diff --git a/CHANGELOG b/CHANGELOG --- a/CHANGELOG +++ b/CHANGELOG @@ -1,3 +1,16 @@ +arduino-copilot (1.4.0) unstable; urgency=medium + + * New Copilot.Arduino.Library.EEPROMex module. + * Serial: Added FlashString, to display strings directly from flash + without copying into ram. + * Added millis and micros. + * MicroSeconds and MilliSeconds types changed to contain a Word32 not a + Word16. + * Renamed Voltage to ADC + * Added frequency. + + -- Joey Hess Sat, 01 Feb 2020 16:30:43 -0400 + arduino-copilot (1.3.0) unstable; urgency=medium * New polymorphic "input" action that can be used to read digital and diff --git a/README b/README --- a/README +++ b/README @@ -12,3 +12,15 @@ This and other examples are included in the examples/ directory, each with their own README explaining how to build and use them. + +## Contributing + +Contributions are welcome, including adding support for more +Arduino C libraries, provided that the C library is reasonably commonly +used, and is licensed with a free software license. + +Contributors of such libraries will be expected to maintain them, +otherwise they may get removed if they are blocking changes to +arduino-copilot or are buggy. + +Any contribution should have well documented functions and types. diff --git a/TODO b/TODO --- a/TODO +++ b/TODO @@ -1,3 +1,4 @@ + * Currently all Inputs run each time through the loop, which could be a problem when an input is slow. It would be good if the @: operator could also rate limit when Inputs occur. @@ -60,12 +61,23 @@ three never runs, because both combinators must branch on the same Stream Bool. +* The way serial output works is somewhat unsatisfying, because + it does not take a Stream FormatOutput. So the Copilot DSL can't be used + to adjust the output format as the arduino runs; it's fixed at compile + time. While Serial.byte does operate on a Stream, it would be hard to do + eg, an interactive program using it. + + It might be possible, using Copilot's support for C structs, to allow + Stream FormatOutput to be accepted by Copilot. However, this issue + seems like it would probably get in the way of actually constructing such + a stream: https://github.com/Copilot-Language/copilot/issues/36 + * analogReference() Takes one of a set of defines, which vary depending on board, so how to pass that through Copilot? Could write a C switch statement, on an int, and have the boade modules define effectively enums. -* Voltage is a raw ADC value; add a stream function to convert that +* ADC is a raw ADC value; add a stream function to convert that to a floating point actual voltage, given also a stream that contains the reference voltage. * pulses @@ -73,3 +85,8 @@ * Wire library * test.hs is not wired into the cabal file because it depends on runghc having the library available +* EEPROMex supports writing individial bits of a byte, but the haskell + library does not expose it. What would be a good haskell interface to + that, a Stream (Array 8 Bool)? +* reading from EEPROMex ranges +* Factor out Range from EEPROMex, and use it to also implement RAM ranges. diff --git a/arduino-copilot.cabal b/arduino-copilot.cabal --- a/arduino-copilot.cabal +++ b/arduino-copilot.cabal @@ -1,5 +1,5 @@ Name: arduino-copilot -Version: 1.3.0 +Version: 1.4.0 Cabal-Version: >= 1.8 License: BSD3 Maintainer: Joey Hess @@ -45,6 +45,14 @@ examples/serialport/README examples/serialport/demo.hs examples/serialport/pre-build-hook.sh + examples/eeprom/Makefile + examples/eeprom/README + examples/eeprom/demo.hs + examples/eeprom/pre-build-hook.sh + examples/eepromrange/Makefile + examples/eepromrange/README + examples/eepromrange/demo.hs + examples/eepromrange/pre-build-hook.sh test.hs Library @@ -58,6 +66,7 @@ Copilot.Arduino.Library.Serial Copilot.Arduino.Library.Serial.Device Copilot.Arduino.Library.Serial.XBee + Copilot.Arduino.Library.EEPROMex Other-Modules: Copilot.Arduino.Main Build-Depends: diff --git a/examples/button/demo.hs b/examples/button/demo.hs --- a/examples/button/demo.hs +++ b/examples/button/demo.hs @@ -2,10 +2,10 @@ import Copilot.Arduino.Uno -longer_and_longer :: Stream Word16 +longer_and_longer :: Stream Word32 longer_and_longer = counter true $ counter true false `mod` 64 == 0 -counter :: Stream Bool -> Stream Bool -> Stream Word16 +counter :: Stream Bool -> Stream Bool -> Stream Word32 counter inc reset = cnt where cnt = if reset diff --git a/examples/eeprom/Makefile b/examples/eeprom/Makefile new file mode 100644 --- /dev/null +++ b/examples/eeprom/Makefile @@ -0,0 +1,129 @@ +# Arduino Make file. Refer to https://github.com/sudar/Arduino-Makefile +BOARD_TAG = uno +ARDUINO_LIBS = EEPROMEx +CPPFLAGS = -D_EEPROMEX_DEBUG +include /usr/share/arduino/Arduino.mk + +# --- leonardo (or pro micro w/leo bootloader) +#BOARD_TAG = leonardo +#MONITOR_PORT = /dev/ttyACM0 +#include /usr/share/arduino/Arduino.mk + +# --- mega2560 ide 1.0 +#BOARD_TAG = mega2560 +#ARDUINO_PORT = /dev/ttyACM0 +#include /usr/share/arduino/Arduino.mk + +# --- mega2560 ide 1.6 +#BOARD_TAG = mega +#BOARD_SUB = atmega2560 +#MONITOR_PORT = /dev/ttyACM0 +#ARDUINO_DIR = /where/you/installed/arduino-1.6.5 +#include /usr/share/arduino/Arduino.mk + +# --- nano ide 1.0 +#BOARD_TAG = nano328 +#MONITOR_PORT = /dev/ttyUSB0 +#include /usr/share/arduino/Arduino.mk + +# --- nano ide 1.6 +#BOARD_TAG = nano +#BOARD_SUB = atmega328 +#ARDUINO_DIR = /where/you/installed/arduino-1.6.5 +#include /usr/share/arduino/Arduino.mk + +# --- pro mini +#BOARD_TAG = pro5v328 +#MONITOR_PORT = /dev/ttyUSB0 +#include /usr/share/arduino/Arduino.mk + +# --- sparkfun pro micro +#BOARD_TAG = promicro16 +#ALTERNATE_CORE = promicro +#BOARDS_TXT = $(HOME)/arduino/hardware/promicro/boards.txt +#BOOTLOADER_PARENT = $(HOME)/arduino/hardware/promicro/bootloaders +#BOOTLOADER_PATH = caterina +#BOOTLOADER_FILE = Caterina-promicro16.hex +#ISP_PROG = usbasp +#AVRDUDE_OPTS = -v +#include /usr/share/arduino/Arduino.mk + +# --- chipkit +#BOARD_TAG = mega_pic32 +#MPIDE_DIR = /where/you/installed/mpide-0023-linux64-20130817-test +#include /usr/share/arduino/chipKIT.mk + +# --- pinoccio +#BOARD_TAG = pinoccio256 +#ALTERNATE_CORE = pinoccio +#BOOTLOADER_PARENT = $(HOME)/arduino/hardware/pinoccio/bootloaders +#BOOTLOADER_PATH = STK500RFR2/release_0.51 +#BOOTLOADER_FILE = boot_pinoccio.hex +#CFLAGS_STD = -std=gnu99 +#CXXFLAGS_STD = -std=gnu++11 +#include /usr/share/arduino/Arduino.mk + +# --- fio +#BOARD_TAG = fio +#include /usr/share/arduino/Arduino.mk + +# --- atmega-ng ide 1.6 +#BOARD_TAG = atmegang +#BOARD_SUB = atmega168 +#MONITOR_PORT = /dev/ttyACM0 +#ARDUINO_DIR = /where/you/installed/arduino-1.6.5 +#include /usr/share/arduino/Arduino.mk + +# --- arduino-tiny ide 1.0 +#ISP_PROG = usbasp +#BOARD_TAG = attiny85at8 +#ALTERNATE_CORE = tiny +#ARDUINO_VAR_PATH = $(HOME)/arduino/hardware/tiny/cores/tiny +#ARDUINO_CORE_PATH = $(HOME)/arduino/hardware/tiny/cores/tiny +#AVRDUDE_OPTS = -v +#include /usr/share/arduino/Arduino.mk + +# --- arduino-tiny ide 1.6 +#ISP_PROG = usbasp +#BOARD_TAG = attiny85at8 +#ALTERNATE_CORE = tiny +#ARDUINO_DIR = /where/you/installed/arduino-1.6.5 +#include /usr/share/arduino/Arduino.mk + +# --- damellis attiny ide 1.0 +#ISP_PROG = usbasp +#BOARD_TAG = attiny85 +#ALTERNATE_CORE = attiny-master +#AVRDUDE_OPTS = -v +#include /usr/share/arduino/Arduino.mk + +# --- damellis attiny ide 1.6 +#ISP_PROG = usbasp +#BOARD_TAG = attiny +#BOARD_SUB = attiny85 +#ALTERNATE_CORE = attiny +#F_CPU = 16000000L +#ARDUINO_DIR = /where/you/installed/arduino-1.6.5 +#include /usr/share/arduino/Arduino.mk + +# --- teensy3 +#BOARD_TAG = teensy31 +#ARDUINO_DIR = /where/you/installed/the/patched/teensy/arduino-1.0.6 +#include /usr/share/arduino/Teensy.mk + +# --- mighty 1284p +#BOARD_TAG = mighty_opt +#BOARDS_TXT = $(HOME)/arduino/hardware/mighty-1284p/boards.txt +#BOOTLOADER_PARENT = $(HOME)/arduino/hardware/mighty-1284p/bootloaders +#BOOTLOADER_PATH = optiboot +#BOOTLOADER_FILE = optiboot_atmega1284p.hex +#ISP_PROG = usbasp +#AVRDUDE_OPTS = -v +#include /usr/share/arduino/Arduino.mk + +# --- atmega328p on breadboard +#BOARD_TAG = atmega328bb +#ISP_PROG = usbasp +#AVRDUDE_OPTS = -v +#BOARDS_TXT = $(HOME)/arduino/hardware/breadboard/boards.txt +#include /usr/share/arduino/Arduino.mk diff --git a/examples/eeprom/README b/examples/eeprom/README new file mode 100644 --- /dev/null +++ b/examples/eeprom/README @@ -0,0 +1,25 @@ +This is a demo program using arduino-copilot, showing how to use EEPROMex. + +This needs the Arduino-Makefile to be installed. It relies on it +to set CPPFLAGS=-D_EEPROMEX_DEBUG when building the C code. + + +The path in the `Makefile` to `Arduino.mk` may need to be adjusted (the +default is the location where on a Debian system, `apt-get install +arduino-mk` will install it). + +You will also need to install the EEPROMex library to someplace where +the Arduino toolchain can find it. + + +First, run this to build and upload a sketch that zeros out some values of +the EEPROM. + + ZERO=y runghc demo.hs + ZERO=y make upload + +Then, you can build and upload the sketch that actually does something +interesting. + + runghc demo.hs + make upload diff --git a/examples/eeprom/demo.hs b/examples/eeprom/demo.hs new file mode 100644 --- /dev/null +++ b/examples/eeprom/demo.hs @@ -0,0 +1,78 @@ +{-# LANGUAGE RebindableSyntax #-} + +import Copilot.Arduino.Uno +import qualified Copilot.Arduino.Library.EEPROMex as EEPROM +import qualified Copilot.Arduino.Library.Serial as Serial +import System.Posix.Env +import qualified Prelude + +main :: IO () +main = do + z <- getEnvDefault "ZERO" "" + arduino $ case z of + "y" -> mainZero + _ -> mainReal + +-- Zero out the EEPROM, in preparation for mainReal. +mainZero :: Sketch () +mainZero = do + EEPROM.maxAllowedWrites 10 + + (_, eepromloc) <- EEPROM.alloc' (20 :: ADC) + eepromloc =: constant (0 :: ADC) @: firstIteration + + (_, uptimeloc) <- EEPROM.alloc' (0 :: Word32) + uptimeloc =: constant (0 :: Word32) @: firstIteration + + Serial.baud 9600 + Serial.device =: [ Serial.str "EEPROM zeroed" ] @: firstIteration + +mainReal :: Sketch () +mainReal = do + -- Store the maximum value read from a1 in the EEPROM. + -- There are only 1024 possible values, so this can only possibly + -- write new values that many times, so no delay is needed in this + -- program. Just in case though, limit the total number of writes: + EEPROM.maxAllowedWrites 2048 + (bootval, eepromloc) <- EEPROM.alloc' (20 :: ADC) + currval <- input' a1 [10, 11, 25, 100, 99, 0, 0, 0, 0, 0] + let maxval = if currval > bootval then currval else bootval + -- Note that using maxBound here means it will never write + -- on the first iteration, even if a1 is then larger than bootval. + -- Any better way to write this that avoids the problem? + let newmax = currval > ([maxBound] ++ maxval) + eepromloc =: currval @: newmax + + -- Store the maximum MilliSeconds this program has been left running + -- in the EEPROM too. + (bootuptime, uptimeloc) <- EEPROM.alloc' (0 :: Word32) + uptime <- input' millis (dummyclockinput [1, 1, 1, 2, 2, 2, 3, 3, 3]) + -- micros overflows after ~70 minutes; detect that and use it to + -- trigger a periodic write of the uptime to EEPROM. + hourlyish <- microsOverFlowed + let maxuptime = if uptime > bootuptime then uptime else bootuptime + uptimeloc =: maxuptime @: hourlyish + + Serial.baud 9600 + Serial.device =: + [ Serial.str "max a1 seen: " + -- This is not quite right, because maxval resets to + -- bootval when this is displayed at hourlyish. + -- Interpreting shows the problem: + -- -- (3) (20,3) + -- How to fix this? + , Serial.show maxval + , Serial.str " max uptime: " + , Serial.show maxuptime + , Serial.char '\n' + ] + @: (firstIteration || newmax || hourlyish) + +microsOverFlowed :: Sketch (Behavior Bool) +microsOverFlowed = do + t <- input' micros (dummyclockinput [1, 2, 3]) + let oldt = [0] ++ t + return (t < oldt) + +dummyclockinput :: [Word32] -> [Word32] +dummyclockinput = Prelude.cycle diff --git a/examples/eeprom/pre-build-hook.sh b/examples/eeprom/pre-build-hook.sh new file mode 100644 --- /dev/null +++ b/examples/eeprom/pre-build-hook.sh @@ -0,0 +1,2 @@ +#!/bin/sh +exec runghc demo.hs diff --git a/examples/eepromrange/Makefile b/examples/eepromrange/Makefile new file mode 100644 --- /dev/null +++ b/examples/eepromrange/Makefile @@ -0,0 +1,129 @@ +# Arduino Make file. Refer to https://github.com/sudar/Arduino-Makefile +BOARD_TAG = uno +ARDUINO_LIBS = EEPROMEx +CPPFLAGS = -D_EEPROMEX_DEBUG +include /usr/share/arduino/Arduino.mk + +# --- leonardo (or pro micro w/leo bootloader) +#BOARD_TAG = leonardo +#MONITOR_PORT = /dev/ttyACM0 +#include /usr/share/arduino/Arduino.mk + +# --- mega2560 ide 1.0 +#BOARD_TAG = mega2560 +#ARDUINO_PORT = /dev/ttyACM0 +#include /usr/share/arduino/Arduino.mk + +# --- mega2560 ide 1.6 +#BOARD_TAG = mega +#BOARD_SUB = atmega2560 +#MONITOR_PORT = /dev/ttyACM0 +#ARDUINO_DIR = /where/you/installed/arduino-1.6.5 +#include /usr/share/arduino/Arduino.mk + +# --- nano ide 1.0 +#BOARD_TAG = nano328 +#MONITOR_PORT = /dev/ttyUSB0 +#include /usr/share/arduino/Arduino.mk + +# --- nano ide 1.6 +#BOARD_TAG = nano +#BOARD_SUB = atmega328 +#ARDUINO_DIR = /where/you/installed/arduino-1.6.5 +#include /usr/share/arduino/Arduino.mk + +# --- pro mini +#BOARD_TAG = pro5v328 +#MONITOR_PORT = /dev/ttyUSB0 +#include /usr/share/arduino/Arduino.mk + +# --- sparkfun pro micro +#BOARD_TAG = promicro16 +#ALTERNATE_CORE = promicro +#BOARDS_TXT = $(HOME)/arduino/hardware/promicro/boards.txt +#BOOTLOADER_PARENT = $(HOME)/arduino/hardware/promicro/bootloaders +#BOOTLOADER_PATH = caterina +#BOOTLOADER_FILE = Caterina-promicro16.hex +#ISP_PROG = usbasp +#AVRDUDE_OPTS = -v +#include /usr/share/arduino/Arduino.mk + +# --- chipkit +#BOARD_TAG = mega_pic32 +#MPIDE_DIR = /where/you/installed/mpide-0023-linux64-20130817-test +#include /usr/share/arduino/chipKIT.mk + +# --- pinoccio +#BOARD_TAG = pinoccio256 +#ALTERNATE_CORE = pinoccio +#BOOTLOADER_PARENT = $(HOME)/arduino/hardware/pinoccio/bootloaders +#BOOTLOADER_PATH = STK500RFR2/release_0.51 +#BOOTLOADER_FILE = boot_pinoccio.hex +#CFLAGS_STD = -std=gnu99 +#CXXFLAGS_STD = -std=gnu++11 +#include /usr/share/arduino/Arduino.mk + +# --- fio +#BOARD_TAG = fio +#include /usr/share/arduino/Arduino.mk + +# --- atmega-ng ide 1.6 +#BOARD_TAG = atmegang +#BOARD_SUB = atmega168 +#MONITOR_PORT = /dev/ttyACM0 +#ARDUINO_DIR = /where/you/installed/arduino-1.6.5 +#include /usr/share/arduino/Arduino.mk + +# --- arduino-tiny ide 1.0 +#ISP_PROG = usbasp +#BOARD_TAG = attiny85at8 +#ALTERNATE_CORE = tiny +#ARDUINO_VAR_PATH = $(HOME)/arduino/hardware/tiny/cores/tiny +#ARDUINO_CORE_PATH = $(HOME)/arduino/hardware/tiny/cores/tiny +#AVRDUDE_OPTS = -v +#include /usr/share/arduino/Arduino.mk + +# --- arduino-tiny ide 1.6 +#ISP_PROG = usbasp +#BOARD_TAG = attiny85at8 +#ALTERNATE_CORE = tiny +#ARDUINO_DIR = /where/you/installed/arduino-1.6.5 +#include /usr/share/arduino/Arduino.mk + +# --- damellis attiny ide 1.0 +#ISP_PROG = usbasp +#BOARD_TAG = attiny85 +#ALTERNATE_CORE = attiny-master +#AVRDUDE_OPTS = -v +#include /usr/share/arduino/Arduino.mk + +# --- damellis attiny ide 1.6 +#ISP_PROG = usbasp +#BOARD_TAG = attiny +#BOARD_SUB = attiny85 +#ALTERNATE_CORE = attiny +#F_CPU = 16000000L +#ARDUINO_DIR = /where/you/installed/arduino-1.6.5 +#include /usr/share/arduino/Arduino.mk + +# --- teensy3 +#BOARD_TAG = teensy31 +#ARDUINO_DIR = /where/you/installed/the/patched/teensy/arduino-1.0.6 +#include /usr/share/arduino/Teensy.mk + +# --- mighty 1284p +#BOARD_TAG = mighty_opt +#BOARDS_TXT = $(HOME)/arduino/hardware/mighty-1284p/boards.txt +#BOOTLOADER_PARENT = $(HOME)/arduino/hardware/mighty-1284p/bootloaders +#BOOTLOADER_PATH = optiboot +#BOOTLOADER_FILE = optiboot_atmega1284p.hex +#ISP_PROG = usbasp +#AVRDUDE_OPTS = -v +#include /usr/share/arduino/Arduino.mk + +# --- atmega328p on breadboard +#BOARD_TAG = atmega328bb +#ISP_PROG = usbasp +#AVRDUDE_OPTS = -v +#BOARDS_TXT = $(HOME)/arduino/hardware/breadboard/boards.txt +#include /usr/share/arduino/Arduino.mk diff --git a/examples/eepromrange/README b/examples/eepromrange/README new file mode 100644 --- /dev/null +++ b/examples/eepromrange/README @@ -0,0 +1,26 @@ +This is a demo program using arduino-copilot, showing how to use EEPROMex +with ranges. + +This needs the Arduino-Makefile to be installed. It relies on it +to set CPPFLAGS=-D_EEPROMEX_DEBUG when building the C code. + + +The path in the `Makefile` to `Arduino.mk` may need to be adjusted (the +default is the location where on a Debian system, `apt-get install +arduino-mk` will install it). + +You will also need to install the EEPROMex library to someplace where +the Arduino toolchain can find it. + + +First, run this to build and upload a sketch that zeros out the entire +EEPROM. + + ZERO=y runghc demo.hs + ZERO=y make upload + +Then, you can build and upload the sketch that actually does something +interesting. + + runghc demo.hs + make upload diff --git a/examples/eepromrange/demo.hs b/examples/eepromrange/demo.hs new file mode 100644 --- /dev/null +++ b/examples/eepromrange/demo.hs @@ -0,0 +1,40 @@ +{-# LANGUAGE RebindableSyntax #-} + +import Copilot.Arduino.Uno +import qualified Copilot.Arduino.Library.EEPROMex as EEPROM +import qualified Copilot.Arduino.Library.Serial as Serial +import System.Posix.Env + +-- Change this to use a smaller part of the EEPROM. +sz :: Word16 +sz = sizeOfEEPROM + +main :: IO () +main = do + z <- getEnvDefault "ZERO" "" + arduino $ case z of + "y" -> mainZero + _ -> mainReal + +-- Zero out the EEPROM, in preparation for mainReal. +mainZero :: Sketch () +mainZero = do + EEPROM.maxAllowedWrites sz + + range <- EEPROM.allocRange sz :: Sketch (EEPROM.Range Word8) + range =: EEPROM.sweepRange 0 (constant (0 :: Word8)) + + Serial.baud 9600 + Serial.device =: [ Serial.str "EEPROM zeroing started" ] + @: firstIteration + +mainReal :: Sketch () +mainReal = do + EEPROM.maxAllowedWrites (sz * 10) + range <- EEPROM.allocRange sz :: Sketch (EEPROM.Range ADC) + v <- input' a1 ([10, 20..] :: [ADC]) + range =: EEPROM.sweepRange 0 v @: frequency 3 + led =: frequency 3 + Serial.device =: [ Serial.show v, Serial.char '\n'] + delay =: MilliSeconds (constant 10000) + Serial.baud 9600 diff --git a/examples/eepromrange/pre-build-hook.sh b/examples/eepromrange/pre-build-hook.sh new file mode 100644 --- /dev/null +++ b/examples/eepromrange/pre-build-hook.sh @@ -0,0 +1,2 @@ +#!/bin/sh +exec runghc demo.hs diff --git a/examples/serialport/demo.hs b/examples/serialport/demo.hs --- a/examples/serialport/demo.hs +++ b/examples/serialport/demo.hs @@ -16,11 +16,11 @@ useXBee :: Bool useXBee = True -userIsTyping :: Stream Int8 -> Stream Bool +userIsTyping :: Behavior Int8 -> Behavior Bool userIsTyping userinput = userinput /= constant Serial.noInput getSerial :: Input o Int8 => Bool -> o -> Sketch (Behavior Int8) -getSerial True i = input i +getSerial True i = input' i (repeat Serial.noInput) getSerial False _ = return (constant Serial.noInput) main :: IO () @@ -28,14 +28,17 @@ when useSerial $ Serial.baud 9600 when useXBee $ XBee.configure pin2 pin3 (XBee.Baud 9600) - -- Measure the voltage of an analog input, and display it to the + -- Measure the an analog input, and display it to the -- serial port. This is a handy demo because with nothing connected -- to a0, just moving your hand close to the arduino will probably -- cause some noise to be read. - n <- input a0 :: Sketch (Behavior Voltage) + n <- input' a0 [1, 50, 11, 99, 120] :: Sketch (Behavior ADC) + c <- input' millis [20, 60, 80, 100] :: Sketch (Behavior Word32) let msg = [ Serial.str "analog input:" , Serial.showFormatted n Serial.HEX + , Serial.str " millis:" + , Serial.show c , Serial.char '\n' ] when useSerial $ Serial.device =: msg diff --git a/src/Copilot/Arduino.hs b/src/Copilot/Arduino.hs --- a/src/Copilot/Arduino.hs +++ b/src/Copilot/Arduino.hs @@ -9,6 +9,8 @@ {-# LANGUAGE RebindableSyntax #-} {-# LANGUAGE DataKinds #-} {-# LANGUAGE MultiParamTypeClasses #-} +{-# LANGUAGE FlexibleInstances #-} +{-# LANGUAGE TypeApplications #-} module Copilot.Arduino ( -- * Arduino sketch generation @@ -25,7 +27,8 @@ input, input', pullup, - Voltage, + millis, + micros, -- * Outputs -- -- | Only a few common outputs are included in this module. @@ -36,11 +39,16 @@ (=:), pwm, delay, + -- * Other types + ADC, MilliSeconds(..), MicroSeconds(..), + ClockMillis, + ClockMicros, -- * Utilities blinking, firstIteration, + frequency, sketchSpec, -- * Copilot DSL -- @@ -62,6 +70,8 @@ import Copilot.Arduino.Internals import Copilot.Arduino.Main import Control.Monad.Writer +import Data.Proxy +import Data.Maybe import qualified Data.Map as M import qualified Data.Set as S @@ -82,11 +92,19 @@ firstIteration :: Behavior Bool firstIteration = [True]++false +-- | Use this to make an event occur 1 time out of n. +-- +-- This is implemented using Copilot's `clk`: +-- +-- > frequency = clk (period n) (phase 1) +frequency :: Integer -> Behavior Bool +frequency n = clk (period n) (phase 1) + -- | A stream of milliseconds. -data MilliSeconds = MilliSeconds (Stream Word16) +data MilliSeconds = MilliSeconds (Stream Word32) -- | A stream of microseconds. -data MicroSeconds = MicroSeconds (Stream Word16) +data MicroSeconds = MicroSeconds (Stream Word32) -- | Use this to add a delay between each iteration of the `Sketch`. -- A `Sketch` with no delay will run as fast as the hardware can run it. @@ -104,7 +122,46 @@ instance Output Delay MicroSeconds where Delay =: (MicroSeconds n) = tell [(trigger "delayMicroseconds" true [arg n], mempty)] - + +-- | Number of MillisSeconds since the Arduino booted. +-- +-- > n <- input millis +-- +-- The value wraps back to zero after approximately 50 days. +millis :: ClockMillis +millis = ClockMillis + +-- | Number of MicroSeconds since the Arduino booted. +-- +-- > n <- input micros +-- +-- The value wraps back to zero after approximately 70 minutes. +micros :: ClockMicros +micros = ClockMicros + +data ClockMillis = ClockMillis +data ClockMicros = ClockMicros + +instance Input ClockMillis Word32 where + input' ClockMillis = inputClock "millis" + +instance Input ClockMicros Word32 where + input' ClockMicros = inputClock "micros" + +inputClock :: [Char] -> [Word32] -> Sketch (Behavior Word32) +inputClock src interpretvalues = mkInput $ InputSource + { setupInput = [] + , defineVar = [CLine $ showCType (Proxy @Word32) <> " " <> varname <>";"] + , inputPinmode = mempty + , readInput = [CLine $ varname <> " = " <> src <> "();"] + , inputStream = extern varname interpretvalues' + } + where + varname = "clock_" <> src + interpretvalues' + | null interpretvalues = Nothing + | otherwise = Just interpretvalues + -- | Use this to read a value from a component of the Arduino. -- -- For example, to read a digital value from pin12 and turn on the @@ -114,10 +171,11 @@ -- > led =: buttonpressed -- -- Some pins support multiple types of reads, for example pin a0 --- supports a digital read (`Bool`), and an analog read (`Voltage`). --- In such cases you may need to specify the type of data to read: +-- supports a digital read (`Bool`), and an analog to digital converter +-- read (`ADC`). In such cases you may need to specify the type of +-- data to read: -- --- > v <- input a0 :: Sketch (Behavior Voltage) +-- > v <- input a0 :: Sketch (Behavior ADC) input :: Input o t => o -> Sketch (Behavior t) input o = input' o [] @@ -154,6 +212,4 @@ -- This can be useful to intergrate with other libraries -- such as copilot-theorem. sketchSpec :: Sketch a -> Spec -sketchSpec (Sketch s) = sequence_ is - where - (is, _fs) = unzip (execWriter s) +sketchSpec = fromMaybe (return ()) . fst . evalSketch diff --git a/src/Copilot/Arduino/Internals.hs b/src/Copilot/Arduino/Internals.hs --- a/src/Copilot/Arduino/Internals.hs +++ b/src/Copilot/Arduino/Internals.hs @@ -15,9 +15,12 @@ import Language.Copilot import Control.Monad.Writer +import Control.Monad.State.Strict +import Data.Functor.Identity import qualified Data.Map as M import qualified Data.Set as S import Data.Type.Bool +import Data.Proxy import GHC.TypeLits -- | A value that changes over time. @@ -50,8 +53,14 @@ -- -- While it is a monad, a Sketch's outputs are not updated in any -- particular order, because Copilot does not guarantee any order. -newtype Sketch t = Sketch (Writer [(Spec, Framework)] t) - deriving (Monad, Applicative, Functor, MonadWriter [(Spec, Framework)]) +newtype Sketch t = Sketch (WriterT [(Spec, Framework)] (State UniqueIds) t) + deriving + ( Monad + , Applicative + , Functor + , MonadWriter [(Spec, Framework)] + , MonadState UniqueIds + ) instance Monoid (Sketch ()) where mempty = Sketch (return ()) @@ -59,12 +68,36 @@ instance Semigroup (Sketch t) where (Sketch a) <> (Sketch b) = Sketch (a >> b) +newtype UniqueIds = UniqueIds [Integer] + +evalSketch :: Sketch a -> (Maybe Spec, Framework) +evalSketch (Sketch s) = (spec, mconcat fs) + where + (is, fs) = unzip $ + runIdentity $ evalStateT (execWriterT s) (UniqueIds [1..]) + -- Copilot will throw an ugly error if given a spec that does + -- nothing at all, so return Nothing to avoid that. + spec = if null is + then Nothing + else Just (sequence_ is) + +getUniqueId :: Sketch Integer +getUniqueId = do + v <- get + case v of + UniqueIds (u:us) -> do + put (UniqueIds us) + return u + UniqueIds [] -> error "somehow UniqueIds ran out" + -- | The framework of an Arduino sketch. data Framework = Framework { defines :: [CLine] -- ^ Things that come before the C code generated by Copilot. , setups :: [CLine] -- ^ Things to do at setup, not including configuring pins. + , earlySetups :: [CLine] + -- ^ Things to do at setup, before the setups. , pinmodes :: M.Map PinId (S.Set PinMode) -- ^ How pins are used. , loops :: [CLine] @@ -78,12 +111,13 @@ a <> b = Framework { defines = defines a <> defines b , setups = setups a <> setups b + , earlySetups = earlySetups a <> earlySetups b , pinmodes = M.unionWith S.union (pinmodes a) (pinmodes b) , loops = loops a <> loops b } instance Monoid Framework where - mempty = Framework mempty mempty mempty mempty + mempty = Framework mempty mempty mempty mempty mempty -- | Copilot only supports calling a trigger with a given name once -- per Spec; the generated C code will fail to build if the same name is @@ -117,6 +151,7 @@ f = Framework { defines = defineVar i , setups = setupInput i + , earlySetups = mempty , pinmodes = M.map S.singleton (inputPinmode i) , loops = readInput i } @@ -262,10 +297,10 @@ | null interpretvalues = Nothing | otherwise = Just interpretvalues --- | Voltage read from an Arduino's ADC. Ranges from 0-1023. -type Voltage = Int16 +-- | Value read from an Arduino's ADC. Ranges from 0-1023. +type ADC = Int16 -instance IsAnalogInputPin t => Input (Pin t) Voltage where +instance IsAnalogInputPin t => Input (Pin t) ADC where input' (Pin (PinId n)) interpretvalues = mkInput $ InputSource { defineVar = [CLine $ "int " <> varname <> ";"] , setupInput = [] @@ -278,4 +313,19 @@ interpretvalues' | null interpretvalues = Nothing | otherwise = Just interpretvalues + +class ShowCType t where + showCType :: Proxy t -> String + +instance ShowCType Bool where showCType _ = "bool" +instance ShowCType Int8 where showCType _ = "int8_t" +instance ShowCType Int16 where showCType _ = "int16_t" +instance ShowCType Int32 where showCType _ = "int32_t" +instance ShowCType Int64 where showCType _ = "int64_t" +instance ShowCType Word8 where showCType _ = "uint8_t" +instance ShowCType Word16 where showCType _ = "uint16_t" +instance ShowCType Word32 where showCType _ = "uint32_t" +instance ShowCType Word64 where showCType _ = "uint64_t" +instance ShowCType Float where showCType _ = "float" +instance ShowCType Double where showCType _ = "double" diff --git a/src/Copilot/Arduino/Library/EEPROMex.hs b/src/Copilot/Arduino/Library/EEPROMex.hs new file mode 100644 --- /dev/null +++ b/src/Copilot/Arduino/Library/EEPROMex.hs @@ -0,0 +1,368 @@ +-- | EEPROMex library for arduino-copilot. +-- +-- This module is designed to be imported qualified. +-- +-- This is an interface to the C EEPROMex library, which will need to be +-- installed in your Arduino development environment. +-- https://playground.arduino.cc/Code/EEPROMex/ + +{-# LANGUAGE RebindableSyntax #-} +{-# LANGUAGE ScopedTypeVariables #-} +{-# LANGUAGE TypeApplications #-} +{-# LANGUAGE FlexibleInstances #-} +{-# LANGUAGE MultiParamTypeClasses #-} +{-# LANGUAGE GeneralizedNewtypeDeriving #-} +{-# LANGUAGE TypeFamilies #-} + +module Copilot.Arduino.Library.EEPROMex ( + -- * Configuration + maxAllowedWrites, + memPool, + StartAddress(..), + EndAddress(..), + EEPROMable, + -- * Single values + alloc, + alloc', + Location, + -- * Ranges + Range, + RangeIndex, + allocRange, + sweepRange, + sweepRange', + RangeWrites(..), +) where + +import Copilot.Arduino +import Copilot.Arduino.Internals +import Control.Monad.Writer +import Data.Proxy + +-- | Set the maximum number of writes to EEPROM that can be made while +-- the Arduino is running. When too many writes have been made, +-- it will no longer write to the EEPROM, and will send warning +-- messages to the serial port. +-- +-- This is a strongly encouraged safety measure to use, because the +-- Arduino's EEPROM can only endure around 100,000 writes, and +-- a Sketch that's constantly writing to EEPROM, without a well chosen +-- `:@` rate limit or `delay`, could damage your hardware in just a few +-- minutes. +-- +-- Note that this module uses EEPROMex's update facility for all writes +-- to EEPROM. That avoids writing a byte when its current value is +-- the same as what needed to be written. That prevents excessive wear +-- in some cases, but you should still use maxAllowedWrites too. +-- +-- For this to work, CPPFLAGS needs to include "-D_EEPROMEX_DEBUG" when the +-- EEPROMex C library gets built. When you use this, it generates C +-- code that makes sure that is enabled. +maxAllowedWrites :: Word16 -> Sketch () +maxAllowedWrites n = tell [(return (), f)] + where + f = mempty + { earlySetups = + [ CLine "#ifdef _EEPROMEX_DEBUG" + , CLine $ "EEPROM.setMaxAllowedWrites(" <> show n <> ");" + , CLine "#else" + , CLine "#error \"maxAllowedWrites cannot be checked because _EEPROMEX_DEBUG is not set.\"" + , CLine "#endif" + ] + , defines = [ includeCLine ] + } + +-- | The address of the first byte of the EEPROM that will be allocated +-- by `alloc`. The default is to start allocation from 0. +-- +-- Picking a different StartAddress can avoid overwriting the +-- part of the EEPROM that is used by some other program. +newtype StartAddress = StartAddress Word16 + deriving (Num, Eq, Ord, Enum, Show, Read, Bounded, Integral, Real) + +-- | The address of the last byte of the EEPROM that can be allocated +-- by `alloc`. The default is to allow allocating 512 bytes. +-- +-- Modules for particular boards, such as Copilot.Arduino.Library.Uno, +-- each define a sizeOfEEPROM value, so to use the entire EEPROM, use: +-- +-- > EndAddress sizeOfEEPROM +newtype EndAddress = EndAddress Word16 + deriving (Num, Eq, Ord, Enum, Show, Read, Bounded, Integral, Real) + +-- | Configure the EEPROM memory pool that the program can use. +-- +-- > EEPROM.memPool 0 (EndAddress sizeOfEEPROM) +memPool :: StartAddress -> EndAddress -> Sketch () +memPool (StartAddress start) (EndAddress end) = tell [(return (), f)] + where + f = mempty + -- setMemPool() has to come before any + -- getAddress(), so do it in earlySetups. + { earlySetups = + [ CLine $ "EEPROM.setMemPool(" + <> show start + <> ", " + <> show end + <> ");" + ] + , defines = [ includeCLine ] + } + +-- | Allocates a location in the EEPROM. +-- +-- Two things are returned; first a `Behavior` which contains a value +-- read from the EEPROM at boot; and secondly a `Location` that can be +-- written to later on. +-- +-- Here's an example of using it, to remember the maximum value read from +-- a1, persistently across power cycles. +-- +-- > EEPROM.maxAllowedWrites 100 +-- > (bootval, eepromloc) <- EEPROM.alloc +-- > currval <- input a1 :: Sketch (Behavior ADC) +-- > let maxval = [maxBound] ++ if currval > bootval then currval else bootval +-- > eepromloc =: currval @: (currval > maxval) +-- > delay =: MilliSeconds (constant 10000) +-- +-- Of course, the EEPROM could already contain any value at the allocated +-- location to start with (either some default value or something written +-- by another program). So you'll need to first boot up a sketch that zeros +-- it out before using the sketch above. Here's a simple sketch that zeros +-- two values: +-- +-- > EEPROM.maxAllowedWrites 100 +-- > (_, eepromloc1) <- EEPROM.alloc +-- > (_, eepromloc2) <- EEPROM.alloc +-- > eepromloc1 =: constant (0 :: ADC) :@ firstIteration +-- > eepromloc2 =: constant (0 :: Word16) :@ firstIteration +-- +-- `alloc` can be used as many times as you want, storing multiple values +-- in the EEPROM, up to the limit of the size of the EEPROM. +-- (Which is not statically checked.) +-- +-- Do note that the EEPROM layout is controlled by the order of calls to +-- `alloc`, so take care when reordering or deleting calls. +alloc :: forall t. (EEPROMable t) => Sketch (Behavior t, Location t) +alloc = alloc' (factoryValue (Proxy @t)) + +-- | Same as `alloc'`, but with a value which will be used +-- as the EEPROM's boot value when interpreting the Sketch, +-- instead of the default of acting as if all bits of the EEPROM are +-- set. +alloc' :: forall t. (EEPROMable t) => t -> Sketch (Behavior t, Location t) +alloc' interpretval = do + i <- getUniqueId + let addrvarname = "eeprom_address" <> show i + let bootvarname = "eeprom_boot_val" <> show i + let writername = "eeprom_write" <> show i + let proxy = Proxy @t + bootval <- mkInput $ InputSource + { defineVar = + [ includeCLine + , CLine $ "int " <> addrvarname <> ";" + , CLine $ showCType proxy <> " " <> bootvarname <> ";" + , CLine $ "void " <> writername + <> "(" <> showCType proxy <> " value) {" + , CLine $ " EEPROM." <> writeValue proxy + <> "(" <> addrvarname <> ", value);" + , CLine "}" + ] + , setupInput = + [ CLine $ addrvarname <> + " = EEPROM.getAddress(sizeof(" + <> showCType proxy <> "));" + , CLine $ bootvarname <> + " = EEPROM." + <> readValue proxy <> "(" <> addrvarname <> ");" + ] + , readInput = [] + , inputStream = extern bootvarname (Just (repeat interpretval)) + , inputPinmode = mempty + } + return (bootval, Location writername) + +data Location t = Location String + +instance EEPROMable t => Output (Location t) (Event () (Stream t)) where + Location writername =: (Event v c) = + tell [(trigger writername c [arg v], mempty)] + +-- | A range of values in the EEPROM. +data Range t = Range + { rangeStart :: Location (Range t) + , rangeSize :: Word16 -- ^ number of `t` values in the Range + } + +-- | Allocates a Range in the EEPROM, which stores the specified number of +-- items of some type. +-- +-- This is an example of using a range of the EEPROM as a ring buffer, +-- to store the last 100 values read from a1. +-- +-- > EEPROM.maxAllowedWrites 1000 +-- > range <- EEPROM.allocRange 100 :: Sketch (EEPROM.Range ADC) +-- > currval <- input a1 :: Sketch (Behavior ADC) +-- > range =: EEPROM.sweepRange 0 currval +-- > delay =: MilliSeconds (constant 10000) +-- +-- `allocRange` can be used as many times as you want, and combined with +-- uses of `alloc`, up to the size of the EEPROM. +-- (Which is not statically checked.) +-- +-- Do note that the EEPROM layout is controlled by the order of calls to +-- `allocRange` and `alloc`, so take care when reordering or deleting calls. +allocRange :: forall t. (EEPROMable t) => Word16 -> Sketch (Range t) +allocRange sz = do + i <- getUniqueId + let startaddrvarname = "eeprom_range_address" <> show i + let writername = "eeprom_range_write" <> show i + let proxy = Proxy @t + let f = Framework + { defines = + [ includeCLine + , CLine $ "int " <> startaddrvarname <> ";" + , CLine $ "void " <> writername + <> "(" <> showCType proxy <> " value" + <> ", " <> showCType (Proxy @Word16) <> " offset" + <> ") {" + , CLine $ " EEPROM." <> writeValue proxy + <> "(" <> startaddrvarname + <> " + offset*sizeof(" + <> showCType proxy + <> ")" + <> ", value);" + , CLine "}" + ] + , setups = + [ CLine $ startaddrvarname <> " = EEPROM.getAddress" + <> "(sizeof(" <> showCType proxy <> ")" + <> " * " <> show sz + <> ");" + ] + , earlySetups = [] + , pinmodes = mempty + , loops = mempty + } + tell [(return (), f)] + return (Range (Location writername) sz) + +-- | Description of writes made to a Range. +-- +-- This can be turned into an `Event` by using `@:` with it, and that's +-- what the Behavior Bool is needed for. Consider this example, +-- that ignores the Behavior Bool, and just uses a counter for the +-- `RangeIndex`: +-- +-- > range =: EEPROM.RangeWrites (\_ -> counter) (constant 0) @: blinking +-- +-- The use of `@:` `blinking` makes an `Event` that only occurs on every other +-- iteration of the Sketch. But, the counter increases on every +-- iteration of the Sketch. So that will only write to every other value +-- in the `Range`. +-- +-- The Behavior Bool is only True when an event occurs, and so +-- it can be used to avoid incrementing the counter otherwise. See +--`sweepRange'` for an example. +data RangeWrites t = RangeWrites + (Behavior Bool -> Behavior RangeIndex) + (Behavior t) + +-- | An index into a Range. 0 is the first value in the Range. +-- +-- Indexes larger than the size of the Range will not overflow it, +-- instead they loop back to the start of the Range. +type RangeIndex = Word16 + +instance EEPROMable t => Output (Range t) (RangeWrites t) where + (=:) = writeRange true + +instance EEPROMable t => Output (Range t) (Event () (RangeWrites t)) where + range =: Event ws c = + writeRange c range ws + +instance EEPROMable t => IsBehavior (RangeWrites t) where + (@:) = Event + +type instance BehaviorToEvent (RangeWrites t) = Event () (RangeWrites t) + +writeRange :: EEPROMable t => Behavior Bool -> Range t -> RangeWrites t -> Sketch() +writeRange c range (RangeWrites idx v) = + tell [(trigger writername c [arg idx', arg v], mempty)] + where + Location writername = rangeStart range + idx' = idx c `mod` constant (rangeSize range) + +-- | Treat the range as a ring buffer, and starting with the specified +-- `RangeIndex`, sweep over the range writing values from the +-- `Behavior`. +sweepRange :: RangeIndex -> Behavior t -> RangeWrites t +sweepRange start = RangeWrites (sweepRange' start) + +-- | This is actually just a simple counter that increments on each write +-- to the range. That's sufficient, because writes that overflow the +-- end of the range wrap back to the start. +sweepRange' :: RangeIndex -> Behavior Bool -> Behavior RangeIndex +sweepRange' start c = cnt + where + cnt = [start] ++ rest + rest = if c then cnt + 1 else cnt + +class (ShowCType t, Typed t) => EEPROMable t where + readValue :: Proxy t -> String + writeValue :: Proxy t -> String + factoryValue :: Proxy t -> t + -- ^ The EEPROM comes from the factory with all bits set, + -- this follows suite. Eg, maxBound for unsigned ints, + -- minBound for signed ints since the sign bit being set + -- makes it negative, and NaN for floats. + +-- | This instance is not efficient; a whole byte is read/written +-- rather than a single bit. +instance EEPROMable Bool where + readValue _ = "readByte" + writeValue _ = "updateByte" + factoryValue _ = True + +instance EEPROMable Int8 where + readValue _ = "readByte" + writeValue _ = "updateByte" + factoryValue _ = minBound + +instance EEPROMable Int16 where + readValue _ = "readInt" + writeValue _ = "updateInt" + factoryValue _= minBound + +instance EEPROMable Int32 where + readValue _ = "readLong" + writeValue _ = "updateLong" + factoryValue _= minBound + +instance EEPROMable Word8 where + readValue _ = "readByte" + writeValue _ = "updateByte" + factoryValue _ = maxBound + +instance EEPROMable Word16 where + readValue _ = "readInt" + writeValue _ = "updateInt" + factoryValue _ = maxBound + +instance EEPROMable Word32 where + readValue _ = "readLong" + writeValue _ = "updateLong" + factoryValue _ = maxBound + +instance EEPROMable Float where + readValue _ = "readFloat" + writeValue _ = "updateFloat" + factoryValue _ = 0/0 -- NaN + +instance EEPROMable Double where + readValue _ = "readDouble" + writeValue _ = "updateDOuble" + factoryValue _ = 0/0 -- NaN + +includeCLine :: CLine +includeCLine = CLine "#include " diff --git a/src/Copilot/Arduino/Library/Serial.hs b/src/Copilot/Arduino/Library/Serial.hs --- a/src/Copilot/Arduino/Library/Serial.hs +++ b/src/Copilot/Arduino/Library/Serial.hs @@ -10,13 +10,14 @@ device, char, str, + FlashString(..), show, showFormatted, byte, noInput, SerialDevice, FormatOutput, - ShowableType, + OutputString, FormatableType, Base(..), ) where @@ -40,7 +41,7 @@ -- that describes the serial output. Note that you can only do this once -- in a Sketch. -- --- > main = arduino $ doa +-- > main = arduino $ do -- > Serial.baud 9600 -- > b <- input pin4 -- > Serial.device =: diff --git a/src/Copilot/Arduino/Library/Serial/Device.hs b/src/Copilot/Arduino/Library/Serial/Device.hs --- a/src/Copilot/Arduino/Library/Serial/Device.hs +++ b/src/Copilot/Arduino/Library/Serial/Device.hs @@ -75,7 +75,7 @@ , readInput = [CLine $ varname <> " = " <> devname <> ".read();"] , inputStream = extern varname interpretvalues' } - varname = "arduino_serial_" <> devname <> "_read" + varname = "input_" <> devname interpretvalues' | null interpretvalues = Nothing | otherwise = Just interpretvalues @@ -94,7 +94,7 @@ go = trigger triggername c (mapMaybe formatArg l) f = mempty { defines = printer } - triggername = "arduino_serial_" <> devname <> "_output" + triggername = "output_" <> devname printer = concat [ [CLine $ "void " <> triggername <> "(" @@ -120,7 +120,7 @@ , formatCLine :: SerialDeviceName -> String -> CLine } --- | Use this to output a Char +-- | Use this to output a Char. char :: Char -> FormatOutput char c = FormatOutput Nothing Nothing (\(SerialDeviceName devname) _ -> @@ -131,21 +131,37 @@ esc '\n' = "\\n" esc c' = [c'] --- | Use this to output a String -str :: String -> FormatOutput -str s = FormatOutput Nothing Nothing - (\(SerialDeviceName devname) _ -> - CLine $ devname <> ".print(\"" <> concatMap esc s <> "\");") +quoteString :: String -> String +quoteString s = '"' : concatMap esc s <> "\"" where esc '"' = "\"" esc '\\' = "\\" esc '\n' = "\\\n" esc c = [c] +class OutputString t where + -- | Use this to output a `String` or `FlashString` + str :: t -> FormatOutput + +instance OutputString String where + str s = FormatOutput Nothing Nothing $ \(SerialDeviceName devname) _ -> + CLine $ devname <> ".print(" <> quoteString s <> ");" + +-- | Normally a String will be copied into ram before it is output. +-- A FlashString will be output directly from flash memory. +-- +-- Using this with `str` will reduce the amount of memory used by your +-- program, but will likely slightly increase the size of the program. +newtype FlashString = FlashString String + +instance OutputString FlashString where + str (FlashString s) = FormatOutput Nothing Nothing $ \(SerialDeviceName devname) _ -> + CLine $ devname <> ".print(F(" <> quoteString s <> "));" + -- | Use this to show the current value of a Stream. -- -- Numbers will be formatted in decimal. Bool is displayed as 0 and 1. -show :: forall t. (ShowableType t, Typed t) => Stream t -> FormatOutput +show :: forall t. (ShowCType t, Typed t) => Stream t -> FormatOutput show s = FormatOutput (Just (arg s)) (Just (showCType (Proxy @t))) @@ -171,7 +187,7 @@ -- -- > Serial.showFormatted (constant (78 :: Int8)) Serial.HEX -- "4E" showFormatted - :: forall t f. (ShowableType t, Typed t, FormatableType t f) + :: forall t f. (ShowCType t, Typed t, FormatableType t f) => Stream t -> f -> FormatOutput @@ -182,21 +198,6 @@ CLine $ devname <> ".print(" <> v <> ", " <> formatter t f <> ");") where t = Proxy @t - -class ShowableType t where - showCType :: Proxy t -> String - -instance ShowableType Bool where showCType _ = "bool" -instance ShowableType Int8 where showCType _ = "int8_t" -instance ShowableType Int16 where showCType _ = "int16_t" -instance ShowableType Int32 where showCType _ = "int32_t" -instance ShowableType Int64 where showCType _ = "int64_t" -instance ShowableType Word8 where showCType _ = "uint8_t" -instance ShowableType Word16 where showCType _ = "uint16_t" -instance ShowableType Word32 where showCType _ = "uint32_t" -instance ShowableType Word64 where showCType _ = "uint64_t" -instance ShowableType Float where showCType _ = "float" -instance ShowableType Double where showCType _ = "double" class FormatableType t f where formatter :: Proxy t -> f -> String diff --git a/src/Copilot/Arduino/Library/Serial/XBee.hs b/src/Copilot/Arduino/Library/Serial/XBee.hs --- a/src/Copilot/Arduino/Library/Serial/XBee.hs +++ b/src/Copilot/Arduino/Library/Serial/XBee.hs @@ -11,13 +11,14 @@ device, char, str, + FlashString(..), show, showFormatted, byte, noInput, SerialDevice, FormatOutput, - ShowableType, + OutputString, FormatableType, Base(..), ) where @@ -48,7 +49,7 @@ -- that describes the serial output. Note that you can only do this once -- in a Sketch. -- --- > main = arduino $ doa +-- > main = arduino $ do -- > XBee.configure pin2 pin3 (XBee.Baud 9600) -- > b <- input pin4 -- > XBee.device =: diff --git a/src/Copilot/Arduino/Main.hs b/src/Copilot/Arduino/Main.hs --- a/src/Copilot/Arduino/Main.hs +++ b/src/Copilot/Arduino/Main.hs @@ -5,10 +5,11 @@ import Language.Copilot (Spec, interpret, reify) import Copilot.Compile.C99 (compile) import Copilot.Arduino.Internals +import System.IO import System.Directory import System.Posix.Temp (mkdtemp) import System.FilePath -import Control.Monad.Writer +import System.Exit import Data.List (isInfixOf) import Data.Maybe import qualified Data.Map as M @@ -41,23 +42,25 @@ -- > (100) (13,false) -- > (100) (13,true) arduino :: Sketch () -> IO () -arduino (Sketch s) = go =<< execParser opts +arduino s = go =<< execParser opts where opts = info (parseCmdLine <**> helper) ( fullDesc <> progDesc "Run this program with no options to generate an Arduino sketch." ) - go o = case interpretSteps o of - Just n -> interpret n spec - Nothing -> writeIno spec f + go o = case (mspec, interpretSteps o) of + (Nothing, _) -> do + hPutStrLn stderr "This Sketch does not do anything." + exitFailure + (Just spec, Just n) -> interpret n spec + (Just spec, Nothing) -> writeIno spec f' - (is, fs) = unzip (execWriter s) - spec = sequence_ is + (mspec, f) = evalSketch s -- Strict evaluation because this may throw errors, -- and we want to throw them before starting compilation. - !f = finalizeFramework (mconcat fs) + !f' = finalizeFramework f data CmdLine = CmdLine { interpretSteps :: Maybe Integer @@ -111,7 +114,7 @@ , [ "void setup()" ] - , codeblock $ map fromCLine (setups f) + , codeblock $ map fromCLine (earlySetups f <> setups f) , [blank] , [ "void loop()" diff --git a/src/Copilot/Arduino/Nano.hs b/src/Copilot/Arduino/Nano.hs --- a/src/Copilot/Arduino/Nano.hs +++ b/src/Copilot/Arduino/Nano.hs @@ -25,6 +25,7 @@ , a5 , a6 , a7 + , sizeOfEEPROM ) where import Copilot.Arduino @@ -58,3 +59,8 @@ a6, a7 :: Pin '[ 'AnalogInput ] a6 = Pin (PinId 20) a7 = Pin (PinId 21) + +-- | Different versions of Arduino Nano have different EEPROM sizes. +-- This is a safe value that will work on all versions. +sizeOfEEPROM :: Word16 +sizeOfEEPROM = 512 diff --git a/src/Copilot/Arduino/Uno.hs b/src/Copilot/Arduino/Uno.hs --- a/src/Copilot/Arduino/Uno.hs +++ b/src/Copilot/Arduino/Uno.hs @@ -23,6 +23,7 @@ , a3 , a4 , a5 + , sizeOfEEPROM ) where import Copilot.Arduino @@ -51,3 +52,6 @@ a3 = Pin (PinId 17) a4 = Pin (PinId 18) a5 = Pin (PinId 19) + +sizeOfEEPROM :: Word16 +sizeOfEEPROM = 512