Copilot.Arduino.Internals

You should not need to import this module unless you're adding support for a new model of Arduino, or an Arduino library.

Documentation

type Behavior t = Stream t

A value that changes over time.

This is implemented as a Stream in the Copilot DSL. Copilot provides many operations on streams, for example && to combine two streams of Bools.

For documentation on using the Copilot DSL, see https://copilot-language.github.io/

newtype Sketch t

An Arduino sketch, implemented using Copilot.

It's best to think of the Sketch as a description of the state of the Arduino at any point in time.

Under the hood, the Sketch is run in a loop. On each iteration, it first reads all inputs and then updates outputs as needed.

While it is a monad, a Sketch's outputs are not updated in any particular order, because Copilot does not guarantee any order.

Constructors

Sketch (Writer [(Spec, Framework)] t)

Instances

Monad Sketch

Defined in Copilot.Arduino.Internals

Methods

(>>=) :: Sketch a -> (a -> Sketch b) -> Sketch b

(>>) :: Sketch a -> Sketch b -> Sketch b

return :: a -> Sketch a

fail :: String -> Sketch a

Functor Sketch

Defined in Copilot.Arduino.Internals

Methods

fmap :: (a -> b) -> Sketch a -> Sketch b

(<$) :: a -> Sketch b -> Sketch a

Applicative Sketch

Defined in Copilot.Arduino.Internals

Methods

pure :: a -> Sketch a

(<*>) :: Sketch (a -> b) -> Sketch a -> Sketch b

liftA2 :: (a -> b -> c) -> Sketch a -> Sketch b -> Sketch c

(*>) :: Sketch a -> Sketch b -> Sketch b

(<*) :: Sketch a -> Sketch b -> Sketch a

Semigroup (Sketch t)

Defined in Copilot.Arduino.Internals

Methods

(<>) :: Sketch t -> Sketch t -> Sketch t

sconcat :: NonEmpty (Sketch t) -> Sketch t

stimes :: Integral b => b -> Sketch t -> Sketch t

Monoid (Sketch ())

Defined in Copilot.Arduino.Internals

Methods

mempty :: Sketch ()

mappend :: Sketch () -> Sketch () -> Sketch ()

mconcat :: [Sketch ()] -> Sketch ()

MonadWriter [(Spec, Framework)] Sketch

Defined in Copilot.Arduino.Internals

Methods

writer :: (a, [(Spec, Framework)]) -> Sketch a

tell :: [(Spec, Framework)] -> Sketch ()

listen :: Sketch a -> Sketch (a, [(Spec, Framework)])

pass :: Sketch (a, [(Spec, Framework)] -> [(Spec, Framework)]) -> Sketch a

data Framework

The framework of an Arduino sketch.

Constructors

Framework

Fields

• defines :: [CLine]

  Things that come before the C code generated by Copilot.

• setups :: [CLine]

  Things to do at setup, not including configuring pins.

• pinmodes :: Map PinId (Set PinMode)

  How pins are used.

• loops :: [CLine]

  Things to run in loop.

Instances

Semigroup Framework

Defined in Copilot.Arduino.Internals

Methods

(<>) :: Framework -> Framework -> Framework

sconcat :: NonEmpty Framework -> Framework

stimes :: Integral b => b -> Framework -> Framework

Monoid Framework

Defined in Copilot.Arduino.Internals

Methods

mempty :: Framework

mappend :: Framework -> Framework -> Framework

mconcat :: [Framework] -> Framework

MonadWriter [(Spec, Framework)] Sketch

Defined in Copilot.Arduino.Internals

Methods

writer :: (a, [(Spec, Framework)]) -> Sketch a

tell :: [(Spec, Framework)] -> Sketch ()

listen :: Sketch a -> Sketch (a, [(Spec, Framework)])

pass :: Sketch (a, [(Spec, Framework)] -> [(Spec, Framework)]) -> Sketch a

newtype CLine

A line of C code.

Constructors

CLine

Fields

• fromCLine :: String

type Input t = Sketch (Stream t)

A source of a Stream of values input from the Arduino.

Runs in the Sketch monad.

data InputSource t

Constructors

InputSource

Fields

• defineVar :: [CLine]

  Added to the Framework's defines, this typically defines a C variable.

• setupInput :: [CLine]

  How to set up the input, not including pin mode.

• inputPinmode :: Map PinId PinMode
• readInput :: [CLine]

  How to read a value from the input, this typically reads a value into a C variable.

• inputStream :: Stream t

mkInput :: InputSource t -> Input t

newtype Pin t

A pin on the Arduino board.

For definitions of pins like pin12, load a module such as Copilot.Arduino.Uno, which provides the pins of a particular board.

A type-level list indicates how a Pin can be used, so the haskell compiler will detect impossible uses of pins.

Constructors

Pin PinId

Instances

Eq (Pin t)

Defined in Copilot.Arduino.Internals

Methods

(==) :: Pin t -> Pin t -> Bool

(/=) :: Pin t -> Pin t -> Bool

Ord (Pin t)

Defined in Copilot.Arduino.Internals

Methods

compare :: Pin t -> Pin t -> Ordering

(<) :: Pin t -> Pin t -> Bool

(<=) :: Pin t -> Pin t -> Bool

(>) :: Pin t -> Pin t -> Bool

(>=) :: Pin t -> Pin t -> Bool

max :: Pin t -> Pin t -> Pin t

min :: Pin t -> Pin t -> Pin t

Show (Pin t)

Defined in Copilot.Arduino.Internals

Methods

showsPrec :: Int -> Pin t -> ShowS

show :: Pin t -> String

showList :: [Pin t] -> ShowS

IsPWMPin t => Output (Pin t) PWMDutyCycle

Defined in Copilot.Arduino

Methods

(=:) :: Pin t -> PWMDutyCycle -> Sketch ()

IsDigitalIOPin t => Output (Pin t) (Event (Behavior Bool))

Defined in Copilot.Arduino.Internals

Methods

(=:) :: Pin t -> Event (Behavior Bool) -> Sketch ()

IsPWMPin t => Output (Pin t) (Event PWMDutyCycle)

Defined in Copilot.Arduino

Methods

(=:) :: Pin t -> Event PWMDutyCycle -> Sketch ()

newtype PinId

Constructors

PinId Int16

Instances

Eq PinId

Defined in Copilot.Arduino.Internals

Methods

(==) :: PinId -> PinId -> Bool

(/=) :: PinId -> PinId -> Bool

Ord PinId

Defined in Copilot.Arduino.Internals

Methods

compare :: PinId -> PinId -> Ordering

(<) :: PinId -> PinId -> Bool

(<=) :: PinId -> PinId -> Bool

(>) :: PinId -> PinId -> Bool

(>=) :: PinId -> PinId -> Bool

max :: PinId -> PinId -> PinId

min :: PinId -> PinId -> PinId

Show PinId

Defined in Copilot.Arduino.Internals

Methods

showsPrec :: Int -> PinId -> ShowS

show :: PinId -> String

showList :: [PinId] -> ShowS

data PinCapabilities

Constructors

DigitalIO

AnalogInput

PWM

Instances

Eq PinCapabilities

Defined in Copilot.Arduino.Internals

Methods

(==) :: PinCapabilities -> PinCapabilities -> Bool

(/=) :: PinCapabilities -> PinCapabilities -> Bool

Ord PinCapabilities

Defined in Copilot.Arduino.Internals

Methods

compare :: PinCapabilities -> PinCapabilities -> Ordering

(<) :: PinCapabilities -> PinCapabilities -> Bool

(<=) :: PinCapabilities -> PinCapabilities -> Bool

(>) :: PinCapabilities -> PinCapabilities -> Bool

(>=) :: PinCapabilities -> PinCapabilities -> Bool

max :: PinCapabilities -> PinCapabilities -> PinCapabilities

min :: PinCapabilities -> PinCapabilities -> PinCapabilities

Show PinCapabilities

Defined in Copilot.Arduino.Internals

Methods

showsPrec :: Int -> PinCapabilities -> ShowS

show :: PinCapabilities -> String

showList :: [PinCapabilities] -> ShowS

IsPWMPin t => Output (Pin t) PWMDutyCycle

Defined in Copilot.Arduino

Methods

(=:) :: Pin t -> PWMDutyCycle -> Sketch ()

IsDigitalIOPin t => Output (Pin t) (Event (Behavior Bool))

Defined in Copilot.Arduino.Internals

Methods

(=:) :: Pin t -> Event (Behavior Bool) -> Sketch ()

IsPWMPin t => Output (Pin t) (Event PWMDutyCycle)

Defined in Copilot.Arduino

Methods

(=:) :: Pin t -> Event PWMDutyCycle -> Sketch ()

type family IsDigitalIOPin t where ...

Equations

IsDigitalIOPin t = True ~ If (HasPinCapability DigitalIO t) True (TypeError (Text "This Pin does not support digital IO"))

type family IsAnalogInputPin t where ...

Equations

IsAnalogInputPin t = True ~ If (HasPinCapability AnalogInput t) True (TypeError (Text "This Pin does not support analog input"))

type family IsPWMPin t where ...

Equations

IsPWMPin t = True ~ If (HasPinCapability PWM t) True (TypeError (Text "This Pin does not support PWM"))

type family HasPinCapability (c :: t) (list :: [t]) :: Bool where ...

Equations

HasPinCapability c '[] = False

HasPinCapability c (x ': xs) = SameCapability c x || HasPinCapability c xs

type family SameCapability a b :: Bool where ...

Equations

SameCapability DigitalIO DigitalIO = True

SameCapability AnalogInput AnalogInput = True

SameCapability PWM PWM = True

SameCapability _ _ = False

data PinMode

Constructors

InputMode

InputPullupMode

OutputMode

Instances

Eq PinMode

Defined in Copilot.Arduino.Internals

Methods

(==) :: PinMode -> PinMode -> Bool

(/=) :: PinMode -> PinMode -> Bool

Ord PinMode

Defined in Copilot.Arduino.Internals

Methods

compare :: PinMode -> PinMode -> Ordering

(<) :: PinMode -> PinMode -> Bool

(<=) :: PinMode -> PinMode -> Bool

(>) :: PinMode -> PinMode -> Bool

(>=) :: PinMode -> PinMode -> Bool

max :: PinMode -> PinMode -> PinMode

min :: PinMode -> PinMode -> PinMode

Show PinMode

Defined in Copilot.Arduino.Internals

Methods

showsPrec :: Int -> PinMode -> ShowS

show :: PinMode -> String

showList :: [PinMode] -> ShowS

class Output o t where

Things that can have a Behavior or Event output to them.

Methods

(=:) :: o -> t -> Sketch () infixr 1

Conneact a Behavior or Event to an Output

led =: blinking

When a Behavior is used, its current value is written on each iteration of the Sketch.

For example, this constantly turns on the LED, even though it will already be on after the first iteration, because true is a Behavior (that is always True).

led =: true

To avoid unncessary work being done, you can use an Event instead. Then only new values of the Event will be written.

So to make the LED only be turned on in the first iteration, and allow it to remain on thereafter without doing extra work:

led =: true @: firstIteration

Instances

Output o (Event (Behavior v)) => Output o (Behavior v)

Defined in Copilot.Arduino.Internals

Methods

(=:) :: o -> Behavior v -> Sketch ()

IsPWMPin t => Output (Pin t) PWMDutyCycle

Defined in Copilot.Arduino

Methods

(=:) :: Pin t -> PWMDutyCycle -> Sketch ()

IsDigitalIOPin t => Output (Pin t) (Event (Behavior Bool))

Defined in Copilot.Arduino.Internals

Methods

(=:) :: Pin t -> Event (Behavior Bool) -> Sketch ()

IsPWMPin t => Output (Pin t) (Event PWMDutyCycle)

Defined in Copilot.Arduino

Methods

(=:) :: Pin t -> Event PWMDutyCycle -> Sketch ()

data Event v

A discrete event, that occurs at particular points in time.

Constructors

Event v (Stream Bool)

Instances

IsDigitalIOPin t => Output (Pin t) (Event (Behavior Bool))

Defined in Copilot.Arduino.Internals

Methods

(=:) :: Pin t -> Event (Behavior Bool) -> Sketch ()

IsPWMPin t => Output (Pin t) (Event PWMDutyCycle)

Defined in Copilot.Arduino

Methods

(=:) :: Pin t -> Event PWMDutyCycle -> Sketch ()

alwaysEvent :: v -> Event v

(@:) :: v -> Behavior Bool -> Event v

Generate an event, that only occurs when the Behavior Bool is True.

While v is usually some type of Behavior, this can also be used with some other data types that contain a Behavior. For example:

pin3 := PWMDutyCycle (constant 128) @: firstIteration

defineTriggerAlias :: String -> String -> Framework -> (Framework, String)

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 used in two triggers. This generates a name from a suffix, which should be somehow unique.