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/

data TypedBehavior p t

A Behavior with an additional phantom type p.

The Compilot DSL only lets a Stream contain basic C types, a limitation that Behavior also has. When more type safely is needed, this can be used.

Constructors

TypedBehavior (Behavior t)

Instances

Output o (Event p (Stream v)) => Output o (TypedBehavior p v)

Defined in Copilot.Arduino.Internals

Methods

(=:) :: o -> TypedBehavior p v -> Sketch ()

IsBehavior (TypedBehavior p v)

Defined in Copilot.Arduino.Internals

Methods

(@:) :: TypedBehavior p v -> Behavior Bool -> BehaviorToEvent (TypedBehavior p v)

type BehaviorToEvent (TypedBehavior p v)

Defined in Copilot.Arduino.Internals

type BehaviorToEvent (TypedBehavior p v) = Event p (Stream v)

data Event p v

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

Constructors

Event v (Stream Bool)

Instances

Output SerialDevice (Event () [FormatOutput])

Defined in Copilot.Arduino.Library.Serial.Device

Methods

(=:) :: SerialDevice -> Event () [FormatOutput] -> Sketch ()

EEPROMable t => Output (Range t) (Event () (RangeWrites t))

Defined in Copilot.Arduino.Library.EEPROMex

Methods

(=:) :: Range t -> Event () (RangeWrites t) -> Sketch ()

EEPROMable t => Output (Location t) (Event () (Stream t))

Defined in Copilot.Arduino.Library.EEPROMex

Methods

(=:) :: Location t -> Event () (Stream t) -> Sketch ()

IsPWMPin t => Output (Pin t) (Event PWM (Stream Word8))

Defined in Copilot.Arduino.Internals

Methods

(=:) :: Pin t -> Event PWM (Stream Word8) -> Sketch ()

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

Defined in Copilot.Arduino.Internals

Methods

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

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 (WriterT [(Spec, Framework)] (State UniqueIds) 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

MonadState UniqueIds Sketch

Defined in Copilot.Arduino.Internals

Methods

get :: Sketch UniqueIds

put :: UniqueIds -> Sketch ()

state :: (UniqueIds -> (a, UniqueIds)) -> 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

newtype UniqueIds

Constructors

UniqueIds [Integer]

Instances

MonadState UniqueIds Sketch

Defined in Copilot.Arduino.Internals

Methods

get :: Sketch UniqueIds

put :: UniqueIds -> Sketch ()

state :: (UniqueIds -> (a, UniqueIds)) -> Sketch a

evalSketch :: Sketch a -> (Maybe Spec, Framework)

getUniqueId :: Sketch Integer

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.

• earlySetups :: [CLine]

  Things to do at setup, before the setups.

• 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

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.

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 -> Sketch (Behavior 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

IsAnalogInputPin t => Input (Pin t) ADC

Defined in Copilot.Arduino.Internals

Methods

input' :: Pin t -> [ADC] -> Sketch (Behavior ADC)

IsDigitalIOPin t => Input (Pin t) Bool

Defined in Copilot.Arduino.Internals

Methods

input' :: Pin t -> [Bool] -> Sketch (Behavior Bool)

IsPWMPin t => Output (Pin t) (Event PWM (Stream Word8))

Defined in Copilot.Arduino.Internals

Methods

(=:) :: Pin t -> Event PWM (Stream Word8) -> Sketch ()

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

Defined in Copilot.Arduino.Internals

Methods

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

IsAnalogInputPin t => Input (Pin t) ADC

Defined in Copilot.Arduino.Internals

Methods

input' :: Pin t -> [ADC] -> Sketch (Behavior ADC)

IsDigitalIOPin t => Input (Pin t) Bool

Defined in Copilot.Arduino.Internals

Methods

input' :: Pin t -> [Bool] -> Sketch (Behavior Bool)

IsPWMPin t => Output (Pin t) (Event PWM (Stream Word8))

Defined in Copilot.Arduino.Internals

Methods

(=:) :: Pin t -> Event PWM (Stream Word8) -> Sketch ()

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

Defined in Copilot.Arduino.Internals

Methods

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

Connect 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 the write only happens at the points in time when the Event occurs.

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

Defined in Copilot.Arduino.Internals

Methods

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

Output SerialDevice [FormatOutput]

Defined in Copilot.Arduino.Library.Serial.Device

Methods

(=:) :: SerialDevice -> [FormatOutput] -> Sketch ()

Output o (Event p (Stream v)) => Output o (TypedBehavior p v)

Defined in Copilot.Arduino.Internals

Methods

(=:) :: o -> TypedBehavior p v -> Sketch ()

Output SerialDevice (Event () [FormatOutput])

Defined in Copilot.Arduino.Library.Serial.Device

Methods

(=:) :: SerialDevice -> Event () [FormatOutput] -> Sketch ()

EEPROMable t => Output (Range t) (RangeWrites t)

Defined in Copilot.Arduino.Library.EEPROMex

Methods

(=:) :: Range t -> RangeWrites t -> Sketch ()

EEPROMable t => Output (Range t) (Event () (RangeWrites t))

Defined in Copilot.Arduino.Library.EEPROMex

Methods

(=:) :: Range t -> Event () (RangeWrites t) -> Sketch ()

EEPROMable t => Output (Location t) (Event () (Stream t))

Defined in Copilot.Arduino.Library.EEPROMex

Methods

(=:) :: Location t -> Event () (Stream t) -> Sketch ()

IsPWMPin t => Output (Pin t) (Event PWM (Stream Word8))

Defined in Copilot.Arduino.Internals

Methods

(=:) :: Pin t -> Event PWM (Stream Word8) -> Sketch ()

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

Defined in Copilot.Arduino.Internals

Methods

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

type family BehaviorToEvent a

This type family is open, so it can be extended when adding other data types to the IsBehavior class.

Instances

type BehaviorToEvent [FormatOutput]

Defined in Copilot.Arduino.Library.Serial.Device

type BehaviorToEvent [FormatOutput] = Event () [FormatOutput]

type BehaviorToEvent (Behavior v)

Defined in Copilot.Arduino.Internals

type BehaviorToEvent (Behavior v) = Event () (Stream v)

type BehaviorToEvent (RangeWrites t)

Defined in Copilot.Arduino.Library.EEPROMex

type BehaviorToEvent (RangeWrites t) = Event () (RangeWrites t)

type BehaviorToEvent (TypedBehavior p v)

Defined in Copilot.Arduino.Internals

type BehaviorToEvent (TypedBehavior p v) = Event p (Stream v)

class IsBehavior behavior where

Methods

(@:) :: behavior -> Behavior Bool -> BehaviorToEvent behavior

Generate an event, from some type of behavior, that only occurs when the Behavior Bool is True.

Instances

IsBehavior [FormatOutput]

Defined in Copilot.Arduino.Library.Serial.Device

Methods

(@:) :: [FormatOutput] -> Behavior Bool -> BehaviorToEvent [FormatOutput]

IsBehavior (Behavior v)

Defined in Copilot.Arduino.Internals

Methods

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

EEPROMable t => IsBehavior (RangeWrites t)

Defined in Copilot.Arduino.Library.EEPROMex

Methods

(@:) :: RangeWrites t -> Behavior Bool -> BehaviorToEvent (RangeWrites t)

IsBehavior (TypedBehavior p v)

Defined in Copilot.Arduino.Internals

Methods

(@:) :: TypedBehavior p v -> Behavior Bool -> BehaviorToEvent (TypedBehavior p v)

class Input o t where

Methods

input' :: o -> [t] -> Sketch (Behavior t)

The list is input to use when simulating the Sketch.

Instances

Input ClockMicros Word32

Defined in Copilot.Arduino

Methods

input' :: ClockMicros -> [Word32] -> Sketch (Behavior Word32)

Input ClockMillis Word32

Defined in Copilot.Arduino

Methods

input' :: ClockMillis -> [Word32] -> Sketch (Behavior Word32)

Input SerialDevice Int8

Defined in Copilot.Arduino.Library.Serial.Device

Methods

input' :: SerialDevice -> [Int8] -> Sketch (Behavior Int8)

IsAnalogInputPin t => Input (Pin t) ADC

Defined in Copilot.Arduino.Internals

Methods

input' :: Pin t -> [ADC] -> Sketch (Behavior ADC)

IsDigitalIOPin t => Input (Pin t) Bool

Defined in Copilot.Arduino.Internals

Methods

input' :: Pin t -> [Bool] -> Sketch (Behavior Bool)

type ADC = Int16

Value read from an Arduino's ADC. Ranges from 0-1023.

class ShowCType t where

Methods

showCType :: Proxy t -> String

Instances

ShowCType Bool

Defined in Copilot.Arduino.Internals

Methods

showCType :: Proxy Bool -> String

ShowCType Double

Defined in Copilot.Arduino.Internals

Methods

showCType :: Proxy Double -> String

ShowCType Float

Defined in Copilot.Arduino.Internals

Methods

showCType :: Proxy Float -> String

ShowCType Int8

Defined in Copilot.Arduino.Internals

Methods

showCType :: Proxy Int8 -> String

ShowCType Int16

Defined in Copilot.Arduino.Internals

Methods

showCType :: Proxy Int16 -> String

ShowCType Int32

Defined in Copilot.Arduino.Internals

Methods

showCType :: Proxy Int32 -> String

ShowCType Int64

Defined in Copilot.Arduino.Internals

Methods

showCType :: Proxy Int64 -> String

ShowCType Word8

Defined in Copilot.Arduino.Internals

Methods

showCType :: Proxy Word8 -> String

ShowCType Word16

Defined in Copilot.Arduino.Internals

Methods

showCType :: Proxy Word16 -> String

ShowCType Word32

Defined in Copilot.Arduino.Internals

Methods

showCType :: Proxy Word32 -> String

ShowCType Word64

Defined in Copilot.Arduino.Internals

Methods

showCType :: Proxy Word64 -> String