, parties who have received copies,
|
||||
or rights, from you under this License will not have their licenses
|
||||
terminated so long as such parties remain in full compliance.
|
||||
|
||||
9. You are not required to accept this License, since you have not
|
||||
signed it. However, nothing else grants you permission to modify or
|
||||
distribute the Library or its derivative works. These actions are
|
||||
prohibited by law if you do not accept this License. Therefore, by
|
||||
modifying or distributing the Library (or any work based on the
|
||||
Library), you indicate your acceptance of this License to do so, and
|
||||
all its terms and conditions for copying, distributing or modifying
|
||||
the Library or works based on it.
|
||||
|
||||
10. Each time you redistribute the Library (or any work based on the
|
||||
Library), the recipient automatically receives a license from the
|
||||
original licensor to copy, distribute, link with or modify the Library
|
||||
subject to these terms and conditions. You may not impose any further
|
||||
restrictions on the recipients' exercise of the rights granted herein.
|
||||
You are not responsible for enforcing compliance by third parties with
|
||||
this License.
|
||||
|
||||
11. If, as a consequence of a court judgment or allegation of patent
|
||||
infringement or for any other reason (not limited to patent issues),
|
||||
conditions are imposed on you (whether by court order, agreement or
|
||||
otherwise) that contradict the conditions of this License, they do not
|
||||
excuse you from the conditions of this License. If you cannot
|
||||
distribute so as to satisfy simultaneously your obligations under this
|
||||
License and any other pertinent obligations, then as a consequence you
|
||||
may not distribute the Library at all. For example, if a patent
|
||||
license would not permit royalty-free redistribution of the Library by
|
||||
all those who receive copies directly or indirectly through you, then
|
||||
the only way you could satisfy both it and this License would be to
|
||||
refrain entirely from distribution of the Library.
|
||||
|
||||
If any portion of this section is held invalid or unenforceable under any
|
||||
particular circumstance, the balance of the section is intended to apply,
|
||||
and the section as a whole is intended to apply in other circumstances.
|
||||
|
||||
It is not the purpose of this section to induce you to infringe any
|
||||
patents or other property right claims or to contest validity of any
|
||||
such claims; this section has the sole purpose of protecting the
|
||||
integrity of the free software distribution system which is
|
||||
implemented by public license practices. Many people have made
|
||||
generous contributions to the wide range of software distributed
|
||||
through that system in reliance on consistent application of that
|
||||
system; it is up to the author/donor to decide if he or she is willing
|
||||
to distribute software through any other system and a licensee cannot
|
||||
impose that choice.
|
||||
|
||||
This section is intended to make thoroughly clear what is believed to
|
||||
be a consequence of the rest of this License.
|
||||
|
||||
12. If the distribution and/or use of the Library is restricted in
|
||||
certain countries either by patents or by copyrighted interfaces, the
|
||||
original copyright holder who places the Library under this License may add
|
||||
an explicit geographical distribution limitation excluding those countries,
|
||||
so that distribution is permitted only in or among countries not thus
|
||||
excluded. In such case, this License incorporates the limitation as if
|
||||
written in the body of this License.
|
||||
|
||||
13. The Free Software Foundation may publish revised and/or new
|
||||
versions of the Lesser General Public License from time to time.
|
||||
Such new versions will be similar in spirit to the present version,
|
||||
but may differ in detail to address new problems or concerns.
|
||||
|
||||
Each version is given a distinguishing version number. If the Library
|
||||
specifies a version number of this License which applies to it and
|
||||
"any later version", you have the option of following the terms and
|
||||
conditions either of that version or of any later version published by
|
||||
the Free Software Foundation. If the Library does not specify a
|
||||
license version number, you may choose any version ever published by
|
||||
the Free Software Foundation.
|
||||
|
||||
14. If you wish to incorporate parts of the Library into other free
|
||||
programs whose distribution conditions are incompatible with these,
|
||||
write to the author to ask for permission. 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.
|
||||
|
@ -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 <Firmata.h>
|
||||
#include <Servo.h>
|
||||
|
||||
/*==============================================================================
|
||||
* 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 */
|
||||
extern volatile unsigned long timer0_overflow_count; // timer0 from wiring.c
|
||||
unsigned long nextExecuteTime; // for comparison with timer0_overflow_count
|
||||
|
||||
|
||||
/*==============================================================================
|
||||
* 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();
|
||||
|
||||
if(timer0_overflow_count > nextExecuteTime) {
|
||||
nextExecuteTime = timer0_overflow_count + 19; // run this every 20ms
|
||||
for(analogPin=0;analogPin<TOTAL_ANALOG_PINS;analogPin++) {
|
||||
if( analogInputsToReport & (1 << analogPin) )
|
||||
Firmata.sendAnalog(analogPin, analogRead(analogPin));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
263
hardware/libraries/Firmata/examples/AnalogFirmata/Makefile
Normal file
263
hardware/libraries/Firmata/examples/AnalogFirmata/Makefile
Normal file
@ -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 <WProgram.h>
|
||||
#
|
||||
# - 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
|
||||
|
||||
|
||||
|
@ -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 <Firmata.h>
|
||||
|
||||
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<argc; i++) {
|
||||
Serial.print(argv[i], BYTE);
|
||||
}
|
||||
Serial.print(END_SYSEX, BYTE);
|
||||
}
|
||||
|
||||
void setup()
|
||||
{
|
||||
Firmata.setFirmwareVersion(0, 1);
|
||||
Firmata.attach(FIRMATA_STRING, stringCallback);
|
||||
Firmata.attach(START_SYSEX, sysexCallback);
|
||||
Firmata.begin();
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
while(Firmata.available()) {
|
||||
Firmata.processInput();
|
||||
}
|
||||
}
|
||||
|
||||
|
263
hardware/libraries/Firmata/examples/EchoString/Makefile
Normal file
263
hardware/libraries/Firmata/examples/EchoString/Makefile
Normal file
@ -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 <WProgram.h>
|
||||
#
|
||||
# - 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
|
||||
|
||||
|
||||
|
263
hardware/libraries/Firmata/examples/ServoFirmata/Makefile
Normal file
263
hardware/libraries/Firmata/examples/ServoFirmata/Makefile
Normal file
@ -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 <WProgram.h>
|
||||
#
|
||||
# - 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
|
||||
|
||||
|
||||
|
@ -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 <Firmata.h>
|
||||
#include <Servo.h>
|
||||
|
||||
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();
|
||||
}
|
||||
|
263
hardware/libraries/Firmata/examples/SimpleAnalogFirmata/Makefile
Normal file
263
hardware/libraries/Firmata/examples/SimpleAnalogFirmata/Makefile
Normal file
@ -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 <WProgram.h>
|
||||
#
|
||||
# - 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
|
||||
|
||||
|
||||
|
@ -0,0 +1,32 @@
|
||||
/* Supports as many analog inputs and analog PWM outputs as possible.
|
||||
*
|
||||
* This example code is in the public domain.
|
||||
*/
|
||||
#include <Firmata.h>
|
||||
|
||||
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));
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -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 <WProgram.h>
|
||||
#
|
||||
# - 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
|
||||
|
||||
|
||||
|
@ -0,0 +1,58 @@
|
||||
/* Supports as many digital inputs and outputs as possible.
|
||||
*
|
||||
* This example code is in the public domain.
|
||||
*/
|
||||
#include <Firmata.h>
|
||||
|
||||
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();
|
||||
}
|
||||
}
|
458
hardware/libraries/Firmata/examples/StandardFirmata/LICENSE.txt
Normal file
458
hardware/libraries/Firmata/examples/StandardFirmata/LICENSE.txt
Normal file
@ -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. It also counts
|
||||
as the successor of the GNU Library Public License, version 2, hence
|
||||
the version number 2.1.]
|
||||
|
||||
Preamble
|
||||
|
||||
The licenses for most software are designed to take away your
|
||||
freedom to share and change it. By contrast, the GNU General Public
|
||||
Licenses are intended to guarantee your freedom to share and change
|
||||
free software--to make sure the software is free for all its users.
|
||||
|
||||
This license, the Lesser General Public License, applies to some
|
||||
specially designated software packages--typically libraries--of the
|
||||
Free Software Foundation and other authors who decide to use it. You
|
||||
can use it too, but we suggest you first think carefully about whether
|
||||
this license or the ordinary General Public License is the better
|
||||
strategy to use in any particular case, based on the explanations below.
|
||||
|
||||
When we speak of free software, we are referring to freedom of use,
|
||||
not price. Our General Public Licenses are designed to make sure that
|
||||
you have the freedom to distribute copies of free software (and charge
|
||||
for this service if you wish); that you receive source code or can get
|
||||
it if you want it; that you can change the software and use pieces of
|
||||
it in new free programs; and that you are informed that you can do
|
||||
these things.
|
||||
|
||||
To protect your rights, we need to make restrictions that forbid
|
||||
distributors to deny you these rights or to ask you to surrender these
|
||||
rights. These restrictions translate to certain responsibilities for
|
||||
you if you distribute copies of the library or if you modify it.
|
||||
|
||||
For example, if you distribute copies of the library, whether gratis
|
||||
or for a fee, you must give the recipients all the rights that we gave
|
||||
you. You must make sure that they, too, receive or can get the source
|
||||
code. If you link other code with the library, you must provide
|
||||
complete object files to the recipients, so that they can relink them
|
||||
with the library after making changes to the library and recompiling
|
||||
it. And you must show them these terms so they know their rights.
|
||||
|
||||
We protect your rights with a two-step method: (1) we copyright the
|
||||
library, and (2) we offer you this license, which gives you legal
|
||||
permission to copy, distribute and/or modify the library.
|
||||
|
||||
To protect each distributor, we want to make it very clear that
|
||||
there is no warranty for the free library. Also, if the library is
|
||||
modified by someone else and passed on, the recipients should know
|
||||
that what they have is not the original version, so that the original
|
||||
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261
hardware/libraries/Firmata/examples/StandardFirmata/Makefile
Normal file
261
hardware/libraries/Firmata/examples/StandardFirmata/Makefile
Normal file
@ -0,0 +1,261 @@
|
||||
# Arduino makefile
|
||||
#
|
||||
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|
||||
# without the Arduino environment (or Java).
|
||||
#
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
# 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
|
||||
|
||||
|
||||
|
@ -0,0 +1,225 @@
|
||||
/*
|
||||
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 <EEPROM.h>
|
||||
#include <Firmata.h>
|
||||
|
||||
/*==============================================================================
|
||||
* 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 */
|
||||
extern volatile unsigned long timer0_overflow_count; // timer0 from wiring.c
|
||||
unsigned long nextExecuteTime; // for comparison with timer0_overflow_count
|
||||
|
||||
|
||||
/*==============================================================================
|
||||
* 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<TOTAL_DIGITAL_PINS; ++i) { // TODO make this work with analogs
|
||||
for(i=0; i<14; ++i) {
|
||||
setPinModeCallback(i,OUTPUT);
|
||||
}
|
||||
// set all outputs to 0 to make sure internal pull-up resistors are off
|
||||
PORTB = 0; // pins 8-15
|
||||
PORTC = 0; // analog port
|
||||
PORTD = 0; // pins 0-7
|
||||
|
||||
// TODO rethink the init, perhaps it should report analog on default
|
||||
for(i=0; i<TOTAL_PORTS; ++i) {
|
||||
reportPINs[i] = false;
|
||||
}
|
||||
// TODO: load state from EEPROM here
|
||||
|
||||
/* send digital inputs here, if enabled, to set the initial state on the
|
||||
* host computer, since once in the loop(), this firmware will only send
|
||||
* digital data on change. */
|
||||
if(reportPINs[0]) outputPort(0, PIND &~ B00000011); // ignore Rx/Tx 0/1
|
||||
if(reportPINs[1]) outputPort(1, PINB);
|
||||
if(reportPINs[ANALOG_PORT]) outputPort(ANALOG_PORT, PINC);
|
||||
|
||||
Firmata.begin();
|
||||
}
|
||||
|
||||
/*==============================================================================
|
||||
* LOOP()
|
||||
*============================================================================*/
|
||||
void loop()
|
||||
{
|
||||
/* DIGITALREAD - as fast as possible, check for changes and output them to the
|
||||
* FTDI buffer using Serial.print() */
|
||||
checkDigitalInputs();
|
||||
if(timer0_overflow_count > nextExecuteTime) {
|
||||
nextExecuteTime = timer0_overflow_count + 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<TOTAL_ANALOG_PINS;analogPin++) {
|
||||
if( analogInputsToReport & (1 << analogPin) ) {
|
||||
Firmata.sendAnalog(analogPin, analogRead(analogPin));
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
62
hardware/libraries/Firmata/keywords.txt
Normal file
62
hardware/libraries/Firmata/keywords.txt
Normal file
@ -0,0 +1,62 @@
|
||||
#######################################
|
||||
# Syntax Coloring Map For Firmata
|
||||
#######################################
|
||||
|
||||
#######################################
|
||||
# Datatypes (KEYWORD1)
|
||||
#######################################
|
||||
|
||||
Firmata KEYWORD1
|
||||
callbackFunction KEYWORD1
|
||||
systemResetCallbackFunction KEYWORD1
|
||||
stringCallbackFunction KEYWORD1
|
||||
sysexCallbackFunction KEYWORD1
|
||||
|
||||
#######################################
|
||||
# Methods and Functions (KEYWORD2)
|
||||
#######################################
|
||||
|
||||
begin KEYWORD2
|
||||
begin KEYWORD2
|
||||
printVersion KEYWORD2
|
||||
blinkVersion KEYWORD2
|
||||
printFirmwareVersion KEYWORD2
|
||||
setFirmwareVersion KEYWORD2
|
||||
setFirmwareNameAndVersion KEYWORD2
|
||||
available KEYWORD2
|
||||
processInput KEYWORD2
|
||||
sendAnalog KEYWORD2
|
||||
sendDigital KEYWORD2
|
||||
sendDigitalPortPair KEYWORD2
|
||||
sendDigitalPort KEYWORD2
|
||||
sendString KEYWORD2
|
||||
sendString KEYWORD2
|
||||
sendSysex KEYWORD2
|
||||
attach KEYWORD2
|
||||
detach KEYWORD2
|
||||
flush KEYWORD2
|
||||
|
||||
|
||||
#######################################
|
||||
# Constants (LITERAL1)
|
||||
#######################################
|
||||
|
||||
MAX_DATA_BYTES LITERAL1
|
||||
|
||||
DIGITAL_MESSAGE LITERAL1
|
||||
ANALOG_MESSAGE LITERAL1
|
||||
REPORT_ANALOG LITERAL1
|
||||
REPORT_DIGITAL LITERAL1
|
||||
REPORT_VERSION LITERAL1
|
||||
SET_PIN_MODE LITERAL1
|
||||
SYSTEM_RESET LITERAL1
|
||||
|
||||
START_SYSEX LITERAL1
|
||||
END_SYSEX LITERAL1
|
||||
|
||||
PWM LITERAL1
|
||||
|
||||
TOTAL_ANALOG_PINS LITERAL1
|
||||
TOTAL_DIGITAL_PINS LITERAL1
|
||||
TOTAL_PORTS LITERAL1
|
||||
ANALOG_PORT LITERAL1
|
Loading…
x
Reference in New Issue
Block a user