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sys: added module for running Arduino code

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This commit is contained in:
Hauke Petersen 2015-09-18 23:00:31 +02:00
parent 25fd90b741
commit 7855cb3707
11 changed files with 798 additions and 0 deletions
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6
Makefile.dep
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@ -381,6 +381,12 @@ ifneq (,$(filter schedstatistics,$(USEMODULE)))
USEMODULE += xtimer USEMODULE += xtimer
endif endif
ifneq (,$(filter arduino,$(USEMODULE)))
FEATURES_REQUIRED += arduino
FEATURES_REQUIRED += cpp
USEMODULE += xtimer
endif
ifneq (,$(filter xtimer,$(USEMODULE))) ifneq (,$(filter xtimer,$(USEMODULE)))
FEATURES_REQUIRED += periph_timer FEATURES_REQUIRED += periph_timer
endif endif

4
sys/Makefile.include
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@ -65,4 +65,8 @@ ifneq (,$(filter newlib,$(USEMODULE)))
include $(RIOTBASE)/sys/newlib/Makefile.include include $(RIOTBASE)/sys/newlib/Makefile.include
endif endif
ifneq (,$(filter arduino,$(USEMODULE)))
include $(RIOTBASE)/sys/arduino/Makefile.include
endif
INCLUDES += -I$(RIOTBASE)/sys/libc/include INCLUDES += -I$(RIOTBASE)/sys/libc/include

1
sys/arduino/Makefile Normal file
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@ -0,0 +1 @@
include $(RIOTBASE)/Makefile.base

9
sys/arduino/Makefile.include Normal file
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@ -0,0 +1,9 @@
# compile together the Arduino sketches of the application
SKETCHES = $(wildcard $(APPDIR)*.sketch)
SRCDIR = $(RIOTBASE)/sys/arduino
# run the Arduino pre-build script
$(shell $(RIOTBASE)/dist/tools/arduino/pre_build.sh $(SRCDIR) $(APPDIR) $(SKETCHES))
# include the Arduino headers
export INCLUDES += -I$(RIOTBASE)/sys/arduino/include

61
sys/arduino/base.cpp Normal file
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@ -0,0 +1,61 @@
/*
* Copyright (C) 2015 Freie Universität Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser General
* Public License v2.1. See the file LICENSE in the top level directory for more
* details.
*/
/**
* @ingroup sys_arduino
* @{
*
* @file
* @brief Implementation of Arduino core functionality
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
*
* @}
*/
extern "C" {
#include "xtimer.h"
#include "periph/gpio.h"
}
#include "arduino.hpp"
static inline gpio_dir_t _dir(int mode)
{
return (mode == OUTPUT) ? GPIO_DIR_OUT : GPIO_DIR_IN;
}
static inline gpio_pp_t _pr(int mode)
{
return (mode == INPUT_PULLUP) ? GPIO_PULLUP : GPIO_NOPULL;
}
void pinMode(int pin, int mode)
{
gpio_init(arduino_pinmap[pin], _dir(mode), _pr(mode));
}
void digitalWrite(int pin, int state)
{
gpio_write(arduino_pinmap[pin], state);
}
int digitalRead(int pin)
{
if (gpio_read(arduino_pinmap[pin])) {
return HIGH;
}
else {
return LOW;
}
}
void delay(int msec)
{
xtimer_usleep(1000 * msec);
}

136
sys/arduino/doc.txt Normal file
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@ -0,0 +1,136 @@
/**
* @defgroup sys_arduino Arduino
* @ingroup sys
* @brief Arduino in RIOT
*
* @section sec_about About
*
* This module enables users to run unmodified Arduino sketches in RIOT. For
* this we aim at supporting the full Arduino API.
*
* The support of the Arduino API in RIOT is useful for multiple reasons:
* - starting point for beginners
* - run your existing sketches on any non-Arduino hardware supported by RIOT
* - makes it easy to move from Arduino to RIOT
* - use Ardunio device drivers in RIOT
* - is fun to implement :-)
*
* Refer to @ref sys_arduino_api for the actual API documentation
*
*
* @section sec_usage General usage
*
* To run you Arduino sketch in RIOT, just follow these steps:
*
* -# create an empty application
* -# add the `arduino` module to your application, your `Makefile` should now
* look something like this:
* @code
* APPLICATION = YOUR_APP_NAME
* BOARD ?= YOUR_TARGET_PLATFORM
* RIOTBASE ?= PATH_TO_RIOT_ROOT
*
* USEMODULE += arduino
*
* include $(RIOTBASE)/Makefile.include
* @endcode
*
* -# copy you Arduino sktech(es) into your application folder. Currently they
* must have the file ending `*.sketch` to be processed.
* -# build, flash, and run your application the usual RIOT-way: simply call
* `make all`, `make flash`, `make term`, etc.
*
* Thats all. As bonus you can of course use any existing RIOT code inside your
* Arduino sketches - you simply have to add the includes to your sketch and
* the corresponding modules to your `Makefile`.
*
* @note So far, all Arduino sketches MUST have the file ending `*.sketch` to
* be recognized by RIOT's build system
*
*
* @section sec_concept Concept
*
* For enabling RIOT to run Arduino sketches, we extended the build system to
* handle `*.sketch` files and we implemented the Arduino API using RIOT's
* native functions.
*
* @subsection sec_concept_build Extension of the build system
*
* Building Arduino sketches in RIOT is done in a two step process.
*
* First, the make system calls a dedicated
* [Arduino build script](https://github.com/RIOT-OS/RIOT/tree/master/dist/tools/arduino/pre_build.sh),
* which is called from the
* [Makefile.include](https://github.com/RIOT-OS/RIOT/tree/master/sys/arduino/Makefile.include)
* of the RIOT Arduino module.
*
* This script creates a temporary file called '_sketches.cpp' inside the
* application folder. Into this file, the script copies some Arduino glue code (
* [pre.snip](https://github.com/RIOT-OS/RIOT/blob/master/sys/arduino/pre.snip)
* and
* [post.snip](https://github.com/RIOT-OS/RIOT/blob/master/sys/arduino/post.snip))
* together with the contents of all `*.sketch` files contained in the
* application folder.
*
* Second, the RIOT make system is called as usual, processing the temporary
* file containing all the Arduino code. Simple :-)
*
* @subsection sec_conecpt_api Implementation of the Arduino API
*
* For supporting the Arduino API, we have created our own function and class
* definitions, using the exact same signatures as in the original Arduino
* header files. These headers are then implemented using standard RIOT APIs,
* e.g. the peripheral drivers, `xtimer`, etc.
*
*
* @section sec_boardsupport Add Arduino support to a board
*
* @note As prerequisite, the board must have support for C++.
*
* To add Arduino support to a board, it has to provice the following:
*
* In `RIOT/board/BOARD/include/arduino_board.h`:
* - a mapping of GPIO pins to Arduino pin numbers named `arduino_pinmap`, e.g.
* @code{c}
* static const gpio_t arduino_pinmap[] = {
* GPIO_PIN(PORT_D, 12),
* GPIO_PIN(PORT_D, 13),
* GPIO_PIN(PORT_D, 14),
* GPIO_PIN(PORT_D, 15),
* GPIO_PIN(PORT_A, 12),
* GPIO_PIN(PORT_A, 15),
* GPIO_PIN(PORT_B, 1),
* GPIO_PIN(PORT_B, 2),
* ...
* };
* @endcode
*
* - a define `ARDUINO_LED` that is mapped to an Arduino pin number connected to
* any on-board LED, or to pin 0 in case no LED is defined:
* @code{c}
* #define ARDUINO_LED (2)
* @endcode
* This links to the third entry in the `arduino_pinmap` array.
*
* In addition, you have to add the 'arduino' feature to the board. for this,
* just add `FEATURES_PROVIDED += arduino` to the 'other features' section in
* your boards `Makefile.features'.
*
* That's it, your board can now run Ardunio sketches.
*
*
* @section sec_todo Open issues
*
* @todo Make it possible to bootstrap Arduino code manually from any RIOT
* application. Include a pseudomule as e.g. arduino_base, which does not
* implement a main function calling `setup()` and `loop()`, so these
* functions have to be called manually from a RIOT application.
* @todo Implement analog outputs (PWM mapping)
* @todo Implement analog inputs (ADC mapping)
* @todo Implement SPI interface class
* @todo Add support for the 'Wrie Library' (I2C)
* @todo Add means to include various Arduino Libraries (maybe as pkg?)
* @todo Implement anything else that is missing...
* @todo Adapt Arduino build script, so sketches do not have to have the file
* ending `*.sketch` anymore
*/

86
sys/arduino/include/arduino.hpp Normal file
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@ -0,0 +1,86 @@
/*
* Copyright (C) 2015 Freie Universität Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @defgroup sys_arduino_api Arduino API
* @ingroup sys_arduino
* @brief Implementation of the Arduino API in RIOT
* @{
*
* @file
* @brief Main interface definition of the Arduino API
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
*/
#ifndef ARDUINO_H
#define ARDUINO_H
extern "C" {
#include "periph/gpio.h"
#include "arduino_board.h"
}
#include "serialport.hpp"
/**
* @brief Possible pin configurations
*/
enum {
INPUT, /**< configure pin as input */
OUTPUT, /**< configure pin as output */
INPUT_PULLUP, /**< configure pin as input with pull-up resistor */
};
/**
* @brief Possible pin states
*/
enum {
LOW = 0, /**< pin is cleared */
HIGH = 1, /**< pin is set */
};
/**
* @brief Primary serial port (mapped to UART_DEV(0))
*/
static SerialPort Serial(UART_DEV(0));
/**
* @brief Configure a pin as either input or output
*
* @param[in] pin pin to configure
* @param[in] mode mode to set the pin to
*/
void pinMode(int pin, int mode);
/**
* @brief Set the value for the given pin
*
* @param[in] pin pin to set
* @param[in] state HIGH or LOW
*/
void digitalWrite(int pin, int state);
/**
* @brief Read the current state of the given pin
*
* @param[in] pin pin to read
*
* @return state of the given pin, HIGH or LOW
*/
int digitalRead(int pin);
/**
* @brief Sleep for a given amount of time [milliseconds]
*
* @param[in] msec number of milliseconds to sleep
*/
void delay(int msec);
#endif /* ARDUINO_H */
/** @} */

301
sys/arduino/include/serialport.hpp Normal file
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/*
* Copyright (C) 2015 Freie Universität Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup sys_arduino_api
* @{
*
* @file
* @brief Definition of the Arduino 'Serial' interface
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
*/
#ifndef ARDUINO_SERIAL_H
#define ARDUINO_SERIAL_H
extern "C" {
#include "ringbuffer.h"
#include "periph/uart.h"
}
/**
* @brief Default RX buffer size - same as the original Arduino...
*/
#define SERIAL_RX_BUFSIZE (64)
/**
* @brief Formatting options for Serial.print(int, format)
*/
enum SerialFormat {
BIN, /**< format to binary representation */
OCT, /**< format to octal representation */
DEC, /**< format to decimal representation */
HEX, /**< format to hex representation */
};
/**
* @brief Arduino Serial Interface
*/
class SerialPort {
private:
uart_t dev;
char rx_mem[SERIAL_RX_BUFSIZE];
ringbuffer_t rx_buf;
public:
/**
* @brief Constructor maps the serial port to a RIOT UART device
*
* @param[in] dev RIOT UART device
*/
SerialPort(uart_t dev);
/**
* @brief Get the number of bytes (characters) available for reading from
* the serial port
*
* This is data that's already arrived and stored in the serial receive
* buffer (which holds 64 bytes). available() inherits from the Stream
* utility class.
*
* Copied from https://www.arduino.cc/en/Serial/Available
*
* @return The number of bytes available to read
*/
int available(void);
/**
* @brief Sets the data rate in bits per second (baud) for serial data
* transmission
*
* For communicating with the computer, use one of these rates: 300, 600,
* 1200, 2400, 4800, 9600, 14400, 19200, 28800, 38400, 57600, or 115200. You
* can, however, specify other rates - for example, to communicate over
* pins 0 and 1 with a component that requires a particular baud rate.
*
* Copied from https://www.arduino.cc/en/Serial/Begin
*
* @param[in] speed speed in bits per second (baud)
*/
void begin(int speed);
/**
* @brief Disables serial communication, allowing the RX and TX pins to be
* used for general input and output
*
* To re-enable serial communication, call @ref begin()
*
* Copied from https://www.arduino.cc/en/Serial/End
*/
void end(void);
/**
* @brief Prints data to the serial port as human-readable ASCII text
*
* Prints data to the serial port as human-readable ASCII text. This command
* can take many forms. Numbers are printed using an ASCII character for
* each digit. Floats are similarly printed as ASCII digits, defaulting to
* two decimal places. Bytes are sent as a single character. Characters and
* strings are sent as is.
*
* Copied from https://www.arduino.cc/en/Serial/Print
*
* @param[in] val the value to print
*
* @return the number of bytes written, reading that number is optional
*/
size_t print(int val);
/**
* @brief Prints data to the serial port as human-readable ASCII text
*
* @see print()
*
* @param[in] val the value to print
* @param[in] format specifies the number base
*
* @return the number of bytes written, reading that number is optional
*/
size_t print(int val, SerialFormat format);
/**
* @brief Prints data to the serial port as human-readable ASCII text
*
* @param[in] val the value to print
*
* @return the number of bytes written, reading that number is optional
*/
size_t print(float val);
/**
* @brief Prints data to the serial port as human-readable ASCII text
*
* @see print()
*
* @param[in] val the value to print
* @param[in] format number of decimal places
*
* @return the number of bytes written, reading that number is optional
*/
size_t print(float val, int format);
/**
* @brief Prints data to the serial port as human-readable ASCII text
*
* @see print()
*
* @param[in] val the value to print
*
* @return the number of bytes written, reading that number is optional
*/
size_t print(char val);
/**
* @brief Prints data to the serial port as human-readable ASCII text
*
* @see print()
*
* @param[in] val the value to print
*
* @return the number of bytes written, reading that number is optional
*/
size_t print(const char *val);
/**
* @brief Prints data to the serial port as human-readable ASCII text
* followed by a carriage return character (ASCII 13, or "\r") and
* a newline character (ASCII 10, or "\n")
*
* This command takes the same forms as @ref print().
*
* Copied from https://www.arduino.cc/en/Serial/Println
*
* @param[in] val the value to print
*
* @return the number of bytes written, reading that number is optional
*/
size_t println(int val);
/**
* @brief Prints data to the serial port as human-readable ASCII text
* followed by a carriage return character (ASCII 13, or "\r") and
* a newline character (ASCII 10, or "\n")
*
* @see println()
*
* @param[in] val the value to print
* @param[in] format specifies the number base
*
* @return the number of bytes written, reading that number is optional
*/
size_t println(int val, SerialFormat format);
/**
* @brief Prints data to the serial port as human-readable ASCII text
* followed by a carriage return character (ASCII 13, or "\r") and
* a newline character (ASCII 10, or "\n")
*
* @see println()
*
* @param[in] val the value to print
*
* @return the number of bytes written, reading that number is optional
*/
size_t println(float val);
/**
* @brief Prints data to the serial port as human-readable ASCII text
* followed by a carriage return character (ASCII 13, or "\r") and
* a newline character (ASCII 10, or "\n")
*
* @see println()
*
* @param[in] val the value to print
* @param[in] format number of decimal places
*
* @return the number of bytes written, reading that number is optional
*/
size_t println(float val, int format);
/**
* @brief Prints data to the serial port as human-readable ASCII text
* followed by a carriage return character (ASCII 13, or "\r") and
* a newline character (ASCII 10, or "\n")
*
* @see println()
*
* @param[in] val the value to print
*
* @return the number of bytes written, reading that number is optional
*/
size_t println(char val);
/**
* @brief Prints data to the serial port as human-readable ASCII text
* followed by a carriage return character (ASCII 13, or "\r") and
* a newline character (ASCII 10, or "\n")
*
* @see println()
*
* @param[in] val the value to print
*
* @return the number of bytes written, reading that number is optional
*/
size_t println(const char *val);
/**
* @brief Reads incoming serial data
*
* Copied from https://www.arduino.cc/en/Serial/Read
*
* @return the first byte of incoming serial data available
* @return -1 if no data is available
*/
int read(void);
/**
* @brief Writes binary data to the serial port
*
* This data is sent as a byte or series of bytes; to send the characters
* representing the digits of a number use the @ref print() function instead.
*
* Copied from https://www.arduino.cc/en/Serial/Write
*
* @param[in] val a value to send as a single byte
*
* @return the number of bytes written, reading that number is optional
*/
int write(int val);
/**
* @brief Writes binary data to the serial port
*
* @see write()
*
* @param[in] str a string to send as a series of bytes
*
* @return the number of bytes written, reading that number is optional
*/
int write(const char *str);
/**
* @brief Writes binary data to the serial port
* @details [long description]
*
* @param[in] buf an array to send as a series of bytes
* @param[in] len the length of the buffer
*
* @return the number of bytes written, reading that number is optional
*/
int write(char *buf, int len);
};
#endif /* ARDUINO_SERIAL_H */
/** @} */

12
sys/arduino/post.snip Normal file
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@ -0,0 +1,12 @@
int main(void)
{
/* run the Arduino setup */
setup();
/* and the event loop */
while (1) {
loop();
}
/* never reached */
return 0;
}

1
sys/arduino/pre.snip Normal file
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@ -0,0 +1 @@
#include "arduino.hpp"

181
sys/arduino/serialport.cpp Normal file
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/*
* Copyright (C) 2015 Freie Universität Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser General
* Public License v2.1. See the file LICENSE in the top level directory for more
* details.
*/
/**
* @ingroup sys_arduino
* @{
*
* @file
* @brief Implementation of the Arduino 'Serial' interface
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
*
* @}
*/
extern "C" {
#include <stdint.h>
#include <string.h>
#include <stdio.h>
#include "irq.h"
}
#include "serialport.hpp"
void rx_cb(void *arg, char c)
{
ringbuffer_t *buf = (ringbuffer_t *)arg;
ringbuffer_add_one(buf, c);
}
SerialPort::SerialPort(uart_t dev)
{
this->dev = dev;
}
int SerialPort::available(void)
{
return (int)rx_buf.avail;
}
void SerialPort::begin(int baudrate)
{
/* this clears the contents of the ringbuffer... */
ringbuffer_init(&rx_buf, rx_mem, SERIAL_RX_BUFSIZE);
uart_init(dev, (uint32_t)baudrate, rx_cb, (void *)&rx_buf);
}
void SerialPort::end(void)
{
uart_poweroff(dev);
}
size_t SerialPort::print(int val)
{
return print(val, DEC);
}
size_t SerialPort::print(int val, SerialFormat format)
{
char buf[64];
size_t len;
switch (format) {
case BIN:
/* TODO */
return 0;
case OCT:
len = sprintf(buf, "%o", (unsigned)val);
break;
case DEC:
len = sprintf(buf, "%i", val);
break;
case HEX:
len = sprintf(buf, "%x", (unsigned)val);
break;
default:
return 0;
}
write(buf, len);
return len;
}
size_t SerialPort::print(float val)
{
return print(val, 2);
}
size_t SerialPort::print(float val, int format)
{
char buf[64];
size_t len = sprintf(buf, "%.*f", format, val);
write(buf, len);
return len;
}
size_t SerialPort::print(char val)
{
return (size_t)write((int)val);
}
size_t SerialPort::print(const char *val)
{
return (size_t)write(val);
}
size_t SerialPort::println(int val)
{
size_t res = print(val);
write("\r\n");
return (res + 2);
}
size_t SerialPort::println(int val, SerialFormat format)
{
size_t res = print(val, format);
write("\r\n");
return (res + 2);
}
size_t SerialPort::println(float val)
{
size_t res = print(val);
write("\r\n");
return (res + 2);
}
size_t SerialPort::println(float val, int format)
{
size_t res = print(val, format);
write("\r\n");
return (res + 2);
}
size_t SerialPort::println(char val)
{
size_t res = print(val);
write("\r\n");
return (res + 2);
}
size_t SerialPort::println(const char *val)
{
size_t res = print(val);
write("\r\n");
return (res + 2);
}
int SerialPort::read(void)
{
int res = -1;
disableIRQ();
if (rx_buf.avail > 0) {
res = ringbuffer_get_one(&rx_buf);
}
enableIRQ();
return res;
}
int SerialPort::write(int val)
{
uart_write(dev, (uint8_t *)&val, 1);
return 1;
}
int SerialPort::write(const char *str)
{
uart_write(dev, (uint8_t *)str, strlen(str));
return strlen(str);
}
int SerialPort::write(char *buf, int len)
{
uart_write(dev, (uint8_t *)buf, len);
return len;
}