Moving firmwares into hardware.
This commit is contained in:
David A. Mellis
parent
b9d55056c0
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# Arduino makefile
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#
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# This makefile allows you to build sketches from the command line
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# without the Arduino environment (or Java).
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#
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# The Arduino environment does preliminary processing on a sketch before
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# compiling it. If you're using this makefile instead, you'll need to do
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# a few things differently:
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#
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# - Give your program's file a .cpp extension (e.g. foo.cpp).
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#
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# - Put this line at top of your code: #include <WProgram.h>
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#
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# - Write prototypes for all your functions (or define them before you
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# call them). A prototype declares the types of parameters a
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# function will take and what type of value it will return. This
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# means that you can have a call to a function before the definition
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# of the function. A function prototype looks like the first line of
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# the function, with a semi-colon at the end. For example:
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# int digitalRead(int pin);
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#
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# Instructions for using the makefile:
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#
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# 1. Copy this file into the folder with your sketch.
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#
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# 2. Below, modify the line containing "TARGET" to refer to the name of
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# of your program's file without an extension (e.g. TARGET = foo).
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#
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# 3. Modify the line containg "ARDUINO" to point the directory that
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# contains the Arduino core (for normal Arduino installations, this
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# is the lib/targets/arduino sub-directory).
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#
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# 4. Modify the line containing "PORT" to refer to the filename
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# representing the USB or serial connection to your Arduino board
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# (e.g. PORT = /dev/tty.USB0). If the exact name of this file
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# changes, you can use * as a wildcard (e.g. PORT = /dev/tty.USB*).
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#
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# 5. At the command line, change to the directory containing your
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# program's file and the makefile.
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#
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# 6. Type "make" and press enter to compile/verify your program.
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#
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# 7. Type "make upload", reset your Arduino board, and press enter to
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# upload your program to the Arduino board.
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#
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# $Id: Makefile,v 1.7 2007/04/13 05:28:23 eighthave Exp $
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PORT = /dev/tty.usbserial-*
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TARGET = Pd_firmware
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ARDUINO = /Applications/arduino-0007
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ARDUINO_SRC = $(ARDUINO)/lib/targets/arduino
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ARDUINO_LIB_SRC = $(ARDUINO)/lib/targets/libraries
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INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/tools/avr/avr/include \
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-I$(ARDUINO)/lib/targets/libraries/EEPROM \
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-I$(ARDUINO)/lib/targets/libraries/Firmata \
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-I$(ARDUINO)/lib/targets/libraries
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SRC = $(ARDUINO_SRC)/pins_arduino.c $(ARDUINO_SRC)/wiring.c \
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$(ARDUINO_SRC)/WInterrupts.c
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CXXSRC = applet/$(TARGET).cpp $(ARDUINO_SRC)/HardwareSerial.cpp \
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$(ARDUINO_LIB_SRC)/EEPROM/EEPROM.cpp \
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$(ARDUINO_LIB_SRC)/Firmata/Firmata.cpp \
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$(ARDUINO_SRC)/WRandom.cpp
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MCU = atmega8
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F_CPU = 16000000
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FORMAT = ihex
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UPLOAD_RATE = 19200
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# Name of this Makefile (used for "make depend").
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MAKEFILE = Makefile
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# Debugging format.
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# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
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# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
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DEBUG = stabs
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OPT = s
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# Place -D or -U options here
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CDEFS = -DF_CPU=$(F_CPU)
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CXXDEFS = -DF_CPU=$(F_CPU)
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# Compiler flag to set the C Standard level.
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# c89 - "ANSI" C
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# gnu89 - c89 plus GCC extensions
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# c99 - ISO C99 standard (not yet fully implemented)
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# gnu99 - c99 plus GCC extensions
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CSTANDARD = -std=gnu99
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CDEBUG = -g$(DEBUG)
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CWARN = -Wall -Wstrict-prototypes
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CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
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#CEXTRA = -Wa,-adhlns=$(<:.c=.lst)
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CFLAGS = $(CDEBUG) $(CDEFS) $(INCLUDE) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA)
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CXXFLAGS = $(CDEFS) $(INCLUDE) -O$(OPT)
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#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
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LDFLAGS =
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# Programming support using avrdude. Settings and variables.
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AVRDUDE_PROGRAMMER = stk500
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AVRDUDE_PORT = $(PORT)
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AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex
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AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \
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-b $(UPLOAD_RATE) -q -V
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# Program settings
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CC = avr-gcc
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CXX = avr-g++
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OBJCOPY = avr-objcopy
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OBJDUMP = avr-objdump
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SIZE = avr-size
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NM = avr-nm
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AVRDUDE = avrdude
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REMOVE = rm -f
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MV = mv -f
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# Define all object files.
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OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o)
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# Define all listing files.
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LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst)
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# Combine all necessary flags and optional flags.
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# Add target processor to flags.
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ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)
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ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS)
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ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
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# Default target.
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all: build
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echo 'close;' | /Applications/Pd-0.39.2-extended-RC1.app/Contents/Resources/bin/pdsend 34567 || true
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say "press the button"
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make upload
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build: applet_files elf hex
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applet_files:
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test -d applet || mkdir applet
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echo '#include "WProgram.h"' > applet/$(TARGET).cpp
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echo '#include "avr/interrupt.h"' >> applet/$(TARGET).cpp
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sed -n 's|^\(void .*)\).*|\1;|p' Pd_firmware.pde | grep -v 'setup()' | \
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grep -v 'loop()' >> applet/$(TARGET).cpp
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cat $(TARGET).pde >> applet/$(TARGET).cpp
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elf: applet/$(TARGET).elf
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hex: applet/$(TARGET).hex
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eep: applet/$(TARGET).eep
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lss: applet/$(TARGET).lss
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sym: applet/$(TARGET).sym
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# Program the device.
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upload: applet/$(TARGET).hex
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$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH)
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# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
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COFFCONVERT=$(OBJCOPY) --debugging \
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--change-section-address .data-0x800000 \
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--change-section-address .bss-0x800000 \
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--change-section-address .noinit-0x800000 \
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--change-section-address .eeprom-0x810000
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coff: applet/$(TARGET).elf
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$(COFFCONVERT) -O coff-avr applet/$(TARGET).elf applet/$(TARGET).cof
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extcoff: applet/$(TARGET).elf
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$(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf applet/$(TARGET).cof
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.SUFFIXES: .elf .hex .eep .lss .sym
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.elf.hex:
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$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
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.elf.eep:
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-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
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--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
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# Create extended listing file from ELF output file.
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.elf.lss:
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$(OBJDUMP) -h -S $< > $@
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# Create a symbol table from ELF output file.
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.elf.sym:
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$(NM) -n $< > $@
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# Link: create ELF output file from object files.
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applet/$(TARGET).elf: $(OBJ)
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$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)
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# Compile: create object files from C++ source files.
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.cpp.o:
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$(CXX) -c $(ALL_CXXFLAGS) $< -o $@
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# Compile: create object files from C source files.
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.c.o:
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$(CC) -c $(ALL_CFLAGS) $< -o $@
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# Compile: create assembler files from C source files.
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.c.s:
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$(CC) -S $(ALL_CFLAGS) $< -o $@
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# Assemble: create object files from assembler source files.
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.S.o:
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$(CC) -c $(ALL_ASFLAGS) $< -o $@
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# Target: clean project.
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clean:
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$(REMOVE) applet/$(TARGET).hex applet/$(TARGET).eep applet/$(TARGET).cof applet/$(TARGET).elf \
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$(TARGET).map applet/$(TARGET).sym applet/$(TARGET).lss \
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$(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d)
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find $(ARDUINO)/lib/ -name '*.o' -delete
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depend:
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if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \
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then \
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sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \
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$(MAKEFILE).$$$$ && \
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$(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \
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fi
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echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \
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>> $(MAKEFILE); \
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$(CC) -M -mmcu=$(MCU) $(CDEFS) $(INCLUDE) $(SRC) $(ASRC) >> $(MAKEFILE)
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.PHONY: all build elf hex eep lss sym program coff extcoff clean depend
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# for emacs
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etags:
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make etags_`uname -s`
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etags *.pde \
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$(ARDUINO_SRC)/*.[ch] \
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$(ARDUINO_SRC)/*.cpp \
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$(ARDUINO)/lib/targets/libraries/*/*.[ch] \
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$(ARDUINO)/lib/targets/libraries/*/*.cpp \
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$(ARDUINO)/tools/avr/avr/include/avr/*.[ch] \
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$(ARDUINO)/tools/avr/avr/include/*.[ch]
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etags_Darwin:
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# etags -a
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etags_Linux:
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# etags -a /usr/include/*.h linux/input.h /usr/include/sys/*.h
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etags_MINGW:
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# etags -a /usr/include/*.h /usr/include/sys/*.h
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@ -0,0 +1,323 @@
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/*
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* Copyright (C) 2006 Free Software Foundation
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* See file LICENSE for further informations on licensing terms.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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*
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* -----------------------------------------------------------
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* Firmata, the general purpose sensorbox firmware for Arduino
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* -----------------------------------------------------------
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*
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* Firmata turns the Arduino into a Plug-n-Play sensorbox, servo
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* controller, and/or PWM motor/lamp controller.
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*
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* It was originally designed to work with the Pd object [arduino]
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* which is included in Pd-extended. This firmware is intended to
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* work with any host computer software package. It can easily be
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* used with other programs like Max/MSP, Processing, or whatever can
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* do serial communications.
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*
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* @author: Hans-Christoph Steiner <hans@at.or.at>
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* help with initial protocol redesign: Jamie Allen <jamie@heavyside.net>
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* much protocol discussion: the Arduino developers mailing list
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* key bugfixes: Georg Holzmann <grh@mur.at>
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* Gerda Strobl <gerda.strobl@student.tugraz.at>
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* @date: 2006-05-19
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* @locations: STEIM, Amsterdam, Netherlands
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* IDMI/Polytechnic University, Brookyn, NY, USA
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* Electrolobby Ars Electronica, Linz, Austria
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*
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* See http://www.arduino.cc/playground/Interfacing/Firmata for docs
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*/
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/*
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* TODO: add pulseOut functionality for servos
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* TODO: add software PWM for servos, etc (servo.h or pulse.h)
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* TODO: add device type 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: use Program Control to load stored profiles from EEPROM
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*/
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/* cvs version: $Id: Pd_firmware.pde,v 1.32 2007/06/27 20:59:24 eighthave Exp $ */
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#include <EEPROM.h>
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#include <Firmata.h>
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/*==============================================================================
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* GLOBAL VARIABLES
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*============================================================================*/
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/* input message handling */
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byte waitForData = 0; // this flag says the next serial input will be data
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byte executeMultiByteCommand = 0; // execute this after getting multi-byte data
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byte multiByteChannel = 0; // channel data for multiByteCommands
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byte storedInputData[MAX_DATA_BYTES] = {0,0}; // multi-byte data
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/* digital pins */
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boolean reportDigitalInputs = false; // output digital inputs or not
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int digitalInputs;
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int previousDigitalInputs; // previous output to test for change
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unsigned int digitalPinStatus = 65535; // store pin status, default OUTPUT
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/* PWM/analog outputs */
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int pwmStatus = 0; // bitwise array to store PWM status
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/* analog inputs */
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int analogInputsToReport = 0; // bitwise array to store pin reporting
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int analogPin = 0; // counter for reading analog pins
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/* timer variables */
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extern volatile unsigned long timer0_overflow_count; // timer0 from wiring.c
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unsigned long nextExecuteTime; // for comparison with timer0_overflow_count
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/*==============================================================================
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* FUNCTIONS
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*============================================================================*/
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/* -----------------------------------------------------------------------------
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* output digital bytes received from the serial port */
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void outputDigitalBytes(byte pin0_6, byte pin7_13) {
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int i;
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int mask;
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int twoBytesForPorts;
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// this should be converted to use PORTs
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twoBytesForPorts = pin0_6 + (pin7_13 << 7);
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for(i=2; i<TOTAL_DIGITAL_PINS; ++i) { // ignore Rx,Tx pins (0 and 1)
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mask = 1 << i;
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if( (digitalPinStatus & mask) && !(pwmStatus & mask) ) {
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digitalWrite(i, twoBytesForPorts & mask ? HIGH : LOW);
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}
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}
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}
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/* -----------------------------------------------------------------------------
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* check all the active digital inputs for change of state, then add any events
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* to the Serial output queue using Serial.print() */
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void checkDigitalInputs(void) {
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if(reportDigitalInputs) {
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previousDigitalInputs = digitalInputs;
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digitalInputs = PINB << 8; // get pins 8-13
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digitalInputs += PIND; // get pins 0-7
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digitalInputs = digitalInputs &~ digitalPinStatus; // ignore pins set OUTPUT
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if(digitalInputs != previousDigitalInputs) {
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// TODO: implement more ports as channels for more than 16 digital pins
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Firmata.sendDigitalPortPair(0, digitalInputs); // port 0 till more are implemented
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/* Serial.print(DIGITAL_MESSAGE,BYTE);
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Serial.print(digitalInputs % 128, BYTE); // Tx pins 0-6
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Serial.print(digitalInputs >> 7, BYTE); // Tx pins 7-13*/
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}
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}
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}
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// -----------------------------------------------------------------------------
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/* sets the pin mode to the correct state and sets the relevant bits in the
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* two bit-arrays that track Digital I/O and PWM status
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*/
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void setPinMode(byte pin, byte mode) {
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if(pin > 1) { // ignore RxTx pins (0,1)
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if(mode == INPUT) {
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digitalPinStatus = digitalPinStatus &~ (1 << pin);
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pwmStatus = pwmStatus &~ (1 << pin);
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digitalWrite(pin,LOW); // turn off pin before switching to INPUT
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pinMode(pin,INPUT);
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}
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else if(mode == OUTPUT) {
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digitalPinStatus = digitalPinStatus | (1 << pin);
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pwmStatus = pwmStatus &~ (1 << pin);
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pinMode(pin,OUTPUT);
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}
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else if( mode == PWM ) {
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digitalPinStatus = digitalPinStatus | (1 << pin);
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pwmStatus = pwmStatus | (1 << pin);
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pinMode(pin,OUTPUT);
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}
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// TODO: save status to EEPROM here, if changed
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}
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}
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// -----------------------------------------------------------------------------
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/* sets bits in a bit array (int) to toggle the reporting of the analogIns
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*/
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void setAnalogPinReporting(byte pin, byte state) {
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if(state == 0) {
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analogInputsToReport = analogInputsToReport &~ (1 << pin);
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}
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else { // everything but 0 enables reporting of that pin
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analogInputsToReport = analogInputsToReport | (1 << pin);
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}
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// TODO: save status to EEPROM here, if changed
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}
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/* -----------------------------------------------------------------------------
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* processInput() is called whenever a byte is available on the
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* Arduino's serial port. This is where the commands are handled. */
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void processInput(int inputData) {
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int command;
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// a few commands have byte(s) of data following the command
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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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setPinMode(multiByteChannel,PWM);
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||||
analogWrite(multiByteChannel,
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(storedInputData[0] << 7) + storedInputData[1] );
|
||||
break;
|
||||
case DIGITAL_MESSAGE:
|
||||
outputDigitalBytes(storedInputData[1], storedInputData[0]); //(LSB, MSB)
|
||||
break;
|
||||
case SET_DIGITAL_PIN_MODE:
|
||||
setPinMode(storedInputData[1], storedInputData[0]); // (pin#, mode)
|
||||
if(storedInputData[0] == INPUT)
|
||||
reportDigitalInputs = true; // enable reporting of digital inputs
|
||||
break;
|
||||
case REPORT_ANALOG_PIN:
|
||||
setAnalogPinReporting(multiByteChannel,storedInputData[0]);
|
||||
break;
|
||||
case REPORT_DIGITAL_PORTS:
|
||||
// TODO: implement MIDI channel as port base for more than 16 digital inputs
|
||||
if(storedInputData[0] == 0)
|
||||
reportDigitalInputs = false;
|
||||
else
|
||||
reportDigitalInputs = true;
|
||||
break;
|
||||
}
|
||||
executeMultiByteCommand = 0;
|
||||
}
|
||||
} else {
|
||||
// remove channel info from command byte if less than 0xF0
|
||||
if(inputData < 0xF0) {
|
||||
command = inputData & 0xF0;
|
||||
multiByteChannel = inputData & 0x0F;
|
||||
} else {
|
||||
command = inputData;
|
||||
// commands in the 0xF* range don't use channel data
|
||||
}
|
||||
switch (command) { // TODO: these needs to be switched to command
|
||||
case ANALOG_MESSAGE:
|
||||
case DIGITAL_MESSAGE:
|
||||
case SET_DIGITAL_PIN_MODE:
|
||||
waitForData = 2; // two data bytes needed
|
||||
executeMultiByteCommand = command;
|
||||
break;
|
||||
case REPORT_ANALOG_PIN:
|
||||
case REPORT_DIGITAL_PORTS:
|
||||
waitForData = 1; // two data bytes needed
|
||||
executeMultiByteCommand = command;
|
||||
break;
|
||||
case SYSTEM_RESET:
|
||||
// this doesn't do anything yet
|
||||
break;
|
||||
case REPORT_VERSION:
|
||||
Firmata.printVersion();
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* -----------------------------------------------------------------------------
|
||||
* this function checks to see if there is data waiting on the serial port
|
||||
* then processes all of the stored data
|
||||
*/
|
||||
void checkForSerialReceive() {
|
||||
while(Serial.available())
|
||||
processInput(Serial.read());
|
||||
}
|
||||
|
||||
/* -----------------------------------------------------------------------------
|
||||
* these functions are for loading and saving the state of the digital pins and
|
||||
* pin reporting so that the Arduino will start up again in the same state. The
|
||||
* EEPROM is supposed to have a life of at least 100,000 writes.
|
||||
*/
|
||||
void loadSettings() {
|
||||
//EEPROM.read();
|
||||
}
|
||||
|
||||
void saveSettings() {
|
||||
EEPROM.write(ANALOGINPUTSTOREPORT_LOW_BYTE, analogInputsToReport & 0xFF);
|
||||
EEPROM.write(ANALOGINPUTSTOREPORT_HIGH_BYTE, analogInputsToReport >> 8);
|
||||
EEPROM.write(REPORTDIGITALINPUTS_BYTE, reportDigitalInputs & 0xFF);
|
||||
EEPROM.write(DIGITALPINSTATUS_LOW_BYTE, digitalPinStatus & 0xFF);
|
||||
EEPROM.write(DIGITALPINSTATUS_HIGH_BYTE, digitalPinStatus >> 8);
|
||||
EEPROM.write(PWMSTATUS_LOW_BYTE, pwmStatus & 0xFF);
|
||||
EEPROM.write(PWMSTATUS_HIGH_BYTE, pwmStatus >> 8);
|
||||
}
|
||||
|
||||
// =============================================================================
|
||||
// used for flashing the pin for the version number
|
||||
void pin13strobe(int count, int onInterval, int offInterval) {
|
||||
byte i;
|
||||
pinMode(13, OUTPUT);
|
||||
for(i=0; i<count; i++) {
|
||||
delay(offInterval);
|
||||
digitalWrite(13,1);
|
||||
delay(onInterval);
|
||||
digitalWrite(13,0);
|
||||
}
|
||||
}
|
||||
|
||||
/*==============================================================================
|
||||
* SETUP()
|
||||
*============================================================================*/
|
||||
void setup() {
|
||||
byte i;
|
||||
|
||||
// flash the pin 13 with the protocol version
|
||||
pinMode(13,OUTPUT);
|
||||
pin13strobe(2,1,4); // separator, a quick burst
|
||||
delay(500);
|
||||
pin13strobe(FIRMATA_MAJOR_VERSION, 200, 400);
|
||||
delay(500);
|
||||
pin13strobe(2,1,4); // separator, a quick burst
|
||||
delay(500);
|
||||
pin13strobe(FIRMATA_MINOR_VERSION, 200, 400);
|
||||
delay(500);
|
||||
pin13strobe(2,1,4); // separator, a quick burst
|
||||
|
||||
for(i=0; i<TOTAL_DIGITAL_PINS; ++i) {
|
||||
setPinMode(i,OUTPUT);
|
||||
}
|
||||
// TODO: load state from EEPROM here
|
||||
|
||||
/* TODO: send digital inputs here, if enabled, to set the initial state on the
|
||||
* host computer, since once in the loop(), the Arduino will only send data on
|
||||
* change. */
|
||||
}
|
||||
|
||||
/*==============================================================================
|
||||
* 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 */
|
||||
checkForSerialReceive();
|
||||
/* 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));
|
||||
}
|
||||
}
|
||||
}
|
||||
Loading…
Reference in New Issue