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add arduino-0018-linux (32 bit)

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entropia 2010-03-31 21:11:30 +02:00
parent 7fa52a235a
commit 297de2a227
425 changed files with 64818 additions and 0 deletions
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71
arduino-0018-linux/libraries/Firmata/examples/AllInputsFirmata/AllInputsFirmata.pde Normal file
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/*
* This firmware reads all inputs and sends them as fast as it can. It was
* inspired by the ease-of-use of the Arduino2Max program.
*
* This example code is in the public domain.
*/
#include <Firmata.h>
byte pin;
int analogValue;
int previousAnalogValues[TOTAL_ANALOG_PINS];
byte portStatus[TOTAL_PORTS];
byte previousPINs[TOTAL_PORTS];
/* timer variables */
unsigned long currentMillis; // store the current value from millis()
unsigned long nextExecuteMillis; // for comparison with currentMillis
/* make sure that the FTDI buffer doesn't go over 60 bytes, otherwise you
get long, random delays. So only read analogs every 20ms or so */
int samplingInterval = 19; // how often to run the main loop (in ms)
void sendPort(byte portNumber, byte portValue)
{
portValue = portValue &~ portStatus[portNumber];
if(previousPINs[portNumber] != portValue) {
Firmata.sendDigitalPort(portNumber, portValue);
previousPINs[portNumber] = portValue;
}
}
void setup()
{
Firmata.setFirmwareVersion(0, 1);
for(pin = 0; pin < TOTAL_DIGITAL_PINS; pin++) {
pinMode(pin, INPUT);
}
portStatus[0] = B00000011; // ignore Tx/RX pins
portStatus[1] = B11000000; // ignore 14/15 pins
portStatus[2] = B00000000;
Firmata.begin(57600);
}
void loop()
{
sendPort(0, PIND);
sendPort(1, PINB);
sendPort(2, PINC);
/* make sure that the FTDI buffer doesn't go over 60 bytes, otherwise you
get long, random delays. So only read analogs every 20ms or so */
currentMillis = millis();
if(currentMillis > nextExecuteMillis) {
nextExecuteMillis = currentMillis + samplingInterval;
while(Firmata.available()) {
Firmata.processInput();
}
for(pin = 0; pin < TOTAL_ANALOG_PINS; pin++) {
analogValue = analogRead(pin);
if(analogValue != previousAnalogValues[pin]) {
Firmata.sendAnalog(pin, analogValue);
previousAnalogValues[pin] = analogValue;
}
}
}
}

83
arduino-0018-linux/libraries/Firmata/examples/AnalogFirmata/AnalogFirmata.pde Normal file
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/* 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 */
unsigned long currentMillis; // store the current value from millis()
unsigned long nextExecuteMillis; // for comparison with currentMillis
/*==============================================================================
* FUNCTIONS
*============================================================================*/
void analogWriteCallback(byte pin, int value)
{
switch(pin) {
case 9: servo9.write(value); break;
case 10: servo10.write(value); break;
case 3:
case 5:
case 6:
case 11: // PWM pins
analogWrite(pin, value);
break;
}
}
// -----------------------------------------------------------------------------
// sets bits in a bit array (int) to toggle the reporting of the analogIns
void reportAnalogCallback(byte pin, int value)
{
if(value == 0) {
analogInputsToReport = analogInputsToReport &~ (1 << pin);
}
else { // everything but 0 enables reporting of that pin
analogInputsToReport = analogInputsToReport | (1 << pin);
}
// TODO: save status to EEPROM here, if changed
}
/*==============================================================================
* SETUP()
*============================================================================*/
void setup()
{
Firmata.setFirmwareVersion(0, 2);
Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
servo9.attach(9);
servo10.attach(10);
Firmata.begin(57600);
}
/*==============================================================================
* LOOP()
*============================================================================*/
void loop()
{
while(Firmata.available())
Firmata.processInput();
currentMillis = millis();
if(currentMillis > nextExecuteMillis) {
nextExecuteMillis = currentMillis + 19; // run this every 20ms
for(analogPin=0;analogPin<TOTAL_ANALOG_PINS;analogPin++) {
if( analogInputsToReport & (1 << analogPin) )
Firmata.sendAnalog(analogPin, analogRead(analogPin));
}
}
}

263
arduino-0018-linux/libraries/Firmata/examples/AnalogFirmata/Makefile Normal file
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# 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

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arduino-0018-linux/libraries/Firmata/examples/EchoString/EchoString.pde Normal file
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/* 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(STRING_DATA, stringCallback);
Firmata.attach(START_SYSEX, sysexCallback);
Firmata.begin(57600);
}
void loop()
{
while(Firmata.available()) {
Firmata.processInput();
}
}

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arduino-0018-linux/libraries/Firmata/examples/EchoString/Makefile Normal file
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# 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

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/*
Copyright (C) 2009 Jeff Hoefs. All rights reserved.
Copyright (C) 2009 Shigeru Kobayashi. All rights reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
See file LICENSE.txt for further informations on licensing terms.
*/
#include <Wire.h>
#include <Firmata.h>
#define I2C_WRITE B00000000
#define I2C_READ B00001000
#define I2C_READ_CONTINUOUSLY B00010000
#define I2C_STOP_READING B00011000
#define I2C_READ_WRITE_MODE_MASK B00011000
#define MAX_QUERIES 8
unsigned long currentMillis; // store the current value from millis()
unsigned long nextExecuteMillis; // for comparison with currentMillis
unsigned int samplingInterval = 32; // default sampling interval is 33ms
unsigned int i2cReadDelayTime = 0; // default delay time between i2c read request and Wire.requestFrom()
unsigned int powerPinsEnabled = 0; // use as boolean to prevent enablePowerPins from being called more than once
#define MINIMUM_SAMPLING_INTERVAL 10
#define REGISTER_NOT_SPECIFIED -1
struct i2c_device_info {
byte addr;
byte reg;
byte bytes;
};
i2c_device_info query[MAX_QUERIES];
byte i2cRxData[32];
boolean readingContinuously = false;
byte queryIndex = 0;
void readAndReportData(byte address, int theRegister, byte numBytes)
{
if (theRegister != REGISTER_NOT_SPECIFIED) {
Wire.beginTransmission(address);
Wire.send((byte)theRegister);
Wire.endTransmission();
delayMicroseconds(i2cReadDelayTime); // delay is necessary for some devices such as WiiNunchuck
}
else {
theRegister = 0; // fill the register with a dummy value
}
Wire.requestFrom(address, numBytes);
// check to be sure correct number of bytes were returned by slave
if(numBytes == Wire.available()) {
i2cRxData[0] = address;
i2cRxData[1] = theRegister;
for (int i = 0; i < numBytes; i++) {
i2cRxData[2 + i] = Wire.receive();
}
// send slave address, register and received bytes
Firmata.sendSysex(I2C_REPLY, numBytes + 2, i2cRxData);
}
else {
if(numBytes > Wire.available()) {
Firmata.sendString("I2C Read Error: Too many bytes received");
} else {
Firmata.sendString("I2C Read Error: Too few bytes received");
}
}
}
void sysexCallback(byte command, byte argc, byte *argv)
{
byte mode;
byte slaveAddress;
byte slaveRegister;
byte data;
int delayTime;
if (command == I2C_REQUEST) {
mode = argv[1] & I2C_READ_WRITE_MODE_MASK;
slaveAddress = argv[0];
switch(mode) {
case I2C_WRITE:
Wire.beginTransmission(slaveAddress);
for (byte i = 2; i < argc; i += 2) {
data = argv[i] + (argv[i + 1] << 7);
Wire.send(data);
}
Wire.endTransmission();
delayMicroseconds(70); // TODO is this needed?
break;
case I2C_READ:
if (argc == 6) {
// a slave register is specified
slaveRegister = argv[2] + (argv[3] << 7);
data = argv[4] + (argv[5] << 7); // bytes to read
readAndReportData(slaveAddress, (int)slaveRegister, data);
}
else {
// a slave register is NOT specified
data = argv[2] + (argv[3] << 7); // bytes to read
readAndReportData(slaveAddress, (int)REGISTER_NOT_SPECIFIED, data);
}
break;
case I2C_READ_CONTINUOUSLY:
if ((queryIndex + 1) >= MAX_QUERIES) {
// too many queries, just ignore
Firmata.sendString("too many queries");
break;
}
query[queryIndex].addr = slaveAddress;
query[queryIndex].reg = argv[2] + (argv[3] << 7);
query[queryIndex].bytes = argv[4] + (argv[5] << 7);
readingContinuously = true;
queryIndex++;
break;
case I2C_STOP_READING:
readingContinuously = false;
queryIndex = 0;
break;
default:
break;
}
}
else if (command == SAMPLING_INTERVAL) {
samplingInterval = argv[0] + (argv[1] << 7);
if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) {
samplingInterval = MINIMUM_SAMPLING_INTERVAL;
}
samplingInterval -= 1;
Firmata.sendString("sampling interval");
}
else if (command == I2C_CONFIG) {
delayTime = (argv[4] + (argv[5] << 7)); // MSB
delayTime = (delayTime << 8) + (argv[2] + (argv[3] << 7)); // add LSB
if((argv[0] + (argv[1] << 7)) > 0) {
enablePowerPins(PORTC3, PORTC2);
}
if(delayTime > 0) {
i2cReadDelayTime = delayTime;
}
if(argc > 6) {
// If you extend I2C_Config, handle your data here
}
}
}
void systemResetCallback()
{
readingContinuously = false;
queryIndex = 0;
}
/* reference: BlinkM_funcs.h by Tod E. Kurt, ThingM, http://thingm.com/ */
// Enables Pins A2 and A3 to be used as GND and Power
// so that I2C devices can be plugged directly
// into Arduino header (pins A2 - A5)
static void enablePowerPins(byte pwrpin, byte gndpin)
{
if(powerPinsEnabled == 0) {
DDRC |= _BV(pwrpin) | _BV(gndpin);
PORTC &=~ _BV(gndpin);
PORTC |= _BV(pwrpin);
powerPinsEnabled = 1;
Firmata.sendString("Power pins enabled");
delay(100);
}
}
void setup()
{
Firmata.setFirmwareVersion(2, 0);
Firmata.attach(START_SYSEX, sysexCallback);
Firmata.attach(SYSTEM_RESET, systemResetCallback);
for (int i = 0; i < TOTAL_DIGITAL_PINS; ++i) {
pinMode(i, OUTPUT);
}
Firmata.begin(57600);
Wire.begin();
}
void loop()
{
while (Firmata.available()) {
Firmata.processInput();
}
currentMillis = millis();
if (currentMillis > nextExecuteMillis) {
nextExecuteMillis = currentMillis + samplingInterval;
for (byte i = 0; i < queryIndex; i++) {
readAndReportData(query[i].addr, query[i].reg, query[i].bytes);
}
}
}

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Version 2.1, February 1999
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/*
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.
*/
/*
* This is an old version of StandardFirmata (v2.0). It is kept here because
* its the last version that works on an ATMEGA8 chip. Also, it can be used
* for host software that has not been updated to a newer version of the
* protocol. It also uses the old baud rate of 115200 rather than 57600.
*/
#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 */
unsigned long currentMillis; // store the current value from millis()
unsigned long nextExecuteMillis; // for comparison with currentMillis
/*==============================================================================
* FUNCTIONS
*============================================================================*/
void outputPort(byte portNumber, byte portValue)
{
portValue = portValue &~ portStatus[portNumber];
if(previousPINs[portNumber] != portValue) {
Firmata.sendDigitalPort(portNumber, portValue);
previousPINs[portNumber] = portValue;
Firmata.sendDigitalPort(portNumber, portValue);
}
}
/* -----------------------------------------------------------------------------
* check all the active digital inputs for change of state, then add any events
* to the Serial output queue using Serial.print() */
void checkDigitalInputs(void)
{
byte i, tmp;
for(i=0; i < TOTAL_PORTS; i++) {
if(reportPINs[i]) {
switch(i) {
case 0: outputPort(0, PIND &~ B00000011); break; // ignore Rx/Tx 0/1
case 1: outputPort(1, PINB); break;
case ANALOG_PORT: outputPort(ANALOG_PORT, PINC); break;
}
}
}
}
// -----------------------------------------------------------------------------
/* sets the pin mode to the correct state and sets the relevant bits in the
* two bit-arrays that track Digital I/O and PWM status
*/
void setPinModeCallback(byte pin, int mode) {
byte port = 0;
byte offset = 0;
if (pin < 8) {
port = 0;
offset = 0;
} else if (pin < 14) {
port = 1;
offset = 8;
} else if (pin < 22) {
port = 2;
offset = 14;
}
if(pin > 1) { // ignore RxTx (pins 0 and 1)
pinStatus[pin] = mode;
switch(mode) {
case INPUT:
pinMode(pin, INPUT);
portStatus[port] = portStatus[port] &~ (1 << (pin - offset));
break;
case OUTPUT:
digitalWrite(pin, LOW); // disable PWM
case PWM:
pinMode(pin, OUTPUT);
portStatus[port] = portStatus[port] | (1 << (pin - offset));
break;
//case ANALOG: // TODO figure this out
default:
Firmata.sendString("");
}
// TODO: save status to EEPROM here, if changed
}
}
void analogWriteCallback(byte pin, int value)
{
setPinModeCallback(pin,PWM);
analogWrite(pin, value);
}
void digitalWriteCallback(byte port, int value)
{
switch(port) {
case 0: // pins 2-7 (don't change Rx/Tx, pins 0 and 1)
// 0xFF03 == B1111111100000011 0x03 == B00000011
PORTD = (value &~ 0xFF03) | (PORTD & 0x03);
break;
case 1: // pins 8-13 (14,15 are disabled for the crystal)
PORTB = (byte)value;
break;
case 2: // analog pins used as digital
PORTC = (byte)value;
break;
}
}
// -----------------------------------------------------------------------------
/* sets bits in a bit array (int) to toggle the reporting of the analogIns
*/
//void FirmataClass::setAnalogPinReporting(byte pin, byte state) {
//}
void reportAnalogCallback(byte pin, int value)
{
if(value == 0) {
analogInputsToReport = analogInputsToReport &~ (1 << pin);
}
else { // everything but 0 enables reporting of that pin
analogInputsToReport = analogInputsToReport | (1 << pin);
}
// TODO: save status to EEPROM here, if changed
}
void reportDigitalCallback(byte port, int value)
{
reportPINs[port] = (byte)value;
if(port == ANALOG_PORT) // turn off analog reporting when used as digital
analogInputsToReport = 0;
}
/*==============================================================================
* SETUP()
*============================================================================*/
void setup()
{
byte i;
Firmata.setFirmwareVersion(2, 0);
Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);
Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
Firmata.attach(REPORT_DIGITAL, reportDigitalCallback);
Firmata.attach(SET_PIN_MODE, setPinModeCallback);
portStatus[0] = B00000011; // ignore Tx/RX pins
portStatus[1] = B11000000; // ignore 14/15 pins
portStatus[2] = B00000000;
// for(i=0; i<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(115200);
}
/*==============================================================================
* LOOP()
*============================================================================*/
void loop()
{
/* DIGITALREAD - as fast as possible, check for changes and output them to the
* FTDI buffer using Serial.print() */
checkDigitalInputs();
currentMillis = millis();
if(currentMillis > nextExecuteMillis) {
nextExecuteMillis = currentMillis + 19; // run this every 20ms
/* SERIALREAD - Serial.read() uses a 128 byte circular buffer, so handle
* all serialReads at once, i.e. empty the buffer */
while(Firmata.available())
Firmata.processInput();
/* SEND FTDI WRITE BUFFER - make sure that the FTDI buffer doesn't go over
* 60 bytes. use a timer to sending an event character every 4 ms to
* trigger the buffer to dump. */
/* 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));
}
}
}
}

263
arduino-0018-linux/libraries/Firmata/examples/ServoFirmata/Makefile Normal file
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# 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

39
arduino-0018-linux/libraries/Firmata/examples/ServoFirmata/ServoFirmata.pde Normal file
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/* 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(57600);
}
void loop()
{
while(Firmata.available())
Firmata.processInput();
}

263
arduino-0018-linux/libraries/Firmata/examples/SimpleAnalogFirmata/Makefile Normal file
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# 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

32
arduino-0018-linux/libraries/Firmata/examples/SimpleAnalogFirmata/SimpleAnalogFirmata.pde Normal file
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@ -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(57600);
}
void loop()
{
while(Firmata.available()) {
Firmata.processInput();
}
for(analogPin = 0; analogPin < TOTAL_ANALOG_PINS; analogPin++) {
Firmata.sendAnalog(analogPin, analogRead(analogPin));
}
}

263
arduino-0018-linux/libraries/Firmata/examples/SimpleDigitalFirmata/Makefile Normal file
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# 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

57
arduino-0018-linux/libraries/Firmata/examples/SimpleDigitalFirmata/SimpleDigitalFirmata.pde Normal file
View file

@ -0,0 +1,57 @@
/* 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;
}
}
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(57600);
}
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
arduino-0018-linux/libraries/Firmata/examples/StandardFirmata/LICENSE.txt Normal file
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@ -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.]
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arduino-0018-linux/libraries/Firmata/examples/StandardFirmata/Makefile Normal file
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# 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
ARDUINO_TOOLS = $(ARDUINO)/hardware/tools
INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/hardware/tools/avr/avr/include \
-I$(ARDUINO_LIB_SRC)/EEPROM \
-I$(ARDUINO_LIB_SRC)/Firmata \
-I$(ARDUINO_LIB_SRC)/Matrix \
-I$(ARDUINO_LIB_SRC)/Servo \
-I$(ARDUINO_LIB_SRC)/Wire \
-I$(ARDUINO_LIB_SRC)
SRC = $(wildcard $(ARDUINO_SRC)/*.c)
CXXSRC = applet/$(TARGET).cpp $(ARDUINO_SRC)/HardwareSerial.cpp \
$(ARDUINO_LIB_SRC)/EEPROM/EEPROM.cpp \
$(ARDUINO_LIB_SRC)/Firmata/Firmata.cpp \
$(ARDUINO_LIB_SRC)/Servo/Servo.cpp \
$(ARDUINO_SRC)/Print.cpp \
$(ARDUINO_SRC)/WMath.cpp
HEADERS = $(wildcard $(ARDUINO_SRC)/*.h) $(wildcard $(ARDUINO_LIB_SRC)/*/*.h)
MCU = atmega168
#MCU = atmega8
F_CPU = 16000000
FORMAT = ihex
UPLOAD_RATE = 19200
# Name of this Makefile (used for "make depend").
MAKEFILE = Makefile
# Debugging format.
# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
DEBUG = stabs
OPT = s
# Place -D or -U options here
CDEFS = -DF_CPU=$(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
ARDUINO_AVR_BIN = $(ARDUINO_TOOLS)/avr/bin
CC = $(ARDUINO_AVR_BIN)/avr-gcc
CXX = $(ARDUINO_AVR_BIN)/avr-g++
OBJCOPY = $(ARDUINO_AVR_BIN)/avr-objcopy
OBJDUMP = $(ARDUINO_AVR_BIN)/avr-objdump
SIZE = $(ARDUINO_AVR_BIN)/avr-size
NM = $(ARDUINO_AVR_BIN)/avr-nm
#AVRDUDE = $(ARDUINO_AVR_BIN)/avrdude
AVRDUDE = avrdude
REMOVE = rm -f
MV = mv -f
# 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) -lm --output $@ $(LDFLAGS)
# $(CC) $(ALL_CFLAGS) $(OBJ) $(ARDUINO_TOOLS)/avr/avr/lib/avr5/crtm168.o --output $@ $(LDFLAGS)
pd_close_serial:
echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true
# Program the device.
upload: applet/$(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/,$$d' $(MAKEFILE) > \
$(MAKEFILE).$$$$ && \
$(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \
fi
echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \
>> $(MAKEFILE); \
$(CC) -M -mmcu=$(MCU) $(CDEFS) $(INCLUDE) $(SRC) $(ASRC) >> $(MAKEFILE)
.PHONY: all build eep lss sym coff extcoff clean depend pd_close_serial pd_test
# for emacs
etags:
make etags_`uname -s`
etags *.pde \
$(ARDUINO_SRC)/*.[ch] \
$(ARDUINO_SRC)/*.cpp \
$(ARDUINO_LIB_SRC)/*/*.[ch] \
$(ARDUINO_LIB_SRC)/*/*.cpp \
$(ARDUINO)/hardware/tools/avr/avr/include/avr/*.[ch] \
$(ARDUINO)/hardware/tools/avr/avr/include/*.[ch]
etags_Darwin:
# etags -a
etags_Linux:
# etags -a /usr/include/*.h linux/input.h /usr/include/sys/*.h
etags_MINGW:
# etags -a /usr/include/*.h /usr/include/sys/*.h
path:
echo $(PATH)
echo $$PATH

302
arduino-0018-linux/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde Normal file
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@ -0,0 +1,302 @@
/*
Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
See file LICENSE.txt for further informations on licensing terms.
formatted using the GNU C formatting and indenting
*/
/*
* TODO: use Program Control to load stored profiles from EEPROM
*/
#include <Firmata.h>
#include <Servo.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 */
unsigned long currentMillis; // store the current value from millis()
unsigned long nextExecuteMillis; // for comparison with currentMillis
int samplingInterval = 19; // how often to run the main loop (in ms)
Servo servos[MAX_SERVOS];
/*==============================================================================
* FUNCTIONS
*============================================================================*/
void outputPort(byte portNumber, byte portValue)
{
portValue = portValue &~ portStatus[portNumber];
if(previousPINs[portNumber] != portValue) {
Firmata.sendDigitalPort(portNumber, portValue);
previousPINs[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); // ignore Rx/Tx 0/1
break;
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;
// TODO: abstract for different boards
if (pin < 8) {
port = 0;
offset = 0;
} else if (pin < 14) {
port = 1;
offset = 8;
} else if (pin < 22) {
port = 2;
offset = 14;
}
if(pin > 1) { // ignore RxTx (pins 0 and 1)
if (isServoSupportedPin(pin) && mode != SERVO)
if (servos[pin - FIRST_SERVO_PIN].attached())
servos[pin - FIRST_SERVO_PIN].detach();
if(pin > 13)
reportAnalogCallback(pin - 14, mode == ANALOG ? 1 : 0); // turn on/off reporting
switch(mode) {
case ANALOG:
digitalWrite(pin, LOW); // disable internal pull-ups and fall thru to 'case INPUT:'
case INPUT:
pinStatus[pin] = mode;
pinMode(pin, INPUT);
portStatus[port] = portStatus[port] &~ (1 << (pin - offset));
break;
case OUTPUT:
digitalWrite(pin, LOW); // disable PWM and fall thru to 'case PWM:'
case PWM:
pinStatus[pin] = mode;
pinMode(pin, OUTPUT);
portStatus[port] = portStatus[port] | (1 << (pin - offset));
break;
case SERVO:
// TODO: Support Arduino Mega
if (isServoSupportedPin(pin)) {
pinStatus[pin] = mode;
if (!servos[pin - FIRST_SERVO_PIN].attached())
servos[pin - FIRST_SERVO_PIN].attach(pin);
} else
Firmata.sendString("Servo only on pins from 2 to 13");
break;
case I2C:
pinStatus[pin] = mode;
Firmata.sendString("I2C mode not yet supported");
break;
default:
Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM
}
// TODO: save status to EEPROM here, if changed
}
}
void analogWriteCallback(byte pin, int value)
{
switch(pinStatus[pin]) {
case SERVO:
if (isServoSupportedPin(pin))
servos[pin - FIRST_SERVO_PIN].write(value);
break;
case PWM:
analogWrite(pin, value);
break;
}
}
void digitalWriteCallback(byte port, int value)
{
switch(port) {
case 0: // pins 2-7 (don't change Rx/Tx, pins 0 and 1)
// 0xFF03 == B1111111100000011 0x03 == B00000011
PORTD = (value &~ 0xFF03) | (PORTD & 0x03);
break;
case 1: // pins 8-13 (14,15 are disabled for the crystal)
PORTB = (byte)value;
break;
case 2: // analog pins used as digital
byte pin;
byte pinModeMask;
for(pin=0; pin<8; pin++)
if(pinStatus[pin] == OUTPUT)
pinModeMask += 1 << pin;
PORTC = (byte)value & pinModeMask;
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;
}
/*==============================================================================
* SYSEX-BASED commands
*============================================================================*/
void sysexCallback(byte command, byte argc, byte *argv)
{
switch(command) {
case SERVO_CONFIG:
if(argc > 4) {
// these vars are here for clarity, they'll optimized away by the compiler
byte pin = argv[0];
int minPulse = argv[1] + (argv[2] << 7);
int maxPulse = argv[3] + (argv[4] << 7);
if (isServoSupportedPin(pin)) {
// servos are pins from 2 to 13, so offset for array
if (servos[pin - FIRST_SERVO_PIN].attached())
servos[pin - FIRST_SERVO_PIN].detach();
servos[pin - FIRST_SERVO_PIN].attach(pin, minPulse, maxPulse);
setPinModeCallback(pin, SERVO);
}
}
break;
case SAMPLING_INTERVAL:
if (argc > 1)
samplingInterval = argv[0] + (argv[1] << 7);
else
Firmata.sendString("Not enough data");
break;
}
}
boolean isServoSupportedPin(byte pin)
{
return ((FIRST_SERVO_PIN <= pin) && (pin <= (FIRST_SERVO_PIN + MAX_SERVOS)));
}
/*==============================================================================
* SETUP()
*============================================================================*/
void setup()
{
byte i;
Firmata.setFirmwareVersion(2, 1);
Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);
Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
Firmata.attach(REPORT_DIGITAL, reportDigitalCallback);
Firmata.attach(SET_PIN_MODE, setPinModeCallback);
Firmata.attach(START_SYSEX, sysexCallback);
portStatus[0] = B00000011; // ignore Tx/RX pins
portStatus[1] = B11000000; // ignore 14/15 pins
portStatus[2] = B00000000;
for(i=0; i < FIRST_ANALOG_PIN; ++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(57600);
}
/*==============================================================================
* LOOP()
*============================================================================*/
void loop()
{
/* DIGITALREAD - as fast as possible, check for changes and output them */
checkDigitalInputs();
currentMillis = millis();
if(currentMillis > nextExecuteMillis) {
nextExecuteMillis = currentMillis + samplingInterval;
/* SERIALREAD - Serial.read() uses a 128 byte circular buffer, so handle
* all serialReads at once, i.e. empty the buffer */
while(Firmata.available())
Firmata.processInput();
/* SEND FTDI WRITE BUFFER - make sure that the FTDI buffer doesn't go over
* 60 bytes. Ideally this could send an "event character" every 4 ms to
* trigger the buffer to dump. */
/* ANALOGREAD - do all of the analogReads() once per poll cycle */
for(analogPin=0;analogPin<TOTAL_ANALOG_PINS;analogPin++) {
if( analogInputsToReport & (1 << analogPin) ) {
Firmata.sendAnalog(analogPin, analogRead(analogPin));
}
}
}
}