arduino sketch: skeleton + stepper setup

2 files changed, 363 insertions, 0 deletions

diff --git a/arduino_sketch/rfc4824/SConstruct b/arduino_sketch/rfc4824/SConstruct
new file mode 100644
index 0000000..5e6e968
--- /dev/null
+++ b/arduino_sketch/rfc4824/SConstruct
@@ -0,0 +1,349 @@
+#!/usr/bin/python
+
+# scons script for the Arduino sketch
+# http://code.google.com/p/arscons/
+#
+# Copyright (C) 2010 by Homin Lee <ff4500@gmail.com>
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 3 of the License, or
+# (at your option) any later version.
+
+# You'll need the serial module: http://pypi.python.org/pypi/pyserial
+
+# Basic Usage:
+# 1. make a folder which have same name of the sketch (ex. Blink/ for Blik.pde)
+# 2. put the sketch and SConstruct(this file) under the folder.
+# 3. to make the HEX. do following in the folder.
+#     $ scons
+# 4. to upload the binary, do following in the folder.
+#     $ scons upload
+
+# Thanks to:
+# * Ovidiu Predescu <ovidiu@gmail.com> and Lee Pike <leepike@gmail.com>
+#     for Mac port and bugfix.
+#
+# This script tries to determine the port to which you have an Arduino
+# attached. If multiple USB serial devices are attached to your
+# computer, you'll need to explicitly specify the port to use, like
+# this:
+#
+# $ scons ARDUINO_PORT=/dev/ttyUSB0
+#
+# To add your own directory containing user libraries, pass EXTRA_LIB
+# to scons, like this:
+#
+# $ scons EXTRA_LIB=<my-extra-library-dir>
+#
+from glob import glob
+import sys
+import re
+import os
+pathJoin = os.path.join
+
+env = Environment()
+platform = env['PLATFORM']
+
+def getUsbTty(rx):
+    usb_ttys = glob(rx)
+    if len(usb_ttys) == 1: return usb_ttys[0]
+    else: return None
+
+AVR_BIN_PREFIX = None
+AVRDUDE_CONF = None
+
+if platform == 'darwin':
+    # For MacOS X, pick up the AVR tools from within Arduino.app
+    ARDUINO_HOME_DEFAULT = '/Applications/Arduino.app/Contents/Resources/Java'
+    ARDUINO_PORT_DEFAULT = getUsbTty('/dev/tty.usbserial*')
+    SKETCHBOOK_HOME_DEFAULT = ''
+elif platform == 'win32':
+    # For Windows, use environment variables.
+    ARDUINO_HOME_DEFAULT = os.environ.get('ARDUINO_HOME')
+    ARDUINO_PORT_DEFAULT = os.environ.get('ARDUINO_PORT')
+    SKETCHBOOK_HOME_DEFAULT = ''
+else:
+    # For Ubuntu Linux (9.10 or higher)
+    ARDUINO_HOME_DEFAULT = os.environ.get('ARDUINO_HOME','/usr/share/arduino/') #'/home/YOU/apps/arduino-00XX/'
+    ARDUINO_PORT_DEFAULT = getUsbTty('/dev/ttyUSB*')
+    AVR_BIN_PREFIX = 'avr-'
+    SKETCHBOOK_HOME_DEFAULT = os.path.realpath('~/share/arduino/sketchbook/')
+
+ARDUINO_BOARD_DEFAULT = os.environ.get('ARDUINO_BOARD', 'atmega328')
+
+ARDUINO_HOME    = ARGUMENTS.get('ARDUINO_HOME', ARDUINO_HOME_DEFAULT)
+ARDUINO_PORT    = ARGUMENTS.get('ARDUINO_PORT', ARDUINO_PORT_DEFAULT)
+ARDUINO_BOARD   = ARGUMENTS.get('ARDUINO_BOARD', ARDUINO_BOARD_DEFAULT)
+ARDUINO_VER     = ARGUMENTS.get('ARDUINO_VER', 0) # Default to 0 if nothing is specified
+RST_TRIGGER     = ARGUMENTS.get('RST_TRIGGER', None) # use built-in pulseDTR() by default
+EXTRA_LIB       = ARGUMENTS.get('EXTRA_LIB', None) # handy for adding another arduino-lib dir
+SKETCHBOOK_HOME = ARGUMENTS.get('SKETCHBOOK_HOME', SKETCHBOOK_HOME_DEFAULT) # If set will add the libraries dir from the sketchbook
+
+if not ARDUINO_HOME:
+    print 'ARDUINO_HOME must be defined.'
+    raise KeyError('ARDUINO_HOME')
+
+ARDUINO_CORE = pathJoin(ARDUINO_HOME, 'hardware/arduino/cores/arduino')
+ARDUINO_SKEL = pathJoin(ARDUINO_CORE, 'main.cpp')
+ARDUINO_CONF = pathJoin(ARDUINO_HOME, 'hardware/arduino/boards.txt')
+
+arduino_file_path = pathJoin(ARDUINO_CORE, 'Arduino.h')
+if ARDUINO_VER == 0:
+        print "No Arduino version specified. Discovered version",
+        if os.path.exists(arduino_file_path): 
+                print "100 or above"
+                ARDUINO_VER = 100
+        else:   
+                print "0023 or below"
+                ARDUINO_VER = 23
+else:
+        print "Arduino version " + ARDUINO_VER + " specified"
+
+if ARDUINO_VER < 100: FILE_EXTENSION = ".pde"
+if ARDUINO_VER >= 100: FILE_EXTENSION = ".ino"
+
+# Some OSs need bundle with IDE tool-chain
+if platform == 'darwin' or platform == 'win32': 
+    AVR_BIN_PREFIX = pathJoin(ARDUINO_HOME, 'hardware/tools/avr/bin', 'avr-')
+    AVRDUDE_CONF = pathJoin(ARDUINO_HOME, 'hardware/tools/avr/etc/avrdude.conf')
+
+ARDUINO_LIBS = [pathJoin(ARDUINO_HOME, 'libraries')]
+if EXTRA_LIB:
+    ARDUINO_LIBS += [EXTRA_LIB]
+if SKETCHBOOK_HOME:
+    ARDUINO_LIBS += [pathJoin(SKETCHBOOK_HOME, 'libraries')]
+
+# check given board name, ARDUINO_BOARD is valid one
+ptnBoard = re.compile(r'^(.*)\.name=(.*)')
+boards = {}
+for line in open(ARDUINO_CONF):
+    result = ptnBoard.findall(line)
+    if result:
+        boards[result[0][0]] = result[0][1]
+if not ARDUINO_BOARD in boards.keys():
+    print ("ERROR! the given board name, %s is not in the supported board list:"%ARDUINO_BOARD)
+    print ("all available board names are:")
+    for name in boards.keys():
+        print ("\t%s for %s"%(name.ljust(14), boards[name]))
+    print ("however, you may edit %s to add a new board."%ARDUINO_CONF)
+    sys.exit(-1)
+
+def getBoardConf(strPtn):
+    ptn = re.compile(strPtn)
+    for line in open(ARDUINO_CONF):
+        result = ptn.findall(line)
+        if result:
+            return result[0]
+    assert(False)
+
+MCU = getBoardConf(r'^%s\.build\.mcu=(.*)'%ARDUINO_BOARD)
+MCU = ARGUMENTS.get('MCU', MCU)
+F_CPU = getBoardConf(r'^%s\.build\.f_cpu=(.*)'%ARDUINO_BOARD)
+F_CPU = ARGUMENTS.get('F_CPU', F_CPU)
+
+# There should be a file with the same name as the folder and with the extension .pde
+TARGET = os.path.basename(os.path.realpath(os.curdir))
+assert(os.path.exists(TARGET+FILE_EXTENSION))
+
+cFlags = ['-ffunction-sections', '-fdata-sections', '-fno-exceptions',
+    '-funsigned-char', '-funsigned-bitfields', '-fpack-struct', '-fshort-enums',
+    '-Os', '-mmcu=%s'%MCU]
+envArduino = Environment(CC = AVR_BIN_PREFIX+'gcc', CXX = AVR_BIN_PREFIX+'g++', AS=AVR_BIN_PREFIX+'gcc',
+    CPPPATH = ['build/core'], CPPDEFINES = {'F_CPU':F_CPU, 'ARDUINO':ARDUINO_VER},
+    CFLAGS = cFlags+['-std=gnu99'], CCFLAGS = cFlags, ASFLAGS=['-assembler-with-cpp','-mmcu=%s'%MCU],
+    TOOLS = ['gcc','g++', 'as'])
+
+
+if ARDUINO_VER >= 100:
+        if ARDUINO_BOARD == 'nano328': envArduino.Append(CPPPATH = pathJoin(ARDUINO_HOME, 'hardware/arduino/variants/eightanaloginputs/'))
+        elif ARDUINO_BOARD == 'leonardo': envArduino.Append(CPPPATH = pathJoin(ARDUINO_HOME, 'hardware/arduino/variants/leonardo/'))
+        elif ARDUINO_BOARD == 'mega2560': envArduino.Append(CPPPATH = pathJoin(ARDUINO_HOME, 'hardware/arduino/variants/mega/'))
+        elif ARDUINO_BOARD == 'micro': envArduino.Append(CPPPATH = pathJoin(ARDUINO_HOME, 'hardware/arduino/variants/micro/'))
+        else: envArduino.Append(CPPPATH = pathJoin(ARDUINO_HOME, 'hardware/arduino/variants/standard/'))
+
+def run(cmd):
+    """Run a command and decipher the return code. Exit by default."""
+    import SCons.Script
+    print cmd
+    res = os.system(cmd)
+    # Assumes that if a process doesn't call exit, it was successful
+    if (os.WIFEXITED(res)):
+        code = os.WEXITSTATUS(res)
+        if code != 0:
+            print "Error: return code: " + str(code)
+            if SCons.Script.keep_going_on_error == 0:
+                sys.exit(code)
+
+def fnCompressCore(target, source, env):
+    core_files = filter(lambda x: str(x).startswith('build/core/'), source)
+    for file in core_files:
+        run(AVR_BIN_PREFIX+'ar rcs %s %s'%(target[0], file))
+
+
+def fnProcessing(target, source, env):
+    wp = open ('%s'%target[0], 'wb')
+    wp.write(open(ARDUINO_SKEL).read())
+
+    types='''void 
+    int char word long 
+    float double byte long
+    boolean 
+    uint8_t uint16_t uint32_t 
+    int8_t int16_t int32_t
+    '''
+    types=' | '.join(types.split())
+    re_signature=re.compile(r"""^\s* (
+        (?: (%s) \s+ )?
+        \w+ \s*
+        \( \s* ((%s) \s+ \*? \w+ (?:\s*,\s*)? )* \)
+        ) \s* {? \s* $""" % (types,types), re.MULTILINE|re.VERBOSE)
+
+    prototypes = {}
+
+    for file in glob(os.path.realpath(os.curdir) + "/*" + FILE_EXTENSION):
+        for line in open(file):
+            result = re_signature.findall(line)
+            if result:
+                prototypes[result[0][0]] = result[0][1]
+
+    for name in prototypes.keys():
+        print ("%s;"%(name))
+        wp.write("%s;\n"%name)
+
+    for file in glob(os.path.realpath(os.curdir) + "/*" + FILE_EXTENSION):
+        print file, TARGET
+        if not os.path.samefile(file, TARGET+FILE_EXTENSION):
+                wp.write('#line 1 "%s"\r\n' % file)
+                wp.write(open(file).read())
+
+    # Add this preprocessor directive to localize the errors.
+    sourcePath = str(source[0]).replace('\\', '\\\\');
+    wp.write('#line 1 "%s"\r\n' % sourcePath)
+    wp.write(open('%s'%source[0]).read())
+
+envArduino.Append(BUILDERS = {'Processing':Builder(action = fnProcessing,
+        suffix = '.cpp', src_suffix = FILE_EXTENSION)})
+envArduino.Append(BUILDERS = {'CompressCore':Builder(action = fnCompressCore) })
+envArduino.Append(BUILDERS={'Elf':Builder(action=AVR_BIN_PREFIX+'gcc '+
+        '-mmcu=%s -Os -Wl,--gc-sections -o $TARGET $SOURCES -lm'%MCU)})
+envArduino.Append(BUILDERS={'Hex':Builder(action=AVR_BIN_PREFIX+'objcopy '+
+        '-O ihex -R .eeprom $SOURCES $TARGET')})
+
+gatherSources = lambda x: glob(pathJoin(x, '*.c'))+\
+        glob(pathJoin(x, '*.cpp'))+\
+        glob(pathJoin(x, '*.S'))
+
+# add arduino core sources
+VariantDir('build/core', ARDUINO_CORE)
+core_sources = gatherSources(ARDUINO_CORE)
+core_sources = filter(lambda x: not (os.path.basename(x) == 'main.cpp'), core_sources)
+core_sources = map(lambda x: x.replace(ARDUINO_CORE, 'build/core/'), core_sources)
+
+# add libraries
+libCandidates = []
+ptnLib = re.compile(r'^[ ]*#[ ]*include [<"](.*)\.h[>"]')
+for line in open (TARGET+FILE_EXTENSION):
+    result = ptnLib.findall(line)
+    if result:
+        # Look for the library directory that contains the header.
+        filename=result[0]+'.h'
+        for libdir in ARDUINO_LIBS:
+            for root, dirs, files in os.walk(libdir, followlinks=True):
+                for f in files:
+                    if f == filename:
+                        libCandidates += [os.path.basename(root)]
+
+# Hack. In version 20 of the Arduino IDE, the Ethernet library depends
+# implicitly on the SPI library.
+if ARDUINO_VER >= 20 and 'Ethernet' in libCandidates:
+    libCandidates += ['SPI']
+
+all_libs_sources = []
+index = 0
+for orig_lib_dir in ARDUINO_LIBS:
+    lib_sources = []
+    lib_dir = 'build/lib_%02d'%index
+    VariantDir(lib_dir, orig_lib_dir)
+    for libPath in filter(os.path.isdir, glob(pathJoin(orig_lib_dir, '*'))):
+        libName = os.path.basename(libPath)
+        if not libName in libCandidates:
+            continue
+        envArduino.Append(CPPPATH = libPath.replace(orig_lib_dir, lib_dir))
+        lib_sources = gatherSources(libPath)
+        utilDir = pathJoin(libPath, 'utility')
+        if os.path.exists(utilDir) and os.path.isdir(utilDir):
+            lib_sources += gatherSources(utilDir)
+            envArduino.Append(CPPPATH = utilDir.replace(orig_lib_dir, lib_dir))
+        lib_sources = map(lambda x: x.replace(orig_lib_dir, lib_dir), lib_sources)
+        all_libs_sources += lib_sources
+    index += 1
+
+# Add raw sources which live in sketch dir.
+build_top = os.path.realpath('.')
+VariantDir('build/local/', build_top)
+local_sources = gatherSources(build_top)
+local_sources = map(lambda x: x.replace(build_top, 'build/local/'), local_sources)
+if local_sources:
+    envArduino.Append(CPPPATH = 'build/local')
+
+# Convert sketch(.pde) to cpp
+envArduino.Processing('build/'+TARGET+'.cpp', 'build/'+TARGET+FILE_EXTENSION)
+VariantDir('build', '.')
+
+sources = ['build/'+TARGET+'.cpp']
+#sources += core_sources
+sources += local_sources
+sources += all_libs_sources
+
+# Finally Build!!
+core_objs = envArduino.Object(core_sources)
+objs = envArduino.Object(sources) #, LIBS=libs, LIBPATH='.')
+objs = objs + envArduino.CompressCore('build/core.a', core_objs)
+envArduino.Elf(TARGET+'.elf', objs)
+envArduino.Hex(TARGET+'.hex', TARGET+'.elf')
+
+# Print Size
+# TODO: check binary size
+MAX_SIZE = getBoardConf(r'^%s\.upload.maximum_size=(.*)'%ARDUINO_BOARD)
+print ("maximum size for hex file: %s bytes"%MAX_SIZE)
+envArduino.Command(None, TARGET+'.hex', AVR_BIN_PREFIX+'size --target=ihex $SOURCE')
+
+# Reset
+def pulseDTR(target, source, env):
+    import serial
+    import time
+    ser = serial.Serial(ARDUINO_PORT)
+    ser.setDTR(1)
+    time.sleep(0.5)
+    ser.setDTR(0)
+    ser.close()
+
+if RST_TRIGGER:
+    reset_cmd = '%s %s'%(RST_TRIGGER, ARDUINO_PORT)
+else:
+    reset_cmd = pulseDTR
+
+# Upload
+UPLOAD_PROTOCOL = getBoardConf(r'^%s\.upload\.protocol=(.*)'%ARDUINO_BOARD)
+UPLOAD_SPEED = getBoardConf(r'^%s\.upload\.speed=(.*)'%ARDUINO_BOARD)
+
+if UPLOAD_PROTOCOL == 'stk500':
+    UPLOAD_PROTOCOL = 'stk500v1'
+
+
+avrdudeOpts = ['-V', '-F', '-c %s'%UPLOAD_PROTOCOL, '-b %s'%UPLOAD_SPEED,
+    '-p %s'%MCU, '-P %s'%ARDUINO_PORT, '-U flash:w:$SOURCES']
+if AVRDUDE_CONF:
+    avrdudeOpts += ['-C %s'%AVRDUDE_CONF]
+
+fuse_cmd = '%s %s'%(pathJoin(os.path.dirname(AVR_BIN_PREFIX), 'avrdude'),
+                     ' '.join(avrdudeOpts))
+
+upload = envArduino.Alias('upload', TARGET+'.hex', [reset_cmd, fuse_cmd]);
+AlwaysBuild(upload)
+
+# Clean build directory
+envArduino.Clean('all', 'build/')
+
+# vim: et sw=4 fenc=utf-8:
diff --git a/arduino_sketch/rfc4824/rfc4824.ino b/arduino_sketch/rfc4824/rfc4824.ino
new file mode 100644
index 0000000..f2ce79c
--- /dev/null
+++ b/arduino_sketch/rfc4824/rfc4824.ino
@@ -0,0 +1,14 @@
+
+#include <Stepper.h>
+
+Stepper left_arm(64,2,3,4,5);
+Stepper right_arm(64,7,8,9,10);
+
+void setup() {
+    Serial.begin(9600);
+    left_arm.setSpeed(128);
+    right_arm.setSpeed(128);
+}
+
+void loop() {
+}