atduskgreg-rad 0.2.5

data/lib/rad/generators/makefile/makefile.erb

@@ -0,0 +1,243 @@
+# Arduino makefile
+#
+# This makefile allows you to build sketches from the command line
+# without the Arduino environment (or Java).
+#
+# The Arduino environment does preliminary processing on a sketch before
+# compiling it.  If you're using this makefile instead, you'll need to do
+# a few things differently:
+#
+#   - Give your program's file a .cpp extension (e.g. foo.cpp).
+#
+#   - Put this line at top of your code: #include <WProgram.h>
+#
+#   - Write prototypes for all your functions (or define them before you
+#     call them).  A prototype declares the types of parameters a
+#     function will take and what type of value it will return.  This
+#     means that you can have a call to a function before the definition
+#     of the function.  A function prototype looks like the first line of
+#     the function, with a semi-colon at the end.  For example:
+#     int digitalRead(int pin);
+#
+#   - Write a main() function for your program that returns an int, calls
+#     init() and setup() once (in that order), and then calls loop()
+#     repeatedly():
+#
+#	int main()
+#	{
+#		init();
+#		setup();
+#
+#		for (;;)
+#			loop();
+#
+#		return 0;
+#	}
+#
+# Instructions for using the makefile:
+#
+#  1. Copy this file into the folder with your sketch.
+#
+#  2. Below, modify the line containing "TARGET" to refer to the name of
+#     of your program's file without an extension (e.g. TARGET = foo).
+#
+#  3. Modify the line containg "ARDUINO" to point the directory that
+#     contains the Arduino core (for normal Arduino installations, this
+#     is the hardware/cores/arduino sub-directory).
+#
+#  4. Modify the line containing "PORT" to refer to the filename
+#     representing the USB or serial connection to your Arduino board
+#     (e.g. PORT = /dev/tty.USB0).  If the exact name of this file
+#     changes, you can use * as a wildcard (e.g. PORT = /dev/tty.USB*).
+#
+#  5. At the command line, change to the directory containing your
+#     program's file and the makefile.
+#
+#  6. Type "make" and press enter to compile/verify your program.
+#
+#  7. Type "make upload", reset your Arduino board, and press enter  to
+#     upload your program to the Arduino board.
+#
+# $Id$
+
+PORT = <%= params['serial_port'] %>
+TARGET = <%= params['target'] %>
+ARDUINO = <%= params['arduino_root'] %>/hardware/cores/arduino
+SOFTWARE_SERIAL = <%= params['arduino_root'] %>/hardware/libraries/SoftwareSerial
+LIBRARY_ROOT = <%= params['libraries_root'] %>
+SRC = $(ARDUINO)/pins_arduino.c $(ARDUINO)/wiring.c \
+$(ARDUINO)/wiring_analog.c $(ARDUINO)/wiring_digital.c \
+$(ARDUINO)/wiring_pulse.c $(ARDUINO)/wiring_serial.c \
+$(ARDUINO)/wiring_shift.c $(ARDUINO)/WInterrupts.c <%= params['twi_c'] %>
+CXXSRC = $(ARDUINO)/HardwareSerial.cpp $(SOFTWARE_SERIAL)/SoftwareSerial.cpp $(ARDUINO)/Print.cpp<%= params['libraries'].collect{|l| " $(LIBRARY_ROOT)/#{ l }/#{l }.cpp"}.join('') %>
+MCU = <%= params['mcu'] %>
+<% if params['asm_files'] %>ASRC = <%= params['asm_files'].join(' ') %><% end %>
+F_CPU = 16000000
+FORMAT = ihex
+UPLOAD_RATE = 19200
+BIN_DIR = <%= params['arduino_root'] %>/hardware/tools/avr/bin
+
+# Name of this Makefile (used for "make depend").
+MAKEFILE = Makefile
+
+# Debugging format.
+# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
+# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
+DEBUG = stabs
+
+OPT = s
+
+# Place -D or -U options here
+CDEFS = -DF_CPU=$(F_CPU)
+CXXDEFS = -DF_CPU=$(F_CPU)
+
+# Place -I options here
+CINCS = -I$(ARDUINO) -I$(SOFTWARE_SERIAL)<% params['libraries'].each do |l| %> -I$(LIBRARY_ROOT)/<%= l %><% end %>
++CXXINCS = -I$(ARDUINO) -I$(SOFTWARE_SERIAL)<% params['libraries'].each do |l| %> -I$(LIBRARY_ROOT)/<%= l %><% end %>
+
+# Compiler flag to set the C Standard level.
+# c89   - "ANSI" C
+# gnu89 - c89 plus GCC extensions
+# c99   - ISO C99 standard (not yet fully implemented)
+# gnu99 - c99 plus GCC extensions
+CSTANDARD = -std=gnu99
+CDEBUG = -g$(DEBUG)
+CWARN = -Wall -Wstrict-prototypes
+CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
+#CEXTRA = -Wa,-adhlns=$(<:.c=.lst)
+
+CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA)
+CXXFLAGS = $(CDEFS) $(CINCS) -O$(OPT)
+#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs 
+LDFLAGS = -lm
+
+
+# Programming support using avrdude. Settings and variables.
+AVRDUDE_PROGRAMMER = stk500
+AVRDUDE_PORT = $(PORT)
+AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex
+AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \
+  -b $(UPLOAD_RATE) -C <%= params['arduino_root'] %>/hardware/tools/avr/etc/avrdude.conf
+
+# Program settings
+CC = $(BIN_DIR)/avr-gcc
+CXX = $(BIN_DIR)/avr-g++
+OBJCOPY = $(BIN_DIR)/avr-objcopy
+OBJDUMP = $(BIN_DIR)/avr-objdump
+AR  = $(BIN_DIR)/avr-ar
+SIZE = $(BIN_DIR)/avr-size
+NM = $(BIN_DIR)/avr-nm
+AVRDUDE = $(BIN_DIR)/avrdude
+REMOVE = rm -f
+MV = mv -f
+
+# Define all object files.
+OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o)
+
+# Define all listing files.
+LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst)
+
+# Combine all necessary flags and optional flags.
+# Add target processor to flags.
+ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)
+ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS)
+ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
+
+
+# Default target.
+all: build
+
+build: elf hex
+
+elf: $(TARGET).elf
+hex: $(TARGET).hex
+eep: $(TARGET).eep
+lss: $(TARGET).lss 
+sym: $(TARGET).sym
+
+# Program the device.  
+upload: $(TARGET).hex
+	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH)
+
+
+
+
+# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
+COFFCONVERT=$(OBJCOPY) --debugging \
+--change-section-address .data-0x800000 \
+--change-section-address .bss-0x800000 \
+--change-section-address .noinit-0x800000 \
+--change-section-address .eeprom-0x810000 
+
+
+coff: $(TARGET).elf
+	$(COFFCONVERT) -O coff-avr $(TARGET).elf $(TARGET).cof
+
+
+extcoff: $(TARGET).elf
+	$(COFFCONVERT) -O coff-ext-avr $(TARGET).elf $(TARGET).cof
+
+
+.SUFFIXES: .elf .hex .eep .lss .sym
+
+.elf.hex:
+	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
+
+.elf.eep:
+	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
+	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
+
+# Create extended listing file from ELF output file.
+.elf.lss:
+	$(OBJDUMP) -h -S $< > $@
+
+# Create a symbol table from ELF output file.
+.elf.sym:
+	$(NM) -n $< > $@
+
+
+core.a: $(OBJ)
+	@for i in $(OBJ); do echo $(AR) rcs core.a $$i; $(AR) rcs core.a $$i; done
+
+# Link: create ELF output file from library.
+$(TARGET).elf: core.a
+	$(CC) $(ALL_CFLAGS) -o $@ $(TARGET).cpp -L. core.a $(LDFLAGS)
+
+# Compile: create object files from C++ source files.
+.cpp.o:
+	$(CXX) -c $(ALL_CXXFLAGS) $< -o $@ 
+
+# Compile: create object files from C source files.
+.c.o:
+	$(CC) -c $(ALL_CFLAGS) $< -o $@ 
+
+
+# Compile: create assembler files from C source files.
+.c.s:
+	$(CC) -S $(ALL_CFLAGS) $< -o $@
+
+
+# Assemble: create object files from assembler source files.
+.S.o:
+	$(CC) -c $(ALL_ASFLAGS) $< -o $@
+
+
+
+# Target: clean project.
+clean:
+	$(REMOVE) $(TARGET).hex $(TARGET).eep $(TARGET).cof $(TARGET).elf \
+	$(TARGET).map $(TARGET).sym $(TARGET).lss core.a \
+	$(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d)
+
+depend:
+	if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \
+	then \
+		sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \
+			$(MAKEFILE).$$$$ && \
+		$(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \
+	fi
+	echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \
+		>> $(MAKEFILE); \
+	$(CC) -M -mmcu=$(MCU) $(CDEFS) $(CINCS) $(SRC) $(ASRC) >> $(MAKEFILE)
+
+.PHONY:	all build elf hex eep lss sym program coff extcoff clean depend

data/lib/rad/generators/makefile/makefile.rb

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+require 'erb'
+require 'yaml'
+
+class Makefile
+  class << self
+    
+    # build the sketch Makefile for the given template based on the values in its software and hardware config files
+    def compose_for_sketch(build_dir)
+      params = hardware_params.merge software_params
+      params['target'] = build_dir.split("/").last
+           
+      params['libraries_root'] = "#{File.expand_path(RAD_ROOT)}/vendor/libraries"
+      params['libraries'] = $load_libraries # load only libraries used 
+      
+      # needed along with ugly hack of including another copy of twi.h in wire, when using the Wire.h library
+      params['twi_c'] = $load_libraries.include?("Wire") ? "#{params['arduino_root']}/hardware/libraries/Wire/utility/twi.c" : "" 
+      
+      params['asm_files'] = Dir.entries( File.expand_path(RAD_ROOT) + "/" + PROJECT_DIR_NAME ).select{|e| e =~ /\.S/}            
+            
+      e = ERB.new File.read("#{File.dirname(__FILE__)}/makefile.erb")
+      
+      File.open("#{build_dir}/Makefile", "w") do |f|
+        f << e.result(binding)
+      end
+    end
+        
+    def hardware_params
+      return @hardware_params if @hardware_params
+      return @hardware_params = YAML.load_file( "#{RAD_ROOT}/config/hardware.yml")
+    end
+      
+    def software_params
+      return @software_params if @software_params
+      return @software_params = YAML.load_file( "#{RAD_ROOT}/config/software.yml" )
+    end
+      
+  end
+end

data/lib/rad/hardware_library.rb

@@ -0,0 +1,813 @@
+class HardwareLibrary < ArduinoSketch
+  
+  def initialize
+    super
+  end
+  
+  # Treat a pair of digital I/O pins as a serial line. See: http://www.arduino.cc/en/Tutorial/SoftwareSerial
+  def software_serial(rx, tx, opts={})
+    raise ArgumentError, "can only define rx from Fixnum, got #{rx.class}" unless rx.is_a?(Fixnum)
+    raise ArgumentError, "can only define tx from Fixnum, got #{tx.class}" unless tx.is_a?(Fixnum)
+
+    output_pin(tx)
+    input_pin(rx)
+
+    rate = opts[:rate] ? opts[:rate] : 9600
+    if opts[:as]
+      @declarations << "SoftwareSerial _#{opts[ :as ]} = SoftwareSerial(#{rx}, #{tx});"
+      accessor = <<-STR
+        SoftwareSerial& #{opts[ :as ]}() {
+        return _#{opts[ :as ]};
+        }
+      STR
+      @@swser_inc ||= FALSE
+      if (@@swser_inc == FALSE) # on second instance this stuff can't be repeated
+        @@swser_inc = TRUE
+        accessor += <<-STR
+        int read(SoftwareSerial& s) {
+          return s.read();
+        }
+        void println( SoftwareSerial& s, char* str ) {
+          return s.println( str );
+        }
+        void print( SoftwareSerial& s, char* str ) {
+          return s.print( str );
+        }
+        void println( SoftwareSerial& s, int i ) {
+          return s.println( i );
+        }
+        void print( SoftwareSerial& s, int i ) {
+          return s.print( i );
+        }
+        STR
+      end
+      @accessors << accessor
+
+      @signatures << "SoftwareSerial& #{opts[ :as ]}();"
+
+      @other_setup << "\t_#{opts[ :as ]}.begin(#{rate});"
+    end
+  end 	
+  
+  # use the pa lcd library
+  def pa_lcd_setup(num, opts)
+    if opts[:geometry]
+      raise ArgumentError, "can only define pin from Fixnum, got #{opts[:geometry]}" unless opts[:geometry].is_a?(Fixnum)
+      raise ArgumentError, "pa_lcd geometry must be 216, 220, 224, 240, 416, 420, got #{opts[:geometry]}" unless opts[:geometry].to_s =~ /(216|220|224|240|416|420)/
+    end
+    # move to plugin and load plugin
+    # what's the default?
+     opts[:rate] ||= 9600
+    rate = opts[:rate] ? opts[:rate] : 9600
+    swser_LCDpa(num, opts)
+  end
+
+  def swser_LCDpa(tx, opts={})
+    raise ArgumentError, "can only define tx from Fixnum, got #{tx.class}" unless tx.is_a?(Fixnum)
+
+    rate = opts[:rate] ? opts[:rate] : 9600
+    geometry = opts[:geometry] ? opts[:geometry] : 0
+    if opts[:as] 
+      @declarations << "SWSerLCDpa _#{opts[ :as ]} = SWSerLCDpa(#{tx}, #{geometry});"
+      $load_libraries << "SWSerLCDpa"
+      accessor = <<-STR
+        SWSerLCDpa& #{opts[ :as ]}() {
+          return _#{opts[ :as ]};
+        }
+      STR
+      @@slcdpa_inc ||= FALSE
+      if (@@slcdpa_inc == FALSE)	# on second instance this stuff can't be repeated - BBR
+        @@slcdpa_inc = TRUE
+        # ------------------- print generics -------------------------------
+        accessor += <<-STR			  
+        void print( SWSerLCDpa& s, uint8_t b ) {
+          return s.print( b );
+        }
+        void print( SWSerLCDpa& s, const char *str ) {
+          return s.print( str );
+        }
+        void print( SWSerLCDpa& s, char c ) {
+          return s.print( c );
+        }
+        void print( SWSerLCDpa& s, int i ) {
+          return s.print( i );
+        }
+        void print( SWSerLCDpa& s, unsigned int i ) {
+          return s.print( i );
+        }
+        void print( SWSerLCDpa& s, long i ) {
+          return s.print( i );
+        }
+        void print( SWSerLCDpa& s, unsigned long i ) {
+          return s.print( i );
+        }
+        void print( SWSerLCDpa& s, long i, int b ) {
+          return s.print( i, b );
+        }
+        STR
+        # ------------------ PA-LCD specific functions ---------------------------------
+        accessor += <<-STR
+        void clearscr(SWSerLCDpa& s) {
+          return s.clearscr();
+        }
+        void clearscr(SWSerLCDpa& s, const char *str) {
+          return s.clearscr(str);
+        }
+        void clearscr(SWSerLCDpa& s, int n) {
+          return s.clearscr(n);
+        }
+        void clearscr(SWSerLCDpa& s, long n, int b) {
+          return s.clearscr(n, b);
+        }
+        void clearline(SWSerLCDpa& s, int line) {
+          return s.clearline( line );
+        }
+        void clearline(SWSerLCDpa& s, int line, const char *str) {
+          return s.clearline( line, str );
+        }
+        void clearline(SWSerLCDpa& s, int line, int n) {
+          return s.clearline( line, n );
+        }
+        void clearline(SWSerLCDpa& s, int line, long n,  int b) {
+          return s.clearline( line, n, b );
+        }
+        void home( SWSerLCDpa& s) {
+          return s.home();
+        }
+        void home( SWSerLCDpa& s, const char *str) {
+          return s.home( str );
+        }
+        void home( SWSerLCDpa& s, int n) {
+          return s.home( n );
+        }
+        void home( SWSerLCDpa& s, long n, int b) {
+          return s.home( n, b );
+        }
+        void setxy( SWSerLCDpa& s, int x, int y) {
+          return s.setxy( x, y );
+        }
+        void setxy( SWSerLCDpa& s, int x, int y, const char *str) {
+          return s.setxy( x, y, str );
+        }
+        void setxy( SWSerLCDpa& s, int x, int y, long n, int b) {
+          return s.setxy( x, y, n, b );
+        }
+        void setxy( SWSerLCDpa& s, int x, int y, int n) {
+          return s.setxy( x, y, n );
+        }
+        void setgeo( SWSerLCDpa& s, int g) {
+          return s.setgeo( g );
+        }
+        void setintensity( SWSerLCDpa& s, int i ) {
+          return s.setintensity( i );
+        }
+        void intoBignum(SWSerLCDpa& s) {
+          return s.intoBignum();
+        }
+        void outofBignum(SWSerLCDpa& s) {
+          return s.outofBignum();
+        }
+        STR
+      end
+
+      @accessors << accessor
+
+      @signatures << "SWSerLCDpa& #{opts[ :as ]}();"
+
+      @other_setup << "\t_#{opts[ :as ]}.begin(#{rate});"
+      @other_setup << "\t_#{opts[ :as ]}.clearscr();"     if :clear_screen == :true
+
+    end
+  end 	
+
+  
+  # use the sf (sparkfun) library
+  def sf_lcd_setup(num, opts)
+    if opts[:geometry]
+      raise ArgumentError, "can only define pin from Fixnum, got #{opts[:geometry]}" unless opts[:geometry].is_a?(Fixnum)
+      raise ArgumentError, "sf_lcd geometry must be 216, 220, 416, 420, got #{opts[:geometry]}" unless opts[:geometry].to_s =~ /(216|220|416|420)/
+    end
+    # move to plugin and load plugin
+     opts[:rate] ||= 9600
+    rate = opts[:rate] ? opts[:rate] : 9600
+    swser_LCDsf(num, opts)
+  end
+
+  def swser_LCDsf(tx, opts={})
+    raise ArgumentError, "can only define tx from Fixnum, got #{tx.class}" unless tx.is_a?(Fixnum)    
+
+    rate = opts[:rate] ? opts[:rate] : 9600
+    geometry = opts[:geometry] ? opts[:geometry] : 0
+    if opts[:as] 
+      @declarations << "SWSerLCDsf _#{opts[ :as ]} = SWSerLCDsf(#{tx}, #{geometry});"
+
+      $load_libraries << "SWSerLCDsf"
+      accessor = <<-STR
+        SWSerLCDsf& #{opts[ :as ]}() {
+          return _#{opts[ :as ]};
+        }
+      STR
+      @@slcdsf_inc ||= FALSE # assign only if nil
+      if (@@slcdsf_inc == FALSE)	# on second instance this stuff can't be repeated - BBR
+        @@slcdsf_inc = TRUE
+        accessor += <<-STR
+        void print( SWSerLCDsf& s, uint8_t b ) {
+          return s.print( b );
+        }
+        void print( SWSerLCDsf& s, const char *str ) {
+          return s.print( str );
+        }
+        void print( SWSerLCDsf& s, char c ) {
+          return s.print( c );
+        }
+        void print( SWSerLCDsf& s, int i ) {
+          return s.print( i );
+        }
+        void print( SWSerLCDsf& s, unsigned int i ) {
+          return s.print( i );
+        }
+        void print( SWSerLCDsf& s, long i ) {
+          return s.print( i );
+        }
+        void print( SWSerLCDsf& s, unsigned long i ) {
+          return s.print( i );
+        }
+        void print( SWSerLCDsf& s, long i, int b ) {
+          return s.print( i, b );
+        }
+        STR
+        # ------------------ Spark Fun Specific  Functions ---------------------------------
+        accessor += <<-STR
+        void clearscr(SWSerLCDsf& s) {
+          return s.clearscr();
+        }
+        void clearscr(SWSerLCDsf& s, const char *str) {
+          return s.clearscr(str);
+        }
+        void clearscr(SWSerLCDsf& s, int n) {
+          return s.clearscr(n);
+        }
+        void clearscr(SWSerLCDsf& s, long n, int b) {
+          return s.clearscr(n, b);
+        }
+        void home( SWSerLCDsf& s) {
+          return s.home();
+        }
+        void home( SWSerLCDsf& s, const char *str) {
+          return s.home( str );
+        }
+        void home( SWSerLCDsf& s, int n) {
+          return s.home( n );
+        }
+        void home( SWSerLCDsf& s, long n, int b) {
+          return s.home( n, b );
+        }
+        void setxy( SWSerLCDsf& s, int x, int y) {
+          return s.setxy( x, y );
+        }
+        void setxy( SWSerLCDsf& s, int x, int y, const char *str) {
+          return s.setxy( x, y, str );
+        }
+        void setxy( SWSerLCDsf& s, int x, int y, int n) {
+          return s.setxy( x, y, n );
+        }
+        void setxy( SWSerLCDsf& s, int x, int y, long n, int b) {
+          return s.setxy( x, y, n, b );
+        }
+        void setgeo( SWSerLCDsf& s, int g) {
+          return s.setgeo( g );
+        }
+        void setintensity( SWSerLCDsf& s, int i ) {
+          return s.setintensity( i );
+        }
+        void setcmd( SWSerLCDsf& s, uint8_t a, uint8_t b) {
+          return s.setcmd( a, b );
+        }
+        STR
+      end
+      @accessors << accessor
+
+      @signatures << "SWSerLCDsf& #{opts[ :as ]}();"
+
+      @other_setup << "\t_#{opts[ :as ]}.begin(#{rate});"
+      @other_setup << "\t_#{opts[ :as ]}.clearscr();"     if :clear_screen == :true
+
+    end
+  end 	
+
+
+  def loop_timer(opts={}) # loop timer methods #
+
+    if opts[:as]
+      @declarations << "LoopTimer _#{opts[ :as ]} = LoopTimer();"
+      $load_libraries << "LoopTimer"
+      accessor = <<-STR
+        LoopTimer& #{opts[ :as ]}() {
+          return _#{opts[ :as ]};
+        }
+      STR
+      @@loptim_inc ||= FALSE
+      if (@@loptim_inc == FALSE)	# on second instance this stuff can't be repeated - BBR
+        @@limtim_inc = TRUE
+        accessor += <<-STR
+        void track( LoopTimer& s ) {
+          return s.track();
+        }
+        unsigned long get_total( LoopTimer& s ) {
+          return s.get_total();
+        }
+        STR
+      end
+
+      @accessors << accessor
+
+      @signatures << "LoopTimer& #{opts[ :as ]}();"
+
+    end
+  end
+
+  # use the servo library
+  def servo_setup(num, opts)
+    if opts[:position]
+      raise ArgumentError, "position must be an integer from 0 to 360, got #{opts[:position].class}" unless opts[:position].is_a?(Fixnum)
+      raise ArgumentError, "position must be an integer from 0 to 360---, got #{opts[:position]}" if opts[:position] < 0 || opts[:position] > 360
+    end
+    servo(num, opts)
+    # move this to better place ... 
+    # should probably go along with servo code into plugin
+    @@servo_dh ||= FALSE
+    if (@@servo_dh == FALSE)	# on second instance this stuff can't be repeated - BBR
+      @@servo_dh = TRUE
+      @declarations << "void servo_refresh(void);"
+      helper_methods = []
+      helper_methods << "void servo_refresh(void)"
+      helper_methods << "{"
+      helper_methods <<  "\tServo::refresh();"
+      helper_methods << "}"
+      @helper_methods += "\n#{helper_methods.join("\n")}"
+    end
+  end
+  
+  def servo(pin, opts={}) # servo motor routines #
+    raise ArgumentError, "can only define pin from Fixnum, got #{pin.class}" unless pin.is_a?(Fixnum)
+
+    minp = opts[:min] ? opts[:min] : 544
+    maxp = opts[:max] ? opts[:max] : 2400
+
+    if opts[:as]
+      @declarations << "Servo _#{opts[ :as ]} = Servo();"
+      $load_libraries << "Servo"
+      accessor = <<-STR
+        Servo& #{opts[ :as ]}() {
+          return _#{opts[ :as ]};
+        }
+      STR
+      @@servo_inc ||= FALSE
+      if (@@servo_inc == FALSE)	# on second instance this stuff can't be repeated - BBR
+        @@servo_inc = TRUE
+        accessor += <<-STR
+        uint8_t attach( Servo& s, int p ) {
+          return s.attach(p);
+        }
+        uint8_t attach( Servo& s, int p, int pos ) {
+          return s.attach(p, pos );
+        }
+        uint8_t attach( Servo& s, int p, uint16_t mn, uint16_t mx ) {
+          return s.attach(p, mn, mx);
+        }
+        uint8_t attach( Servo& s, int p, int pos, uint16_t mn, uint16_t mx ) {
+          return s.attach(p, pos, mn, mx);
+        }
+        void detach( Servo& s ) {
+          return s.detach();
+        }
+        void position( Servo& s, int b ) {
+          return s.position( b );
+        }
+        void speed( Servo& s, int b ) {
+          return s.speed( b );
+        }
+        uint8_t read( Servo& s ) {
+          return s.read();
+        }
+        uint8_t attached( Servo& s ) {
+          return s.attached();
+        }
+        static void refresh( Servo& s ) {
+          return s.refresh();
+        }
+        STR
+      end
+
+      @accessors << accessor
+
+      @signatures << "Servo& #{opts[ :as ]}();"
+
+      @other_setup << "\t_#{opts[ :as ]}.attach(#{pin}, #{opts[:position]}, #{minp}, #{maxp});" if opts[:position]
+      @other_setup << "\t_#{opts[ :as ]}.attach(#{pin}, #{minp}, #{maxp});" unless opts[:position]
+
+    end
+  end
+  
+  def twowire_stepper(pin1, pin2, opts={}) # servo motor routines #
+    raise ArgumentError, "can only define pin1 from Fixnum, got #{pin1.class}" unless pin1.is_a?(Fixnum)
+    raise ArgumentError, "can only define pin2 from Fixnum, got #{pin2.class}" unless pin2.is_a?(Fixnum)
+
+    st_speed = opts[:speed] ? opts[:speed] : 30
+    st_steps = opts[:steps] ? opts[:steps] : 100
+
+    if opts[:as]
+      @declarations << "Stepper _#{opts[ :as ]} = Stepper(#{st_steps},#{pin1},#{pin2});"
+      $load_libraries << "Stepper"
+      accessor = <<-STR
+        Stepper& #{opts[ :as ]}() {
+          return _#{opts[ :as ]};
+        }
+      STR
+      @@stepr_inc ||= FALSE
+      if (@@stepr_inc == FALSE)	# on second instance this stuff can't be repeated - BBR
+      @@stepr_inc = TRUE
+      accessor = <<-STR
+        void set_speed( Stepper& s, long sp ) {
+          return s.set_speed( sp );
+        }
+        void set_steps( Stepper& s, int b ) {
+          return s.set_steps( b );
+        }
+        int version( Stepper& s ) {
+          return s.version();
+        }
+        STR
+    end
+
+    @accessors << accessor
+
+    @signatures << "Stepper& #{opts[ :as ]}();"
+
+    @other_setup << "\t_#{opts[ :as ]}.set_speed(#{st_speed});" if opts[:speed]
+
+    end
+  end
+  
+  def fourwire_stepper( pin1, pin2, pin3, pin4, opts={}) # servo motor routines #
+    raise ArgumentError, "can only define pin1 from Fixnum, got #{pin1.class}" unless pin1.is_a?(Fixnum)
+    raise ArgumentError, "can only define pin2 from Fixnum, got #{pin2.class}" unless pin2.is_a?(Fixnum)
+    raise ArgumentError, "can only define pin3 from Fixnum, got #{pin3.class}" unless pin3.is_a?(Fixnum)
+    raise ArgumentError, "can only define pin4 from Fixnum, got #{pin4.class}" unless pin4.is_a?(Fixnum)
+
+    st_speed = opts[:speed] ? opts[:speed] : 30
+    st_steps = opts[:steps] ? opts[:steps] : 100
+
+    if opts[:as]
+      @declarations << "Stepper _#{opts[ :as ]} = Stepper(#{st_steps},#{pin1},#{pin2},#{pin3},#{pin4});"
+      $load_libraries << "Stepper"
+      accessor = <<-STR
+        Stepper& #{opts[ :as ]}() {
+          return _#{opts[ :as ]};
+        }
+      STR
+      @@stepr_inc ||= FALSE
+      if (@@stepr_inc == FALSE)	# on second instance this stuff can't be repeated - BBR
+        @@stepr_inc = TRUE
+        accessor += <<-STR
+        void set_speed( Stepper& s, long sp ) {
+          return s.set_speed( sp );
+        }
+        void set_steps( Stepper& s, int b ) {
+          return s.set_steps( b );
+        }
+        int version( Stepper& s ) {
+          return s.version();
+        }
+        STR
+      end
+
+      @accessors << accessor
+
+      @signatures << "Stepper& #{opts[ :as ]}();"
+
+      @other_setup << "\t_#{opts[ :as ]}.set_speed(#{st_speed});" if opts[:speed]
+
+    end
+  end
+ 	
+  def frequency_timer(pin, opts={}) # frequency timer routines
+
+    @@frequency_inc ||= FALSE
+    raise ArgumentError, "there can be only one instance of Frequency Timer2" if @@frequency_inc == TRUE
+    @@frequency_inc = TRUE
+
+    raise ArgumentError, "can only define pin from Fixnum, got #{pin.class}" unless pin.is_a?(Fixnum)
+    raise ArgumentError, "only pin 11 may be used for freq_out, got #{pin}" unless pin == 11
+
+    if opts[:enable]
+      raise ArgumentError, "enable option must include the frequency or period option" unless opts[:frequency] || opts[:period]
+    end
+    if opts[:frequency]
+      raise ArgumentError, "the frequency option must be an integer, got #{opts[:frequency].class}" unless opts[:frequency].is_a?(Fixnum)
+    end
+    if opts[:period]
+      raise ArgumentError, "the frequency option must be an integer, got #{opts[:period].class}" unless opts[:period].is_a?(Fixnum) 
+    end
+    # refer to: http://www.arduino.cc/playground/Code/FrequencyTimer2
+
+    if opts[:as]
+
+      @declarations << "FrequencyTimer2 _#{opts[ :as ]} = FrequencyTimer2();"
+
+      $load_libraries << "FrequencyTimer2"
+        accessor = <<-STR
+        FrequencyTimer2& #{opts[ :as ]}() {
+          return _#{opts[ :as ]};
+        }
+        void set_frequency( FrequencyTimer2& s, int b ) {
+          return s.setPeriod( 1000000L/b );
+        }
+        void set_period( FrequencyTimer2& s, int b ) {
+          return s.setPeriod( b );
+        }
+        void enable( FrequencyTimer2& s ) {
+          return s.enable();
+        }
+        void disable( FrequencyTimer2& s ) {
+          return s.disable();
+        }
+      STR
+
+      @accessors << accessor
+
+      @signatures << "FrequencyTimer2& #{opts[ :as ]}();"
+
+      @other_setup << "\tFrequencyTimer2::setPeriod(0L);" unless opts[:frequency] || opts[:period]
+      @other_setup << "\tFrequencyTimer2::setPeriod(1000000L/#{opts[:frequency]});" if opts[:frequency]
+      @other_setup << "\tFrequencyTimer2::setPeriod(#{opts[:period]});" if opts[:period]
+      @other_setup << "\tFrequencyTimer2::enable();" if opts[:enable] == :true
+    end
+  end
+  
+  def one_wire(pin, opts={})
+    raise ArgumentError, "can only define pin from Fixnum, got #{pin.class}" unless pin.is_a?(Fixnum)
+
+    if opts[:as]
+      @declarations << "OneWire _#{opts[ :as ]} = OneWire(#{pin});"
+      accessor = []
+      $load_libraries << "OneWire"
+      accessor = <<-STR 
+        OneWire& #{opts[ :as ]}() {
+          return _#{opts[ :as ]};
+        }
+    STR
+      @@onewire_inc ||= FALSE
+      if (@@onewire_inc == FALSE)     # on second instance this stuff can't be repeated - BBR
+        @@onewire_inc = TRUE
+        accessor += <<-STR
+        uint8_t reset(OneWire& s) {
+          return s.reset();
+        }
+        void skip(OneWire& s) {
+          return s.skip();
+        }
+        void write(OneWire& s, uint8_t v, uint8_t p = 0) {
+          return s.write( v, p );
+        }
+        uint8_t read(OneWire& s) {
+          return s.read();
+        }
+        void write_bit( OneWire& s, uint8_t b ) {
+          return s.write_bit( b );
+        }
+        uint8_t read_bit(OneWire& s) {
+          return s.read_bit();
+        }
+        void depower(OneWire& s) {
+          return s.depower();
+        }
+        STR
+      end
+      @accessors << accessor
+
+      @signatures << "OneWire& #{opts[ :as ]}();"
+    end
+  end
+
+  def two_wire (pin, opts={}) # i2c Two-Wire
+
+    raise ArgumentError, "can only define pin from Fixnum, got #{pin.class}" unless pin.is_a?(Fixnum)
+    raise ArgumentError, "only pin 19 may be used for i2c, got #{pin}" unless pin == 19
+
+    if opts[:as]
+
+      @@twowire_inc = TRUE
+       @declarations << "TwoWire _wire = TwoWire();"
+      $load_libraries << "Wire"	
+      accessor = <<-STR
+        TwoWire& wire() {
+          return _wire;
+        }
+        void begin( TwoWire& s) {
+          return s.begin();
+        }
+        void begin( TwoWire& s, uint8_t a) {
+          return s.begin(a);
+        }
+        void begin( TwoWire& s, int a) {
+          return s.begin(a);
+        }
+        void beginTransmission( TwoWire& s, uint8_t a ) {
+          return s.beginTransmission( a );
+        }
+        void beginTransmission( TwoWire& s, int a ) {
+          return s.beginTransmission( a );
+        }
+        void endTransmission( TwoWire& s ) {
+          return s.endTransmission();
+        }
+        void requestFrom( TwoWire& s, uint8_t a, uint8_t q) {
+          return s.requestFrom( a, q );
+        }
+        void requestFrom( TwoWire& s, int a, int q) {
+          return s.requestFrom( a, q );
+        }
+        void send( TwoWire& s, uint8_t d) {
+          return s.send(d);
+        }
+        void send( TwoWire& s, int d) {
+          return s.send(d);
+        }
+        void send( TwoWire& s, char* d) {
+          return s.send(d);
+        }
+        void send( TwoWire& s, uint8_t* d, uint8_t q) {
+          return s.send( d, q );
+        }
+        uint8_t available( TwoWire& s) {
+          return s.available();
+        }
+        uint8_t receive( TwoWire& s) {
+          return s.receive();
+        }
+      STR
+
+      @accessors << accessor
+
+      @signatures << "TwoWire& wire();"
+
+      @other_setup << "\t_wire.begin();"    # We never get here a second time. If we go to the trouble 
+                                            # of setting up i2c, we gotta start it and it never gets 
+                                            # stopped. This is not 'optional!'
+    end
+
+  end
+  
+  # work in progress
+  def ethernet(pin, opts={})
+    raise ArgumentError, "can only define pin from Fixnum, got #{pin.class}" unless pin.is_a?(Fixnum)
+    if opts[:as]
+      accessor = []
+      $load_libraries << "AF_XPort"
+      $load_libraries << "AFSoftSerial"
+      # needs to be more granular:
+      accessor << "AF_XPort xport = AF_XPort(XPORT_RXPIN, XPORT_TXPIN, XPORT_RESETPIN, XPORT_DTRPIN, XPORT_RTSPIN, XPORT_CTSPIN);"
+      rate = opts[:rate] ? opts[:rate] : 57600
+      @other_setup << "xport.begin(#{rate});"
+      @accessors << accessor.join( "\n" )
+    end
+  end
+  
+  
+  def i2c_eeprom(pin, opts={}) # i2c serial eeprom routines #
+
+    dev_addr = opts[:address] ? opts[:address] : 0
+
+    if opts[:as]
+      @declarations << "I2CEEPROM _#{opts[ :as ]} = I2CEEPROM(#{dev_addr});"
+      $load_libraries << "I2CEEPROM"
+      accessor = <<-STR
+        I2CEEPROM& #{opts[ :as ]}() {
+          return _#{opts[ :as ]};
+        }
+      STR
+      @@i2cepr_inc ||= FALSE
+      if (@@i2cepr_inc == FALSE)	# on second instance this stuff can't be repeated - BBR
+        @@i2cepr_inc = TRUE
+        accessor += <<-STR
+        void write_byte( I2CEEPROM& s, unsigned int addr, byte b ) {
+          return s.write_byte( addr, b );
+        }
+        void write_page( I2CEEPROM& s, unsigned int addr, byte* d, int l ) {
+          return s.write_page( addr, d, l );
+        }
+        byte read_byte( I2CEEPROM& s, unsigned int addr ) {
+          return s.read_byte( addr );
+        }
+        void read_buffer( I2CEEPROM& s, unsigned int addr, byte *d, int l ) {
+          return s.read_buffer( addr, d, l );
+        }
+        STR
+      end
+
+      @accessors << accessor
+
+      @signatures << "I2CEEPROM& #{opts[ :as ]}();"
+
+    end
+  end
+  
+  
+  
+  def ds1307(pin, opts={}) # DS1307 real time clock routines routines
+
+    @@ds1307_inc ||= FALSE
+    raise ArgumentError, "only one DS1307  may be used for i2c" unless @@ds1307_inc == FALSE
+    @@ds1307_inc = TRUE
+    raise ArgumentError, "can only define pin from Fixnum, got #{pin.class}" unless pin.is_a?(Fixnum)
+    raise ArgumentError, "only pin 19 may be used for i2c, got #{pin}" unless pin == 19
+    if opts[:as]
+        @declarations << "DS1307 _#{opts[ :as ]} = DS1307();"
+        $load_libraries << "DS1307"
+        accessor = <<-STR
+        DS1307& #{opts[ :as ]}() {
+          return _#{opts[ :as ]};
+        }
+        void get( DS1307& s, byte *buf, boolean r ) {
+          return s.get( buf, r );
+        }
+        byte get( DS1307& s, int b, boolean r ) {
+          return s.get( b, r );
+        }
+        void set( DS1307& s, int b, int r ) {
+          return s.set( b, r );
+        }
+        void start( DS1307& s ) {
+          return s.start();
+        }
+        void stop( DS1307& s ) {
+          return s.stop();
+        }
+        STR
+
+        @accessors << accessor
+
+        @signatures << "DS1307& #{opts[ :as ]}();"
+        @other_setup << "\t_#{opts[ :as ]}.start();" if opts[:rtcstart]
+    end
+  end
+  
+  private
+  
+  def serial_boilerplate #:nodoc:
+
+    out = <<-STR
+        int serial_available() {
+          return (Serial.available() > 0);
+        }
+        
+        char serial_read() {
+          return (char) Serial.read();
+        }
+        
+        void serial_flush() {
+          return Serial.flush();
+        }
+
+        void serial_print( char str ) {
+          return Serial.print( str );
+        }
+
+        void serial_print( char* str ) {
+          return Serial.print( str );
+        }
+
+        void serial_print( int i ) {
+          return Serial.print( i );
+        }
+
+        void serial_print( long i ) {
+          return Serial.print( i );
+        }
+
+      	void serial_println( char* str ) {
+          return Serial.println( str );
+        }
+
+        void serial_println( char str ) {
+          return Serial.println( str );
+        }
+
+      	void serial_println( int i ) {
+          return Serial.println( i );
+        }
+
+        void serial_println( long i ) {
+          return Serial.println( i );
+        }
+
+        void serial_print( unsigned long i ) {
+          return Serial.print( i );
+        }
+  STR
+
+    return out
+  end
+  
+end