Repository: ROBOTIS-GIT/OpenCR Branch: master Commit: 68ec75d8a400 Files: 1621 Total size: 25.6 MB Directory structure: gitextract_31yzf8ck/ ├── .github/ │ └── workflows/ │ └── arduino_ci.yml ├── .gitignore ├── .project ├── 49-stlinkv2.rules ├── 99-opencr-cdc.rules ├── LICENSE ├── README.md ├── arduino/ │ ├── opencr_arduino/ │ │ ├── opencr/ │ │ │ ├── .gitignore │ │ │ ├── boards.txt │ │ │ ├── cores/ │ │ │ │ └── arduino/ │ │ │ │ ├── Arduino.h │ │ │ │ ├── Client.h │ │ │ │ ├── HardwareSerial.h │ │ │ │ ├── HardwareTimer.cpp │ │ │ │ ├── HardwareTimer.h │ │ │ │ ├── IPAddress.cpp │ │ │ │ ├── IPAddress.h │ │ │ │ ├── Print.cpp │ │ │ │ ├── Print.h │ │ │ │ ├── Printable.h │ │ │ │ ├── Reset.h │ │ │ │ ├── RingBuffer.cpp │ │ │ │ ├── RingBuffer.h │ │ │ │ ├── Server.h │ │ │ │ ├── Stream.cpp │ │ │ │ ├── Stream.h │ │ │ │ ├── Tone.cpp │ │ │ │ ├── Tone.h │ │ │ │ ├── UARTClass.cpp │ │ │ │ ├── UARTClass.h │ │ │ │ ├── USBSerial.cpp │ │ │ │ ├── USBSerial.h │ │ │ │ ├── Udp.h │ │ │ │ ├── WCharacter.h │ │ │ │ ├── WInterrupts.c │ │ │ │ ├── WInterrupts.h │ │ │ │ ├── WMath.cpp │ │ │ │ ├── WMath.h │ │ │ │ ├── WString.cpp │ │ │ │ ├── WString.h │ │ │ │ ├── avr/ │ │ │ │ │ ├── dtostrf.c │ │ │ │ │ ├── dtostrf.h │ │ │ │ │ ├── interrupt.h │ │ │ │ │ └── pgmspace.h │ │ │ │ ├── binary.h │ │ │ │ ├── digitalWriteFast.h │ │ │ │ ├── itoa.c │ │ │ │ ├── itoa.h │ │ │ │ ├── new.cpp │ │ │ │ ├── syscalls.h │ │ │ │ ├── wiring.c │ │ │ │ ├── wiring.h │ │ │ │ ├── wiring_analog.c │ │ │ │ ├── wiring_analog.h │ │ │ │ ├── wiring_constants.h │ │ │ │ ├── wiring_digital.c │ │ │ │ ├── wiring_digital.h │ │ │ │ ├── wiring_private.h │ │ │ │ ├── wiring_pulse.c │ │ │ │ ├── wiring_pulse.h │ │ │ │ ├── wiring_shift.c │ │ │ │ ├── wiring_shift.h │ │ │ │ └── yield.cpp │ │ │ ├── keywords.txt │ │ │ ├── libraries/ │ │ │ │ ├── Adafruit_GFX_Library/ │ │ │ │ │ ├── Adafruit_GFX.cpp │ │ │ │ │ ├── Adafruit_GFX.h │ │ │ │ │ ├── Adafruit_SPITFT.cpp │ │ │ │ │ ├── Adafruit_SPITFT.h │ │ │ │ │ ├── Adafruit_SPITFT_Macros.h │ │ │ │ │ ├── Fonts/ │ │ │ │ │ │ ├── FreeMono12pt7b.h │ │ │ │ │ │ ├── FreeMono18pt7b.h │ │ │ │ │ │ ├── FreeMono24pt7b.h │ │ │ │ │ │ ├── FreeMono9pt7b.h │ │ │ │ │ │ ├── FreeMonoBold12pt7b.h │ │ │ │ │ │ ├── FreeMonoBold18pt7b.h │ │ │ │ │ │ ├── FreeMonoBold24pt7b.h │ │ │ │ │ │ ├── FreeMonoBold9pt7b.h │ │ │ │ │ │ ├── FreeMonoBoldOblique12pt7b.h │ │ │ │ │ │ ├── FreeMonoBoldOblique18pt7b.h │ │ │ │ │ │ ├── FreeMonoBoldOblique24pt7b.h │ │ │ │ │ │ ├── FreeMonoBoldOblique9pt7b.h │ │ │ │ │ │ ├── FreeMonoOblique12pt7b.h │ │ │ │ │ │ ├── FreeMonoOblique18pt7b.h │ │ │ │ │ │ ├── FreeMonoOblique24pt7b.h │ │ │ │ │ │ ├── FreeMonoOblique9pt7b.h │ │ │ │ │ │ ├── FreeSans12pt7b.h │ │ │ │ │ │ ├── FreeSans18pt7b.h │ │ │ │ │ │ ├── FreeSans24pt7b.h │ │ │ │ │ │ ├── FreeSans9pt7b.h │ │ │ │ │ │ ├── FreeSansBold12pt7b.h │ │ │ │ │ │ ├── FreeSansBold18pt7b.h │ │ │ │ │ │ ├── FreeSansBold24pt7b.h │ │ │ │ │ │ ├── FreeSansBold9pt7b.h │ │ │ │ │ │ ├── FreeSansBoldOblique12pt7b.h │ │ │ │ │ │ ├── FreeSansBoldOblique18pt7b.h │ │ │ │ │ │ ├── FreeSansBoldOblique24pt7b.h │ │ │ │ │ │ ├── FreeSansBoldOblique9pt7b.h │ │ │ │ │ │ ├── FreeSansOblique12pt7b.h │ │ │ │ │ │ ├── FreeSansOblique18pt7b.h │ │ │ │ │ │ ├── FreeSansOblique24pt7b.h │ │ │ │ │ │ ├── FreeSansOblique9pt7b.h │ │ │ │ │ │ ├── FreeSerif12pt7b.h │ │ │ │ │ │ ├── FreeSerif18pt7b.h │ │ │ │ │ │ ├── FreeSerif24pt7b.h │ │ │ │ │ │ ├── FreeSerif9pt7b.h │ │ │ │ │ │ ├── FreeSerifBold12pt7b.h │ │ │ │ │ │ ├── FreeSerifBold18pt7b.h │ │ │ │ │ │ ├── FreeSerifBold24pt7b.h │ │ │ │ │ │ ├── FreeSerifBold9pt7b.h │ │ │ │ │ │ ├── FreeSerifBoldItalic12pt7b.h │ │ │ │ │ │ ├── FreeSerifBoldItalic18pt7b.h │ │ │ │ │ │ ├── FreeSerifBoldItalic24pt7b.h │ │ │ │ │ │ ├── FreeSerifBoldItalic9pt7b.h │ │ │ │ │ │ ├── FreeSerifItalic12pt7b.h │ │ │ │ │ │ ├── FreeSerifItalic18pt7b.h │ │ │ │ │ │ ├── FreeSerifItalic24pt7b.h │ │ │ │ │ │ ├── FreeSerifItalic9pt7b.h │ │ │ │ │ │ ├── Org_01.h │ │ │ │ │ │ ├── Picopixel.h │ │ │ │ │ │ ├── Tiny3x3a2pt7b │ │ │ │ │ │ └── TomThumb.h │ │ │ │ │ ├── README.md │ │ │ │ │ ├── fontconvert/ │ │ │ │ │ │ ├── Makefile │ │ │ │ │ │ ├── fontconvert.c │ │ │ │ │ │ ├── fontconvert_win.md │ │ │ │ │ │ └── makefonts.sh │ │ │ │ │ ├── gfxfont.h │ │ │ │ │ ├── glcdfont.c │ │ │ │ │ ├── library.properties │ │ │ │ │ └── license.txt │ │ │ │ ├── CAN/ │ │ │ │ │ ├── CAN.cpp │ │ │ │ │ └── CAN.h │ │ │ │ ├── DynamixelSDK/ │ │ │ │ │ ├── README.md │ │ │ │ │ ├── include/ │ │ │ │ │ │ └── dynamixel_sdk/ │ │ │ │ │ │ ├── dynamixel_sdk.h │ │ │ │ │ │ ├── group_bulk_read.h │ │ │ │ │ │ ├── group_bulk_write.h │ │ │ │ │ │ ├── group_sync_read.h │ │ │ │ │ │ ├── group_sync_write.h │ │ │ │ │ │ ├── packet_handler.h │ │ │ │ │ │ ├── port_handler.h │ │ │ │ │ │ ├── port_handler_arduino.h │ │ │ │ │ │ ├── port_handler_linux.h │ │ │ │ │ │ ├── port_handler_mac.h │ │ │ │ │ │ ├── port_handler_windows.h │ │ │ │ │ │ ├── protocol1_packet_handler.h │ │ │ │ │ │ └── protocol2_packet_handler.h │ │ │ │ │ ├── keywords.txt │ │ │ │ │ ├── library.properties │ │ │ │ │ └── src/ │ │ │ │ │ ├── DynamixelSDK.h │ │ │ │ │ └── dynamixel_sdk/ │ │ │ │ │ ├── group_bulk_read.cpp │ │ │ │ │ ├── group_bulk_write.cpp │ │ │ │ │ ├── group_sync_read.cpp │ │ │ │ │ ├── group_sync_write.cpp │ │ │ │ │ ├── packet_handler.cpp │ │ │ │ │ ├── port_handler.cpp │ │ │ │ │ ├── port_handler_arduino.cpp │ │ │ │ │ ├── port_handler_linux.cpp │ │ │ │ │ ├── port_handler_mac.cpp │ │ │ │ │ ├── port_handler_windows.cpp │ │ │ │ │ ├── protocol1_packet_handler.cpp │ │ │ │ │ └── protocol2_packet_handler.cpp │ │ │ │ ├── DynamixelWorkbench/ │ │ │ │ │ ├── include/ │ │ │ │ │ │ └── dynamixel_workbench_toolbox/ │ │ │ │ │ │ ├── dynamixel_driver.h │ │ │ │ │ │ ├── dynamixel_item.h │ │ │ │ │ │ ├── dynamixel_tool.h │ │ │ │ │ │ └── dynamixel_workbench.h │ │ │ │ │ ├── keywords.txt │ │ │ │ │ ├── library.properties │ │ │ │ │ └── src/ │ │ │ │ │ ├── DynamixelWorkbench.h │ │ │ │ │ └── dynamixel_workbench_toolbox/ │ │ │ │ │ ├── dynamixel_driver.cpp │ │ │ │ │ ├── dynamixel_item.cpp │ │ │ │ │ ├── dynamixel_tool.cpp │ │ │ │ │ └── dynamixel_workbench.cpp │ │ │ │ ├── EEPROM/ │ │ │ │ │ ├── README.md │ │ │ │ │ ├── keywords.txt │ │ │ │ │ ├── library.properties │ │ │ │ │ └── src/ │ │ │ │ │ └── EEPROM.h │ │ │ │ ├── Eigen331/ │ │ │ │ │ ├── library.properties │ │ │ │ │ └── src/ │ │ │ │ │ ├── Eigen/ │ │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ │ ├── Cholesky │ │ │ │ │ │ ├── CholmodSupport │ │ │ │ │ │ ├── Core │ │ │ │ │ │ ├── Dense │ │ │ │ │ │ ├── Eigen │ │ │ │ │ │ ├── Eigenvalues │ │ │ │ │ │ ├── Geometry │ │ │ │ │ │ ├── Householder │ │ │ │ │ │ ├── IterativeLinearSolvers │ │ │ │ │ │ ├── Jacobi │ │ │ │ │ │ ├── LU │ │ │ │ │ │ ├── MetisSupport │ │ │ │ │ │ ├── OrderingMethods │ │ │ │ │ │ ├── PaStiXSupport │ │ │ │ │ │ ├── PardisoSupport │ │ │ │ │ │ ├── QR │ │ │ │ │ │ ├── QtAlignedMalloc │ │ │ │ │ │ ├── SPQRSupport │ │ │ │ │ │ ├── SVD │ │ │ │ │ │ ├── Sparse │ │ │ │ │ │ ├── SparseCholesky │ │ │ │ │ │ ├── SparseCore │ │ │ │ │ │ ├── SparseLU │ │ │ │ │ │ ├── SparseQR │ │ │ │ │ │ ├── StdDeque │ │ │ │ │ │ ├── StdList │ │ │ │ │ │ ├── StdVector │ │ │ │ │ │ ├── SuperLUSupport │ │ │ │ │ │ ├── UmfPackSupport │ │ │ │ │ │ └── src/ │ │ │ │ │ │ ├── Cholesky/ │ │ │ │ │ │ │ ├── LDLT.h │ │ │ │ │ │ │ ├── LLT.h │ │ │ │ │ │ │ └── LLT_LAPACKE.h │ │ │ │ │ │ ├── CholmodSupport/ │ │ │ │ │ │ │ └── CholmodSupport.h │ │ │ │ │ │ ├── Core/ │ │ │ │ │ │ │ ├── Array.h │ │ │ │ │ │ │ ├── ArrayBase.h │ │ │ │ │ │ │ ├── ArrayWrapper.h │ │ │ │ │ │ │ ├── Assign.h │ │ │ │ │ │ │ ├── AssignEvaluator.h │ │ │ │ │ │ │ ├── Assign_MKL.h │ │ │ │ │ │ │ ├── BandMatrix.h │ │ │ │ │ │ │ ├── Block.h │ │ │ │ │ │ │ ├── BooleanRedux.h │ │ │ │ │ │ │ ├── CommaInitializer.h │ │ │ │ │ │ │ ├── ConditionEstimator.h │ │ │ │ │ │ │ ├── CoreEvaluators.h │ │ │ │ │ │ │ ├── CoreIterators.h │ │ │ │ │ │ │ ├── CwiseBinaryOp.h │ │ │ │ │ │ │ ├── CwiseNullaryOp.h │ │ │ │ │ │ │ ├── CwiseTernaryOp.h │ │ │ │ │ │ │ ├── CwiseUnaryOp.h │ │ │ │ │ │ │ ├── CwiseUnaryView.h │ │ │ │ │ │ │ ├── DenseBase.h │ │ │ │ │ │ │ ├── DenseCoeffsBase.h │ │ │ │ │ │ │ ├── DenseStorage.h │ │ │ │ │ │ │ ├── Diagonal.h │ │ │ │ │ │ │ ├── DiagonalMatrix.h │ │ │ │ │ │ │ ├── DiagonalProduct.h │ │ │ │ │ │ │ ├── Dot.h │ │ │ │ │ │ │ ├── EigenBase.h │ │ │ │ │ │ │ ├── ForceAlignedAccess.h │ │ │ │ │ │ │ ├── Fuzzy.h │ │ │ │ │ │ │ ├── GeneralProduct.h │ │ │ │ │ │ │ ├── GenericPacketMath.h │ │ │ │ │ │ │ ├── GlobalFunctions.h │ │ │ │ │ │ │ ├── IO.h │ │ │ │ │ │ │ ├── Inverse.h │ │ │ │ │ │ │ ├── Map.h │ │ │ │ │ │ │ ├── MapBase.h │ │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ │ ├── MathFunctionsImpl.h │ │ │ │ │ │ │ ├── Matrix.h │ │ │ │ │ │ │ ├── MatrixBase.h │ │ │ │ │ │ │ ├── NestByValue.h │ │ │ │ │ │ │ ├── NoAlias.h │ │ │ │ │ │ │ ├── NumTraits.h │ │ │ │ │ │ │ ├── PermutationMatrix.h │ │ │ │ │ │ │ ├── PlainObjectBase.h │ │ │ │ │ │ │ ├── Product.h │ │ │ │ │ │ │ ├── ProductEvaluators.h │ │ │ │ │ │ │ ├── Random.h │ │ │ │ │ │ │ ├── Redux.h │ │ │ │ │ │ │ ├── Ref.h │ │ │ │ │ │ │ ├── Replicate.h │ │ │ │ │ │ │ ├── ReturnByValue.h │ │ │ │ │ │ │ ├── Reverse.h │ │ │ │ │ │ │ ├── Select.h │ │ │ │ │ │ │ ├── SelfAdjointView.h │ │ │ │ │ │ │ ├── SelfCwiseBinaryOp.h │ │ │ │ │ │ │ ├── Solve.h │ │ │ │ │ │ │ ├── SolveTriangular.h │ │ │ │ │ │ │ ├── SolverBase.h │ │ │ │ │ │ │ ├── StableNorm.h │ │ │ │ │ │ │ ├── Stride.h │ │ │ │ │ │ │ ├── Swap.h │ │ │ │ │ │ │ ├── Transpose.h │ │ │ │ │ │ │ ├── Transpositions.h │ │ │ │ │ │ │ ├── TriangularMatrix.h │ │ │ │ │ │ │ ├── VectorBlock.h │ │ │ │ │ │ │ ├── VectorwiseOp.h │ │ │ │ │ │ │ ├── Visitor.h │ │ │ │ │ │ │ ├── arch/ │ │ │ │ │ │ │ │ ├── AVX/ │ │ │ │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ │ │ │ │ └── TypeCasting.h │ │ │ │ │ │ │ │ ├── AVX512/ │ │ │ │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ │ │ │ └── PacketMath.h │ │ │ │ │ │ │ │ ├── AltiVec/ │ │ │ │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ │ │ │ └── PacketMath.h │ │ │ │ │ │ │ │ ├── CUDA/ │ │ │ │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ │ │ │ ├── Half.h │ │ │ │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ │ │ │ │ ├── PacketMathHalf.h │ │ │ │ │ │ │ │ │ └── TypeCasting.h │ │ │ │ │ │ │ │ ├── Default/ │ │ │ │ │ │ │ │ │ └── Settings.h │ │ │ │ │ │ │ │ ├── NEON/ │ │ │ │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ │ │ │ └── PacketMath.h │ │ │ │ │ │ │ │ ├── SSE/ │ │ │ │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ │ │ │ │ └── TypeCasting.h │ │ │ │ │ │ │ │ └── ZVector/ │ │ │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ │ │ └── PacketMath.h │ │ │ │ │ │ │ ├── functors/ │ │ │ │ │ │ │ │ ├── AssignmentFunctors.h │ │ │ │ │ │ │ │ ├── BinaryFunctors.h │ │ │ │ │ │ │ │ ├── NullaryFunctors.h │ │ │ │ │ │ │ │ ├── StlFunctors.h │ │ │ │ │ │ │ │ ├── TernaryFunctors.h │ │ │ │ │ │ │ │ └── UnaryFunctors.h │ │ │ │ │ │ │ ├── products/ │ │ │ │ │ │ │ │ ├── GeneralBlockPanelKernel.h │ │ │ │ │ │ │ │ ├── GeneralMatrixMatrix.h │ │ │ │ │ │ │ │ ├── GeneralMatrixMatrixTriangular.h │ │ │ │ │ │ │ │ ├── GeneralMatrixMatrixTriangular_BLAS.h │ │ │ │ │ │ │ │ ├── GeneralMatrixMatrix_BLAS.h │ │ │ │ │ │ │ │ ├── GeneralMatrixVector.h │ │ │ │ │ │ │ │ ├── GeneralMatrixVector_BLAS.h │ │ │ │ │ │ │ │ ├── Parallelizer.h │ │ │ │ │ │ │ │ ├── SelfadjointMatrixMatrix.h │ │ │ │ │ │ │ │ ├── SelfadjointMatrixMatrix_BLAS.h │ │ │ │ │ │ │ │ ├── SelfadjointMatrixVector.h │ │ │ │ │ │ │ │ ├── SelfadjointMatrixVector_BLAS.h │ │ │ │ │ │ │ │ ├── SelfadjointProduct.h │ │ │ │ │ │ │ │ ├── SelfadjointRank2Update.h │ │ │ │ │ │ │ │ ├── TriangularMatrixMatrix.h │ │ │ │ │ │ │ │ ├── TriangularMatrixMatrix_BLAS.h │ │ │ │ │ │ │ │ ├── TriangularMatrixVector.h │ │ │ │ │ │ │ │ ├── TriangularMatrixVector_BLAS.h │ │ │ │ │ │ │ │ ├── TriangularSolverMatrix.h │ │ │ │ │ │ │ │ ├── TriangularSolverMatrix_BLAS.h │ │ │ │ │ │ │ │ └── TriangularSolverVector.h │ │ │ │ │ │ │ └── util/ │ │ │ │ │ │ │ ├── BlasUtil.h │ │ │ │ │ │ │ ├── Constants.h │ │ │ │ │ │ │ ├── DisableStupidWarnings.h │ │ │ │ │ │ │ ├── ForwardDeclarations.h │ │ │ │ │ │ │ ├── MKL_support.h │ │ │ │ │ │ │ ├── Macros.h │ │ │ │ │ │ │ ├── Memory.h │ │ │ │ │ │ │ ├── Meta.h │ │ │ │ │ │ │ ├── NonMPL2.h │ │ │ │ │ │ │ ├── ReenableStupidWarnings.h │ │ │ │ │ │ │ ├── StaticAssert.h │ │ │ │ │ │ │ └── XprHelper.h │ │ │ │ │ │ ├── Eigenvalues/ │ │ │ │ │ │ │ ├── ComplexEigenSolver.h │ │ │ │ │ │ │ ├── ComplexSchur.h │ │ │ │ │ │ │ ├── ComplexSchur_LAPACKE.h │ │ │ │ │ │ │ ├── EigenSolver.h │ │ │ │ │ │ │ ├── GeneralizedEigenSolver.h │ │ │ │ │ │ │ ├── GeneralizedSelfAdjointEigenSolver.h │ │ │ │ │ │ │ ├── HessenbergDecomposition.h │ │ │ │ │ │ │ ├── MatrixBaseEigenvalues.h │ │ │ │ │ │ │ ├── RealQZ.h │ │ │ │ │ │ │ ├── RealSchur.h │ │ │ │ │ │ │ ├── RealSchur_LAPACKE.h │ │ │ │ │ │ │ ├── SelfAdjointEigenSolver.h │ │ │ │ │ │ │ ├── SelfAdjointEigenSolver_LAPACKE.h │ │ │ │ │ │ │ └── Tridiagonalization.h │ │ │ │ │ │ ├── Geometry/ │ │ │ │ │ │ │ ├── AlignedBox.h │ │ │ │ │ │ │ ├── AngleAxis.h │ │ │ │ │ │ │ ├── EulerAngles.h │ │ │ │ │ │ │ ├── Homogeneous.h │ │ │ │ │ │ │ ├── Hyperplane.h │ │ │ │ │ │ │ ├── OrthoMethods.h │ │ │ │ │ │ │ ├── ParametrizedLine.h │ │ │ │ │ │ │ ├── Quaternion.h │ │ │ │ │ │ │ ├── Rotation2D.h │ │ │ │ │ │ │ ├── RotationBase.h │ │ │ │ │ │ │ ├── Scaling.h │ │ │ │ │ │ │ ├── Transform.h │ │ │ │ │ │ │ ├── Translation.h │ │ │ │ │ │ │ ├── Umeyama.h │ │ │ │ │ │ │ └── arch/ │ │ │ │ │ │ │ └── Geometry_SSE.h │ │ │ │ │ │ ├── Householder/ │ │ │ │ │ │ │ ├── BlockHouseholder.h │ │ │ │ │ │ │ ├── Householder.h │ │ │ │ │ │ │ └── HouseholderSequence.h │ │ │ │ │ │ ├── IterativeLinearSolvers/ │ │ │ │ │ │ │ ├── BasicPreconditioners.h │ │ │ │ │ │ │ ├── BiCGSTAB.h │ │ │ │ │ │ │ ├── ConjugateGradient.h │ │ │ │ │ │ │ ├── IncompleteCholesky.h │ │ │ │ │ │ │ ├── IncompleteLUT.h │ │ │ │ │ │ │ ├── IterativeSolverBase.h │ │ │ │ │ │ │ ├── LeastSquareConjugateGradient.h │ │ │ │ │ │ │ └── SolveWithGuess.h │ │ │ │ │ │ ├── Jacobi/ │ │ │ │ │ │ │ └── Jacobi.h │ │ │ │ │ │ ├── LU/ │ │ │ │ │ │ │ ├── Determinant.h │ │ │ │ │ │ │ ├── FullPivLU.h │ │ │ │ │ │ │ ├── InverseImpl.h │ │ │ │ │ │ │ ├── PartialPivLU.h │ │ │ │ │ │ │ ├── PartialPivLU_LAPACKE.h │ │ │ │ │ │ │ └── arch/ │ │ │ │ │ │ │ └── Inverse_SSE.h │ │ │ │ │ │ ├── MetisSupport/ │ │ │ │ │ │ │ └── MetisSupport.h │ │ │ │ │ │ ├── OrderingMethods/ │ │ │ │ │ │ │ ├── Amd.h │ │ │ │ │ │ │ ├── Eigen_Colamd.h │ │ │ │ │ │ │ └── Ordering.h │ │ │ │ │ │ ├── PaStiXSupport/ │ │ │ │ │ │ │ └── PaStiXSupport.h │ │ │ │ │ │ ├── PardisoSupport/ │ │ │ │ │ │ │ └── PardisoSupport.h │ │ │ │ │ │ ├── QR/ │ │ │ │ │ │ │ ├── ColPivHouseholderQR.h │ │ │ │ │ │ │ ├── ColPivHouseholderQR_LAPACKE.h │ │ │ │ │ │ │ ├── CompleteOrthogonalDecomposition.h │ │ │ │ │ │ │ ├── FullPivHouseholderQR.h │ │ │ │ │ │ │ ├── HouseholderQR.h │ │ │ │ │ │ │ └── HouseholderQR_LAPACKE.h │ │ │ │ │ │ ├── SPQRSupport/ │ │ │ │ │ │ │ └── SuiteSparseQRSupport.h │ │ │ │ │ │ ├── SVD/ │ │ │ │ │ │ │ ├── BDCSVD.h │ │ │ │ │ │ │ ├── JacobiSVD.h │ │ │ │ │ │ │ ├── JacobiSVD_LAPACKE.h │ │ │ │ │ │ │ ├── SVDBase.h │ │ │ │ │ │ │ └── UpperBidiagonalization.h │ │ │ │ │ │ ├── SparseCholesky/ │ │ │ │ │ │ │ ├── SimplicialCholesky.h │ │ │ │ │ │ │ └── SimplicialCholesky_impl.h │ │ │ │ │ │ ├── SparseCore/ │ │ │ │ │ │ │ ├── AmbiVector.h │ │ │ │ │ │ │ ├── CompressedStorage.h │ │ │ │ │ │ │ ├── ConservativeSparseSparseProduct.h │ │ │ │ │ │ │ ├── MappedSparseMatrix.h │ │ │ │ │ │ │ ├── SparseAssign.h │ │ │ │ │ │ │ ├── SparseBlock.h │ │ │ │ │ │ │ ├── SparseColEtree.h │ │ │ │ │ │ │ ├── SparseCompressedBase.h │ │ │ │ │ │ │ ├── SparseCwiseBinaryOp.h │ │ │ │ │ │ │ ├── SparseCwiseUnaryOp.h │ │ │ │ │ │ │ ├── SparseDenseProduct.h │ │ │ │ │ │ │ ├── SparseDiagonalProduct.h │ │ │ │ │ │ │ ├── SparseDot.h │ │ │ │ │ │ │ ├── SparseFuzzy.h │ │ │ │ │ │ │ ├── SparseMap.h │ │ │ │ │ │ │ ├── SparseMatrix.h │ │ │ │ │ │ │ ├── SparseMatrixBase.h │ │ │ │ │ │ │ ├── SparsePermutation.h │ │ │ │ │ │ │ ├── SparseProduct.h │ │ │ │ │ │ │ ├── SparseRedux.h │ │ │ │ │ │ │ ├── SparseRef.h │ │ │ │ │ │ │ ├── SparseSelfAdjointView.h │ │ │ │ │ │ │ ├── SparseSolverBase.h │ │ │ │ │ │ │ ├── SparseSparseProductWithPruning.h │ │ │ │ │ │ │ ├── SparseTranspose.h │ │ │ │ │ │ │ ├── SparseTriangularView.h │ │ │ │ │ │ │ ├── SparseUtil.h │ │ │ │ │ │ │ ├── SparseVector.h │ │ │ │ │ │ │ ├── SparseView.h │ │ │ │ │ │ │ └── TriangularSolver.h │ │ │ │ │ │ ├── SparseLU/ │ │ │ │ │ │ │ ├── SparseLU.h │ │ │ │ │ │ │ ├── SparseLUImpl.h │ │ │ │ │ │ │ ├── SparseLU_Memory.h │ │ │ │ │ │ │ ├── SparseLU_Structs.h │ │ │ │ │ │ │ ├── SparseLU_SupernodalMatrix.h │ │ │ │ │ │ │ ├── SparseLU_Utils.h │ │ │ │ │ │ │ ├── SparseLU_column_bmod.h │ │ │ │ │ │ │ ├── SparseLU_column_dfs.h │ │ │ │ │ │ │ ├── SparseLU_copy_to_ucol.h │ │ │ │ │ │ │ ├── SparseLU_gemm_kernel.h │ │ │ │ │ │ │ ├── SparseLU_heap_relax_snode.h │ │ │ │ │ │ │ ├── SparseLU_kernel_bmod.h │ │ │ │ │ │ │ ├── SparseLU_panel_bmod.h │ │ │ │ │ │ │ ├── SparseLU_panel_dfs.h │ │ │ │ │ │ │ ├── SparseLU_pivotL.h │ │ │ │ │ │ │ ├── SparseLU_pruneL.h │ │ │ │ │ │ │ └── SparseLU_relax_snode.h │ │ │ │ │ │ ├── SparseQR/ │ │ │ │ │ │ │ └── SparseQR.h │ │ │ │ │ │ ├── StlSupport/ │ │ │ │ │ │ │ ├── StdDeque.h │ │ │ │ │ │ │ ├── StdList.h │ │ │ │ │ │ │ ├── StdVector.h │ │ │ │ │ │ │ └── details.h │ │ │ │ │ │ ├── SuperLUSupport/ │ │ │ │ │ │ │ └── SuperLUSupport.h │ │ │ │ │ │ ├── UmfPackSupport/ │ │ │ │ │ │ │ └── UmfPackSupport.h │ │ │ │ │ │ ├── misc/ │ │ │ │ │ │ │ ├── Image.h │ │ │ │ │ │ │ ├── Kernel.h │ │ │ │ │ │ │ ├── RealSvd2x2.h │ │ │ │ │ │ │ ├── blas.h │ │ │ │ │ │ │ ├── lapack.h │ │ │ │ │ │ │ ├── lapacke.h │ │ │ │ │ │ │ └── lapacke_mangling.h │ │ │ │ │ │ └── plugins/ │ │ │ │ │ │ ├── ArrayCwiseBinaryOps.h │ │ │ │ │ │ ├── ArrayCwiseUnaryOps.h │ │ │ │ │ │ ├── BlockMethods.h │ │ │ │ │ │ ├── CommonCwiseBinaryOps.h │ │ │ │ │ │ ├── CommonCwiseUnaryOps.h │ │ │ │ │ │ ├── MatrixCwiseBinaryOps.h │ │ │ │ │ │ └── MatrixCwiseUnaryOps.h │ │ │ │ │ └── Eigen.h │ │ │ │ ├── HX8347D/ │ │ │ │ │ ├── LCD.cpp │ │ │ │ │ ├── LCD.h │ │ │ │ │ ├── font.c │ │ │ │ │ └── font.h │ │ │ │ ├── I2Cdev/ │ │ │ │ │ ├── I2Cdev.cpp │ │ │ │ │ ├── I2Cdev.h │ │ │ │ │ ├── keywords.txt │ │ │ │ │ └── library.json │ │ │ │ ├── IMU/ │ │ │ │ │ ├── Define.h │ │ │ │ │ ├── ICM20648.cpp │ │ │ │ │ ├── ICM20648.h │ │ │ │ │ ├── ICM20648_REGS.h │ │ │ │ │ ├── IMU.cpp │ │ │ │ │ ├── IMU.h │ │ │ │ │ ├── MPU9250.cpp │ │ │ │ │ ├── MPU9250.h │ │ │ │ │ ├── MPU9250_REGS.h │ │ │ │ │ ├── MadgwickAHRS.cpp │ │ │ │ │ ├── MadgwickAHRS.h │ │ │ │ │ ├── imu_selector.cpp │ │ │ │ │ ├── imu_selector.h │ │ │ │ │ ├── imu_spi.cpp │ │ │ │ │ ├── imu_spi.h │ │ │ │ │ └── keywords.txt │ │ │ │ ├── LcdTouchPanel/ │ │ │ │ │ ├── LcdTouchPanel.cpp │ │ │ │ │ ├── LcdTouchPanel.h │ │ │ │ │ └── library.properties │ │ │ │ ├── OLLO/ │ │ │ │ │ ├── OLLO.cpp │ │ │ │ │ ├── OLLO.h │ │ │ │ │ └── keywords.txt │ │ │ │ ├── OP3/ │ │ │ │ │ ├── OP3.cpp │ │ │ │ │ ├── OP3.h │ │ │ │ │ └── examples/ │ │ │ │ │ └── opencr_op3/ │ │ │ │ │ ├── dxl.cpp │ │ │ │ │ ├── dxl.h │ │ │ │ │ ├── dxl_debug.cpp │ │ │ │ │ ├── dxl_debug.h │ │ │ │ │ ├── dxl_def.h │ │ │ │ │ ├── dxl_hw.cpp │ │ │ │ │ ├── dxl_hw.h │ │ │ │ │ ├── dxl_hw_op3.cpp │ │ │ │ │ ├── dxl_hw_op3.h │ │ │ │ │ ├── dxl_node_op3.cpp │ │ │ │ │ ├── dxl_node_op3.h │ │ │ │ │ └── opencr_op3.ino │ │ │ │ ├── OpenCR/ │ │ │ │ │ ├── OpenCR.cpp │ │ │ │ │ ├── OpenCR.h │ │ │ │ │ └── examples/ │ │ │ │ │ ├── 01. Basics/ │ │ │ │ │ │ ├── a_Bare_Minimum/ │ │ │ │ │ │ │ └── a_Bare_Minimum.ino │ │ │ │ │ │ ├── b_Blink_LED/ │ │ │ │ │ │ │ └── b_Blink_LED.ino │ │ │ │ │ │ ├── c_Digital_Read_Serial/ │ │ │ │ │ │ │ └── c_Digital_Read_Serial.ino │ │ │ │ │ │ ├── d_Analog_Read_Serial/ │ │ │ │ │ │ │ └── d_Analog_Read_Serial.ino │ │ │ │ │ │ ├── e_Read_Analog_Voltage/ │ │ │ │ │ │ │ └── e_Read_Analog_Voltage.ino │ │ │ │ │ │ └── f_Gpio_Write_Speed_Test/ │ │ │ │ │ │ └── f_Gpio_Write_Speed_Test.ino │ │ │ │ │ ├── 02. Digital/ │ │ │ │ │ │ ├── a_toneMelody/ │ │ │ │ │ │ │ ├── a_toneMelody.ino │ │ │ │ │ │ │ └── pitches.h │ │ │ │ │ │ └── b_PWM/ │ │ │ │ │ │ └── b_PWM.ino │ │ │ │ │ ├── 03. Communication/ │ │ │ │ │ │ └── a_Serial_HelloWorld/ │ │ │ │ │ │ └── a_Serial_HelloWorld.ino │ │ │ │ │ ├── 04. Interrupt/ │ │ │ │ │ │ ├── a_EXIT_Interrupt_Serial/ │ │ │ │ │ │ │ └── a_EXIT_Interrupt_Serial.ino │ │ │ │ │ │ └── d_Timer_Interrupt_LED/ │ │ │ │ │ │ └── d_Timer_Interrupt_LED.ino │ │ │ │ │ ├── 05. Sensors/ │ │ │ │ │ │ ├── OLLO_COLOR_Read/ │ │ │ │ │ │ │ └── OLLO_COLOR_Read.ino │ │ │ │ │ │ ├── OLLO_DMS_Read/ │ │ │ │ │ │ │ └── OLLO_DMS_Read.ino │ │ │ │ │ │ ├── OLLO_IR_Read/ │ │ │ │ │ │ │ └── OLLO_IR_Read.ino │ │ │ │ │ │ ├── OLLO_TOUCH_Read/ │ │ │ │ │ │ │ └── OLLO_TOUCH_Read.ino │ │ │ │ │ │ └── OLLO_TPS_READ/ │ │ │ │ │ │ └── OLLO_TPS_READ.ino │ │ │ │ │ ├── 06. RC100/ │ │ │ │ │ │ └── RC100/ │ │ │ │ │ │ └── RC100.ino │ │ │ │ │ ├── 07. DynamixelSDK/ │ │ │ │ │ │ ├── dxl_monitor/ │ │ │ │ │ │ │ └── dxl_monitor.ino │ │ │ │ │ │ ├── protocol1.0/ │ │ │ │ │ │ │ ├── bulk_read/ │ │ │ │ │ │ │ │ └── bulk_read.ino │ │ │ │ │ │ │ ├── ping/ │ │ │ │ │ │ │ │ └── ping.ino │ │ │ │ │ │ │ ├── read_write/ │ │ │ │ │ │ │ │ └── read_write.ino │ │ │ │ │ │ │ ├── reset/ │ │ │ │ │ │ │ │ └── reset.ino │ │ │ │ │ │ │ └── sync_write/ │ │ │ │ │ │ │ └── sync_write.ino │ │ │ │ │ │ ├── protocol2.0/ │ │ │ │ │ │ │ ├── broadcast_ping/ │ │ │ │ │ │ │ │ └── broadcast_ping.ino │ │ │ │ │ │ │ ├── bulk_read_write/ │ │ │ │ │ │ │ │ └── bulk_read_write.ino │ │ │ │ │ │ │ ├── factory_reset/ │ │ │ │ │ │ │ │ └── factory_reset.ino │ │ │ │ │ │ │ ├── indirect_address/ │ │ │ │ │ │ │ │ └── indirect_address.ino │ │ │ │ │ │ │ ├── ping/ │ │ │ │ │ │ │ │ └── ping.ino │ │ │ │ │ │ │ ├── read_write/ │ │ │ │ │ │ │ │ └── read_write.ino │ │ │ │ │ │ │ ├── reboot/ │ │ │ │ │ │ │ │ └── reboot.ino │ │ │ │ │ │ │ └── sync_read_write/ │ │ │ │ │ │ │ └── sync_read_write.ino │ │ │ │ │ │ └── protocol_combined/ │ │ │ │ │ │ └── protocol_combined.ino │ │ │ │ │ ├── 08. DynamixelWorkbench/ │ │ │ │ │ │ ├── a_Model_Scan/ │ │ │ │ │ │ │ └── a_Model_Scan.ino │ │ │ │ │ │ ├── b_Ping/ │ │ │ │ │ │ │ └── b_Ping.ino │ │ │ │ │ │ ├── c_ID_Change/ │ │ │ │ │ │ │ └── c_ID_Change.ino │ │ │ │ │ │ ├── d_BPS_Change/ │ │ │ │ │ │ │ └── d_BPS_Change.ino │ │ │ │ │ │ ├── e_Mode_Change/ │ │ │ │ │ │ │ └── e_Mode_Change.ino │ │ │ │ │ │ ├── f_Reboot/ │ │ │ │ │ │ │ └── f_Reboot.ino │ │ │ │ │ │ ├── g_Reset/ │ │ │ │ │ │ │ └── g_Reset.ino │ │ │ │ │ │ ├── h_Position/ │ │ │ │ │ │ │ └── h_Position.ino │ │ │ │ │ │ ├── i_Velocity/ │ │ │ │ │ │ │ └── i_Velocity.ino │ │ │ │ │ │ ├── j_Current_Based_Position/ │ │ │ │ │ │ │ └── j_Current_Based_Position.ino │ │ │ │ │ │ ├── k_Read_Write/ │ │ │ │ │ │ │ └── k_Read_Write.ino │ │ │ │ │ │ ├── l_Sync_Write/ │ │ │ │ │ │ │ └── l_Sync_Write.ino │ │ │ │ │ │ ├── m_Sync_Read_Write/ │ │ │ │ │ │ │ └── m_Sync_Read_Write.ino │ │ │ │ │ │ ├── n_Bulk_Read_Write/ │ │ │ │ │ │ │ └── n_Bulk_Read_Write.ino │ │ │ │ │ │ ├── o_Find_Dynamixel/ │ │ │ │ │ │ │ └── o_Find_Dynamixel.ino │ │ │ │ │ │ └── p_Monitor/ │ │ │ │ │ │ └── p_Monitor.ino │ │ │ │ │ ├── 09. IMU/ │ │ │ │ │ │ ├── IMU_Read_AccRAW/ │ │ │ │ │ │ │ └── IMU_Read_AccRAW.ino │ │ │ │ │ │ ├── IMU_Read_GyroRAW/ │ │ │ │ │ │ │ └── IMU_Read_GyroRAW.ino │ │ │ │ │ │ └── IMU_Read_RollPitchYaw/ │ │ │ │ │ │ └── IMU_Read_RollPitchYaw.ino │ │ │ │ │ └── 10. Etc/ │ │ │ │ │ ├── CAMERA/ │ │ │ │ │ │ └── ov7725_al422b/ │ │ │ │ │ │ ├── ov7725_al422b.cpp │ │ │ │ │ │ ├── ov7725_al422b.h │ │ │ │ │ │ ├── ov7725_al422b.ino │ │ │ │ │ │ ├── settings.h │ │ │ │ │ │ └── src/ │ │ │ │ │ │ ├── OV7725/ │ │ │ │ │ │ │ ├── OV7725.cpp │ │ │ │ │ │ │ └── OV7725.h │ │ │ │ │ │ ├── sccb/ │ │ │ │ │ │ │ ├── sccb.c │ │ │ │ │ │ │ └── sccb.h │ │ │ │ │ │ ├── tftLcd.cpp │ │ │ │ │ │ └── tftLcd.h │ │ │ │ │ ├── CAN/ │ │ │ │ │ │ ├── canMaskFilter/ │ │ │ │ │ │ │ └── canMaskFilter.ino │ │ │ │ │ │ ├── canRxInterrupt/ │ │ │ │ │ │ │ └── canRxInterrupt.ino │ │ │ │ │ │ ├── canTxRxByte/ │ │ │ │ │ │ │ └── canTxRxByte.ino │ │ │ │ │ │ └── canTxRxMessage/ │ │ │ │ │ │ └── canTxRxMessage.ino │ │ │ │ │ ├── EEPROM/ │ │ │ │ │ │ ├── eeprom_clear/ │ │ │ │ │ │ │ └── eeprom_clear.ino │ │ │ │ │ │ ├── eeprom_crc/ │ │ │ │ │ │ │ └── eeprom_crc.ino │ │ │ │ │ │ ├── eeprom_get/ │ │ │ │ │ │ │ └── eeprom_get.ino │ │ │ │ │ │ ├── eeprom_iteration/ │ │ │ │ │ │ │ └── eeprom_iteration.ino │ │ │ │ │ │ ├── eeprom_put/ │ │ │ │ │ │ │ └── eeprom_put.ino │ │ │ │ │ │ ├── eeprom_read/ │ │ │ │ │ │ │ └── eeprom_read.ino │ │ │ │ │ │ ├── eeprom_update/ │ │ │ │ │ │ │ └── eeprom_update.ino │ │ │ │ │ │ └── eeprom_write/ │ │ │ │ │ │ └── eeprom_write.ino │ │ │ │ │ ├── Eigen/ │ │ │ │ │ │ └── eigen_test/ │ │ │ │ │ │ └── eigen_test.ino │ │ │ │ │ ├── FreeRTOS/ │ │ │ │ │ │ └── thread_led/ │ │ │ │ │ │ └── thread_led.ino │ │ │ │ │ ├── LDS/ │ │ │ │ │ │ └── drawLDS/ │ │ │ │ │ │ ├── drawLDS.ino │ │ │ │ │ │ ├── lds.cpp │ │ │ │ │ │ └── lds.h │ │ │ │ │ ├── SPI/ │ │ │ │ │ │ └── using_SPI_ports/ │ │ │ │ │ │ └── using_SPI_ports.ino │ │ │ │ │ ├── Servo/ │ │ │ │ │ │ ├── Knob/ │ │ │ │ │ │ │ └── Knob.ino │ │ │ │ │ │ └── Sweep/ │ │ │ │ │ │ └── Sweep.ino │ │ │ │ │ ├── TFT/ │ │ │ │ │ │ ├── tft_shape/ │ │ │ │ │ │ │ └── tft_shape/ │ │ │ │ │ │ │ └── tft_shape.ino │ │ │ │ │ │ ├── tft_text/ │ │ │ │ │ │ │ └── tft_text/ │ │ │ │ │ │ │ └── tft_text.ino │ │ │ │ │ │ └── tft_touch/ │ │ │ │ │ │ └── tft_touch/ │ │ │ │ │ │ └── tft_touch.ino │ │ │ │ │ ├── Waveshare/ │ │ │ │ │ │ ├── breakouttouchpaint/ │ │ │ │ │ │ │ └── breakouttouchpaint.ino │ │ │ │ │ │ ├── graphicstest/ │ │ │ │ │ │ │ └── graphicstest.ino │ │ │ │ │ │ ├── lcd_logo/ │ │ │ │ │ │ │ ├── lcd_logo.ino │ │ │ │ │ │ │ ├── logo.cpp │ │ │ │ │ │ │ └── logo.h │ │ │ │ │ │ ├── spitftbitmap/ │ │ │ │ │ │ │ └── spitftbitmap.ino │ │ │ │ │ │ └── tft_box/ │ │ │ │ │ │ └── tft_box.ino │ │ │ │ │ ├── rtc_time/ │ │ │ │ │ │ └── rtc_time.ino │ │ │ │ │ └── usb_to_dxl/ │ │ │ │ │ └── usb_to_dxl.ino │ │ │ │ ├── OpenManipulator/ │ │ │ │ │ ├── example/ │ │ │ │ │ │ ├── Chain/ │ │ │ │ │ │ │ ├── open_manipulator_chain/ │ │ │ │ │ │ │ │ ├── demo.h │ │ │ │ │ │ │ │ ├── open_manipulator_chain.ino │ │ │ │ │ │ │ │ ├── processing.h │ │ │ │ │ │ │ │ └── remote_controller.h │ │ │ │ │ │ │ ├── open_manipulator_chain_ROS/ │ │ │ │ │ │ │ │ ├── open_manipulator_chain_ROS.h │ │ │ │ │ │ │ │ └── open_manipulator_chain_ROS.ino │ │ │ │ │ │ │ ├── open_manipulator_chain_pen/ │ │ │ │ │ │ │ │ ├── open_manipulator_chain_pen.ino │ │ │ │ │ │ │ │ ├── open_manipulator_pen.h │ │ │ │ │ │ │ │ ├── open_manipulator_pen_drawing.cpp │ │ │ │ │ │ │ │ ├── open_manipulator_pen_drawing.h │ │ │ │ │ │ │ │ ├── open_manipulator_pen_motion.h │ │ │ │ │ │ │ │ └── processing.h │ │ │ │ │ │ │ ├── open_manipulator_chain_teaching/ │ │ │ │ │ │ │ │ └── open_manipulator_chain_teaching.ino │ │ │ │ │ │ │ └── open_manipulator_chain_vacuum/ │ │ │ │ │ │ │ ├── actuator.h │ │ │ │ │ │ │ ├── open_manipulator_chain_vacuum.ino │ │ │ │ │ │ │ ├── open_manipulator_vacuum.h │ │ │ │ │ │ │ ├── open_manipulator_vacuum_motion.h │ │ │ │ │ │ │ └── processing.h │ │ │ │ │ │ ├── Delta/ │ │ │ │ │ │ │ └── open_manipulator_delta/ │ │ │ │ │ │ │ ├── demo.h │ │ │ │ │ │ │ ├── open_manipulator_delta.ino │ │ │ │ │ │ │ ├── processing.h │ │ │ │ │ │ │ └── remotecontroller100.h │ │ │ │ │ │ ├── Linear/ │ │ │ │ │ │ │ └── open_manipulator_linear/ │ │ │ │ │ │ │ ├── demo.h │ │ │ │ │ │ │ ├── open_manipulator_linear.ino │ │ │ │ │ │ │ ├── processing.h │ │ │ │ │ │ │ └── remotecontroller100.h │ │ │ │ │ │ ├── Link/ │ │ │ │ │ │ │ └── open_manipulator_link/ │ │ │ │ │ │ │ ├── link.h │ │ │ │ │ │ │ ├── link_kinematics.h │ │ │ │ │ │ │ ├── motion.h │ │ │ │ │ │ │ ├── open_manipulator_link.ino │ │ │ │ │ │ │ ├── processing.h │ │ │ │ │ │ │ ├── remote_controller.h │ │ │ │ │ │ │ └── vacuum_actuator.h │ │ │ │ │ │ ├── Planar/ │ │ │ │ │ │ │ └── open_manipulator_planar/ │ │ │ │ │ │ │ ├── demo.h │ │ │ │ │ │ │ ├── open_manipulator_planar.ino │ │ │ │ │ │ │ ├── processing.h │ │ │ │ │ │ │ └── remotecontroller100.h │ │ │ │ │ │ ├── Scara/ │ │ │ │ │ │ │ └── open_manipulator_scara/ │ │ │ │ │ │ │ ├── demo.h │ │ │ │ │ │ │ ├── open_manipulator_scara.ino │ │ │ │ │ │ │ ├── processing.h │ │ │ │ │ │ │ └── remotecontroller100.h │ │ │ │ │ │ └── Stewart/ │ │ │ │ │ │ └── open_manipulator_stewart/ │ │ │ │ │ │ ├── demo.h │ │ │ │ │ │ ├── demo2.h │ │ │ │ │ │ ├── open_manipulator_stewart.ino │ │ │ │ │ │ ├── processing.h │ │ │ │ │ │ └── remotecontroller100.h │ │ │ │ │ ├── library.properties │ │ │ │ │ └── src/ │ │ │ │ │ ├── delta_libs/ │ │ │ │ │ │ ├── include/ │ │ │ │ │ │ │ └── delta_libs/ │ │ │ │ │ │ │ ├── delta.h │ │ │ │ │ │ │ ├── delta_custom_trajectory.h │ │ │ │ │ │ │ ├── delta_dynamixel.h │ │ │ │ │ │ │ └── delta_kinematics.h │ │ │ │ │ │ └── src/ │ │ │ │ │ │ ├── delta.cpp │ │ │ │ │ │ ├── delta_custom_trajectory.cpp │ │ │ │ │ │ ├── delta_dynamixel.cpp │ │ │ │ │ │ └── delta_kinematics.cpp │ │ │ │ │ ├── delta_libs.h │ │ │ │ │ ├── linear_libs/ │ │ │ │ │ │ ├── include/ │ │ │ │ │ │ │ └── linear_libs/ │ │ │ │ │ │ │ ├── linear.h │ │ │ │ │ │ │ ├── linear_custom_trajectory.h │ │ │ │ │ │ │ ├── linear_dynamixel.h │ │ │ │ │ │ │ └── linear_kinematics.h │ │ │ │ │ │ └── src/ │ │ │ │ │ │ ├── linear.cpp │ │ │ │ │ │ ├── linear_custom_trajectory.cpp │ │ │ │ │ │ ├── linear_dynamixel.cpp │ │ │ │ │ │ └── linear_kinematics.cpp │ │ │ │ │ ├── linear_libs.h │ │ │ │ │ ├── open_manipulator_libs/ │ │ │ │ │ │ ├── include/ │ │ │ │ │ │ │ └── open_manipulator_libs/ │ │ │ │ │ │ │ ├── custom_trajectory.h │ │ │ │ │ │ │ ├── dynamixel.h │ │ │ │ │ │ │ ├── kinematics.h │ │ │ │ │ │ │ └── open_manipulator.h │ │ │ │ │ │ └── src/ │ │ │ │ │ │ ├── custom_trajectory.cpp │ │ │ │ │ │ ├── dynamixel.cpp │ │ │ │ │ │ ├── kinematics.cpp │ │ │ │ │ │ └── open_manipulator.cpp │ │ │ │ │ ├── open_manipulator_libs.h │ │ │ │ │ ├── open_manipulator_msgs/ │ │ │ │ │ │ ├── GetJointPosition.h │ │ │ │ │ │ ├── GetKinematicsPose.h │ │ │ │ │ │ ├── JointPosition.h │ │ │ │ │ │ ├── KinematicsPose.h │ │ │ │ │ │ ├── OpenManipulatorState.h │ │ │ │ │ │ ├── SetActuatorState.h │ │ │ │ │ │ ├── SetDrawingTrajectory.h │ │ │ │ │ │ ├── SetJointPosition.h │ │ │ │ │ │ └── SetKinematicsPose.h │ │ │ │ │ ├── planar_libs/ │ │ │ │ │ │ ├── include/ │ │ │ │ │ │ │ └── planar_libs/ │ │ │ │ │ │ │ ├── planar.h │ │ │ │ │ │ │ ├── planar_custom_trajectory.h │ │ │ │ │ │ │ ├── planar_dynamixel.h │ │ │ │ │ │ │ └── planar_kinematics.h │ │ │ │ │ │ └── src/ │ │ │ │ │ │ ├── planar.cpp │ │ │ │ │ │ ├── planar_custom_trajectory.cpp │ │ │ │ │ │ ├── planar_dynamixel.cpp │ │ │ │ │ │ └── planar_kinematics.cpp │ │ │ │ │ ├── planar_libs.h │ │ │ │ │ ├── scara_libs/ │ │ │ │ │ │ ├── include/ │ │ │ │ │ │ │ └── scara_libs/ │ │ │ │ │ │ │ ├── scara.h │ │ │ │ │ │ │ ├── scara_custom_trajectory.h │ │ │ │ │ │ │ ├── scara_dynamixel.h │ │ │ │ │ │ │ └── scara_kinematics.h │ │ │ │ │ │ └── src/ │ │ │ │ │ │ ├── scara.cpp │ │ │ │ │ │ ├── scara_custom_trajectory.cpp │ │ │ │ │ │ ├── scara_dynamixel.cpp │ │ │ │ │ │ └── scara_kinematics.cpp │ │ │ │ │ ├── scara_libs.h │ │ │ │ │ ├── stewart_libs/ │ │ │ │ │ │ ├── include/ │ │ │ │ │ │ │ └── stewart_libs/ │ │ │ │ │ │ │ ├── stewart.h │ │ │ │ │ │ │ ├── stewart_custom_trajectory.h │ │ │ │ │ │ │ ├── stewart_dynamixel.h │ │ │ │ │ │ │ └── stewart_kinematics.h │ │ │ │ │ │ └── src/ │ │ │ │ │ │ ├── stewart.cpp │ │ │ │ │ │ ├── stewart_custom_trajectory.cpp │ │ │ │ │ │ ├── stewart_dynamixel.cpp │ │ │ │ │ │ └── stewart_kinematics.cpp │ │ │ │ │ └── stewart_libs.h │ │ │ │ ├── RC100/ │ │ │ │ │ ├── RC100.cpp │ │ │ │ │ └── RC100.h │ │ │ │ ├── ROS/ │ │ │ │ │ ├── OpenCR_ROS.cpp │ │ │ │ │ ├── OpenCR_ROS.h │ │ │ │ │ └── examples/ │ │ │ │ │ ├── 01. Basics/ │ │ │ │ │ │ ├── a_LED/ │ │ │ │ │ │ │ └── a_LED.ino │ │ │ │ │ │ ├── b_Button/ │ │ │ │ │ │ │ └── b_Button.ino │ │ │ │ │ │ ├── c_Voltage/ │ │ │ │ │ │ │ └── c_Voltage.ino │ │ │ │ │ │ └── d_IMU/ │ │ │ │ │ │ └── d_IMU.ino │ │ │ │ │ └── 02. Sensors/ │ │ │ │ │ ├── a_bumper/ │ │ │ │ │ │ └── a_bumper.ino │ │ │ │ │ ├── b_cliff/ │ │ │ │ │ │ └── b_cliff.ino │ │ │ │ │ ├── c_Ultrasonic/ │ │ │ │ │ │ └── c_Ultrasonic.ino │ │ │ │ │ └── d_Illumination/ │ │ │ │ │ └── d_Illumination.ino │ │ │ │ ├── RTOS/ │ │ │ │ │ ├── library.properties │ │ │ │ │ └── src/ │ │ │ │ │ ├── FreeRTOS.h │ │ │ │ │ ├── FreeRTOSConfig.h │ │ │ │ │ ├── RTOS.cpp │ │ │ │ │ ├── RTOS.h │ │ │ │ │ ├── StackMacros.h │ │ │ │ │ ├── cmsis_os.c │ │ │ │ │ ├── cmsis_os.h │ │ │ │ │ ├── croutine.c │ │ │ │ │ ├── croutine.h │ │ │ │ │ ├── deprecated_definitions.h │ │ │ │ │ ├── event_groups.c │ │ │ │ │ ├── event_groups.h │ │ │ │ │ ├── heap_3.c │ │ │ │ │ ├── list.c │ │ │ │ │ ├── list.h │ │ │ │ │ ├── mpu_wrappers.h │ │ │ │ │ ├── port.c │ │ │ │ │ ├── portable.h │ │ │ │ │ ├── portmacro.h │ │ │ │ │ ├── projdefs.h │ │ │ │ │ ├── queue.c │ │ │ │ │ ├── queue.h │ │ │ │ │ ├── readme.txt │ │ │ │ │ ├── semphr.h │ │ │ │ │ ├── st_readme.txt │ │ │ │ │ ├── stdint.readme │ │ │ │ │ ├── task.h │ │ │ │ │ ├── tasks.c │ │ │ │ │ ├── timers.c │ │ │ │ │ └── timers.h │ │ │ │ ├── RobotisManipulator/ │ │ │ │ │ ├── include/ │ │ │ │ │ │ └── robotis_manipulator/ │ │ │ │ │ │ ├── robotis_manipulator.h │ │ │ │ │ │ ├── robotis_manipulator_common.h │ │ │ │ │ │ ├── robotis_manipulator_log.h │ │ │ │ │ │ ├── robotis_manipulator_manager.h │ │ │ │ │ │ ├── robotis_manipulator_math.h │ │ │ │ │ │ └── robotis_manipulator_trajectory_generator.h │ │ │ │ │ ├── library.properties │ │ │ │ │ └── src/ │ │ │ │ │ ├── RobotisManipulator.h │ │ │ │ │ └── robotis_manipulator/ │ │ │ │ │ ├── robotis_manipulator.cpp │ │ │ │ │ ├── robotis_manipulator_common.cpp │ │ │ │ │ ├── robotis_manipulator_log.cpp │ │ │ │ │ ├── robotis_manipulator_manager.cpp │ │ │ │ │ ├── robotis_manipulator_math.cpp │ │ │ │ │ └── robotis_manipulator_trajectory_generator.cpp │ │ │ │ ├── SPI/ │ │ │ │ │ ├── EventResponder.cpp │ │ │ │ │ ├── EventResponder.h │ │ │ │ │ ├── SPI.cpp │ │ │ │ │ ├── SPI.h │ │ │ │ │ └── keywords.txt │ │ │ │ ├── Servo/ │ │ │ │ │ ├── README.adoc │ │ │ │ │ ├── keywords.txt │ │ │ │ │ ├── library.properties │ │ │ │ │ └── src/ │ │ │ │ │ ├── Servo.cpp │ │ │ │ │ └── Servo.h │ │ │ │ ├── Touch/ │ │ │ │ │ ├── Touch.cpp │ │ │ │ │ └── Touch.h │ │ │ │ ├── Waveshare_HX8347D/ │ │ │ │ │ ├── README.txt │ │ │ │ │ ├── Waveshare_HX8347D.cpp │ │ │ │ │ ├── Waveshare_HX8347D.h │ │ │ │ │ └── library.properties │ │ │ │ ├── Wire/ │ │ │ │ │ ├── README │ │ │ │ │ ├── SlowSoftI2CMaster.cpp │ │ │ │ │ ├── SlowSoftI2CMaster.h │ │ │ │ │ ├── Wire.cpp │ │ │ │ │ ├── Wire.h │ │ │ │ │ └── keywords.txt │ │ │ │ ├── XPT2046/ │ │ │ │ │ ├── XPT2046.cpp │ │ │ │ │ └── XPT2046.h │ │ │ │ ├── turtlebot3/ │ │ │ │ │ ├── examples/ │ │ │ │ │ │ ├── turtlebot3_burger/ │ │ │ │ │ │ │ └── turtlebot3_core/ │ │ │ │ │ │ │ ├── turtlebot3_burger.h │ │ │ │ │ │ │ ├── turtlebot3_core.ino │ │ │ │ │ │ │ └── turtlebot3_core_config.h │ │ │ │ │ │ ├── turtlebot3_friends/ │ │ │ │ │ │ │ ├── turtlebot3_bike/ │ │ │ │ │ │ │ │ ├── turtlebot3_bike.h │ │ │ │ │ │ │ │ ├── turtlebot3_bike.ino │ │ │ │ │ │ │ │ ├── turtlebot3_bike_motor_driver.cpp │ │ │ │ │ │ │ │ └── turtlebot3_bike_motor_driver.h │ │ │ │ │ │ │ ├── turtlebot3_car/ │ │ │ │ │ │ │ │ ├── turtlebot3_car.h │ │ │ │ │ │ │ │ ├── turtlebot3_car.ino │ │ │ │ │ │ │ │ ├── turtlebot3_car_motor_driver.cpp │ │ │ │ │ │ │ │ └── turtlebot3_car_motor_driver.h │ │ │ │ │ │ │ ├── turtlebot3_conveyor/ │ │ │ │ │ │ │ │ ├── turtlebot3_conveyor.h │ │ │ │ │ │ │ │ ├── turtlebot3_conveyor.ino │ │ │ │ │ │ │ │ ├── turtlebot3_conveyor_motor_driver.cpp │ │ │ │ │ │ │ │ └── turtlebot3_conveyor_motor_driver.h │ │ │ │ │ │ │ ├── turtlebot3_mecanum/ │ │ │ │ │ │ │ │ ├── turtlebot3_mecanum.h │ │ │ │ │ │ │ │ ├── turtlebot3_mecanum.ino │ │ │ │ │ │ │ │ ├── turtlebot3_mecanum_motor_driver.cpp │ │ │ │ │ │ │ │ └── turtlebot3_mecanum_motor_driver.h │ │ │ │ │ │ │ ├── turtlebot3_monster/ │ │ │ │ │ │ │ │ ├── turtlebot3_monster.h │ │ │ │ │ │ │ │ ├── turtlebot3_monster.ino │ │ │ │ │ │ │ │ ├── turtlebot3_monster_motor_driver.cpp │ │ │ │ │ │ │ │ └── turtlebot3_monster_motor_driver.h │ │ │ │ │ │ │ ├── turtlebot3_omni/ │ │ │ │ │ │ │ │ ├── turtlebot3_omni.h │ │ │ │ │ │ │ │ ├── turtlebot3_omni.ino │ │ │ │ │ │ │ │ ├── turtlebot3_omni_motor_driver.cpp │ │ │ │ │ │ │ │ └── turtlebot3_omni_motor_driver.h │ │ │ │ │ │ │ ├── turtlebot3_realturtlebot/ │ │ │ │ │ │ │ │ ├── turtlebot3_realturtlebot.h │ │ │ │ │ │ │ │ ├── turtlebot3_realturtlebot.ino │ │ │ │ │ │ │ │ ├── turtlebot3_realturtlebot_motion.h │ │ │ │ │ │ │ │ ├── turtlebot3_realturtlebot_motor_driver.cpp │ │ │ │ │ │ │ │ └── turtlebot3_realturtlebot_motor_driver.h │ │ │ │ │ │ │ ├── turtlebot3_road_train/ │ │ │ │ │ │ │ │ ├── turtlebot3_road_train.h │ │ │ │ │ │ │ │ ├── turtlebot3_road_train.ino │ │ │ │ │ │ │ │ ├── turtlebot3_road_train_motor_driver.cpp │ │ │ │ │ │ │ │ └── turtlebot3_road_train_motor_driver.h │ │ │ │ │ │ │ ├── turtlebot3_segway/ │ │ │ │ │ │ │ │ ├── turtlebot3_segway.h │ │ │ │ │ │ │ │ ├── turtlebot3_segway.ino │ │ │ │ │ │ │ │ ├── turtlebot3_segway_motor_driver.cpp │ │ │ │ │ │ │ │ └── turtlebot3_segway_motor_driver.h │ │ │ │ │ │ │ └── turtlebot3_tank/ │ │ │ │ │ │ │ ├── turtlebot3_tank.h │ │ │ │ │ │ │ ├── turtlebot3_tank.ino │ │ │ │ │ │ │ ├── turtlebot3_tank_motor_driver.cpp │ │ │ │ │ │ │ └── turtlebot3_tank_motor_driver.h │ │ │ │ │ │ ├── turtlebot3_setup/ │ │ │ │ │ │ │ └── turtlebot3_setup_motor/ │ │ │ │ │ │ │ └── turtlebot3_setup_motor.ino │ │ │ │ │ │ ├── turtlebot3_waffle/ │ │ │ │ │ │ │ └── turtlebot3_core/ │ │ │ │ │ │ │ ├── turtlebot3_core.ino │ │ │ │ │ │ │ ├── turtlebot3_core_config.h │ │ │ │ │ │ │ └── turtlebot3_waffle.h │ │ │ │ │ │ └── turtlebot3_with_open_manipulator/ │ │ │ │ │ │ └── turtlebot3_with_open_manipulator_core/ │ │ │ │ │ │ ├── open_manipulator_driver.cpp │ │ │ │ │ │ ├── open_manipulator_driver.h │ │ │ │ │ │ ├── turtlebot3_with_open_manipulator.h │ │ │ │ │ │ ├── turtlebot3_with_open_manipulator_core.ino │ │ │ │ │ │ └── turtlebot3_with_open_manipulator_core_config.h │ │ │ │ │ ├── include/ │ │ │ │ │ │ └── turtlebot3/ │ │ │ │ │ │ ├── turtlebot3.h │ │ │ │ │ │ ├── turtlebot3_controller.h │ │ │ │ │ │ ├── turtlebot3_diagnosis.h │ │ │ │ │ │ ├── turtlebot3_motor_driver.h │ │ │ │ │ │ └── turtlebot3_sensor.h │ │ │ │ │ ├── library.properties │ │ │ │ │ └── src/ │ │ │ │ │ ├── TurtleBot3.h │ │ │ │ │ └── turtlebot3/ │ │ │ │ │ ├── turtlebot3_controller.cpp │ │ │ │ │ ├── turtlebot3_diagnosis.cpp │ │ │ │ │ ├── turtlebot3_motor_driver.cpp │ │ │ │ │ └── turtlebot3_sensor.cpp │ │ │ │ ├── turtlebot3_ros2/ │ │ │ │ │ ├── examples/ │ │ │ │ │ │ ├── turtlebot3_burger/ │ │ │ │ │ │ │ └── turtlebot3_burger.ino │ │ │ │ │ │ ├── turtlebot3_manipulation/ │ │ │ │ │ │ │ └── turtlebot3_manipulation.ino │ │ │ │ │ │ └── turtlebot3_waffle/ │ │ │ │ │ │ └── turtlebot3_waffle.ino │ │ │ │ │ ├── include/ │ │ │ │ │ │ └── turtlebot3/ │ │ │ │ │ │ ├── open_manipulator_driver.h │ │ │ │ │ │ ├── turtlebot3.h │ │ │ │ │ │ ├── turtlebot3_controller.h │ │ │ │ │ │ ├── turtlebot3_diagnosis.h │ │ │ │ │ │ ├── turtlebot3_motor_driver.h │ │ │ │ │ │ └── turtlebot3_sensor.h │ │ │ │ │ ├── library.properties │ │ │ │ │ └── src/ │ │ │ │ │ ├── TurtleBot3_ROS2.h │ │ │ │ │ └── turtlebot3/ │ │ │ │ │ ├── open_manipulator_driver.cpp │ │ │ │ │ ├── turtlebot3.cpp │ │ │ │ │ ├── turtlebot3_controller.cpp │ │ │ │ │ ├── turtlebot3_diagnosis.cpp │ │ │ │ │ ├── turtlebot3_motor_driver.cpp │ │ │ │ │ └── turtlebot3_sensor.cpp │ │ │ │ └── turtlebot3_ros_lib/ │ │ │ │ ├── ArduinoHardware.h │ │ │ │ ├── duration.cpp │ │ │ │ ├── geometry_msgs/ │ │ │ │ │ ├── Accel.h │ │ │ │ │ ├── AccelStamped.h │ │ │ │ │ ├── AccelWithCovariance.h │ │ │ │ │ ├── AccelWithCovarianceStamped.h │ │ │ │ │ ├── Inertia.h │ │ │ │ │ ├── InertiaStamped.h │ │ │ │ │ ├── Point.h │ │ │ │ │ ├── Point32.h │ │ │ │ │ ├── PointStamped.h │ │ │ │ │ ├── Polygon.h │ │ │ │ │ ├── PolygonStamped.h │ │ │ │ │ ├── Pose.h │ │ │ │ │ ├── Pose2D.h │ │ │ │ │ ├── PoseArray.h │ │ │ │ │ ├── PoseStamped.h │ │ │ │ │ ├── PoseWithCovariance.h │ │ │ │ │ ├── PoseWithCovarianceStamped.h │ │ │ │ │ ├── Quaternion.h │ │ │ │ │ ├── QuaternionStamped.h │ │ │ │ │ ├── Transform.h │ │ │ │ │ ├── TransformStamped.h │ │ │ │ │ ├── Twist.h │ │ │ │ │ ├── TwistStamped.h │ │ │ │ │ ├── TwistWithCovariance.h │ │ │ │ │ ├── TwistWithCovarianceStamped.h │ │ │ │ │ ├── Vector3.h │ │ │ │ │ ├── Vector3Stamped.h │ │ │ │ │ ├── Wrench.h │ │ │ │ │ └── WrenchStamped.h │ │ │ │ ├── nav_msgs/ │ │ │ │ │ ├── GetMap.h │ │ │ │ │ ├── GetMapAction.h │ │ │ │ │ ├── GetMapActionFeedback.h │ │ │ │ │ ├── GetMapActionGoal.h │ │ │ │ │ ├── GetMapActionResult.h │ │ │ │ │ ├── GetMapFeedback.h │ │ │ │ │ ├── GetMapGoal.h │ │ │ │ │ ├── GetMapResult.h │ │ │ │ │ ├── GetPlan.h │ │ │ │ │ ├── GridCells.h │ │ │ │ │ ├── MapMetaData.h │ │ │ │ │ ├── OccupancyGrid.h │ │ │ │ │ ├── Odometry.h │ │ │ │ │ ├── Path.h │ │ │ │ │ └── SetMap.h │ │ │ │ ├── ros/ │ │ │ │ │ ├── duration.h │ │ │ │ │ ├── msg.h │ │ │ │ │ ├── node_handle.h │ │ │ │ │ ├── publisher.h │ │ │ │ │ ├── service_client.h │ │ │ │ │ ├── service_server.h │ │ │ │ │ ├── subscriber.h │ │ │ │ │ └── time.h │ │ │ │ ├── ros.h │ │ │ │ ├── roscpp/ │ │ │ │ │ ├── Empty.h │ │ │ │ │ ├── GetLoggers.h │ │ │ │ │ ├── Logger.h │ │ │ │ │ └── SetLoggerLevel.h │ │ │ │ ├── rosserial_arduino/ │ │ │ │ │ ├── Adc.h │ │ │ │ │ └── Test.h │ │ │ │ ├── rosserial_msgs/ │ │ │ │ │ ├── Log.h │ │ │ │ │ ├── RequestMessageInfo.h │ │ │ │ │ ├── RequestParam.h │ │ │ │ │ ├── RequestServiceInfo.h │ │ │ │ │ └── TopicInfo.h │ │ │ │ ├── sensor_msgs/ │ │ │ │ │ ├── BatteryState.h │ │ │ │ │ ├── BatteryStateNoetic.h │ │ │ │ │ ├── CameraInfo.h │ │ │ │ │ ├── ChannelFloat32.h │ │ │ │ │ ├── CompressedImage.h │ │ │ │ │ ├── FluidPressure.h │ │ │ │ │ ├── Illuminance.h │ │ │ │ │ ├── Image.h │ │ │ │ │ ├── Imu.h │ │ │ │ │ ├── JointState.h │ │ │ │ │ ├── Joy.h │ │ │ │ │ ├── JoyFeedback.h │ │ │ │ │ ├── JoyFeedbackArray.h │ │ │ │ │ ├── LaserEcho.h │ │ │ │ │ ├── LaserScan.h │ │ │ │ │ ├── MagneticField.h │ │ │ │ │ ├── MultiDOFJointState.h │ │ │ │ │ ├── MultiEchoLaserScan.h │ │ │ │ │ ├── NavSatFix.h │ │ │ │ │ ├── NavSatStatus.h │ │ │ │ │ ├── PointCloud.h │ │ │ │ │ ├── PointCloud2.h │ │ │ │ │ ├── PointField.h │ │ │ │ │ ├── Range.h │ │ │ │ │ ├── RegionOfInterest.h │ │ │ │ │ ├── RelativeHumidity.h │ │ │ │ │ ├── SetCameraInfo.h │ │ │ │ │ ├── Temperature.h │ │ │ │ │ └── TimeReference.h │ │ │ │ ├── std_msgs/ │ │ │ │ │ ├── Bool.h │ │ │ │ │ ├── Byte.h │ │ │ │ │ ├── ByteMultiArray.h │ │ │ │ │ ├── Char.h │ │ │ │ │ ├── ColorRGBA.h │ │ │ │ │ ├── Duration.h │ │ │ │ │ ├── Empty.h │ │ │ │ │ ├── Float32.h │ │ │ │ │ ├── Float32MultiArray.h │ │ │ │ │ ├── Float64.h │ │ │ │ │ ├── Float64MultiArray.h │ │ │ │ │ ├── Header.h │ │ │ │ │ ├── Int16.h │ │ │ │ │ ├── Int16MultiArray.h │ │ │ │ │ ├── Int32.h │ │ │ │ │ ├── Int32MultiArray.h │ │ │ │ │ ├── Int64.h │ │ │ │ │ ├── Int64MultiArray.h │ │ │ │ │ ├── Int8.h │ │ │ │ │ ├── Int8MultiArray.h │ │ │ │ │ ├── MultiArrayDimension.h │ │ │ │ │ ├── MultiArrayLayout.h │ │ │ │ │ ├── String.h │ │ │ │ │ ├── Time.h │ │ │ │ │ ├── UInt16.h │ │ │ │ │ ├── UInt16MultiArray.h │ │ │ │ │ ├── UInt32.h │ │ │ │ │ ├── UInt32MultiArray.h │ │ │ │ │ ├── UInt64.h │ │ │ │ │ ├── UInt64MultiArray.h │ │ │ │ │ ├── UInt8.h │ │ │ │ │ └── UInt8MultiArray.h │ │ │ │ ├── std_srvs/ │ │ │ │ │ ├── Empty.h │ │ │ │ │ ├── SetBool.h │ │ │ │ │ └── Trigger.h │ │ │ │ ├── tf/ │ │ │ │ │ ├── FrameGraph.h │ │ │ │ │ ├── tf.h │ │ │ │ │ ├── tfMessage.h │ │ │ │ │ └── transform_broadcaster.h │ │ │ │ ├── tf2_msgs/ │ │ │ │ │ ├── FrameGraph.h │ │ │ │ │ ├── LookupTransformAction.h │ │ │ │ │ ├── LookupTransformActionFeedback.h │ │ │ │ │ ├── LookupTransformActionGoal.h │ │ │ │ │ ├── LookupTransformActionResult.h │ │ │ │ │ ├── LookupTransformFeedback.h │ │ │ │ │ ├── LookupTransformGoal.h │ │ │ │ │ ├── LookupTransformResult.h │ │ │ │ │ ├── TF2Error.h │ │ │ │ │ └── TFMessage.h │ │ │ │ ├── time.cpp │ │ │ │ ├── trajectory_msgs/ │ │ │ │ │ ├── JointTrajectory.h │ │ │ │ │ ├── JointTrajectoryPoint.h │ │ │ │ │ ├── MultiDOFJointTrajectory.h │ │ │ │ │ └── MultiDOFJointTrajectoryPoint.h │ │ │ │ └── turtlebot3_msgs/ │ │ │ │ ├── SensorState.h │ │ │ │ ├── Sound.h │ │ │ │ └── VersionInfo.h │ │ │ ├── platform.txt │ │ │ ├── programmers.txt │ │ │ └── variants/ │ │ │ └── OpenCR/ │ │ │ ├── bsp/ │ │ │ │ └── opencr/ │ │ │ │ ├── bsp.c │ │ │ │ ├── bsp.h │ │ │ │ ├── include/ │ │ │ │ │ ├── arm_common_tables.h │ │ │ │ │ ├── arm_const_structs.h │ │ │ │ │ ├── arm_math.h │ │ │ │ │ ├── cmsis_armcc.h │ │ │ │ │ ├── cmsis_armcc_V6.h │ │ │ │ │ ├── cmsis_gcc.h │ │ │ │ │ ├── core_cm0.h │ │ │ │ │ ├── core_cm0plus.h │ │ │ │ │ ├── core_cm3.h │ │ │ │ │ ├── core_cm4.h │ │ │ │ │ ├── core_cm7.h │ │ │ │ │ ├── core_cmFunc.h │ │ │ │ │ ├── core_cmInstr.h │ │ │ │ │ ├── core_cmSimd.h │ │ │ │ │ ├── core_sc000.h │ │ │ │ │ └── core_sc300.h │ │ │ │ ├── ldscript/ │ │ │ │ │ └── opencr_flash.ld │ │ │ │ ├── startup/ │ │ │ │ │ └── startup_stm32f746xx.S │ │ │ │ ├── stm32f746xx.h │ │ │ │ ├── stm32f7xx.h │ │ │ │ ├── stm32f7xx_hal_conf.h │ │ │ │ ├── stm32f7xx_it.c │ │ │ │ ├── stm32f7xx_it.h │ │ │ │ ├── syscalls.c │ │ │ │ ├── system_clock.c │ │ │ │ ├── system_clock.h │ │ │ │ ├── system_stm32f7xx.c │ │ │ │ └── system_stm32f7xx.h │ │ │ ├── chip.h │ │ │ ├── hw/ │ │ │ │ ├── def.h │ │ │ │ ├── def_err.h │ │ │ │ ├── driver/ │ │ │ │ │ ├── delay.c │ │ │ │ │ ├── delay.h │ │ │ │ │ ├── dma_stream_handlers.c │ │ │ │ │ ├── dma_stream_handlers.h │ │ │ │ │ ├── drv_adc.c │ │ │ │ │ ├── drv_adc.h │ │ │ │ │ ├── drv_can.c │ │ │ │ │ ├── drv_can.h │ │ │ │ │ ├── drv_dxl.c │ │ │ │ │ ├── drv_dxl.h │ │ │ │ │ ├── drv_eeprom.c │ │ │ │ │ ├── drv_eeprom.h │ │ │ │ │ ├── drv_exti.c │ │ │ │ │ ├── drv_exti.h │ │ │ │ │ ├── drv_i2c.c │ │ │ │ │ ├── drv_i2c.h │ │ │ │ │ ├── drv_micros.c │ │ │ │ │ ├── drv_micros.h │ │ │ │ │ ├── drv_pwm.c │ │ │ │ │ ├── drv_pwm.h │ │ │ │ │ ├── drv_rtc.c │ │ │ │ │ ├── drv_rtc.h │ │ │ │ │ ├── drv_spi.c │ │ │ │ │ ├── drv_spi.h │ │ │ │ │ ├── drv_timer.c │ │ │ │ │ ├── drv_timer.h │ │ │ │ │ ├── drv_uart.c │ │ │ │ │ ├── drv_uart.h │ │ │ │ │ ├── flash.c │ │ │ │ │ ├── flash.h │ │ │ │ │ ├── ring.c │ │ │ │ │ ├── ring.h │ │ │ │ │ ├── vcp.c │ │ │ │ │ ├── vcp.h │ │ │ │ │ ├── wdg.c │ │ │ │ │ └── wdg.h │ │ │ │ ├── hw.c │ │ │ │ ├── hw.h │ │ │ │ └── usb_cdc/ │ │ │ │ ├── usbd_cdc.c │ │ │ │ ├── usbd_cdc.h │ │ │ │ ├── usbd_cdc_interface.c │ │ │ │ ├── usbd_cdc_interface.h │ │ │ │ ├── usbd_conf.c │ │ │ │ ├── usbd_conf.h │ │ │ │ ├── usbd_core.c │ │ │ │ ├── usbd_core.h │ │ │ │ ├── usbd_ctlreq.c │ │ │ │ ├── usbd_ctlreq.h │ │ │ │ ├── usbd_def.h │ │ │ │ ├── usbd_desc.c │ │ │ │ ├── usbd_desc.h │ │ │ │ ├── usbd_ioreq.c │ │ │ │ └── usbd_ioreq.h │ │ │ ├── lib/ │ │ │ │ └── STM32F7xx_HAL_Driver/ │ │ │ │ ├── Inc/ │ │ │ │ │ ├── Legacy/ │ │ │ │ │ │ └── stm32_hal_legacy.h │ │ │ │ │ ├── stm32f7xx_hal.h │ │ │ │ │ ├── stm32f7xx_hal_adc.h │ │ │ │ │ ├── stm32f7xx_hal_adc_ex.h │ │ │ │ │ ├── stm32f7xx_hal_can.h │ │ │ │ │ ├── stm32f7xx_hal_cec.h │ │ │ │ │ ├── stm32f7xx_hal_cortex.h │ │ │ │ │ ├── stm32f7xx_hal_crc.h │ │ │ │ │ ├── stm32f7xx_hal_crc_ex.h │ │ │ │ │ ├── stm32f7xx_hal_cryp.h │ │ │ │ │ ├── stm32f7xx_hal_cryp_ex.h │ │ │ │ │ ├── stm32f7xx_hal_dac.h │ │ │ │ │ ├── stm32f7xx_hal_dac_ex.h │ │ │ │ │ ├── stm32f7xx_hal_dcmi.h │ │ │ │ │ ├── stm32f7xx_hal_dcmi_ex.h │ │ │ │ │ ├── stm32f7xx_hal_def.h │ │ │ │ │ ├── stm32f7xx_hal_dma.h │ │ │ │ │ ├── stm32f7xx_hal_dma2d.h │ │ │ │ │ ├── stm32f7xx_hal_dma_ex.h │ │ │ │ │ ├── stm32f7xx_hal_eth.h │ │ │ │ │ ├── stm32f7xx_hal_flash.h │ │ │ │ │ ├── stm32f7xx_hal_flash_ex.h │ │ │ │ │ ├── stm32f7xx_hal_gpio.h │ │ │ │ │ ├── stm32f7xx_hal_gpio_ex.h │ │ │ │ │ ├── stm32f7xx_hal_hash.h │ │ │ │ │ ├── stm32f7xx_hal_hash_ex.h │ │ │ │ │ ├── stm32f7xx_hal_hcd.h │ │ │ │ │ ├── stm32f7xx_hal_i2c.h │ │ │ │ │ ├── stm32f7xx_hal_i2c_ex.h │ │ │ │ │ ├── stm32f7xx_hal_i2s.h │ │ │ │ │ ├── stm32f7xx_hal_irda.h │ │ │ │ │ ├── stm32f7xx_hal_irda_ex.h │ │ │ │ │ ├── stm32f7xx_hal_iwdg.h │ │ │ │ │ ├── stm32f7xx_hal_lptim.h │ │ │ │ │ ├── stm32f7xx_hal_ltdc.h │ │ │ │ │ ├── stm32f7xx_hal_nand.h │ │ │ │ │ ├── stm32f7xx_hal_nor.h │ │ │ │ │ ├── stm32f7xx_hal_pcd.h │ │ │ │ │ ├── stm32f7xx_hal_pcd_ex.h │ │ │ │ │ ├── stm32f7xx_hal_pwr.h │ │ │ │ │ ├── stm32f7xx_hal_pwr_ex.h │ │ │ │ │ ├── stm32f7xx_hal_qspi.h │ │ │ │ │ ├── stm32f7xx_hal_rcc.h │ │ │ │ │ ├── stm32f7xx_hal_rcc_ex.h │ │ │ │ │ ├── stm32f7xx_hal_rng.h │ │ │ │ │ ├── stm32f7xx_hal_rtc.h │ │ │ │ │ ├── stm32f7xx_hal_rtc_ex.h │ │ │ │ │ ├── stm32f7xx_hal_sai.h │ │ │ │ │ ├── stm32f7xx_hal_sai_ex.h │ │ │ │ │ ├── stm32f7xx_hal_sd.h │ │ │ │ │ ├── stm32f7xx_hal_sdram.h │ │ │ │ │ ├── stm32f7xx_hal_smartcard.h │ │ │ │ │ ├── stm32f7xx_hal_smartcard_ex.h │ │ │ │ │ ├── stm32f7xx_hal_spdifrx.h │ │ │ │ │ ├── stm32f7xx_hal_spi.h │ │ │ │ │ ├── stm32f7xx_hal_sram.h │ │ │ │ │ ├── stm32f7xx_hal_tim.h │ │ │ │ │ ├── stm32f7xx_hal_tim_ex.h │ │ │ │ │ ├── stm32f7xx_hal_uart.h │ │ │ │ │ ├── stm32f7xx_hal_uart_ex.h │ │ │ │ │ ├── stm32f7xx_hal_usart.h │ │ │ │ │ ├── stm32f7xx_hal_usart_ex.h │ │ │ │ │ ├── stm32f7xx_hal_wwdg.h │ │ │ │ │ ├── stm32f7xx_ll_fmc.h │ │ │ │ │ ├── stm32f7xx_ll_sdmmc.h │ │ │ │ │ └── stm32f7xx_ll_usb.h │ │ │ │ ├── Release_Notes.html │ │ │ │ └── Src/ │ │ │ │ ├── stm32f7xx_hal.c │ │ │ │ ├── stm32f7xx_hal_adc.c │ │ │ │ ├── stm32f7xx_hal_adc_ex.c │ │ │ │ ├── stm32f7xx_hal_can.c │ │ │ │ ├── stm32f7xx_hal_cec.c │ │ │ │ ├── stm32f7xx_hal_cortex.c │ │ │ │ ├── stm32f7xx_hal_crc.c │ │ │ │ ├── stm32f7xx_hal_crc_ex.c │ │ │ │ ├── stm32f7xx_hal_cryp.c │ │ │ │ ├── stm32f7xx_hal_cryp_ex.c │ │ │ │ ├── stm32f7xx_hal_dma.c │ │ │ │ ├── stm32f7xx_hal_dma2d.c │ │ │ │ ├── stm32f7xx_hal_dma_ex.c │ │ │ │ ├── stm32f7xx_hal_flash.c │ │ │ │ ├── stm32f7xx_hal_flash_ex.c │ │ │ │ ├── stm32f7xx_hal_gpio.c │ │ │ │ ├── stm32f7xx_hal_hash.c │ │ │ │ ├── stm32f7xx_hal_hash_ex.c │ │ │ │ ├── stm32f7xx_hal_hcd.c │ │ │ │ ├── stm32f7xx_hal_i2c.c │ │ │ │ ├── stm32f7xx_hal_i2c_ex.c │ │ │ │ ├── stm32f7xx_hal_i2s.c │ │ │ │ ├── stm32f7xx_hal_iwdg.c │ │ │ │ ├── stm32f7xx_hal_lptim.c │ │ │ │ ├── stm32f7xx_hal_ltdc.c │ │ │ │ ├── stm32f7xx_hal_pcd.c │ │ │ │ ├── stm32f7xx_hal_pcd_ex.c │ │ │ │ ├── stm32f7xx_hal_pwr.c │ │ │ │ ├── stm32f7xx_hal_pwr_ex.c │ │ │ │ ├── stm32f7xx_hal_rcc.c │ │ │ │ ├── stm32f7xx_hal_rcc_ex.c │ │ │ │ ├── stm32f7xx_hal_rng.c │ │ │ │ ├── stm32f7xx_hal_rtc.c │ │ │ │ ├── stm32f7xx_hal_rtc_ex.c │ │ │ │ ├── stm32f7xx_hal_sd.c │ │ │ │ ├── stm32f7xx_hal_spi.c │ │ │ │ ├── stm32f7xx_hal_tim.c │ │ │ │ ├── stm32f7xx_hal_uart.c │ │ │ │ ├── stm32f7xx_hal_usart.c │ │ │ │ ├── stm32f7xx_hal_wwdg.c │ │ │ │ ├── stm32f7xx_ll_sdmmc.c │ │ │ │ └── stm32f7xx_ll_usb.c │ │ │ ├── main.cpp │ │ │ ├── pins_arduino.h │ │ │ ├── variant.cpp │ │ │ └── variant.h │ │ └── tools/ │ │ └── opencr_tools_1.0.0/ │ │ ├── linux/ │ │ │ ├── dfu-util/ │ │ │ │ ├── dfu-prefix │ │ │ │ ├── dfu-suffix │ │ │ │ └── dfu-util │ │ │ └── opencr_ld │ │ ├── linux64/ │ │ │ ├── dfu-util/ │ │ │ │ ├── dfu-prefix │ │ │ │ ├── dfu-suffix │ │ │ │ └── dfu-util │ │ │ └── opencr_ld │ │ └── macosx/ │ │ ├── dfu-util/ │ │ │ ├── dfu-prefix │ │ │ ├── dfu-suffix │ │ │ └── dfu-util │ │ └── opencr_ld │ ├── opencr_develop/ │ │ ├── opencr_bootloader/ │ │ │ ├── .cproject │ │ │ ├── .gitignore │ │ │ ├── .project │ │ │ ├── Makefile │ │ │ ├── bin/ │ │ │ │ └── obj/ │ │ │ │ └── README │ │ │ ├── common/ │ │ │ │ ├── bsp/ │ │ │ │ │ └── opencr/ │ │ │ │ │ ├── bsp.c │ │ │ │ │ ├── bsp.h │ │ │ │ │ ├── button.c │ │ │ │ │ ├── button.h │ │ │ │ │ ├── cfg/ │ │ │ │ │ │ ├── startup_stm32f746xx.s │ │ │ │ │ │ ├── stm32f746xx.h │ │ │ │ │ │ ├── stm32f7xx.h │ │ │ │ │ │ ├── stm32f7xx_hal_conf.h │ │ │ │ │ │ ├── stm32f7xx_it.c │ │ │ │ │ │ ├── stm32f7xx_it.h │ │ │ │ │ │ ├── syscalls.c │ │ │ │ │ │ ├── system_clock.c │ │ │ │ │ │ ├── system_clock.h │ │ │ │ │ │ ├── system_stm32f7xx.c │ │ │ │ │ │ └── system_stm32f7xx.h │ │ │ │ │ ├── include/ │ │ │ │ │ │ ├── arm_common_tables.h │ │ │ │ │ │ ├── arm_const_structs.h │ │ │ │ │ │ ├── arm_math.h │ │ │ │ │ │ ├── cmsis_armcc.h │ │ │ │ │ │ ├── cmsis_armcc_V6.h │ │ │ │ │ │ ├── cmsis_gcc.h │ │ │ │ │ │ ├── core_cm0.h │ │ │ │ │ │ ├── core_cm0plus.h │ │ │ │ │ │ ├── core_cm3.h │ │ │ │ │ │ ├── core_cm4.h │ │ │ │ │ │ ├── core_cm7.h │ │ │ │ │ │ ├── core_cmFunc.h │ │ │ │ │ │ ├── core_cmInstr.h │ │ │ │ │ │ ├── core_cmSimd.h │ │ │ │ │ │ ├── core_sc000.h │ │ │ │ │ │ └── core_sc300.h │ │ │ │ │ ├── ld/ │ │ │ │ │ │ └── opencr_flash.ld │ │ │ │ │ ├── led.c │ │ │ │ │ ├── led.h │ │ │ │ │ ├── usbd_cdc.c │ │ │ │ │ ├── usbd_cdc.h │ │ │ │ │ ├── usbd_cdc_interface.c │ │ │ │ │ ├── usbd_cdc_interface.h │ │ │ │ │ ├── usbd_conf.c │ │ │ │ │ ├── usbd_conf.h │ │ │ │ │ ├── usbd_desc.c │ │ │ │ │ ├── usbd_desc.h │ │ │ │ │ ├── wdg.c │ │ │ │ │ └── wdg.h │ │ │ │ ├── hal/ │ │ │ │ │ ├── def.h │ │ │ │ │ ├── def_err.h │ │ │ │ │ ├── delay.c │ │ │ │ │ ├── delay.h │ │ │ │ │ ├── flash.c │ │ │ │ │ ├── flash.h │ │ │ │ │ ├── hal.c │ │ │ │ │ ├── hal.h │ │ │ │ │ ├── msg.c │ │ │ │ │ ├── msg.h │ │ │ │ │ ├── util.c │ │ │ │ │ ├── util.h │ │ │ │ │ ├── vcp.c │ │ │ │ │ └── vcp.h │ │ │ │ ├── lib/ │ │ │ │ │ ├── STM32F7xx_HAL_Driver/ │ │ │ │ │ │ ├── Inc/ │ │ │ │ │ │ │ ├── Legacy/ │ │ │ │ │ │ │ │ └── stm32_hal_legacy.h │ │ │ │ │ │ │ ├── stm32f7xx_hal.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_adc.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_adc_ex.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_can.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_cec.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_conf_template.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_cortex.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_crc.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_crc_ex.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_cryp.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_cryp_ex.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_dac.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_dac_ex.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_dcmi.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_dcmi_ex.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_def.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_dfsdm.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_dma.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_dma2d.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_dma_ex.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_dsi.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_eth.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_flash.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_flash_ex.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_gpio.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_gpio_ex.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_hash.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_hash_ex.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_hcd.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_i2c.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_i2c_ex.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_i2s.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_irda.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_irda_ex.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_iwdg.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_jpeg.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_lptim.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_ltdc.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_ltdc_ex.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_mdios.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_nand.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_nor.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_pcd.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_pcd_ex.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_pwr.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_pwr_ex.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_qspi.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_rcc.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_rcc_ex.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_rng.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_rtc.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_rtc_ex.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_sai.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_sai_ex.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_sd.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_sdram.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_smartcard.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_smartcard_ex.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_spdifrx.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_spi.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_sram.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_tim.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_tim_ex.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_uart.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_uart_ex.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_usart.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_usart_ex.h │ │ │ │ │ │ │ ├── stm32f7xx_hal_wwdg.h │ │ │ │ │ │ │ ├── stm32f7xx_ll_fmc.h │ │ │ │ │ │ │ ├── stm32f7xx_ll_sdmmc.h │ │ │ │ │ │ │ └── stm32f7xx_ll_usb.h │ │ │ │ │ │ ├── Release_Notes.html │ │ │ │ │ │ └── Src/ │ │ │ │ │ │ ├── stm32f7xx_hal.c │ │ │ │ │ │ ├── stm32f7xx_hal_adc.c │ │ │ │ │ │ ├── stm32f7xx_hal_adc_ex.c │ │ │ │ │ │ ├── stm32f7xx_hal_can.c │ │ │ │ │ │ ├── stm32f7xx_hal_cec.c │ │ │ │ │ │ ├── stm32f7xx_hal_cortex.c │ │ │ │ │ │ ├── stm32f7xx_hal_crc.c │ │ │ │ │ │ ├── stm32f7xx_hal_crc_ex.c │ │ │ │ │ │ ├── stm32f7xx_hal_cryp.c │ │ │ │ │ │ ├── stm32f7xx_hal_cryp_ex.c │ │ │ │ │ │ ├── stm32f7xx_hal_dac.c │ │ │ │ │ │ ├── stm32f7xx_hal_dac_ex.c │ │ │ │ │ │ ├── stm32f7xx_hal_dcmi.c │ │ │ │ │ │ ├── stm32f7xx_hal_dcmi_ex.c │ │ │ │ │ │ ├── stm32f7xx_hal_dfsdm.c │ │ │ │ │ │ ├── stm32f7xx_hal_dma.c │ │ │ │ │ │ ├── stm32f7xx_hal_dma2d.c │ │ │ │ │ │ ├── stm32f7xx_hal_dma_ex.c │ │ │ │ │ │ ├── stm32f7xx_hal_dsi.c │ │ │ │ │ │ ├── stm32f7xx_hal_eth.c │ │ │ │ │ │ ├── stm32f7xx_hal_flash.c │ │ │ │ │ │ ├── stm32f7xx_hal_flash_ex.c │ │ │ │ │ │ ├── stm32f7xx_hal_gpio.c │ │ │ │ │ │ ├── stm32f7xx_hal_hash.c │ │ │ │ │ │ ├── stm32f7xx_hal_hash_ex.c │ │ │ │ │ │ ├── stm32f7xx_hal_hcd.c │ │ │ │ │ │ ├── stm32f7xx_hal_i2c.c │ │ │ │ │ │ ├── stm32f7xx_hal_i2c_ex.c │ │ │ │ │ │ ├── stm32f7xx_hal_i2s.c │ │ │ │ │ │ ├── stm32f7xx_hal_irda.c │ │ │ │ │ │ ├── stm32f7xx_hal_iwdg.c │ │ │ │ │ │ ├── stm32f7xx_hal_jpeg.c │ │ │ │ │ │ ├── stm32f7xx_hal_lptim.c │ │ │ │ │ │ ├── stm32f7xx_hal_ltdc.c │ │ │ │ │ │ ├── stm32f7xx_hal_ltdc_ex.c │ │ │ │ │ │ ├── stm32f7xx_hal_mdios.c │ │ │ │ │ │ ├── stm32f7xx_hal_msp_template.c │ │ │ │ │ │ ├── stm32f7xx_hal_nand.c │ │ │ │ │ │ ├── stm32f7xx_hal_nor.c │ │ │ │ │ │ ├── stm32f7xx_hal_pcd.c │ │ │ │ │ │ ├── stm32f7xx_hal_pcd_ex.c │ │ │ │ │ │ ├── stm32f7xx_hal_pwr.c │ │ │ │ │ │ ├── stm32f7xx_hal_pwr_ex.c │ │ │ │ │ │ ├── stm32f7xx_hal_qspi.c │ │ │ │ │ │ ├── stm32f7xx_hal_rcc.c │ │ │ │ │ │ ├── stm32f7xx_hal_rcc_ex.c │ │ │ │ │ │ ├── stm32f7xx_hal_rng.c │ │ │ │ │ │ ├── stm32f7xx_hal_rtc.c │ │ │ │ │ │ ├── stm32f7xx_hal_rtc_ex.c │ │ │ │ │ │ ├── stm32f7xx_hal_sai.c │ │ │ │ │ │ ├── stm32f7xx_hal_sai_ex.c │ │ │ │ │ │ ├── stm32f7xx_hal_sd.c │ │ │ │ │ │ ├── stm32f7xx_hal_sdram.c │ │ │ │ │ │ ├── stm32f7xx_hal_smartcard.c │ │ │ │ │ │ ├── stm32f7xx_hal_smartcard_ex.c │ │ │ │ │ │ ├── stm32f7xx_hal_spdifrx.c │ │ │ │ │ │ ├── stm32f7xx_hal_spi.c │ │ │ │ │ │ ├── stm32f7xx_hal_sram.c │ │ │ │ │ │ ├── stm32f7xx_hal_tim.c │ │ │ │ │ │ ├── stm32f7xx_hal_tim_ex.c │ │ │ │ │ │ ├── stm32f7xx_hal_timebase_tim_template.c │ │ │ │ │ │ ├── stm32f7xx_hal_uart.c │ │ │ │ │ │ ├── stm32f7xx_hal_usart.c │ │ │ │ │ │ ├── stm32f7xx_hal_wwdg.c │ │ │ │ │ │ ├── stm32f7xx_ll_fmc.c │ │ │ │ │ │ ├── stm32f7xx_ll_sdmmc.c │ │ │ │ │ │ └── stm32f7xx_ll_usb.c │ │ │ │ │ └── STM32_USB_Device_Library/ │ │ │ │ │ ├── Class/ │ │ │ │ │ │ ├── AUDIO/ │ │ │ │ │ │ │ ├── Inc/ │ │ │ │ │ │ │ │ ├── usbd_audio.h │ │ │ │ │ │ │ │ └── usbd_audio_if_template.h │ │ │ │ │ │ │ └── Src/ │ │ │ │ │ │ │ ├── usbd_audio.c │ │ │ │ │ │ │ └── usbd_audio_if_template.c │ │ │ │ │ │ ├── CDC/ │ │ │ │ │ │ │ ├── Inc/ │ │ │ │ │ │ │ │ ├── usbd_cdc.h │ │ │ │ │ │ │ │ └── usbd_cdc_if_template.h │ │ │ │ │ │ │ └── Src/ │ │ │ │ │ │ │ └── usbd_cdc.c │ │ │ │ │ │ ├── CustomHID/ │ │ │ │ │ │ │ ├── Inc/ │ │ │ │ │ │ │ │ ├── usbd_customhid.h │ │ │ │ │ │ │ │ └── usbd_customhid_if_template.h │ │ │ │ │ │ │ └── Src/ │ │ │ │ │ │ │ ├── usbd_customhid.c │ │ │ │ │ │ │ └── usbd_customhid_if_template.c │ │ │ │ │ │ ├── DFU/ │ │ │ │ │ │ │ ├── Inc/ │ │ │ │ │ │ │ │ ├── usbd_dfu.h │ │ │ │ │ │ │ │ └── usbd_dfu_media_template.h │ │ │ │ │ │ │ └── Src/ │ │ │ │ │ │ │ ├── usbd_dfu.c │ │ │ │ │ │ │ └── usbd_dfu_media_template.c │ │ │ │ │ │ ├── HID/ │ │ │ │ │ │ │ ├── Inc/ │ │ │ │ │ │ │ │ └── usbd_hid.h │ │ │ │ │ │ │ └── Src/ │ │ │ │ │ │ │ └── usbd_hid.c │ │ │ │ │ │ ├── MSC/ │ │ │ │ │ │ │ ├── Inc/ │ │ │ │ │ │ │ │ ├── usbd_msc.h │ │ │ │ │ │ │ │ ├── usbd_msc_bot.h │ │ │ │ │ │ │ │ ├── usbd_msc_data.h │ │ │ │ │ │ │ │ ├── usbd_msc_scsi.h │ │ │ │ │ │ │ │ └── usbd_msc_storage_template.h │ │ │ │ │ │ │ └── Src/ │ │ │ │ │ │ │ ├── usbd_msc.c │ │ │ │ │ │ │ ├── usbd_msc_bot.c │ │ │ │ │ │ │ ├── usbd_msc_data.c │ │ │ │ │ │ │ ├── usbd_msc_scsi.c │ │ │ │ │ │ │ └── usbd_msc_storage_template.c │ │ │ │ │ │ └── Template/ │ │ │ │ │ │ ├── Inc/ │ │ │ │ │ │ │ └── usbd_template.h │ │ │ │ │ │ └── Src/ │ │ │ │ │ │ └── usbd_template.c │ │ │ │ │ ├── Core/ │ │ │ │ │ │ ├── Inc/ │ │ │ │ │ │ │ ├── usbd_conf_template.h │ │ │ │ │ │ │ ├── usbd_core.h │ │ │ │ │ │ │ ├── usbd_ctlreq.h │ │ │ │ │ │ │ ├── usbd_def.h │ │ │ │ │ │ │ └── usbd_ioreq.h │ │ │ │ │ │ └── Src/ │ │ │ │ │ │ ├── usbd_core.c │ │ │ │ │ │ ├── usbd_ctlreq.c │ │ │ │ │ │ └── usbd_ioreq.c │ │ │ │ │ └── Release_Notes.html │ │ │ │ └── msg/ │ │ │ │ ├── mavlink/ │ │ │ │ │ ├── checksum.h │ │ │ │ │ ├── mavlink_conversions.h │ │ │ │ │ ├── mavlink_helpers.h │ │ │ │ │ ├── mavlink_types.h │ │ │ │ │ ├── opencr_msg/ │ │ │ │ │ │ ├── mavlink.h │ │ │ │ │ │ ├── mavlink_msg_ack.h │ │ │ │ │ │ ├── mavlink_msg_flash_fw_erase.h │ │ │ │ │ │ ├── mavlink_msg_flash_fw_read_block.h │ │ │ │ │ │ ├── mavlink_msg_flash_fw_read_packet.h │ │ │ │ │ │ ├── mavlink_msg_flash_fw_verify.h │ │ │ │ │ │ ├── mavlink_msg_flash_fw_write_begin.h │ │ │ │ │ │ ├── mavlink_msg_flash_fw_write_block.h │ │ │ │ │ │ ├── mavlink_msg_flash_fw_write_end.h │ │ │ │ │ │ ├── mavlink_msg_flash_fw_write_packet.h │ │ │ │ │ │ ├── mavlink_msg_jump_to_fw.h │ │ │ │ │ │ ├── mavlink_msg_read_board_name.h │ │ │ │ │ │ ├── mavlink_msg_read_tag.h │ │ │ │ │ │ ├── mavlink_msg_read_version.h │ │ │ │ │ │ ├── opencr_msg.h │ │ │ │ │ │ ├── testsuite.h │ │ │ │ │ │ └── version.h │ │ │ │ │ └── protocol.h │ │ │ │ └── xml/ │ │ │ │ └── opencr_msg │ │ │ ├── main.c │ │ │ ├── main.h │ │ │ ├── opencr_flash.cfg │ │ │ ├── opencr_openocd.cfg │ │ │ └── src/ │ │ │ ├── cmd.c │ │ │ ├── cmd.h │ │ │ ├── crc.c │ │ │ └── crc.h │ │ ├── opencr_ld/ │ │ │ ├── .cproject │ │ │ ├── .gitignore │ │ │ ├── .project │ │ │ ├── Makefile │ │ │ ├── README.md │ │ │ ├── gcc_win/ │ │ │ │ ├── .cproject │ │ │ │ ├── .gitignore │ │ │ │ └── .project │ │ │ ├── images/ │ │ │ │ └── linux_180529/ │ │ │ │ └── opencr_ld.tar.bz2 │ │ │ ├── main.c │ │ │ ├── msg/ │ │ │ │ ├── def.h │ │ │ │ ├── def_err.h │ │ │ │ ├── mavlink/ │ │ │ │ │ ├── checksum.h │ │ │ │ │ ├── mavlink_conversions.h │ │ │ │ │ ├── mavlink_helpers.h │ │ │ │ │ ├── mavlink_types.h │ │ │ │ │ ├── opencr_msg/ │ │ │ │ │ │ ├── mavlink.h │ │ │ │ │ │ ├── mavlink_msg_ack.h │ │ │ │ │ │ ├── mavlink_msg_flash_fw_erase.h │ │ │ │ │ │ ├── mavlink_msg_flash_fw_read_block.h │ │ │ │ │ │ ├── mavlink_msg_flash_fw_read_packet.h │ │ │ │ │ │ ├── mavlink_msg_flash_fw_verify.h │ │ │ │ │ │ ├── mavlink_msg_flash_fw_write_begin.h │ │ │ │ │ │ ├── mavlink_msg_flash_fw_write_block.h │ │ │ │ │ │ ├── mavlink_msg_flash_fw_write_end.h │ │ │ │ │ │ ├── mavlink_msg_flash_fw_write_packet.h │ │ │ │ │ │ ├── mavlink_msg_jump_to_fw.h │ │ │ │ │ │ ├── mavlink_msg_read_board_name.h │ │ │ │ │ │ ├── mavlink_msg_read_tag.h │ │ │ │ │ │ ├── mavlink_msg_read_version.h │ │ │ │ │ │ ├── opencr_msg.h │ │ │ │ │ │ ├── testsuite.h │ │ │ │ │ │ └── version.h │ │ │ │ │ └── protocol.h │ │ │ │ ├── msg.c │ │ │ │ ├── msg.h │ │ │ │ └── xml/ │ │ │ │ └── opencr_msg │ │ │ ├── opencr_ld.c │ │ │ ├── opencr_ld.h │ │ │ ├── qt_win/ │ │ │ │ └── opencr_ld_win/ │ │ │ │ └── opencr_ld/ │ │ │ │ ├── main.c │ │ │ │ └── opencr_ld.pro │ │ │ ├── serial.h │ │ │ ├── serial_posix.c │ │ │ ├── serial_win32.c │ │ │ └── type.h │ │ └── opencr_ld_shell/ │ │ ├── .cproject │ │ ├── .gitignore │ │ ├── .project │ │ ├── Makefile │ │ ├── README.md │ │ ├── install_opencr.sh │ │ ├── main.c │ │ ├── msg/ │ │ │ ├── def.h │ │ │ ├── def_err.h │ │ │ ├── mavlink/ │ │ │ │ ├── checksum.h │ │ │ │ ├── mavlink_conversions.h │ │ │ │ ├── mavlink_helpers.h │ │ │ │ ├── mavlink_types.h │ │ │ │ ├── opencr_msg/ │ │ │ │ │ ├── mavlink.h │ │ │ │ │ ├── mavlink_msg_ack.h │ │ │ │ │ ├── mavlink_msg_flash_fw_erase.h │ │ │ │ │ ├── mavlink_msg_flash_fw_read_block.h │ │ │ │ │ ├── mavlink_msg_flash_fw_read_packet.h │ │ │ │ │ ├── mavlink_msg_flash_fw_verify.h │ │ │ │ │ ├── mavlink_msg_flash_fw_write_begin.h │ │ │ │ │ ├── mavlink_msg_flash_fw_write_block.h │ │ │ │ │ ├── mavlink_msg_flash_fw_write_end.h │ │ │ │ │ ├── mavlink_msg_flash_fw_write_packet.h │ │ │ │ │ ├── mavlink_msg_jump_to_fw.h │ │ │ │ │ ├── mavlink_msg_read_board_name.h │ │ │ │ │ ├── mavlink_msg_read_tag.h │ │ │ │ │ ├── mavlink_msg_read_version.h │ │ │ │ │ ├── opencr_msg.h │ │ │ │ │ ├── testsuite.h │ │ │ │ │ └── version.h │ │ │ │ └── protocol.h │ │ │ ├── msg.c │ │ │ ├── msg.h │ │ │ └── xml/ │ │ │ └── opencr_msg │ │ ├── opencr_ld.c │ │ ├── opencr_ld.h │ │ ├── opencr_ld_shell_arm │ │ ├── opencr_ld_shell_x86 │ │ ├── qt_win/ │ │ │ └── opencr_ld_win/ │ │ │ └── opencr_ld/ │ │ │ ├── .gitignore │ │ │ ├── main.c │ │ │ ├── opencr_ld.pro │ │ │ └── opencr_ld.pro.user │ │ ├── serial.h │ │ ├── serial_posix.c │ │ ├── serial_win32.c │ │ ├── type.h │ │ └── update.sh │ └── opencr_release/ │ └── package_opencr_index.json └── install.sh ================================================ FILE CONTENTS ================================================ ================================================ FILE: .github/workflows/arduino_ci.yml ================================================ name: Arduino_CI on: push: branches: [ master, develop ] pull_request: branches: [ master, develop ] jobs: arduino_ci: runs-on: ubuntu-latest strategy: fail-fast: false steps: - uses: actions/checkout@v2 - name: install script run: | source <(curl -SLs https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/master/install.sh) ${{github.ref}} build_platform opencr ================================================ FILE: .gitignore ================================================ # Compiled Object files *.slo *.lo *.o # Precompiled Headers *.gch *.pch # Compiled Dynamic libraries *.so *.dylib *.dll # Fortran module files *.mod # Compiled Static libraries *.lai *.la *.a *.lib # Executables *.exe *.out *.app .vscode .metadata ================================================ FILE: .project ================================================ OpenCR ================================================ FILE: 49-stlinkv2.rules ================================================ SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="3748", MODE:="0666", SYMLINK+="stlinkv2_%n" ================================================ FILE: 99-opencr-cdc.rules ================================================ #http://linux-tips.org/t/prevent-modem-manager-to-capture-usb-serial-devices/284/2. #cp rules /etc/udev/rules.d/ #sudo udevadm control --reload-rules #sudo udevadm trigger ATTRS{idVendor}=="0483" ATTRS{idProduct}=="5740", ENV{ID_MM_DEVICE_IGNORE}="1", MODE:="0666" ATTRS{idVendor}=="0483" ATTRS{idProduct}=="df11", MODE:="0666" ATTRS{idVendor}=="fff1" ATTRS{idProduct}=="ff48", ENV{ID_MM_DEVICE_IGNORE}="1", MODE:="0666" ATTRS{idVendor}=="10c4" ATTRS{idProduct}=="ea60", ENV{ID_MM_DEVICE_IGNORE}="1", MODE:="0666" ================================================ FILE: LICENSE ================================================ Apache License Version 2.0, January 2004 http://www.apache.org/licenses/ TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 1. 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See the License for the specific language governing permissions and limitations under the License. ================================================ FILE: README.md ================================================ # OpenCR: Open Source Control Module for ROS [![Build Status](https://travis-ci.org/ROBOTIS-GIT/OpenCR.svg?branch=master)](https://travis-ci.org/ROBOTIS-GIT/OpenCR/) ![](http://emanual.robotis.com/assets/images/parts/controller/opencr10/opencr_product.png) ## ROBOTIS e-Manual for OpenCR - [ROBOTIS e-Manual for OpenCR](http://emanual.robotis.com/docs/en/parts/controller/opencr10/) ## Open Source related to OpenCR - [Micro ROS Arduino](https://github.com/micro-ROS/micro_ros_arduino) - [OpenCR](https://github.com/ROBOTIS-GIT/OpenCR) - [OpenCR-Hardware](https://github.com/ROBOTIS-GIT/OpenCR-Hardware) - [OpenCM 9.04](https://github.com/ROBOTIS-GIT/OpenCM9.04) - [dynamixel_sdk](https://github.com/ROBOTIS-GIT/DynamixelSDK) - [turtlebot3](https://github.com/ROBOTIS-GIT/turtlebot3) - [open_manipulator](https://github.com/ROBOTIS-GIT/open_manipulator) - [robotis_op3](https://github.com/ROBOTIS-GIT/ROBOTIS-OP3) ## Documents and Videos related to OpenCR - [ROBOTIS e-Manual for OpenCR](http://emanual.robotis.com/docs/en/parts/controller/opencr10/) - [ROBOTIS e-Manual for OpenCM 9.04](http://emanual.robotis.com/docs/en/parts/controller/opencm904/) - [ROBOTIS e-Manual for OpenCM 485 Expansion Board](http://emanual.robotis.com/docs/en/parts/controller/opencm485exp/) - [ROBOTIS e-Manual for Dynamixel SDK](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/) - [ROBOTIS e-Manual for TurtleBot3](http://turtlebot3.robotis.com/) - [ROBOTIS e-Manual for OpenManipulator](http://emanual.robotis.com/docs/en/platform/openmanipulator/) - [ROBOTIS e-Manual for ROBOTIS OP3](http://emanual.robotis.com/docs/en/platform/op3/introduction/) - [Videos for OpenCR](https://www.youtube.com/playlist?list=PLRG6WP3c31_VTd-u90LVXaT1B8NMjCSoj) ## Repository folder structure description - arduino - opencr_arduino - libraries : A collection of some libraries that can be used with OpenCR. - opencr : OpenCR package core to be installed in Arduino. - tools : Tools for OpenCR firmware writing. - opencr_develop - opencr_bootloader : OpenCR bootloader source - opencr_ld : OpenCR loader source (related bootloader) - opencr_ld_shell : OpenCR loader script source for TB3 - opencr_release - Folders(version name) : Compressed files for updating TB3 core binary with ld_shell for each TB3 core version. - shell_update : Latest Compressed files for updating TB3 core binary with ld_shell. - package_opencr_index.json : json file for Arduino OpenCR package. ================================================ FILE: arduino/opencr_arduino/opencr/.gitignore ================================================ .vscode ================================================ FILE: arduino/opencr_arduino/opencr/boards.txt ================================================ # OpenCR Boards # menu.device_variant=Variant menu.bootloader_version=Bootloader version menu.upload_method=Upload method OpenCR.bootloader.tool = dfu_util OpenCR.bootloader.file = opencr_boot.bin OpenCR.name=OpenCR Board OpenCR.upload.maximum_size=786432 OpenCR.upload.file_type=bin OpenCR.upload.ram.maximum_size=256788 OpenCR.upload.flash.maximum_size=786432 OpenCR.upload.params.quiet=no OpenCR.build.mcu=cortex-m7 OpenCR.build.f_cpu=216000000L OpenCR.build.board=OpenCR OpenCR.build.core=arduino OpenCR.build.common_flags=-mthumb -DSTM32F746xx -D__OPENCR__ OpenCR.build.ldscript=bsp/opencr/ldscript/opencr_flash.ld OpenCR.build.variant=OpenCR OpenCR.build.variant_system_lib=lib_f746.a OpenCR.build.extra_flags= OpenCR.build.inc1=bsp/opencr OpenCR.build.inc2=bsp/opencr/include OpenCR.build.inc3=hw OpenCR.build.inc4=hw/driver OpenCR.build.inc5=hw/usb_cdc OpenCR.build.inc6=lib/STM32F7xx_HAL_Driver/Inc/ OpenCR.build.inc7= #OpenCR.upload.tool=opencr_ld #OpenCR.menu.upload_method.upload.tool=opencr_ld OpenCR.menu.upload_method.UploadMethod=OpenCR Bootloader OpenCR.menu.upload_method.UploadMethod.upload.protocol=opencr_ld OpenCR.menu.upload_method.UploadMethod.upload.tool=opencr_ld ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/Arduino.h ================================================ /* Arduino.h - Main include file for the Arduino SDK Copyright (c) 2005-2013 Arduino Team. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #ifndef Arduino_h #define Arduino_h #include #include #include #include // some libraries and sketches depend on this // AVR stuff, assuming Arduino.h or WProgram.h // automatically includes it... #include #include #include "binary.h" #include "hw.h" #include "itoa.h" #ifdef __cplusplus extern "C"{ #endif // __cplusplus #include "chip.h" #include "wiring_constants.h" #define clockCyclesPerMicrosecond() ( SystemCoreClock / 1000000L ) #define clockCyclesToMicroseconds(a) ( ((a) * 1000L) / (SystemCoreClock / 1000L) ) #define microsecondsToClockCycles(a) ( (a) * (SystemCoreClock / 1000000L) ) void yield(void); /* sketch */ extern void setup( void ) ; extern void loop( void ) ; //#define NOT_A_PIN 0 // defined in pio.h/EPioType #define NOT_A_PORT 0 #define NOT_AN_INTERRUPT -1 typedef void (*voidFuncPtr)( void ) ; /* Define attribute */ #if defined ( __CC_ARM ) /* Keil uVision 4 */ #define WEAK (__attribute__ ((weak))) #elif defined ( __ICCARM__ ) /* IAR Ewarm 5.41+ */ #define WEAK __weak #elif defined ( __GNUC__ ) /* GCC CS */ #define WEAK __attribute__ ((weak)) #endif #ifdef __cplusplus } // extern "C" #include "WCharacter.h" #include "WString.h" #include "Tone.h" #include "WMath.h" #include "HardwareSerial.h" #include "wiring_pulse.h" #include "variant.h" void tone(uint8_t _pin, unsigned int frequency, unsigned long duration = 0); void noTone(uint8_t _pin); #endif // __cplusplus #include "wiring.h" #include "wiring_digital.h" #include "wiring_analog.h" #include "wiring_shift.h" #include "WInterrupts.h" #include "digitalWriteFast.h" #endif // Arduino_h ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/Client.h ================================================ /* Client.h - Base class that provides Client Copyright (c) 2011 Adrian McEwen. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #ifndef client_h #define client_h #include "Print.h" #include "Stream.h" #include "IPAddress.h" class Client : public Stream { public: virtual int connect(IPAddress ip, uint16_t port) =0; virtual int connect(const char *host, uint16_t port) =0; virtual size_t write(uint8_t) =0; virtual size_t write(const uint8_t *buf, size_t size) =0; virtual int available() = 0; virtual int read() = 0; virtual int read(uint8_t *buf, size_t size) = 0; virtual int peek() = 0; virtual void flush() = 0; virtual void stop() = 0; virtual uint8_t connected() = 0; virtual operator bool() = 0; protected: uint8_t* rawIPAddress(IPAddress& addr) { return addr.raw_address(); }; }; #endif ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/HardwareSerial.h ================================================ /* Copyright (c) 2011 Arduino. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #ifndef HardwareSerial_h #define HardwareSerial_h #include #include "Stream.h" class HardwareSerial : public Stream { public: virtual void begin(unsigned long) = 0; virtual void end() = 0; virtual int available(void) = 0; virtual int peek(void) = 0; virtual int read(void) = 0; virtual void flush(void) = 0; virtual size_t write(uint8_t) = 0; using Print::write; // pull in write(str) and write(buf, size) from Print virtual operator bool() = 0; }; extern void serialEventRun(void) __attribute__((weak)); #endif ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/HardwareTimer.cpp ================================================ /****************************************************************************** * The MIT License * * Copyright (c) 2010 Bryan Newbold. * * Permission is hereby granted, free of charge, to any person * obtaining a copy of this software and associated documentation * files (the "Software"), to deal in the Software without * restriction, including without limitation the rights to use, copy, * modify, merge, publish, distribute, sublicense, and/or sell copies * of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be * included in all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. *****************************************************************************/ #include #include #include "drv_timer.h" #include "variant.h" #include "HardwareTimer.h" #define MAX_RELOAD ((1 << 16) - 1) HardwareTimer::HardwareTimer(uint8_t timerNum) { if (timerNum > TIMER_CH_MAX) { tim_num = 0; } tim_num = timerNum; } void HardwareTimer::pause(void) { drv_timer_pause(tim_num); } void HardwareTimer::resume(void) { drv_timer_resume(tim_num); } void HardwareTimer::stop(void) { drv_timer_pause(tim_num); } void HardwareTimer::start(void) { drv_timer_resume(tim_num); } uint16_t HardwareTimer::setPeriod(uint32_t microseconds) { drv_timer_set_period(tim_num, microseconds); return 0; } void HardwareTimer::attachInterrupt(voidFuncPtr handler) { drv_timer_attachInterrupt(tim_num, handler); } void HardwareTimer::detachInterrupt(void) { drv_timer_detachInterrupt(tim_num); } void HardwareTimer::refresh(void) { drv_timer_refresh(tim_num); } ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/HardwareTimer.h ================================================ /****************************************************************************** * The MIT License * * Copyright (c) 2010 Bryan Newbold. * * Permission is hereby granted, free of charge, to any person * obtaining a copy of this software and associated documentation * files (the "Software"), to deal in the Software without * restriction, including without limitation the rights to use, copy, * modify, merge, publish, distribute, sublicense, and/or sell copies * of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be * included in all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. *****************************************************************************/ #ifndef _HARDWARETIMER_H_ #define _HARDWARETIMER_H_ #include class HardwareTimer { private: uint8_t tim_num; public: HardwareTimer(uint8_t timerNum); void pause(void); void resume(void); void stop(void); void start(void); uint16_t setPeriod(uint32_t microseconds); void attachInterrupt(voidFuncPtr handler); void detachInterrupt(void); void refresh(void); }; #endif ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/IPAddress.cpp ================================================ /* IPAddress.cpp - Base class that provides IPAddress Copyright (c) 2011 Adrian McEwen. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #include #include IPAddress::IPAddress() { _address.dword = 0; } IPAddress::IPAddress(uint8_t first_octet, uint8_t second_octet, uint8_t third_octet, uint8_t fourth_octet) { _address.bytes[0] = first_octet; _address.bytes[1] = second_octet; _address.bytes[2] = third_octet; _address.bytes[3] = fourth_octet; } IPAddress::IPAddress(uint32_t address) { _address.dword = address; } IPAddress::IPAddress(const uint8_t *address) { memcpy(_address.bytes, address, sizeof(_address.bytes)); } bool IPAddress::fromString(const char *address) { uint16_t acc = 0; // Accumulator uint8_t dots = 0; while (*address) { char c = *address++; if (c >= '0' && c <= '9') { acc = acc * 10 + (c - '0'); if (acc > 255) { // Value out of [0..255] range return false; } } else if (c == '.') { if (dots == 3) { // Too much dots (there must be 3 dots) return false; } _address.bytes[dots++] = acc; acc = 0; } else { // Invalid char return false; } } if (dots != 3) { // Too few dots (there must be 3 dots) return false; } _address.bytes[3] = acc; return true; } IPAddress& IPAddress::operator=(const uint8_t *address) { memcpy(_address.bytes, address, sizeof(_address.bytes)); return *this; } IPAddress& IPAddress::operator=(uint32_t address) { _address.dword = address; return *this; } bool IPAddress::operator==(const uint8_t* addr) const { return memcmp(addr, _address.bytes, sizeof(_address.bytes)) == 0; } size_t IPAddress::printTo(Print& p) const { size_t n = 0; for (int i =0; i < 3; i++) { n += p.print(_address.bytes[i], DEC); n += p.print('.'); } n += p.print(_address.bytes[3], DEC); return n; } ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/IPAddress.h ================================================ /* IPAddress.h - Base class that provides IPAddress Copyright (c) 2011 Adrian McEwen. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #ifndef IPAddress_h #define IPAddress_h #include #include "Printable.h" #include "WString.h" // A class to make it easier to handle and pass around IP addresses class IPAddress : public Printable { private: union { uint8_t bytes[4]; // IPv4 address uint32_t dword; } _address; // Access the raw byte array containing the address. Because this returns a pointer // to the internal structure rather than a copy of the address this function should only // be used when you know that the usage of the returned uint8_t* will be transient and not // stored. uint8_t* raw_address() { return _address.bytes; }; public: // Constructors IPAddress(); IPAddress(uint8_t first_octet, uint8_t second_octet, uint8_t third_octet, uint8_t fourth_octet); IPAddress(uint32_t address); IPAddress(const uint8_t *address); bool fromString(const char *address); bool fromString(const String &address) { return fromString(address.c_str()); } // Overloaded cast operator to allow IPAddress objects to be used where a pointer // to a four-byte uint8_t array is expected operator uint32_t() const { return _address.dword; }; bool operator==(const IPAddress& addr) const { return _address.dword == addr._address.dword; }; bool operator==(const uint8_t* addr) const; // Overloaded index operator to allow getting and setting individual octets of the address uint8_t operator[](int index) const { return _address.bytes[index]; }; uint8_t& operator[](int index) { return _address.bytes[index]; }; // Overloaded copy operators to allow initialisation of IPAddress objects from other types IPAddress& operator=(const uint8_t *address); IPAddress& operator=(uint32_t address); virtual size_t printTo(Print& p) const; friend class EthernetClass; friend class UDP; friend class Client; friend class Server; friend class DhcpClass; friend class DNSClient; }; const IPAddress INADDR_NONE(0,0,0,0); #endif ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/Print.cpp ================================================ /* Print.cpp - Base class that provides print() and println() Copyright (c) 2008 David A. Mellis. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA Modified 23 November 2006 by David A. Mellis */ #include #include #include #include #include #include "Arduino.h" #include "Print.h" // Public Methods ////////////////////////////////////////////////////////////// /* default implementation: may be overridden */ size_t Print::write(const uint8_t *buffer, size_t size) { size_t n = 0; while (size--) { n += write(*buffer++); } return n; } size_t Print::print(const __FlashStringHelper *ifsh) { return print(reinterpret_cast(ifsh)); } size_t Print::print(const String &s) { return write(s.c_str(), s.length()); } size_t Print::print(const char str[]) { return write(str); } size_t Print::print(char c) { return write(c); } size_t Print::print(unsigned char b, int base) { return print((unsigned long) b, base); } size_t Print::print(int n, int base) { return print((long) n, base); } size_t Print::print(unsigned int n, int base) { return print((unsigned long) n, base); } size_t Print::print(long n, int base) { if (base == 0) { return write(n); } else if (base == 10) { if (n < 0) { int t = print('-'); n = -n; return printNumber(n, 10) + t; } return printNumber(n, 10); } else { return printNumber(n, base); } } size_t Print::print(unsigned long n, int base) { if (base == 0) return write(n); else return printNumber(n, base); } size_t Print::print(double n, int digits) { return printFloat(n, digits); } size_t Print::println(const __FlashStringHelper *ifsh) { size_t n = print(ifsh); n += println(); return n; } size_t Print::print(const Printable& x) { return x.printTo(*this); } size_t Print::println(void) { size_t n = print('\r'); n += print('\n'); return n; } size_t Print::println(const String &s) { size_t n = print(s); n += println(); return n; } size_t Print::println(const char c[]) { size_t n = print(c); n += println(); return n; } size_t Print::println(char c) { size_t n = print(c); n += println(); return n; } size_t Print::println(unsigned char b, int base) { size_t n = print(b, base); n += println(); return n; } size_t Print::println(int num, int base) { size_t n = print(num, base); n += println(); return n; } size_t Print::println(unsigned int num, int base) { size_t n = print(num, base); n += println(); return n; } size_t Print::println(long num, int base) { size_t n = print(num, base); n += println(); return n; } size_t Print::println(unsigned long num, int base) { size_t n = print(num, base); n += println(); return n; } size_t Print::println(double num, int digits) { size_t n = print(num, digits); n += println(); return n; } size_t Print::println(const Printable& x) { size_t n = print(x); n += println(); return n; } size_t Print::printf(const char *fmt, ... ) { char buf[256]; // resulting string limited to 128 chars char buf_out[256]; va_list args; size_t i; int i_out; va_start (args, fmt ); vsnprintf(buf, 256, fmt, args); va_end (args); i_out = 0; for( i=0; i 4294967040.0) return print ("ovf"); // constant determined empirically if (number <-4294967040.0) return print ("ovf"); // constant determined empirically // Handle negative numbers if (number < 0.0) { n += print('-'); number = -number; } // Round correctly so that print(1.999, 2) prints as "2.00" double rounding = 0.5; for (uint8_t i=0; i 0) { n += print("."); } // Extract digits from the remainder one at a time while (digits-- > 0) { remainder *= 10.0; int toPrint = int(remainder); n += print(toPrint); remainder -= toPrint; } return n; } ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/Print.h ================================================ /* Print.h - Base class that provides print() and println() Copyright (c) 2008 David A. Mellis. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #ifndef Print_h #define Print_h #include #include // for size_t #include #include "WString.h" #include "Printable.h" #define DEC 10 #define HEX 16 #define OCT 8 #define BIN 2 class Print { private: int write_error; size_t printNumber(unsigned long, uint8_t); size_t printFloat(double, uint8_t); protected: void setWriteError(int err = 1) { write_error = err; } public: Print() : write_error(0) {} int getWriteError() { return write_error; } void clearWriteError() { setWriteError(0); } virtual size_t write(uint8_t) = 0; size_t write(const char *str) { if (str == NULL) return 0; return write((const uint8_t *)str, strlen(str)); } virtual size_t write(const uint8_t *buffer, size_t size); size_t write(const char *buffer, size_t size) { return write((const uint8_t *)buffer, size); } size_t print(const __FlashStringHelper *); size_t print(const String &); size_t print(const char[]); size_t print(char); size_t print(unsigned char, int = DEC); size_t print(int, int = DEC); size_t print(unsigned int, int = DEC); size_t print(long, int = DEC); size_t print(unsigned long, int = DEC); size_t print(double, int = 2); size_t print(const Printable&); size_t println(const __FlashStringHelper *); size_t println(const String &s); size_t println(const char[]); size_t println(char); size_t println(unsigned char, int = DEC); size_t println(int, int = DEC); size_t println(unsigned int, int = DEC); size_t println(long, int = DEC); size_t println(unsigned long, int = DEC); size_t println(double, int = 2); size_t println(const Printable&); size_t println(void); size_t printf(const char *fmt, ... ); }; #endif ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/Printable.h ================================================ /* Printable.h - Interface class that allows printing of complex types Copyright (c) 2011 Adrian McEwen. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #ifndef Printable_h #define Printable_h #include class Print; /** The Printable class provides a way for new classes to allow themselves to be printed. By deriving from Printable and implementing the printTo method, it will then be possible for users to print out instances of this class by passing them into the usual Print::print and Print::println methods. */ class Printable { public: virtual size_t printTo(Print& p) const = 0; }; #endif ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/Reset.h ================================================ /* Copyright (c) 2012 Arduino. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #ifndef RESET_H #define RESET_H #ifdef __cplusplus extern "C" { #endif void initiateReset(int ms); void tickReset(); void cancelReset(); #ifdef __cplusplus } #endif #endif ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/RingBuffer.cpp ================================================ /* Copyright (c) 2011 Arduino. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #include "RingBuffer.h" #include RingBuffer::RingBuffer( void ) { memset( (void *)_aucBuffer, 0, RING_BUFFER_SIZE ) ; _iHead=0 ; _iTail=0 ; } void RingBuffer::store_char( uint8_t c ) { int i = (uint32_t)(_iHead + 1) % RING_BUFFER_SIZE ; // if we should be storing the received character into the location // just before the tail (meaning that the head would advance to the // current location of the tail), we're about to overflow the buffer // and so we don't write the character or advance the head. if ( i != _iTail ) { _aucBuffer[_iHead] = c ; _iHead = i ; } } ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/RingBuffer.h ================================================ /* Copyright (c) 2011 Arduino. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #ifndef _RING_BUFFER_ #define _RING_BUFFER_ #include // Define constants and variables for buffering incoming serial data. We're // using a ring buffer (I think), in which head is the index of the location // to which to write the next incoming character and tail is the index of the // location from which to read. #define RING_BUFFER_SIZE 128 class RingBuffer { public: volatile uint8_t _aucBuffer[RING_BUFFER_SIZE] ; volatile int _iHead ; volatile int _iTail ; public: RingBuffer( void ) ; void store_char( uint8_t c ) ; } ; #endif /* _RING_BUFFER_ */ ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/Server.h ================================================ /* Server.h - Base class that provides Server Copyright (c) 2011 Adrian McEwen. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #ifndef server_h #define server_h #include "Print.h" class Server : public Print { public: virtual void begin() =0; }; #endif ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/Stream.cpp ================================================ /* Stream.cpp - adds parsing methods to Stream class Copyright (c) 2008 David A. Mellis. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA Created July 2011 parsing functions based on TextFinder library by Michael Margolis findMulti/findUntil routines written by Jim Leonard/Xuth */ #include "Arduino.h" #include "Stream.h" #define PARSE_TIMEOUT 1000 // default number of milli-seconds to wait #define NO_SKIP_CHAR 1 // a magic char not found in a valid ASCII numeric field // private method to read stream with timeout int Stream::timedRead() { int c; _startMillis = millis(); do { c = read(); if (c >= 0) return c; } while(millis() - _startMillis < _timeout); return -1; // -1 indicates timeout } // private method to peek stream with timeout int Stream::timedPeek() { int c; _startMillis = millis(); do { c = peek(); if (c >= 0) return c; } while(millis() - _startMillis < _timeout); return -1; // -1 indicates timeout } // returns peek of the next digit in the stream or -1 if timeout // discards non-numeric characters int Stream::peekNextDigit() { int c; while (1) { c = timedPeek(); if (c < 0) return c; // timeout if (c == '-') return c; if (c >= '0' && c <= '9') return c; read(); // discard non-numeric } } // Public Methods ////////////////////////////////////////////////////////////// void Stream::setTimeout(unsigned long timeout) // sets the maximum number of milliseconds to wait { _timeout = timeout; } // find returns true if the target string is found bool Stream::find(char *target) { return findUntil(target, strlen(target), NULL, 0); } // reads data from the stream until the target string of given length is found // returns true if target string is found, false if timed out bool Stream::find(char *target, size_t length) { return findUntil(target, length, NULL, 0); } // as find but search ends if the terminator string is found bool Stream::findUntil(char *target, char *terminator) { return findUntil(target, strlen(target), terminator, strlen(terminator)); } // reads data from the stream until the target string of the given length is found // search terminated if the terminator string is found // returns true if target string is found, false if terminated or timed out bool Stream::findUntil(char *target, size_t targetLen, char *terminator, size_t termLen) { if (terminator == NULL) { MultiTarget t[1] = {{target, targetLen, 0}}; return findMulti(t, 1) == 0 ? true : false; } else { MultiTarget t[2] = {{target, targetLen, 0}, {terminator, termLen, 0}}; return findMulti(t, 2) == 0 ? true : false; } } // returns the first valid (long) integer value from the current position. // initial characters that are not digits (or the minus sign) are skipped // function is terminated by the first character that is not a digit. long Stream::parseInt() { return parseInt(NO_SKIP_CHAR); // terminate on first non-digit character (or timeout) } // as above but a given skipChar is ignored // this allows format characters (typically commas) in values to be ignored long Stream::parseInt(char skipChar) { bool isNegative = false; long value = 0; int c; c = peekNextDigit(); // ignore non numeric leading characters if(c < 0) return 0; // zero returned if timeout do{ if(c == skipChar) ; // ignore this charactor else if(c == '-') isNegative = true; else if(c >= '0' && c <= '9') // is c a digit? value = value * 10 + c - '0'; read(); // consume the character we got with peek c = timedPeek(); } while( (c >= '0' && c <= '9') || c == skipChar ); if(isNegative) value = -value; return value; } // as parseInt but returns a floating point value float Stream::parseFloat() { return parseFloat(NO_SKIP_CHAR); } // as above but the given skipChar is ignored // this allows format characters (typically commas) in values to be ignored float Stream::parseFloat(char skipChar){ bool isNegative = false; bool isFraction = false; long value = 0; int c;//char c; float fraction = 1.0; c = peekNextDigit(); // ignore non numeric leading characters if(c < 0) return 0; // zero returned if timeout do{ if(c == skipChar) ; // ignore else if(c == '-') isNegative = true; else if (c == '.') isFraction = true; else if(c >= '0' && c <= '9') { // is c a digit? value = value * 10 + c - '0'; if(isFraction) fraction *= 0.1; } read(); // consume the character we got with peek c = timedPeek(); } while( (c >= '0' && c <= '9') || c == '.' || c == skipChar ); if(isNegative) value = -value; if(isFraction) return value * fraction; else return value; } // read characters from stream into buffer // terminates if length characters have been read, or timeout (see setTimeout) // returns the number of characters placed in the buffer // the buffer is NOT null terminated. // size_t Stream::readBytes(char *buffer, size_t length) { size_t count = 0; while (count < length) { int c = timedRead(); if (c < 0) break; *buffer++ = (char)c; count++; } return count; } // as readBytes with terminator character // terminates if length characters have been read, timeout, or if the terminator character detected // returns the number of characters placed in the buffer (0 means no valid data found) size_t Stream::readBytesUntil(char terminator, char *buffer, size_t length) { if (length < 1) return 0; size_t index = 0; while (index < length) { int c = timedRead(); if (c < 0 || c == terminator) break; *buffer++ = (char)c; index++; } return index; // return number of characters, not including null terminator } String Stream::readString() { String ret; int c = timedRead(); while (c >= 0) { ret += (char)c; c = timedRead(); } return ret; } String Stream::readStringUntil(char terminator) { String ret; int c = timedRead(); while (c >= 0 && c != terminator) { ret += (char)c; c = timedRead(); } return ret; } int Stream::findMulti( struct Stream::MultiTarget *targets, int tCount) { // any zero length target string automatically matches and would make // a mess of the rest of the algorithm. for (struct MultiTarget *t = targets; t < targets+tCount; ++t) { if (t->len <= 0) return t - targets; } while (1) { int c = timedRead(); if (c < 0) return -1; for (struct MultiTarget *t = targets; t < targets+tCount; ++t) { // the simple case is if we match, deal with that first. if (c == t->str[t->index]) { if (++t->index == t->len) return t - targets; else continue; } // if not we need to walk back and see if we could have matched further // down the stream (ie '1112' doesn't match the first position in '11112' // but it will match the second position so we can't just reset the current // index to 0 when we find a mismatch. if (t->index == 0) continue; int origIndex = t->index; do { --t->index; // first check if current char works against the new current index if (c != t->str[t->index]) continue; // if it's the only char then we're good, nothing more to check if (t->index == 0) { t->index++; break; } // otherwise we need to check the rest of the found string int diff = origIndex - t->index; size_t i; for (i = 0; i < t->index; ++i) { if (t->str[i] != t->str[i + diff]) break; } // if we successfully got through the previous loop then our current // index is good. if (i == t->index) { t->index++; break; } // otherwise we just try the next index } while (t->index); } } // unreachable return -1; } ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/Stream.h ================================================ /* Stream.h - base class for character-based streams. Copyright (c) 2010 David A. Mellis. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA parsing functions based on TextFinder library by Michael Margolis */ #ifndef Stream_h #define Stream_h #include #include "Print.h" // compatability macros for testing /* #define getInt() parseInt() #define getInt(skipChar) parseInt(skipchar) #define getFloat() parseFloat() #define getFloat(skipChar) parseFloat(skipChar) #define getString( pre_string, post_string, buffer, length) readBytesBetween( pre_string, terminator, buffer, length) */ class Stream : public Print { protected: unsigned long _timeout; // number of milliseconds to wait for the next char before aborting timed read unsigned long _startMillis; // used for timeout measurement int timedRead(); // private method to read stream with timeout int timedPeek(); // private method to peek stream with timeout int peekNextDigit(); // returns the next numeric digit in the stream or -1 if timeout public: virtual int available() = 0; virtual int read() = 0; virtual int peek() = 0; virtual void flush() = 0; Stream() {_timeout=1000;} // parsing methods void setTimeout(unsigned long timeout); // sets maximum milliseconds to wait for stream data, default is 1 second bool find(char *target); // reads data from the stream until the target string is found bool find(uint8_t *target) { return find ((char *)target); } // returns true if target string is found, false if timed out (see setTimeout) bool find(char *target, size_t length); // reads data from the stream until the target string of given length is found bool find(uint8_t *target, size_t length) { return find ((char *)target, length); } // returns true if target string is found, false if timed out bool findUntil(char *target, char *terminator); // as find but search ends if the terminator string is found bool findUntil(uint8_t *target, char *terminator) { return findUntil((char *)target, terminator); } bool findUntil(char *target, size_t targetLen, char *terminate, size_t termLen); // as above but search ends if the terminate string is found bool findUntil(uint8_t *target, size_t targetLen, char *terminate, size_t termLen) {return findUntil((char *)target, targetLen, terminate, termLen); } long parseInt(); // returns the first valid (long) integer value from the current position. // initial characters that are not digits (or the minus sign) are skipped // integer is terminated by the first character that is not a digit. float parseFloat(); // float version of parseInt size_t readBytes( char *buffer, size_t length); // read chars from stream into buffer size_t readBytes( uint8_t *buffer, size_t length) { return readBytes((char *)buffer, length); } // terminates if length characters have been read or timeout (see setTimeout) // returns the number of characters placed in the buffer (0 means no valid data found) size_t readBytesUntil( char terminator, char *buffer, size_t length); // as readBytes with terminator character size_t readBytesUntil( char terminator, uint8_t *buffer, size_t length) { return readBytesUntil(terminator, (char *)buffer, length); } // terminates if length characters have been read, timeout, or if the terminator character detected // returns the number of characters placed in the buffer (0 means no valid data found) // Arduino String functions to be added here String readString(); String readStringUntil(char terminator); protected: long parseInt(char skipChar); // as above but the given skipChar is ignored // as above but the given skipChar is ignored // this allows format characters (typically commas) in values to be ignored float parseFloat(char skipChar); // as above but the given skipChar is ignored struct MultiTarget { const char *str; // string you're searching for size_t len; // length of string you're searching for size_t index; // index used by the search routine. }; // This allows you to search for an arbitrary number of strings. // Returns index of the target that is found first or -1 if timeout occurs. int findMulti(struct MultiTarget *targets, int tCount); }; #endif ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/Tone.cpp ================================================ /* Tone.cpp A Tone Generator Library Written by Brett Hagman This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA Version Modified By Date Comments ------- ----------- -------- -------- 0001 B Hagman 09/08/02 Initial coding 0002 B Hagman 09/08/18 Multiple pins 0003 B Hagman 09/08/18 Moved initialization from constructor to begin() 0004 B Hagman 09/09/26 Fixed problems with ATmega8 0005 B Hagman 09/11/23 Scanned prescalars for best fit on 8 bit timers 09/11/25 Changed pin toggle method to XOR 09/11/25 Fixed timer0 from being excluded 0006 D Mellis 09/12/29 Replaced objects with functions 0007 M Sproul 10/08/29 Changed #ifdefs from cpu to register 0008 S Kanemoto 12/06/22 Fixed for Leonardo by @maris_HY 0009 J Reucker 15/04/10 Issue #292 Fixed problems with ATmega8 (thanks to Pete62) 0010 jipp 15/04/13 added additional define check #2923 0011 Baram 16/10/06 fixed for OpenCR *************************************************/ #include #include "variant.h" #include "Tone.h" // timerx_toggle_count: // > 0 - duration specified // = 0 - stopped // < 0 - infinitely (until stop() method called, or new play() called) volatile int32_t tone_toggle_count; volatile uint8_t tone_timer = TIMER_TONE; volatile uint8_t tone_pin; volatile uint8_t tone_pin_out; volatile bool tone_enable = false; void tone_isr( void ); static void toneBegin(uint8_t _pin) { tone_pin = _pin; tone_pin_out = 0; tone_enable = true; } static void toneEnd(void) { tone_enable = false; tone_pin_out = 0; drv_timer_pause(tone_timer); } // frequency (in hertz) and duration (in milliseconds). void tone(uint8_t _pin, unsigned int frequency, unsigned long duration) { //uint8_t prescalarbits = 0b001; long toggle_count = 0; uint32_t ocr = 0; //int8_t _timer; // Set the pinMode as OUTPUT pinMode(_pin, OUTPUT); digitalWrite(_pin, 0); ocr = (1000000 / frequency) / 2 ; // Calculate the toggle count if (duration > 0) { toggle_count = 2 * frequency * duration / 1000; } else { toggle_count = -1; } tone_toggle_count = toggle_count; toneBegin(_pin); drv_timer_set_period(tone_timer, ocr); drv_timer_attachInterrupt(tone_timer, tone_isr); drv_timer_resume(tone_timer); } void noTone(uint8_t _pin) { toneEnd(); digitalWrite(_pin, 0); } void tone_isr( void ) { if (tone_toggle_count != 0) { // toggle the pin tone_pin_out ^= 1; digitalWrite(tone_pin, tone_pin_out); if(tone_toggle_count > 0) { tone_toggle_count--; } } else { toneEnd(); } } ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/Tone.h ================================================ /* Copyright (c) 2011 Arduino. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #ifndef _WIRING_TONE_ #define _WIRING_TONE_ #endif /* _WIRING_TONE_ */ ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/UARTClass.cpp ================================================ /* Copyright (c) 2011 Arduino. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #include #include #include #include "UARTClass.h" #include "wiring_digital.h" #include "wiring_constants.h" #include "variant.h" #include "digitalWriteFast.h" // Constructors //////////////////////////////////////////////////////////////// UARTClass::UARTClass(void){ } UARTClass::UARTClass(uint8_t uart_num, uint8_t uart_mode, uint8_t *txBuffer, uint16_t tx_buffer_size) { _uart_num = uart_num; _uart_mode = uart_mode; _uart_baudrate = 0; rx_cnt = 0; tx_cnt = 0; tx_write_size = 0; tx_buffer.buffer = txBuffer; tx_buffer.buffer_size = tx_buffer_size; } void UARTClass::begin(const uint32_t dwBaudRate) { begin(dwBaudRate, Mode_8N1); } void UARTClass::begin(const uint32_t dwBaudRate, const UARTModes config) { UNUSED(config); #ifdef DRV_UART_RX_DMA_ONLY rx_buffer.iHead = rx_buffer.iTail = 0; #endif tx_buffer.iHead = 0; tx_buffer.iTail = 0; _uart_baudrate = dwBaudRate; drv_uart_begin(_uart_num, _uart_mode, dwBaudRate); } void UARTClass::end( void ) { // Clear any received data #ifdef DRV_UART_RX_DMA_ONLY rx_buffer.iHead = rx_buffer.iTail; #endif // Wait for any outstanding data to be sent flush(); } int UARTClass::available( void ) { #ifdef DRV_UART_RX_DMA_ONLY if(drv_uart_get_mode(_uart_num) == DRV_UART_IRQ_MODE ) { return (uint32_t)(SERIAL_BUFFER_SIZE + rx_buffer.iHead - rx_buffer.iTail) % SERIAL_BUFFER_SIZE; } else { return drv_uart_available(_uart_num); } #else return drv_uart_available(_uart_num); #endif } int UARTClass::availableForWrite(void) { int head = tx_buffer.iHead; int tail = tx_buffer.iTail; if (head >= tail) return SERIAL_BUFFER_SIZE - 1 - head + tail; return tail - head - 1; } int UARTClass::peek( void ) { #ifdef DRV_UART_RX_DMA_ONLY if(drv_uart_get_mode(_uart_num) == DRV_UART_IRQ_MODE ) { if ( rx_buffer.iHead == rx_buffer.iTail ) return -1; return rx_buffer.buffer[rx_buffer.iTail]; } else { return drv_uart_peek(_uart_num); } #else return drv_uart_peek(_uart_num); #endif } int UARTClass::read( void ) { #ifdef DRV_UART_RX_DMA_ONLY if(drv_uart_get_mode(_uart_num) == DRV_UART_IRQ_MODE ) { // if the head isn't ahead of the tail, we don't have any characters if ( rx_buffer.iHead == rx_buffer.iTail ) return -1; uint8_t uc = rx_buffer.buffer[rx_buffer.iTail]; rx_buffer.iTail = (unsigned int)(rx_buffer.iTail + 1) % SERIAL_BUFFER_SIZE; rx_cnt++; return uc; } else { int return_value = drv_uart_read(_uart_num); if (return_value != -1) { rx_cnt++; } return return_value; } #else int return_value = drv_uart_read(_uart_num); if (return_value != -1) { rx_cnt++; } return return_value; #endif } void UARTClass::flush( void ) { while (tx_write_size); //wait for transmit data to be sent } void UARTClass::flushRx( uint32_t timeout_ms ) { #ifdef DRV_UART_RX_DMA_ONLY if(drv_uart_get_mode(_uart_num) == DRV_UART_IRQ_MODE ) { // sort of hack, wait the time specified and then just clear it if (timeout_ms) { uint32_t pre_time_ms = millis(); while((millis() - pre_time_ms) < timeout_ms) { } } rx_buffer.iTail = rx_buffer.iHead; // clear out buffer } else { drv_uart_rx_flush(_uart_num, timeout_ms); } #else drv_uart_rx_flush(_uart_num, timeout_ms); #endif } size_t UARTClass::write( const uint8_t uc_data ) { return write(&uc_data, 1); // Lets call the buffer function to do the main work } void inline UARTClass::startNextTransmitDMAorIT() { tx_write_size = (tx_buffer.iTail < tx_buffer.iHead)? tx_buffer.iHead-tx_buffer.iTail : tx_buffer.buffer_size - tx_buffer.iTail; if (drv_uart_write_dma_it(_uart_num, &tx_buffer.buffer[tx_buffer.iTail], tx_write_size) != 0) { tx_write_size = 0; // error so clear it out } } size_t UARTClass::write( const uint8_t *buffer, size_t size ) { tx_cnt += size; size_t cbLeft = size; // Lets try to put as much of this data into our TX buffer as possible. while (cbLeft--) { uint16_t nextWrite = (tx_buffer.iHead + 1) % tx_buffer.buffer_size; if (tx_buffer.iTail == nextWrite) { // See if we have an active TX or not if (!tx_write_size) { startNextTransmitDMAorIT(); } // right now this will wait for the entire previous write to complete before continue... while (tx_buffer.iTail == nextWrite) { } } tx_buffer.buffer[tx_buffer.iHead] = *buffer++; tx_buffer.iHead = nextWrite; } // we finished putting stuff on queue, so see if we need to start up write // or if it is already going. if (!tx_write_size) { startNextTransmitDMAorIT(); } return size; } uint32_t UARTClass::getBaudRate( void ) { return _uart_baudrate; } uint32_t UARTClass::getRxCnt(void) { return rx_cnt; } uint32_t UARTClass::getTxCnt(void) { return tx_cnt; } void UARTClass::RxHandler (void) { #ifdef DRV_UART_RX_DMA_ONLY if( _uart_mode == DRV_UART_IRQ_MODE ) { if(available() < (SERIAL_BUFFER_SIZE - 1)) { drv_uart_read_buf(_uart_num, &r_byte, 1); rx_buffer.buffer[rx_buffer.iHead] = r_byte; rx_buffer.iHead = (uint16_t)(rx_buffer.iHead + 1) % SERIAL_BUFFER_SIZE; } drv_uart_start_rx(_uart_num); } #endif } void UARTClass::TxHandler(void) { // We completed previous write, so update our tail pointer by count tx_buffer.iTail += tx_write_size; if (tx_buffer.iTail >= tx_buffer.buffer_size) tx_buffer.iTail = 0; // Should only wrap to start by our other stuff... if (tx_buffer.iHead != tx_buffer.iTail) { startNextTransmitDMAorIT(); } else { // finished all outstanding writes so lets set count to 0 tx_write_size = 0; } } ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/UARTClass.h ================================================ /* Copyright (c) 2011 Arduino. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #ifndef _UART_CLASS_ #define _UART_CLASS_ #include "HardwareSerial.h" #include #define SERIAL_8N1 UARTClass::Mode_8N1 #define SERIAL_8E1 UARTClass::Mode_8E1 #define SERIAL_8O1 UARTClass::Mode_8O1 #define SERIAL_8M1 UARTClass::Mode_8M1 #define SERIAL_8S1 UARTClass::Mode_8S1 #define SERIAL_BUFFER_SIZE 2048 #define SERIAL_WRITES_NON_BLOCKING 1 class UARTClass : public HardwareSerial { public: enum UARTModes { Mode_8N1 = 0, // = US_MR_CHRL_8_BIT | US_MR_NBSTOP_1_BIT | UART_MR_PAR_NO, Mode_8E1, // = US_MR_CHRL_8_BIT | US_MR_NBSTOP_1_BIT | UART_MR_PAR_EVEN, Mode_8O1, // = US_MR_CHRL_8_BIT | US_MR_NBSTOP_1_BIT | UART_MR_PAR_ODD, Mode_8M1, // = US_MR_CHRL_8_BIT | US_MR_NBSTOP_1_BIT | UART_MR_PAR_MARK, Mode_8S1 // = US_MR_CHRL_8_BIT | US_MR_NBSTOP_1_BIT | UART_MR_PAR_SPACE, }; UARTClass(uint8_t uart_num, uint8_t uart_mode, uint8_t *txBuffer, uint16_t tx_buffer_size); UARTClass(void); void begin(const uint32_t dwBaudRate); void begin(const uint32_t dwBaudRate, const UARTModes config); void end(void); int available(void); int availableForWrite(void); int peek(void); int read(void); void flush(void); void flushRx( uint32_t timeout_ms ); size_t write(const uint8_t c); size_t write(const uint8_t *buffer, size_t size); using Print::write; // pull in write(str) and write(buf, size) from Print void RxHandler(void); /* Vassilis Serasidis */ void TxHandler(void); /* Vassilis Serasidis */ uint32_t getBaudRate(void); uint32_t getRxCnt(void); uint32_t getTxCnt(void); operator bool() { return true; }; // UART always active protected: void inline startNextTransmitDMAorIT(void); #ifdef DRV_UART_RX_DMA_ONLY struct ring_buffer { uint8_t buffer[SERIAL_BUFFER_SIZE]; volatile uint16_t iHead; volatile uint16_t iTail; }; #endif struct tx_no_cache_buffer { uint8_t *buffer; uint16_t buffer_size; volatile uint16_t iHead; volatile uint16_t iTail; }; uint8_t _uart_num; uint8_t _uart_mode; uint32_t _uart_baudrate; uint8_t r_byte; volatile uint16_t tx_write_size; tx_no_cache_buffer tx_buffer; #ifdef DRV_UART_RX_DMA_ONLY ring_buffer rx_buffer; #endif uint32_t rx_cnt; uint32_t tx_cnt; }; #endif // _UART_CLASS_ ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/USBSerial.cpp ================================================ /**************************************************************************** * * USBSerial core library for Arduino STM32 + HAL + CubeMX (HALMX). * * Copyright (c) 2016 by Vassilis Serasidis * Home: http://www.serasidis.gr * email: avrsite@yahoo.gr * * Arduino_STM32 forum: http://www.stm32duino.com * * Permission to use, copy, modify, and/or distribute this software for * any purpose with or without fee is hereby granted, provided that the * above copyright notice and this permission notice appear in all copies. * * Some functions follow the sam and samd arduino core libray files. * * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL * WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED * WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR * BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES * OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, * WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, * ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS * ****************************************************************************/ /* * Modified on: 2016. 7.12. * Author: Baram, PBHP */ #include #include #include "variant.h" extern uint32_t usb_cdc_bitrate; extern uint32_t usb_cdc_debug_cnt[]; USBSerial::USBSerial(){ baudrate = 0; rx_cnt = 0; tx_cnt = 0; rx_err_cnt = 0; tx_err_cnt = 0; } void USBSerial::begin(uint32_t baud_count){ UNUSED(baud_count); } void USBSerial::begin(uint32_t baud_count, uint8_t config){ UNUSED(baud_count); UNUSED(config); } void USBSerial::end(void){ } int USBSerial::available(void){ return vcp_is_available(); } int USBSerial::peek(void) { return vcp_peek(); } int USBSerial::read(void) { if ( vcp_is_available() == 0 ) return -1; rx_cnt++; return vcp_getch(); } void USBSerial::flush(void){ while( vcp_is_transmitted() == FALSE ); } size_t USBSerial::write(const uint8_t *buffer, size_t size) { uint32_t length; length = vcp_write((uint8_t *)buffer, (uint32_t)size); tx_cnt += length; return (size_t)length; } size_t USBSerial::write(uint8_t c) { return write(&c, 1); } uint32_t USBSerial::getBaudRate(void) { return usb_cdc_bitrate; } uint32_t USBSerial::getRxCnt(void) { return rx_cnt; } uint32_t USBSerial::getTxCnt(void) { return tx_cnt; } uint32_t USBSerial::getRxErrCnt(void) { return usb_cdc_debug_cnt[0]; } uint32_t USBSerial::getTxErrCnt(void) { return usb_cdc_debug_cnt[1]; } // This operator is a convenient way for a sketch to check whether the // port has actually been configured and opened by the host (as opposed // to just being connected to the host). It can be used, for example, in // setup() before printing to ensure that an application on the host is // actually ready to receive and display the data. // We add a short delay before returning to fix a bug observed by Federico // where the port is configured (lineState != 0) but not quite opened. USBSerial::operator bool() { if( vcp_is_connected() == TRUE ) return true; else return false; } ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/USBSerial.h ================================================ /**************************************************************************** * * USBSerial core library for Arduino STM32 + HAL + CubeMX (HALMX). * * Copyright (c) 2016 by Vassilis Serasidis * Home: http://www.serasidis.gr * email: avrsite@yahoo.gr * * Arduino_STM32 forum: http://www.stm32duino.com * * The USBSerial.h file follows the function prototypes of * the Arduino CDC.h file that was written by Peter Barrett * * Permission to use, copy, modify, and/or distribute this software for * any purpose with or without fee is hereby granted, provided that the * above copyright notice and this permission notice appear in all copies. * * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL * WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED * WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR * BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES * OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, * WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, * ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS * ****************************************************************************/ /* * Modified on: 2016. 7.12. * Author: Baram, PBHP */ #ifndef _SERIAL_USB_H_INCLUDED #define _SERIAL_USB_H_INCLUDED #include #include "RingBuffer.h" #include "Stream.h" #include "chip.h" class USBSerial : public Stream { public: USBSerial(); void begin(uint32_t baud_count); void begin(uint32_t baud_count, uint8_t config); void end(void); virtual int available(void); //virtual void accept(void); virtual int peek(void); virtual int read(void); virtual void flush(void); virtual size_t write(uint8_t c); virtual size_t write(const uint8_t *buffer, size_t size); using Print::write; // pull in write(str) from Print operator bool(); uint32_t getBaudRate(void); uint32_t getRxCnt(void); uint32_t getTxCnt(void); uint32_t getRxErrCnt(void); uint32_t getTxErrCnt(void); private: uint32_t baudrate; uint32_t rx_cnt; uint32_t tx_cnt; uint32_t rx_err_cnt; uint32_t tx_err_cnt; }; #endif ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/Udp.h ================================================ /* * Udp.cpp: Library to send/receive UDP packets. * * NOTE: UDP is fast, but has some important limitations (thanks to Warren Gray for mentioning these) * 1) UDP does not guarantee the order in which assembled UDP packets are received. This * might not happen often in practice, but in larger network topologies, a UDP * packet can be received out of sequence. * 2) UDP does not guard against lost packets - so packets *can* disappear without the sender being * aware of it. Again, this may not be a concern in practice on small local networks. * For more information, see http://www.cafeaulait.org/course/week12/35.html * * MIT License: * Copyright (c) 2008 Bjoern Hartmann * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. * * bjoern@cs.stanford.edu 12/30/2008 */ #ifndef udp_h #define udp_h #include #include class UDP : public Stream { public: virtual uint8_t begin(uint16_t) =0; // initialize, start listening on specified port. Returns 1 if successful, 0 if there are no sockets available to use virtual void stop() =0; // Finish with the UDP socket // Sending UDP packets // Start building up a packet to send to the remote host specific in ip and port // Returns 1 if successful, 0 if there was a problem with the supplied IP address or port virtual int beginPacket(IPAddress ip, uint16_t port) =0; // Start building up a packet to send to the remote host specific in host and port // Returns 1 if successful, 0 if there was a problem resolving the hostname or port virtual int beginPacket(const char *host, uint16_t port) =0; // Finish off this packet and send it // Returns 1 if the packet was sent successfully, 0 if there was an error virtual int endPacket() =0; // Write a single byte into the packet virtual size_t write(uint8_t) =0; // Write size bytes from buffer into the packet virtual size_t write(const uint8_t *buffer, size_t size) =0; // Start processing the next available incoming packet // Returns the size of the packet in bytes, or 0 if no packets are available virtual int parsePacket() =0; // Number of bytes remaining in the current packet virtual int available() =0; // Read a single byte from the current packet virtual int read() =0; // Read up to len bytes from the current packet and place them into buffer // Returns the number of bytes read, or 0 if none are available virtual int read(unsigned char* buffer, size_t len) =0; // Read up to len characters from the current packet and place them into buffer // Returns the number of characters read, or 0 if none are available virtual int read(char* buffer, size_t len) =0; // Return the next byte from the current packet without moving on to the next byte virtual int peek() =0; virtual void flush() =0; // Finish reading the current packet // Return the IP address of the host who sent the current incoming packet virtual IPAddress remoteIP() =0; // Return the port of the host who sent the current incoming packet virtual uint16_t remotePort() =0; protected: uint8_t* rawIPAddress(IPAddress& addr) { return addr.raw_address(); }; }; #endif ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/WCharacter.h ================================================ /* WCharacter.h - Character utility functions for Wiring & Arduino Copyright (c) 2010 Hernando Barragan. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #ifndef Character_h #define Character_h #include #ifdef __cplusplus extern "C" { #endif // WCharacter.h prototypes #if defined ( __GNUC__ ) inline boolean isAlphaNumeric(int c) __attribute__((always_inline)); inline boolean isAlpha(int c) __attribute__((always_inline)); inline boolean isAscii(int c) __attribute__((always_inline)); inline boolean isWhitespace(int c) __attribute__((always_inline)); inline boolean isControl(int c) __attribute__((always_inline)); inline boolean isDigit(int c) __attribute__((always_inline)); inline boolean isGraph(int c) __attribute__((always_inline)); inline boolean isLowerCase(int c) __attribute__((always_inline)); inline boolean isPrintable(int c) __attribute__((always_inline)); inline boolean isPunct(int c) __attribute__((always_inline)); inline boolean isSpace(int c) __attribute__((always_inline)); inline boolean isUpperCase(int c) __attribute__((always_inline)); inline boolean isHexadecimalDigit(int c) __attribute__((always_inline)); inline int toAscii(int c) __attribute__((always_inline)); inline int toLowerCase(int c) __attribute__((always_inline)); inline int toUpperCase(int c)__attribute__((always_inline)); #elif defined ( __ICCARM__ ) #endif // Checks for an alphanumeric character. // It is equivalent to (isalpha(c) || isdigit(c)). inline boolean isAlphaNumeric(int c) { return ( isalnum(c) == 0 ? false : true); } // Checks for an alphabetic character. // It is equivalent to (isupper(c) || islower(c)). inline boolean isAlpha(int c) { return ( isalpha(c) == 0 ? false : true); } // Checks whether c is a 7-bit unsigned char value // that fits into the ASCII character set. inline boolean isAscii(int c) { /* return ( isascii(c) == 0 ? false : true); */ return ( (c & ~0x7f) != 0 ? false : true); } // Checks for a blank character, that is, a space or a tab. inline boolean isWhitespace(int c) { return ( isblank (c) == 0 ? false : true); } // Checks for a control character. inline boolean isControl(int c) { return ( iscntrl (c) == 0 ? false : true); } // Checks for a digit (0 through 9). inline boolean isDigit(int c) { return ( isdigit (c) == 0 ? false : true); } // Checks for any printable character except space. inline boolean isGraph(int c) { return ( isgraph (c) == 0 ? false : true); } // Checks for a lower-case character. inline boolean isLowerCase(int c) { return (islower (c) == 0 ? false : true); } // Checks for any printable character including space. inline boolean isPrintable(int c) { return ( isprint (c) == 0 ? false : true); } // Checks for any printable character which is not a space // or an alphanumeric character. inline boolean isPunct(int c) { return ( ispunct (c) == 0 ? false : true); } // Checks for white-space characters. For the avr-libc library, // these are: space, formfeed ('\f'), newline ('\n'), carriage // return ('\r'), horizontal tab ('\t'), and vertical tab ('\v'). inline boolean isSpace(int c) { return ( isspace (c) == 0 ? false : true); } // Checks for an uppercase letter. inline boolean isUpperCase(int c) { return ( isupper (c) == 0 ? false : true); } // Checks for a hexadecimal digits, i.e. one of 0 1 2 3 4 5 6 7 // 8 9 a b c d e f A B C D E F. inline boolean isHexadecimalDigit(int c) { return ( isxdigit (c) == 0 ? false : true); } // Converts c to a 7-bit unsigned char value that fits into the // ASCII character set, by clearing the high-order bits. inline int toAscii(int c) { /* return toascii (c); */ return (c & 0x7f); } // Warning: // Many people will be unhappy if you use this function. // This function will convert accented letters into random // characters. // Converts the letter c to lower case, if possible. inline int toLowerCase(int c) { return tolower (c); } // Converts the letter c to upper case, if possible. inline int toUpperCase(int c) { return toupper (c); } #ifdef __cplusplus } #endif #endif ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/WInterrupts.c ================================================ /* Copyright (c) 2014 Arduino. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #include "WInterrupts.h" #include "variant.h" #include "wiring_digital.h" #include #ifdef __cplusplus extern "C" { #endif /* * \brief Specifies a named Interrupt Service Routine (ISR) to call when an interrupt occurs. * Replaces any previous function that was attached to the interrupt. */ void attachInterrupt( uint32_t pin, voidFuncPtr callback, uint32_t ulMode ) { drv_exti_attach( pin, callback, ulMode ); } /* * \brief Turns off the given interrupt. */ void detachInterrupt( uint32_t pin ) { drv_exti_detach( pin ); } #ifdef __cplusplus } #endif ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/WInterrupts.h ================================================ /* Copyright (c) 2011-2012 Arduino. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #ifndef _WIRING_INTERRUPTS_ #define _WIRING_INTERRUPTS_ #include "Arduino.h" #ifdef __cplusplus extern "C" { #endif void attachInterrupt(uint32_t pin, void (*callback)(void), uint32_t mode); void detachInterrupt(uint32_t pin); #ifdef __cplusplus } #endif #endif /* _WIRING_INTERRUPTS_ */ ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/WMath.cpp ================================================ /* Copyright (c) 2011 Arduino. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ extern "C" { #include "stdlib.h" #include "stdint.h" } #include "WMath.h" extern void randomSeed( uint32_t dwSeed ) { if ( dwSeed != 0 ) { srand( dwSeed ) ; } } extern long random( long howbig ) { if ( howbig == 0 ) { return 0 ; } return rand() % howbig; } extern long random( long howsmall, long howbig ) { if (howsmall >= howbig) { return howsmall; } long diff = howbig - howsmall; return random(diff) + howsmall; } extern long map(long x, long in_min, long in_max, long out_min, long out_max) { return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; } extern uint16_t makeWord( uint16_t w ) { return w ; } extern uint16_t makeWord( uint8_t h, uint8_t l ) { return (h << 8) | l ; } ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/WMath.h ================================================ /* Copyright (c) 2011 Arduino. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #ifndef _WIRING_MATH_ #define _WIRING_MATH_ extern long random( long ) ; extern long random( long, long ) ; extern void randomSeed( uint32_t dwSeed ) ; extern long map( long, long, long, long, long ) ; extern uint16_t makeWord( uint16_t w ) ; extern uint16_t makeWord( uint8_t h, uint8_t l ) ; #define word(...) makeWord(__VA_ARGS__) #endif /* _WIRING_MATH_ */ ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/WString.cpp ================================================ /* WString.cpp - String library for Wiring & Arduino ...mostly rewritten by Paul Stoffregen... Copyright (c) 2009-10 Hernando Barragan. All rights reserved. Copyright 2011, Paul Stoffregen, paul@pjrc.com This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #include "WString.h" #include "itoa.h" #include "avr/dtostrf.h" /*********************************************/ /* Constructors */ /*********************************************/ String::String(const char *cstr) { init(); if (cstr) copy(cstr, strlen(cstr)); } String::String(const String &value) { init(); *this = value; } String::String(const __FlashStringHelper *pstr) { init(); *this = pstr; } #ifdef __GXX_EXPERIMENTAL_CXX0X__ String::String(String &&rval) { init(); move(rval); } String::String(StringSumHelper &&rval) { init(); move(rval); } #endif String::String(char c) { init(); char buf[2]; buf[0] = c; buf[1] = 0; *this = buf; } String::String(unsigned char value, unsigned char base) { init(); char buf[1 + 8 * sizeof(unsigned char)]; utoa(value, buf, base); *this = buf; } String::String(int value, unsigned char base) { init(); char buf[2 + 8 * sizeof(int)]; itoa(value, buf, base); *this = buf; } String::String(unsigned int value, unsigned char base) { init(); char buf[1 + 8 * sizeof(unsigned int)]; utoa(value, buf, base); *this = buf; } String::String(long value, unsigned char base) { init(); char buf[2 + 8 * sizeof(long)]; ltoa(value, buf, base); *this = buf; } String::String(unsigned long value, unsigned char base) { init(); char buf[1 + 8 * sizeof(unsigned long)]; ultoa(value, buf, base); *this = buf; } String::String(float value, unsigned char decimalPlaces) { init(); char buf[33]; *this = dtostrf(value, (decimalPlaces + 2), decimalPlaces, buf); } String::String(double value, unsigned char decimalPlaces) { init(); char buf[33]; *this = dtostrf(value, (decimalPlaces + 2), decimalPlaces, buf); } String::~String() { free(buffer); } /*********************************************/ /* Memory Management */ /*********************************************/ inline void String::init(void) { buffer = NULL; capacity = 0; len = 0; } void String::invalidate(void) { if (buffer) free(buffer); buffer = NULL; capacity = len = 0; } unsigned char String::reserve(unsigned int size) { if (buffer && capacity >= size) return 1; if (changeBuffer(size)) { if (len == 0) buffer[0] = 0; return 1; } return 0; } unsigned char String::changeBuffer(unsigned int maxStrLen) { char *newbuffer = (char *)realloc(buffer, maxStrLen + 1); if (newbuffer) { buffer = newbuffer; capacity = maxStrLen; return 1; } return 0; } /*********************************************/ /* Copy and Move */ /*********************************************/ String & String::copy(const char *cstr, unsigned int length) { if (!reserve(length)) { invalidate(); return *this; } len = length; strcpy(buffer, cstr); return *this; } String & String::copy(const __FlashStringHelper *pstr, unsigned int length) { if (!reserve(length)) { invalidate(); return *this; } len = length; strcpy_P(buffer, (PGM_P)pstr); return *this; } #ifdef __GXX_EXPERIMENTAL_CXX0X__ void String::move(String &rhs) { if (buffer) { if (capacity >= rhs.len) { strcpy(buffer, rhs.buffer); len = rhs.len; rhs.len = 0; return; } else { free(buffer); } } buffer = rhs.buffer; capacity = rhs.capacity; len = rhs.len; rhs.buffer = NULL; rhs.capacity = 0; rhs.len = 0; } #endif String & String::operator = (const String &rhs) { if (this == &rhs) return *this; if (rhs.buffer) copy(rhs.buffer, rhs.len); else invalidate(); return *this; } #ifdef __GXX_EXPERIMENTAL_CXX0X__ String & String::operator = (String &&rval) { if (this != &rval) move(rval); return *this; } String & String::operator = (StringSumHelper &&rval) { if (this != &rval) move(rval); return *this; } #endif String & String::operator = (const char *cstr) { if (cstr) copy(cstr, strlen(cstr)); else invalidate(); return *this; } String & String::operator = (const __FlashStringHelper *pstr) { if (pstr) copy(pstr, strlen_P((PGM_P)pstr)); else invalidate(); return *this; } /*********************************************/ /* concat */ /*********************************************/ unsigned char String::concat(const String &s) { return concat(s.buffer, s.len); } #if 1 unsigned char String::concat(const char *cstr, unsigned int length) { unsigned int newlen = len + length; if (!cstr) return 0; if (length == 0) return 1; if (!reserve(newlen)) return 0; strcpy(buffer + len, cstr); len = newlen; return 1; } unsigned char String::concat(const char *cstr) { if (!cstr) return 0; return concat(cstr, strlen(cstr)); } unsigned char String::concat(char c) { char buf[2]; buf[0] = c; buf[1] = 0; return concat(buf, 1); } unsigned char String::concat(unsigned char num) { char buf[1 + 3 * sizeof(unsigned char)]; itoa(num, buf, 10); return concat(buf, strlen(buf)); } unsigned char String::concat(int num) { char buf[2 + 3 * sizeof(int)]; itoa(num, buf, 10); return concat(buf, strlen(buf)); } unsigned char String::concat(unsigned int num) { char buf[1 + 3 * sizeof(unsigned int)]; utoa(num, buf, 10); return concat(buf, strlen(buf)); } unsigned char String::concat(long num) { char buf[2 + 3 * sizeof(long)]; ltoa(num, buf, 10); return concat(buf, strlen(buf)); } unsigned char String::concat(unsigned long num) { char buf[1 + 3 * sizeof(unsigned long)]; ultoa(num, buf, 10); return concat(buf, strlen(buf)); } unsigned char String::concat(float num) { char buf[20]; char* string = dtostrf(num, 4, 2, buf); return concat(string, strlen(string)); } unsigned char String::concat(double num) { char buf[20]; char* string = dtostrf(num, 4, 2, buf); return concat(string, strlen(string)); } unsigned char String::concat(const __FlashStringHelper * str) { if (!str) return 0; int length = strlen_P((const char *) str); if (length == 0) return 1; unsigned int newlen = len + length; if (!reserve(newlen)) return 0; strcpy_P(buffer + len, (const char *) str); len = newlen; return 1; } /*********************************************/ /* Concatenate */ /*********************************************/ StringSumHelper & operator + (const StringSumHelper &lhs, const String &rhs) { StringSumHelper &a = const_cast(lhs); if (!a.concat(rhs.buffer, rhs.len)) a.invalidate(); return a; } StringSumHelper & operator + (const StringSumHelper &lhs, const char *cstr) { StringSumHelper &a = const_cast(lhs); if (!cstr || !a.concat(cstr, strlen(cstr))) a.invalidate(); return a; } StringSumHelper & operator + (const StringSumHelper &lhs, char c) { StringSumHelper &a = const_cast(lhs); if (!a.concat(c)) a.invalidate(); return a; } StringSumHelper & operator + (const StringSumHelper &lhs, unsigned char num) { StringSumHelper &a = const_cast(lhs); if (!a.concat(num)) a.invalidate(); return a; } StringSumHelper & operator + (const StringSumHelper &lhs, int num) { StringSumHelper &a = const_cast(lhs); if (!a.concat(num)) a.invalidate(); return a; } StringSumHelper & operator + (const StringSumHelper &lhs, unsigned int num) { StringSumHelper &a = const_cast(lhs); if (!a.concat(num)) a.invalidate(); return a; } StringSumHelper & operator + (const StringSumHelper &lhs, long num) { StringSumHelper &a = const_cast(lhs); if (!a.concat(num)) a.invalidate(); return a; } StringSumHelper & operator + (const StringSumHelper &lhs, unsigned long num) { StringSumHelper &a = const_cast(lhs); if (!a.concat(num)) a.invalidate(); return a; } StringSumHelper & operator + (const StringSumHelper &lhs, float num) { StringSumHelper &a = const_cast(lhs); if (!a.concat(num)) a.invalidate(); return a; } StringSumHelper & operator + (const StringSumHelper &lhs, double num) { StringSumHelper &a = const_cast(lhs); if (!a.concat(num)) a.invalidate(); return a; } StringSumHelper & operator + (const StringSumHelper &lhs, const __FlashStringHelper *rhs) { StringSumHelper &a = const_cast(lhs); if (!a.concat(rhs)) a.invalidate(); return a; } #endif /*********************************************/ /* Comparison */ /*********************************************/ int String::compareTo(const String &s) const { if (!buffer || !s.buffer) { if (s.buffer && s.len > 0) return 0 - *(unsigned char *)s.buffer; if (buffer && len > 0) return *(unsigned char *)buffer; return 0; } return strcmp(buffer, s.buffer); } unsigned char String::equals(const String &s2) const { return (len == s2.len && compareTo(s2) == 0); } unsigned char String::equals(const char *cstr) const { if (len == 0) return (cstr == NULL || *cstr == 0); if (cstr == NULL) return buffer[0] == 0; return strcmp(buffer, cstr) == 0; } unsigned char String::operator<(const String &rhs) const { return compareTo(rhs) < 0; } unsigned char String::operator>(const String &rhs) const { return compareTo(rhs) > 0; } unsigned char String::operator<=(const String &rhs) const { return compareTo(rhs) <= 0; } unsigned char String::operator>=(const String &rhs) const { return compareTo(rhs) >= 0; } unsigned char String::equalsIgnoreCase( const String &s2 ) const { if (this == &s2) return 1; if (len != s2.len) return 0; if (len == 0) return 1; const char *p1 = buffer; const char *p2 = s2.buffer; while (*p1) { if (tolower(*p1++) != tolower(*p2++)) return 0; } return 1; } unsigned char String::startsWith( const String &s2 ) const { if (len < s2.len) return 0; return startsWith(s2, 0); } unsigned char String::startsWith( const String &s2, unsigned int offset ) const { if (offset > len - s2.len || !buffer || !s2.buffer) return 0; return strncmp( &buffer[offset], s2.buffer, s2.len ) == 0; } unsigned char String::endsWith( const String &s2 ) const { if ( len < s2.len || !buffer || !s2.buffer) return 0; return strcmp(&buffer[len - s2.len], s2.buffer) == 0; } /*********************************************/ /* Character Access */ /*********************************************/ char String::charAt(unsigned int loc) const { return operator[](loc); } void String::setCharAt(unsigned int loc, char c) { if (loc < len) buffer[loc] = c; } char & String::operator[](unsigned int index) { static char dummy_writable_char; if (index >= len || !buffer) { dummy_writable_char = 0; return dummy_writable_char; } return buffer[index]; } char String::operator[]( unsigned int index ) const { if (index >= len || !buffer) return 0; return buffer[index]; } void String::getBytes(unsigned char *buf, unsigned int bufsize, unsigned int index) const { if (!bufsize || !buf) return; if (index >= len) { buf[0] = 0; return; } unsigned int n = bufsize - 1; if (n > len - index) n = len - index; strncpy((char *)buf, buffer + index, n); buf[n] = 0; } /*********************************************/ /* Search */ /*********************************************/ int String::indexOf(char c) const { return indexOf(c, 0); } int String::indexOf( char ch, unsigned int fromIndex ) const { if (fromIndex >= len) return -1; const char* temp = strchr(buffer + fromIndex, ch); if (temp == NULL) return -1; return temp - buffer; } int String::indexOf(const String &s2) const { return indexOf(s2, 0); } int String::indexOf(const String &s2, unsigned int fromIndex) const { if (fromIndex >= len) return -1; const char *found = strstr(buffer + fromIndex, s2.buffer); if (found == NULL) return -1; return found - buffer; } int String::lastIndexOf( char theChar ) const { return lastIndexOf(theChar, len - 1); } int String::lastIndexOf(char ch, unsigned int fromIndex) const { if (fromIndex >= len) return -1; char tempchar = buffer[fromIndex + 1]; buffer[fromIndex + 1] = '\0'; char* temp = strrchr( buffer, ch ); buffer[fromIndex + 1] = tempchar; if (temp == NULL) return -1; return temp - buffer; } int String::lastIndexOf(const String &s2) const { return lastIndexOf(s2, len - s2.len); } int String::lastIndexOf(const String &s2, unsigned int fromIndex) const { if (s2.len == 0 || len == 0 || s2.len > len) return -1; if (fromIndex >= len) fromIndex = len - 1; int found = -1; for (char *p = buffer; p <= buffer + fromIndex; p++) { p = strstr(p, s2.buffer); if (!p) break; if ((unsigned int)(p - buffer) <= fromIndex) found = p - buffer; } return found; } String String::substring(unsigned int left, unsigned int right) const { if (left > right) { unsigned int temp = right; right = left; left = temp; } String out; if (left >= len) return out; if (right > len) right = len; char temp = buffer[right]; // save the replaced character buffer[right] = '\0'; out = buffer + left; // pointer arithmetic buffer[right] = temp; //restore character return out; } /*********************************************/ /* Modification */ /*********************************************/ void String::replace(char find, char replace) { if (!buffer) return; for (char *p = buffer; *p; p++) { if (*p == find) *p = replace; } } void String::replace(const String& find, const String& replace) { if (len == 0 || find.len == 0) return; int diff = replace.len - find.len; char *readFrom = buffer; char *foundAt; if (diff == 0) { while ((foundAt = strstr(readFrom, find.buffer)) != NULL) { memcpy(foundAt, replace.buffer, replace.len); readFrom = foundAt + replace.len; } } else if (diff < 0) { char *writeTo = buffer; while ((foundAt = strstr(readFrom, find.buffer)) != NULL) { unsigned int n = foundAt - readFrom; memcpy(writeTo, readFrom, n); writeTo += n; memcpy(writeTo, replace.buffer, replace.len); writeTo += replace.len; readFrom = foundAt + find.len; len += diff; } strcpy(writeTo, readFrom); } else { unsigned int size = len; // compute size needed for result while ((foundAt = strstr(readFrom, find.buffer)) != NULL) { readFrom = foundAt + find.len; size += diff; } if (size == len) return; if (size > capacity && !changeBuffer(size)) return; // XXX: tell user! int index = len - 1; while (index >= 0 && (index = lastIndexOf(find, index)) >= 0) { readFrom = buffer + index + find.len; memmove(readFrom + diff, readFrom, len - (readFrom - buffer)); len += diff; buffer[len] = 0; memcpy(buffer + index, replace.buffer, replace.len); index--; } } } void String::remove(unsigned int index){ // Pass the biggest integer as the count. The remove method // below will take care of truncating it at the end of the // string. remove(index, (unsigned int)-1); } void String::remove(unsigned int index, unsigned int count){ if (index >= len) { return; } if (count <= 0) { return; } if (count > len - index) { count = len - index; } char *writeTo = buffer + index; len = len - count; strncpy(writeTo, buffer + index + count,len - index); buffer[len] = 0; } void String::toLowerCase(void) { if (!buffer) return; for (char *p = buffer; *p; p++) { *p = tolower(*p); } } void String::toUpperCase(void) { if (!buffer) return; for (char *p = buffer; *p; p++) { *p = toupper(*p); } } void String::trim(void) { if (!buffer || len == 0) return; char *begin = buffer; while (isspace(*begin)) begin++; char *end = buffer + len - 1; while (isspace(*end) && end >= begin) end--; len = end + 1 - begin; if (begin > buffer) memcpy(buffer, begin, len); buffer[len] = 0; } /*********************************************/ /* Parsing / Conversion */ /*********************************************/ long String::toInt(void) const { if (buffer) return atol(buffer); return 0; } float String::toFloat(void) const { if (buffer) return float(atof(buffer)); return 0; } ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/WString.h ================================================ /* WString.h - String library for Wiring & Arduino ...mostly rewritten by Paul Stoffregen... Copyright (c) 2009-10 Hernando Barragan. All right reserved. Copyright 2011, Paul Stoffregen, paul@pjrc.com This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #ifndef String_class_h #define String_class_h #ifdef __cplusplus #include #include #include #include // When compiling programs with this class, the following gcc parameters // dramatically increase performance and memory (RAM) efficiency, typically // with little or no increase in code size. // -felide-constructors // -std=c++0x class __FlashStringHelper; #define F(string_literal) (reinterpret_cast(PSTR(string_literal))) // An inherited class for holding the result of a concatenation. These // result objects are assumed to be writable by subsequent concatenations. class StringSumHelper; // The string class class String { // use a function pointer to allow for "if (s)" without the // complications of an operator bool(). for more information, see: // http://www.artima.com/cppsource/safebool.html typedef void (String::*StringIfHelperType)() const; void StringIfHelper() const {} public: // constructors // creates a copy of the initial value. // if the initial value is null or invalid, or if memory allocation // fails, the string will be marked as invalid (i.e. "if (s)" will // be false). String(const char *cstr = ""); String(const String &str); String(const __FlashStringHelper *str); #ifdef __GXX_EXPERIMENTAL_CXX0X__ String(String &&rval); String(StringSumHelper &&rval); #endif explicit String(char c); explicit String(unsigned char, unsigned char base=10); explicit String(int, unsigned char base=10); explicit String(unsigned int, unsigned char base=10); explicit String(long, unsigned char base=10); explicit String(unsigned long, unsigned char base=10); explicit String(float, unsigned char decimalPlaces=2); explicit String(double, unsigned char decimalPlaces=2); ~String(void); // memory management // return true on success, false on failure (in which case, the string // is left unchanged). reserve(0), if successful, will validate an // invalid string (i.e., "if (s)" will be true afterwards) unsigned char reserve(unsigned int size); inline unsigned int length(void) const {return len;} // creates a copy of the assigned value. if the value is null or // invalid, or if the memory allocation fails, the string will be // marked as invalid ("if (s)" will be false). String & operator = (const String &rhs); String & operator = (const char *cstr); String & operator = (const __FlashStringHelper *str); #ifdef __GXX_EXPERIMENTAL_CXX0X__ String & operator = (String &&rval); String & operator = (StringSumHelper &&rval); #endif // concatenate (works w/ built-in types) // returns true on success, false on failure (in which case, the string // is left unchanged). if the argument is null or invalid, the // concatenation is considered unsucessful. unsigned char concat(const String &str); unsigned char concat(const char *cstr); unsigned char concat(char c); unsigned char concat(unsigned char c); unsigned char concat(int num); unsigned char concat(unsigned int num); unsigned char concat(long num); unsigned char concat(unsigned long num); unsigned char concat(float num); unsigned char concat(double num); unsigned char concat(const __FlashStringHelper * str); // if there's not enough memory for the concatenated value, the string // will be left unchanged (but this isn't signalled in any way) String & operator += (const String &rhs) {concat(rhs); return (*this);} String & operator += (const char *cstr) {concat(cstr); return (*this);} String & operator += (char c) {concat(c); return (*this);} String & operator += (unsigned char num) {concat(num); return (*this);} String & operator += (int num) {concat(num); return (*this);} String & operator += (unsigned int num) {concat(num); return (*this);} String & operator += (long num) {concat(num); return (*this);} String & operator += (unsigned long num) {concat(num); return (*this);} String & operator += (float num) {concat(num); return (*this);} String & operator += (double num) {concat(num); return (*this);} String & operator += (const __FlashStringHelper *str){concat(str); return (*this);} friend StringSumHelper & operator + (const StringSumHelper &lhs, const String &rhs); #if 1 friend StringSumHelper & operator + (const StringSumHelper &lhs, const char *cstr); friend StringSumHelper & operator + (const StringSumHelper &lhs, char c); friend StringSumHelper & operator + (const StringSumHelper &lhs, unsigned char num); friend StringSumHelper & operator + (const StringSumHelper &lhs, int num); friend StringSumHelper & operator + (const StringSumHelper &lhs, unsigned int num); friend StringSumHelper & operator + (const StringSumHelper &lhs, long num); friend StringSumHelper & operator + (const StringSumHelper &lhs, unsigned long num); friend StringSumHelper & operator + (const StringSumHelper &lhs, float num); friend StringSumHelper & operator + (const StringSumHelper &lhs, double num); friend StringSumHelper & operator + (const StringSumHelper &lhs, const __FlashStringHelper *rhs); #endif // comparison (only works w/ Strings and "strings") operator StringIfHelperType() const { return buffer ? &String::StringIfHelper : 0; } int compareTo(const String &s) const; unsigned char equals(const String &s) const; unsigned char equals(const char *cstr) const; unsigned char operator == (const String &rhs) const {return equals(rhs);} unsigned char operator == (const char *cstr) const {return equals(cstr);} unsigned char operator != (const String &rhs) const {return !equals(rhs);} unsigned char operator != (const char *cstr) const {return !equals(cstr);} unsigned char operator < (const String &rhs) const; unsigned char operator > (const String &rhs) const; unsigned char operator <= (const String &rhs) const; unsigned char operator >= (const String &rhs) const; unsigned char equalsIgnoreCase(const String &s) const; unsigned char startsWith( const String &prefix) const; unsigned char startsWith(const String &prefix, unsigned int offset) const; unsigned char endsWith(const String &suffix) const; // character acccess char charAt(unsigned int index) const; void setCharAt(unsigned int index, char c); char operator [] (unsigned int index) const; char& operator [] (unsigned int index); void getBytes(unsigned char *buf, unsigned int bufsize, unsigned int index=0) const; void toCharArray(char *buf, unsigned int bufsize, unsigned int index=0) const {getBytes((unsigned char *)buf, bufsize, index);} const char * c_str() const { return buffer; } // search int indexOf( char ch ) const; int indexOf( char ch, unsigned int fromIndex ) const; int indexOf( const String &str ) const; int indexOf( const String &str, unsigned int fromIndex ) const; int lastIndexOf( char ch ) const; int lastIndexOf( char ch, unsigned int fromIndex ) const; int lastIndexOf( const String &str ) const; int lastIndexOf( const String &str, unsigned int fromIndex ) const; String substring( unsigned int beginIndex ) const { return substring(beginIndex, len); }; String substring( unsigned int beginIndex, unsigned int endIndex ) const; // modification void replace(char find, char replace); void replace(const String& find, const String& replace); void remove(unsigned int index); void remove(unsigned int index, unsigned int count); void toLowerCase(void); void toUpperCase(void); void trim(void); // parsing/conversion long toInt(void) const; float toFloat(void) const; protected: char *buffer; // the actual char array unsigned int capacity; // the array length minus one (for the '\0') unsigned int len; // the String length (not counting the '\0') protected: void init(void); void invalidate(void); unsigned char changeBuffer(unsigned int maxStrLen); unsigned char concat(const char *cstr, unsigned int length); // copy and move String & copy(const char *cstr, unsigned int length); String & copy(const __FlashStringHelper *pstr, unsigned int length); #ifdef __GXX_EXPERIMENTAL_CXX0X__ void move(String &rhs); #endif }; class StringSumHelper : public String { public: StringSumHelper(const String &s) : String(s) {} StringSumHelper(const char *p) : String(p) {} StringSumHelper(char c) : String(c) {} StringSumHelper(unsigned char num) : String(num) {} StringSumHelper(int num) : String(num) {} StringSumHelper(unsigned int num) : String(num) {} StringSumHelper(long num) : String(num) {} StringSumHelper(unsigned long num) : String(num) {} StringSumHelper(float num) : String(num) {} StringSumHelper(double num) : String(num) {} }; #endif // __cplusplus #endif // String_class_h ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/avr/dtostrf.c ================================================ /* dtostrf - Emulation for dtostrf function from avr-libc Copyright (c) 2013 Arduino. All rights reserved. Written by Cristian Maglie This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #include #include #include char *dtostrf (double val, signed char width, unsigned char prec, char *sout) { int val_int = (int)val; int decimal_value = (int)(val * pow(10, prec)) - val_int * pow(10, prec); sprintf(sout, "%d.%d", val_int, abs(decimal_value)); return sout; } ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/avr/dtostrf.h ================================================ /* dtostrf - Emulation for dtostrf function from avr-libc Copyright (c) 2013 Arduino. All rights reserved. Written by Cristian Maglie This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #ifdef __cplusplus extern "C" { #endif char *dtostrf (double val, signed char width, unsigned char prec, char *sout); #ifdef __cplusplus } #endif ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/avr/interrupt.h ================================================ ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/avr/pgmspace.h ================================================ #ifndef __PGMSPACE_H_ #define __PGMSPACE_H_ 1 #include #define PROGMEM #define PGM_P const char * #define PSTR(str) (str) #define _SFR_BYTE(n) (n) typedef void prog_void; typedef char prog_char; typedef unsigned char prog_uchar; typedef int8_t prog_int8_t; typedef uint8_t prog_uint8_t; typedef int16_t prog_int16_t; typedef uint16_t prog_uint16_t; typedef int32_t prog_int32_t; typedef uint32_t prog_uint32_t; #define memcpy_P(dest, src, num) memcpy((dest), (src), (num)) #define strcpy_P(dest, src) strcpy((dest), (src)) #define strcat_P(dest, src) strcat((dest), (src)) #define strcmp_P(a, b) strcmp((a), (b)) #define strstr_P(a, b) strstr((a), (b)) #define strlen_P(a) strlen((a)) #define sprintf_P(s, f, ...) sprintf((s), (f), __VA_ARGS__) #define pgm_read_byte(addr) (*(const unsigned char *)(addr)) #define pgm_read_word(addr) (*(const unsigned short *)(addr)) #define pgm_read_dword(addr) (*(const unsigned long *)(addr)) #define pgm_read_float(addr) (*(const float *)(addr)) #define pgm_read_byte_near(addr) pgm_read_byte(addr) #define pgm_read_word_near(addr) pgm_read_word(addr) #define pgm_read_dword_near(addr) pgm_read_dword(addr) #define pgm_read_float_near(addr) pgm_read_float(addr) #define pgm_read_byte_far(addr) pgm_read_byte(addr) #define pgm_read_word_far(addr) pgm_read_word(addr) #define pgm_read_dword_far(addr) pgm_read_dword(addr) #define pgm_read_float_far(addr) pgm_read_float(addr) #endif ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/binary.h ================================================ /* binary.h - Definitions for binary constants Copyright (c) 2006 David A. Mellis. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #ifndef Binary_h #define Binary_h #define B0 0 #define B00 0 #define B000 0 #define B0000 0 #define B00000 0 #define B000000 0 #define B0000000 0 #define B00000000 0 #define B1 1 #define B01 1 #define B001 1 #define B0001 1 #define B00001 1 #define B000001 1 #define B0000001 1 #define B00000001 1 #define B10 2 #define B010 2 #define B0010 2 #define B00010 2 #define B000010 2 #define B0000010 2 #define B00000010 2 #define B11 3 #define B011 3 #define B0011 3 #define B00011 3 #define B000011 3 #define B0000011 3 #define B00000011 3 #define B100 4 #define B0100 4 #define B00100 4 #define B000100 4 #define B0000100 4 #define B00000100 4 #define B101 5 #define B0101 5 #define B00101 5 #define B000101 5 #define B0000101 5 #define B00000101 5 #define B110 6 #define B0110 6 #define B00110 6 #define B000110 6 #define B0000110 6 #define B00000110 6 #define B111 7 #define B0111 7 #define B00111 7 #define B000111 7 #define B0000111 7 #define B00000111 7 #define B1000 8 #define B01000 8 #define B001000 8 #define B0001000 8 #define B00001000 8 #define B1001 9 #define B01001 9 #define B001001 9 #define B0001001 9 #define B00001001 9 #define B1010 10 #define B01010 10 #define B001010 10 #define B0001010 10 #define B00001010 10 #define B1011 11 #define B01011 11 #define B001011 11 #define B0001011 11 #define B00001011 11 #define B1100 12 #define B01100 12 #define B001100 12 #define B0001100 12 #define B00001100 12 #define B1101 13 #define B01101 13 #define B001101 13 #define B0001101 13 #define B00001101 13 #define B1110 14 #define B01110 14 #define B001110 14 #define B0001110 14 #define B00001110 14 #define B1111 15 #define B01111 15 #define B001111 15 #define B0001111 15 #define B00001111 15 #define B10000 16 #define B010000 16 #define B0010000 16 #define B00010000 16 #define B10001 17 #define B010001 17 #define B0010001 17 #define B00010001 17 #define B10010 18 #define B010010 18 #define B0010010 18 #define B00010010 18 #define B10011 19 #define B010011 19 #define B0010011 19 #define B00010011 19 #define B10100 20 #define B010100 20 #define B0010100 20 #define B00010100 20 #define B10101 21 #define B010101 21 #define B0010101 21 #define B00010101 21 #define B10110 22 #define B010110 22 #define B0010110 22 #define B00010110 22 #define B10111 23 #define B010111 23 #define B0010111 23 #define B00010111 23 #define B11000 24 #define B011000 24 #define B0011000 24 #define B00011000 24 #define B11001 25 #define B011001 25 #define B0011001 25 #define B00011001 25 #define B11010 26 #define B011010 26 #define B0011010 26 #define B00011010 26 #define B11011 27 #define B011011 27 #define B0011011 27 #define B00011011 27 #define B11100 28 #define B011100 28 #define B0011100 28 #define B00011100 28 #define B11101 29 #define B011101 29 #define B0011101 29 #define B00011101 29 #define B11110 30 #define B011110 30 #define B0011110 30 #define B00011110 30 #define B11111 31 #define B011111 31 #define B0011111 31 #define B00011111 31 #define B100000 32 #define B0100000 32 #define B00100000 32 #define B100001 33 #define B0100001 33 #define B00100001 33 #define B100010 34 #define B0100010 34 #define B00100010 34 #define B100011 35 #define B0100011 35 #define B00100011 35 #define B100100 36 #define B0100100 36 #define B00100100 36 #define B100101 37 #define B0100101 37 #define B00100101 37 #define B100110 38 #define B0100110 38 #define B00100110 38 #define B100111 39 #define B0100111 39 #define B00100111 39 #define B101000 40 #define B0101000 40 #define B00101000 40 #define B101001 41 #define B0101001 41 #define B00101001 41 #define B101010 42 #define B0101010 42 #define B00101010 42 #define B101011 43 #define B0101011 43 #define B00101011 43 #define B101100 44 #define B0101100 44 #define B00101100 44 #define B101101 45 #define B0101101 45 #define B00101101 45 #define B101110 46 #define B0101110 46 #define B00101110 46 #define B101111 47 #define B0101111 47 #define B00101111 47 #define B110000 48 #define B0110000 48 #define B00110000 48 #define B110001 49 #define B0110001 49 #define B00110001 49 #define B110010 50 #define B0110010 50 #define B00110010 50 #define B110011 51 #define B0110011 51 #define B00110011 51 #define B110100 52 #define B0110100 52 #define B00110100 52 #define B110101 53 #define B0110101 53 #define B00110101 53 #define B110110 54 #define B0110110 54 #define B00110110 54 #define B110111 55 #define B0110111 55 #define B00110111 55 #define B111000 56 #define B0111000 56 #define B00111000 56 #define B111001 57 #define B0111001 57 #define B00111001 57 #define B111010 58 #define B0111010 58 #define B00111010 58 #define B111011 59 #define B0111011 59 #define B00111011 59 #define B111100 60 #define B0111100 60 #define B00111100 60 #define B111101 61 #define B0111101 61 #define B00111101 61 #define B111110 62 #define B0111110 62 #define B00111110 62 #define B111111 63 #define B0111111 63 #define B00111111 63 #define B1000000 64 #define B01000000 64 #define B1000001 65 #define B01000001 65 #define B1000010 66 #define B01000010 66 #define B1000011 67 #define B01000011 67 #define B1000100 68 #define B01000100 68 #define B1000101 69 #define B01000101 69 #define B1000110 70 #define B01000110 70 #define B1000111 71 #define B01000111 71 #define B1001000 72 #define B01001000 72 #define B1001001 73 #define B01001001 73 #define B1001010 74 #define B01001010 74 #define B1001011 75 #define B01001011 75 #define B1001100 76 #define B01001100 76 #define B1001101 77 #define B01001101 77 #define B1001110 78 #define B01001110 78 #define B1001111 79 #define B01001111 79 #define B1010000 80 #define B01010000 80 #define B1010001 81 #define B01010001 81 #define B1010010 82 #define B01010010 82 #define B1010011 83 #define B01010011 83 #define B1010100 84 #define B01010100 84 #define B1010101 85 #define B01010101 85 #define B1010110 86 #define B01010110 86 #define B1010111 87 #define B01010111 87 #define B1011000 88 #define B01011000 88 #define B1011001 89 #define B01011001 89 #define B1011010 90 #define B01011010 90 #define B1011011 91 #define B01011011 91 #define B1011100 92 #define B01011100 92 #define B1011101 93 #define B01011101 93 #define B1011110 94 #define B01011110 94 #define B1011111 95 #define B01011111 95 #define B1100000 96 #define B01100000 96 #define B1100001 97 #define B01100001 97 #define B1100010 98 #define B01100010 98 #define B1100011 99 #define B01100011 99 #define B1100100 100 #define B01100100 100 #define B1100101 101 #define B01100101 101 #define B1100110 102 #define B01100110 102 #define B1100111 103 #define B01100111 103 #define B1101000 104 #define B01101000 104 #define B1101001 105 #define B01101001 105 #define B1101010 106 #define B01101010 106 #define B1101011 107 #define B01101011 107 #define B1101100 108 #define B01101100 108 #define B1101101 109 #define B01101101 109 #define B1101110 110 #define B01101110 110 #define B1101111 111 #define B01101111 111 #define B1110000 112 #define B01110000 112 #define B1110001 113 #define B01110001 113 #define B1110010 114 #define B01110010 114 #define B1110011 115 #define B01110011 115 #define B1110100 116 #define B01110100 116 #define B1110101 117 #define B01110101 117 #define B1110110 118 #define B01110110 118 #define B1110111 119 #define B01110111 119 #define B1111000 120 #define B01111000 120 #define B1111001 121 #define B01111001 121 #define B1111010 122 #define B01111010 122 #define B1111011 123 #define B01111011 123 #define B1111100 124 #define B01111100 124 #define B1111101 125 #define B01111101 125 #define B1111110 126 #define B01111110 126 #define B1111111 127 #define B01111111 127 #define B10000000 128 #define B10000001 129 #define B10000010 130 #define B10000011 131 #define B10000100 132 #define B10000101 133 #define B10000110 134 #define B10000111 135 #define B10001000 136 #define B10001001 137 #define B10001010 138 #define B10001011 139 #define B10001100 140 #define B10001101 141 #define B10001110 142 #define B10001111 143 #define B10010000 144 #define B10010001 145 #define B10010010 146 #define B10010011 147 #define B10010100 148 #define B10010101 149 #define B10010110 150 #define B10010111 151 #define B10011000 152 #define B10011001 153 #define B10011010 154 #define B10011011 155 #define B10011100 156 #define B10011101 157 #define B10011110 158 #define B10011111 159 #define B10100000 160 #define B10100001 161 #define B10100010 162 #define B10100011 163 #define B10100100 164 #define B10100101 165 #define B10100110 166 #define B10100111 167 #define B10101000 168 #define B10101001 169 #define B10101010 170 #define B10101011 171 #define B10101100 172 #define B10101101 173 #define B10101110 174 #define B10101111 175 #define B10110000 176 #define B10110001 177 #define B10110010 178 #define B10110011 179 #define B10110100 180 #define B10110101 181 #define B10110110 182 #define B10110111 183 #define B10111000 184 #define B10111001 185 #define B10111010 186 #define B10111011 187 #define B10111100 188 #define B10111101 189 #define B10111110 190 #define B10111111 191 #define B11000000 192 #define B11000001 193 #define B11000010 194 #define B11000011 195 #define B11000100 196 #define B11000101 197 #define B11000110 198 #define B11000111 199 #define B11001000 200 #define B11001001 201 #define B11001010 202 #define B11001011 203 #define B11001100 204 #define B11001101 205 #define B11001110 206 #define B11001111 207 #define B11010000 208 #define B11010001 209 #define B11010010 210 #define B11010011 211 #define B11010100 212 #define B11010101 213 #define B11010110 214 #define B11010111 215 #define B11011000 216 #define B11011001 217 #define B11011010 218 #define B11011011 219 #define B11011100 220 #define B11011101 221 #define B11011110 222 #define B11011111 223 #define B11100000 224 #define B11100001 225 #define B11100010 226 #define B11100011 227 #define B11100100 228 #define B11100101 229 #define B11100110 230 #define B11100111 231 #define B11101000 232 #define B11101001 233 #define B11101010 234 #define B11101011 235 #define B11101100 236 #define B11101101 237 #define B11101110 238 #define B11101111 239 #define B11110000 240 #define B11110001 241 #define B11110010 242 #define B11110011 243 #define B11110100 244 #define B11110101 245 #define B11110110 246 #define B11110111 247 #define B11111000 248 #define B11111001 249 #define B11111010 250 #define B11111011 251 #define B11111100 252 #define B11111101 253 #define B11111110 254 #define B11111111 255 #endif ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/digitalWriteFast.h ================================================ /* digitalWriteFast.h - A faster digitalWrite and digitalRead ...based partially on digitalWrite fast code by Paul Stoffregen, as part of Teensyduino and partially based off of the earlier arduino version http://code.google.com/p/digitalwritefast This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ /* Only want to process this if pin count has been defined which inplies that the full variant.h has been read */ #ifdef PINS_COUNT #ifndef _DIGITAL_WRITE_FAST_ #define _DIGITAL_WRITE_FAST_ #ifdef __cplusplus extern "C" { #endif static inline void digitalWriteFast(uint8_t, uint8_t) __attribute__((always_inline, unused)); static inline void digitalWriteFast(uint8_t pin, uint8_t val) { if (__builtin_constant_p(pin)) { if (val) { if(pin < PINS_COUNT - 1) { g_Pin2PortMapArray[pin].GPIOx_Port->BSRR = g_Pin2PortMapArray[pin].Pin_abstraction; } } else { if (pin < PINS_COUNT - 1) { g_Pin2PortMapArray[pin].GPIOx_Port->BSRR = (g_Pin2PortMapArray[pin].Pin_abstraction << 16); } } } else { digitalWrite(pin, val); } } static inline int digitalReadFast(uint8_t) __attribute__((always_inline, unused)); static inline int digitalReadFast(uint8_t pin) { if (__builtin_constant_p(pin)) { if (pin < PINS_COUNT - 1) { return (g_Pin2PortMapArray[pin].GPIOx_Port->IDR & g_Pin2PortMapArray[pin].Pin_abstraction)? HIGH : LOW; } } return digitalRead(pin); } #ifdef __cplusplus } // extern "C" #endif // __cplusplus #endif /* _DIGITAL_WRITE_FAST_ */ #endif /* PINS_COUNT */ ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/itoa.c ================================================ /* Copyright (c) 2011 Arduino. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #include "itoa.h" #include #ifdef __cplusplus extern "C"{ #endif // __cplusplus extern char* itoa( int value, char *string, int radix ) { return ltoa( value, string, radix ) ; } extern char* ltoa( long value, char *string, int radix ) { char tmp[33]; char *tp = tmp; long i; unsigned long v; int sign; char *sp; if ( string == NULL ) { return 0 ; } if (radix > 36 || radix <= 1) { return 0 ; } sign = (radix == 10 && value < 0); if (sign) { v = -value; } else { v = (unsigned long)value; } while (v || tp == tmp) { i = v % radix; v = v / radix; if (i < 10) *tp++ = i+'0'; else *tp++ = i + 'a' - 10; } sp = string; if (sign) *sp++ = '-'; while (tp > tmp) *sp++ = *--tp; *sp = 0; return string; } extern char* utoa( unsigned long value, char *string, int radix ) { return ultoa( value, string, radix ) ; } extern char* ultoa( unsigned long value, char *string, int radix ) { char tmp[33]; char *tp = tmp; long i; unsigned long v = value; char *sp; if ( string == NULL ) { return 0; } if (radix > 36 || radix <= 1) { return 0; } while (v || tp == tmp) { i = v % radix; v = v / radix; if (i < 10) *tp++ = i+'0'; else *tp++ = i + 'a' - 10; } sp = string; while (tp > tmp) *sp++ = *--tp; *sp = 0; return string; } #ifdef __cplusplus } // extern "C" #endif // __cplusplus ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/itoa.h ================================================ /* Copyright (c) 2011 Arduino. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #ifndef _ITOA_ #define _ITOA_ #ifdef __cplusplus extern "C"{ #endif // __cplusplus #if 0 extern void itoa( int n, char s[] ) ; #else extern char* itoa( int value, char *string, int radix ) ; extern char* ltoa( long value, char *string, int radix ) ; //extern char* utoa( unsigned long value, char *string, int radix ) ; extern char* ultoa( unsigned long value, char *string, int radix ) ; #endif /* 0 */ #ifdef __cplusplus } // extern "C" #endif // __cplusplus #endif // _ITOA_ ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/new.cpp ================================================ /* Copyright (c) 2014 Arduino. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #include void *operator new(size_t size) { return malloc(size); } void *operator new[](size_t size) { return malloc(size); } void operator delete(void * ptr) { free(ptr); } void operator delete[](void * ptr) { free(ptr); } ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/syscalls.h ================================================ /* Copyright (c) 2011 Arduino. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ /** * \file syscalls.h * * Implementation of newlib syscall. * */ /*---------------------------------------------------------------------------- * Headers *----------------------------------------------------------------------------*/ #include #include #include #include /*---------------------------------------------------------------------------- * Exported functions *----------------------------------------------------------------------------*/ #ifdef __cplusplus extern "C" { #endif extern caddr_t _sbrk( int incr ) ; extern int link( char *cOld, char *cNew ) ; extern int _close( int file ) ; extern int _fstat( int file, struct stat *st ) ; extern int _isatty( int file ) ; extern int _lseek( int file, int ptr, int dir ) ; extern int _read(int file, char *ptr, int len) ; extern int _write( int file, char *ptr, int len ) ; #ifdef __cplusplus } #endif ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/wiring.c ================================================ /* Copyright (c) 2011 Arduino. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #include "Arduino.h" #include "drv_micros.h" #ifdef __cplusplus extern "C" { #endif /* There is enough abstract similarity to Arduino that for some of these we can just do the function with a define in the chip.h header #define millis HAL_GetTick #define delay HAL_Delay */ /* Not sure how to do micros when the system clock ticks in milliseconds */ uint32_t micros( void ) { return drv_micros(); } #ifdef __cplusplus } #endif ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/wiring.h ================================================ /* Copyright (c) 2011 Arduino. All right reserved. Copyright (c) 2013 by Paul Stoffregen (delayMicroseconds) This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #ifndef _WIRING_ #define _WIRING_ #ifdef __cplusplus extern "C" { #endif /** * */ extern void initVariant( void ) ; extern void init( void ) ; /** * \brief Returns the number of milliseconds since the Arduino board began running the current program. * * This number will overflow (go back to zero), after approximately 50 days. * * \return Number of milliseconds since the program started (uint32_t) */ extern uint32_t millis( void ) ; /** * \brief Returns the number of microseconds since the Arduino board began running the current program. * * This number will overflow (go back to zero), after approximately 70 minutes. On 16 MHz Arduino boards * (e.g. Duemilanove and Nano), this function has a resolution of four microseconds (i.e. the value returned is * always a multiple of four). On 8 MHz Arduino boards (e.g. the LilyPad), this function has a resolution * of eight microseconds. * * \note There are 1,000 microseconds in a millisecond and 1,000,000 microseconds in a second. */ extern uint32_t micros( void ) ; /** * \brief Pauses the program for the amount of time (in miliseconds) specified as parameter. * (There are 1000 milliseconds in a second.) * * \param dwMs the number of milliseconds to pause (uint32_t) */ extern void delay( uint32_t dwMs ) ; /** * \brief Pauses the program for the amount of time (in microseconds) specified as parameter. * * \param dwUs the number of microseconds to pause (uint32_t) */ static inline void delayMicroseconds(uint32_t) __attribute__((always_inline, unused)); static inline void delayMicroseconds(uint32_t usec){ uint32_t tTime; tTime = micros(); while( (micros()-tTime) < usec ); } #ifdef __cplusplus } #endif #endif /* _WIRING_ */ ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/wiring_analog.c ================================================ /* Copyright (c) 2011 Arduino. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #include "Arduino.h" #include "variant.h" uint8_t analog_reference = DEFAULT; static int _readResolution = 10; static int _writeResolution = 8; int readResolBackup = -1; int writeResolBackup = -1; void analogReadResolution(int res) { _readResolution = res; } void analogWriteResolution(int res) { _writeResolution = res; } static inline uint32_t mapResolution(uint32_t value, uint32_t from, uint32_t to) { if (from == to) return value; if (from > to) return value >> (from-to); else return value << (to-from); } void analogReference(uint8_t mode){ analog_reference = mode; } uint32_t analogRead( uint32_t ulPin ){ ADC_ChannelConfTypeDef sConfig; ADC_HandleTypeDef *hADCx; uint32_t ulValue = 0; uint32_t ulChannel; uint32_t adc_pin; adc_pin = analogPinToChannel(ulPin); ulChannel = g_Pin2PortMapArray[adc_pin].adc_channel; if(ulChannel == NO_ADC) return -1; hADCx = g_Pin2PortMapArray[adc_pin].ADCx; sConfig.Channel = ulChannel; sConfig.Rank = 1; sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES; sConfig.Offset = 0; HAL_ADC_ConfigChannel(hADCx, &sConfig); HAL_ADC_Start(hADCx); HAL_ADC_PollForConversion(hADCx, 10); ulValue = HAL_ADC_GetValue(hADCx); ulValue = mapResolution(ulValue, 12, _readResolution); return ulValue; } void analogWrite( uint32_t ulPin, uint32_t ulValue ){ if( drv_pwm_get_init(ulPin) == false ) { drv_pwm_setup(ulPin); } drv_pwm_set_duty(ulPin, _writeResolution, ulValue); } ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/wiring_analog.h ================================================ /* Copyright (c) 2011 Arduino. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #ifndef _WIRING_ANALOG_ #define _WIRING_ANALOG_ //#include "stm32f1xx_hal.h" #ifdef __cplusplus extern "C" { #endif #define MAX_PWM_PIN 32 extern ADC_HandleTypeDef hadc1; extern ADC_HandleTypeDef hadc2; extern TIM_HandleTypeDef htim1; extern TIM_HandleTypeDef htim2; extern TIM_HandleTypeDef htim3; extern TIM_HandleTypeDef htim4; /* * \brief SAM3 products have only one reference for ADC */ typedef enum _eAnalogReference { AR_DEFAULT, } eAnalogReference ; /* * \brief Configures the reference voltage used for analog input (i.e. the value used as the top of the input range). * This function is kept only for compatibility with existing AVR based API. * * \param ulMmode Should be set to AR_DEFAULT. */ extern void analogReference( eAnalogReference ulMode ) ; /* * \brief Writes an analog value (PWM wave) to a pin. * * \param ulPin * \param ulValue */ extern void analogWrite( uint32_t ulPin, uint32_t ulValue ) ; /* * \brief Reads the value from the specified analog pin. * * \param ulPin * * \return Read value from selected pin, if no error. */ extern uint32_t analogRead( uint32_t ulPin ) ; /* * \brief Set the resolution of analogRead return values. Default is 10 bits (range from 0 to 1023). * * \param res */ extern void analogReadResolution(int res); /* * \brief Set the resolution of analogWrite parameters. Default is 8 bits (range from 0 to 255). * * \param res */ extern void analogWriteResolution(int res); extern void analogOutputInit( void ) ; extern void MX_TIMx_Init(uint32_t ulPin); #ifdef __cplusplus } #endif #endif /* _WIRING_ANALOG_ */ ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/wiring_constants.h ================================================ /* Copyright (c) 2011 Arduino. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #ifndef _WIRING_CONSTANTS_ #define _WIRING_CONSTANTS_ #ifdef __cplusplus extern "C"{ #endif // __cplusplus #define HIGH 0x1 #define LOW 0x0 #define INPUT 0x0 #define OUTPUT 0x1 #define INPUT_PULLUP 0x2 #define INPUT_ANALOG 0x3 #define INPUT_PULLDOWN 0x4 #define OUTPUT_OPEN 0x5 //#define true 0x1 //#define false 0x0 #define PI 3.1415926535897932384626433832795 #define HALF_PI 1.5707963267948966192313216916398 #define TWO_PI 6.283185307179586476925286766559 #define DEG_TO_RAD 0.017453292519943295769236907684886 #define RAD_TO_DEG 57.295779513082320876798154814105 #define EULER 2.718281828459045235360287471352 #define SERIAL 0x0 #define DISPLAY 0x1 enum BitOrder { LSBFIRST = 0, MSBFIRST = 1 }; // LOW 0 // HIGH 1 #define CHANGE 2 #define FALLING 3 #define RISING 4 #define DEFAULT 1 #define EXTERNAL 0 // undefine stdlib's abs if encountered #ifdef abs #undef abs #endif // abs #ifndef min #define min(a,b) ((a)<(b)?(a):(b)) #endif // min #ifndef max #define max(a,b) ((a)>(b)?(a):(b)) #endif // max #define abs(x) ((x)>0?(x):-(x)) #define constrain(amt,low,high) ((amt)<=(low)?(low):((amt)>=(high)?(high):(amt))) //#define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5)) #define radians(deg) ((deg)*DEG_TO_RAD) #define degrees(rad) ((rad)*RAD_TO_DEG) #define sq(x) ((x)*(x)) #define interrupts() __enable_irq() #define noInterrupts() __disable_irq() #define lowByte(w) ((uint8_t) ((w) & 0xff)) #define highByte(w) ((uint8_t) ((w) >> 8)) #define bitRead(value, bit) (((value) >> (bit)) & 0x01) #define bitSet(value, bit) ((value) |= (1UL << (bit))) #define bitClear(value, bit) ((value) &= ~(1UL << (bit))) #define bitWrite(value, bit, bitvalue) (bitvalue ? bitSet(value, bit) : bitClear(value, bit)) typedef unsigned int word; #define bit(b) (1UL << (b)) typedef bool boolean ; typedef uint8_t byte ; #ifdef __cplusplus } // extern "C" #endif // __cplusplus #endif /* _WIRING_CONSTANTS_ */ ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/wiring_digital.c ================================================ /* Copyright (c) 2011 Arduino. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #include "Arduino.h" #include "variant.h" #ifdef __cplusplus extern "C" { #endif /* the HAL drivers for STM32 do no access the registers directly opaque structures are used to abstract the functions needed existing STM examples show this defined locally a static 'static GPIO_InitTypeDef GPIO_InitStruct;' value which we set here. This is different than the way maple and sam set the pins as they use a global array that contains device specific register setting values GPIO_InitTypeDef has the following members defined in stm32f4xx_hal_gpio.h: uint32_t Pin Specifies the GPIO pins to be configured. typically a bitmapped mask that can be stored in a 16 bit value uint32_t Mode Specifies the operating mode for the selected pins. There are a number of modes that can be defined. GPIO_MODE_INPUT Input Floating Mode GPIO_MODE_OUTPUT_PP Output Push Pull Mode GPIO_MODE_OUTPUT_OD Output Open Drain Mode GPIO_MODE_AF_PP Alternate Function Push Pull Mode GPIO_MODE_AF_OD Alternate Function Open Drain Mode GPIO_MODE_ANALOG Analog Mode GPIO_MODE_IT_RISING External Interrupt Mode with Rising edge trigger detection GPIO_MODE_IT_FALLING External Interrupt Mode with Falling edge trigger detection GPIO_MODE_IT_RISING_FALLING External Interrupt Mode with Rising/Falling edge trigger detection GPIO_MODE_EVT_RISING External Event Mode with Rising edge trigger detection GPIO_MODE_EVT_FALLING External Event Mode with Falling edge trigger detection GPIO_MODE_EVT_RISING_FALLING External Event Mode with Rising/Falling edge trigger detection uint32_t Pull Specifies the Pull-up or Pull-Down activation for the selected pins. GPIO_NOPULL No Pull-up or Pull-down activation GPIO_PULLUP Pull-up activation GPIO_PULLDOWN Pull-down activation uint32_t Speed Specifies the speed for the selected pins. GPIO_SPEED_LOW Low speed GPIO_SPEED_MEDIUM Medium speed GPIO_SPEED_FAST Fast speed GPIO_SPEED_HIGH High speed uint32_t Alternate Peripheral to be connected to the selected pins. these are defined in stm32f4xx_hal_gpio_ex.h not all calls to HAL_GPIO_Init require this value to be set in the existing example code */ extern void pinMode( uint32_t ulPin, uint32_t ulMode ) { GPIO_InitTypeDef GPIO_InitStruct; GPIO_InitStruct.Pin = g_Pin2PortMapArray[ulPin].Pin_abstraction; drv_pwm_release(ulPin); switch ( ulMode ) { case INPUT: GPIO_InitStruct.Mode = GPIO_MODE_INPUT; GPIO_InitStruct.Pull = GPIO_NOPULL; break ; case INPUT_PULLUP: GPIO_InitStruct.Mode = GPIO_MODE_INPUT; GPIO_InitStruct.Pull = GPIO_PULLUP; break ; case INPUT_PULLDOWN: GPIO_InitStruct.Mode = GPIO_MODE_INPUT; GPIO_InitStruct.Pull = GPIO_PULLDOWN; break; case OUTPUT: GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; break ; case OUTPUT_OPEN: GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD; GPIO_InitStruct.Pull = GPIO_NOPULL; break; case INPUT_ANALOG: drv_adc_pin_init(ulPin); break; default: break ; } if( ulMode != INPUT_ANALOG ) { GPIO_InitStruct.Speed = GPIO_SPEED_HIGH; HAL_GPIO_Init(g_Pin2PortMapArray[ulPin].GPIOx_Port, &GPIO_InitStruct); } } extern void digitalWrite( uint32_t ulPin, uint32_t ulVal ) { switch(ulVal) { case HIGH: /* AVR allows for the writing of inputs to set the pull up state we may want to do this here as well to maintain compatibility. */ HAL_GPIO_WritePin(g_Pin2PortMapArray[ulPin].GPIOx_Port,g_Pin2PortMapArray[ulPin].Pin_abstraction,GPIO_PIN_SET); break; case LOW: /* simply reset the pin */ HAL_GPIO_WritePin(g_Pin2PortMapArray[ulPin].GPIOx_Port,g_Pin2PortMapArray[ulPin].Pin_abstraction,GPIO_PIN_RESET); break; default: /* should do an assert here to handle error conditions */ break; } } extern int digitalRead( uint32_t ulPin ) { if(HAL_GPIO_ReadPin(g_Pin2PortMapArray[ulPin].GPIOx_Port,g_Pin2PortMapArray[ulPin].Pin_abstraction) == GPIO_PIN_RESET) { return LOW; // Set from HIGH to LOW by Vassilis Serasidis } return HIGH ; // Set from LOW to HIGH by Vassilis Serasidis } #ifdef __cplusplus } #endif ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/wiring_digital.h ================================================ /* Copyright (c) 2011 Arduino. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #ifndef _WIRING_DIGITAL_ #define _WIRING_DIGITAL_ #ifdef __cplusplus extern "C" { #endif /** * \brief Configures the specified pin to behave either as an input or an output. See the description of digital pins for details. * * \param ulPin The number of the pin whose mode you wish to set * \param ulMode Either INPUT or OUTPUT */ extern void pinMode( uint32_t dwPin, uint32_t dwMode ) ; /** * \brief Write a HIGH or a LOW value to a digital pin. * * If the pin has been configured as an OUTPUT with pinMode(), its voltage will be set to the * corresponding value: 5V (or 3.3V on 3.3V boards) for HIGH, 0V (ground) for LOW. * * If the pin is configured as an INPUT, writing a HIGH value with digitalWrite() will enable an internal * 20K pullup resistor (see the tutorial on digital pins). Writing LOW will disable the pullup. The pullup * resistor is enough to light an LED dimly, so if LEDs appear to work, but very dimly, this is a likely * cause. The remedy is to set the pin to an output with the pinMode() function. * * \note Digital pin PIN_LED is harder to use as a digital input than the other digital pins because it has an LED * and resistor attached to it that's soldered to the board on most boards. If you enable its internal 20k pull-up * resistor, it will hang at around 1.7 V instead of the expected 5V because the onboard LED and series resistor * pull the voltage level down, meaning it always returns LOW. If you must use pin PIN_LED as a digital input, use an * external pull down resistor. * * \param dwPin the pin number * \param dwVal HIGH or LOW */ extern void digitalWrite( uint32_t dwPin, uint32_t dwVal ) ; /** * \brief Reads the value from a specified digital pin, either HIGH or LOW. * * \param ulPin The number of the digital pin you want to read (int) * * \return HIGH or LOW */ extern int digitalRead( uint32_t ulPin ) ; #ifdef __cplusplus } #endif #endif /* _WIRING_DIGITAL_ */ ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/wiring_private.h ================================================ /* Copyright (c) 2011 Arduino. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #ifndef WiringPrivate_h #define WiringPrivate_h #include #include #include #ifdef __cplusplus extern "C"{ #endif // Includes Atmel CMSIS #include #include "wiring_constants.h" #ifdef __cplusplus } // extern "C" #include "HardwareSerial.h" #endif #endif ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/wiring_pulse.c ================================================ /* Copyright (c) 2011 Arduino. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #include "Arduino.h" #include "variant.h" /* Measures the length (in microseconds) of a pulse on the pin; state is HIGH * or LOW, the type of pulse to measure. Works on pulses from 2-3 microseconds * to 3 minutes in length, but must be called at least a few dozen microseconds * before the start of the pulse. * * ATTENTION: * this function relies on micros() so cannot be used in noInterrupt() context */ //This function is from pulseInLong func uint32_t pulseIn( uint32_t ulPin, uint32_t state, uint32_t timeout ) { // cache the port and bit of the pin in order to speed up the // pulse width measuring loop and achieve finer resolution. calling // digitalRead() instead yields much coarser resolution. uint16_t bit = g_Pin2PortMapArray[ulPin].Pin_abstraction; unsigned long stateMask = state ? bit : 0; unsigned long startMicros = micros(); // wait for any previous pulse to end while ((g_Pin2PortMapArray[ulPin].GPIOx_Port->IDR & bit) == stateMask) if (micros() - startMicros > timeout) return 0; // wait for the pulse to start while ((g_Pin2PortMapArray[ulPin].GPIOx_Port->IDR & bit) != stateMask) if (micros() - startMicros > timeout) return 0; unsigned long start = micros(); // wait for the pulse to stop while ((g_Pin2PortMapArray[ulPin].GPIOx_Port->IDR & bit) == stateMask){ if (micros() - startMicros > timeout) return 0; } return micros() - start; } ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/wiring_pulse.h ================================================ /* Copyright (c) 2011 Arduino. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #ifndef _WIRING_PULSE_ #define _WIRING_PULSE_ #ifdef __cplusplus extern "C" { #endif /* * \brief Measures the length (in microseconds) of a pulse on the pin; state is HIGH * or LOW, the type of pulse to measure. Works on pulses from 2-3 microseconds * to 3 minutes in length, but must be called at least a few dozen microseconds * before the start of the pulse. */ extern uint32_t pulseIn( uint32_t ulPin, uint32_t ulState, uint32_t ulTimeout = 1000000L ) ; #ifdef __cplusplus } #endif #endif /* _WIRING_PULSE_ */ ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/wiring_shift.c ================================================ /* Copyright (c) 2011 Arduino. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #include "Arduino.h" #ifdef __cplusplus extern "C"{ #endif uint32_t shiftIn( uint32_t ulDataPin, uint32_t ulClockPin, uint32_t ulBitOrder ) { uint8_t value = 0 ; uint8_t i ; for ( i=0 ; i < 8 ; ++i ) { digitalWrite( ulClockPin, HIGH ) ; if ( ulBitOrder == LSBFIRST ) { value |= digitalRead( ulDataPin ) << i ; } else { value |= digitalRead( ulDataPin ) << (7 - i) ; } digitalWrite( ulClockPin, LOW ) ; } return value ; } void shiftOut( uint32_t ulDataPin, uint32_t ulClockPin, uint32_t ulBitOrder, uint32_t ulVal ) { uint8_t i ; for ( i=0 ; i < 8 ; i++ ) { if ( ulBitOrder == LSBFIRST ) { digitalWrite( ulDataPin, !!(ulVal & (1 << i)) ) ; } else { digitalWrite( ulDataPin, !!(ulVal & (1 << (7 - i))) ) ; } digitalWrite( ulClockPin, HIGH ) ; digitalWrite( ulClockPin, LOW ) ; } } #ifdef __cplusplus } // extern "C" #endif ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/wiring_shift.h ================================================ /* Copyright (c) 2011 Arduino. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #ifndef _WIRING_SHIFT_ #define _WIRING_SHIFT_ #ifdef __cplusplus extern "C" { #endif /* * \brief */ extern uint32_t shiftIn( uint32_t ulDataPin, uint32_t ulClockPin, uint32_t ulBitOrder ) ; /* * \brief */ extern void shiftOut( uint32_t ulDataPin, uint32_t ulClockPin, uint32_t ulBitOrder, uint32_t ulVal ) ; #ifdef __cplusplus } #endif #endif /* _WIRING_SHIFT_ */ ================================================ FILE: arduino/opencr_arduino/opencr/cores/arduino/yield.cpp ================================================ #include void yield(void) { //TODO : code implementations }; ================================================ FILE: arduino/opencr_arduino/opencr/keywords.txt ================================================ # OpenCR specific functions Serial4 KEYWORD1 printf KEYWORD2 flushRx KEYWORD2 getBaudRate KEYWORD2 getRxCnt KEYWORD2 getTxCnt KEYWORD2 # Arduino constants # advanced pin states OUTPUT_OPEN LITERAL1 INPUT_PULLDOWN LITERAL1 INPUT_ANALOG LITERAL1 ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Adafruit_GFX.cpp ================================================ /* This is the core graphics library for all our displays, providing a common set of graphics primitives (points, lines, circles, etc.). It needs to be paired with a hardware-specific library for each display device we carry (to handle the lower-level functions). Adafruit invests time and resources providing this open source code, please support Adafruit & open-source hardware by purchasing products from Adafruit! Copyright (c) 2013 Adafruit Industries. All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: - Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. - Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ #include "Adafruit_GFX.h" #include "glcdfont.c" #ifdef __AVR__ #include #elif defined(ESP8266) || defined(ESP32) #include #endif // Many (but maybe not all) non-AVR board installs define macros // for compatibility with existing PROGMEM-reading AVR code. // Do our own checks and defines here for good measure... #ifndef pgm_read_byte #define pgm_read_byte(addr) (*(const unsigned char *)(addr)) #endif #ifndef pgm_read_word #define pgm_read_word(addr) (*(const unsigned short *)(addr)) #endif #ifndef pgm_read_dword #define pgm_read_dword(addr) (*(const unsigned long *)(addr)) #endif // Pointers are a peculiar case...typically 16-bit on AVR boards, // 32 bits elsewhere. Try to accommodate both... #if !defined(__INT_MAX__) || (__INT_MAX__ > 0xFFFF) #define pgm_read_pointer(addr) ((void *)pgm_read_dword(addr)) #else #define pgm_read_pointer(addr) ((void *)pgm_read_word(addr)) #endif #ifndef min #define min(a,b) (((a) < (b)) ? (a) : (b)) #endif #ifndef _swap_int16_t #define _swap_int16_t(a, b) { int16_t t = a; a = b; b = t; } #endif Adafruit_GFX::Adafruit_GFX(int16_t w, int16_t h): WIDTH(w), HEIGHT(h) { _width = WIDTH; _height = HEIGHT; rotation = 0; cursor_y = cursor_x = 0; textsize = 1; textcolor = textbgcolor = 0xFFFF; wrap = true; _cp437 = false; gfxFont = NULL; } // Bresenham's algorithm - thx wikpedia void Adafruit_GFX::writeLine(int16_t x0, int16_t y0, int16_t x1, int16_t y1, uint16_t color) { int16_t steep = abs(y1 - y0) > abs(x1 - x0); if (steep) { _swap_int16_t(x0, y0); _swap_int16_t(x1, y1); } if (x0 > x1) { _swap_int16_t(x0, x1); _swap_int16_t(y0, y1); } int16_t dx, dy; dx = x1 - x0; dy = abs(y1 - y0); int16_t err = dx / 2; int16_t ystep; if (y0 < y1) { ystep = 1; } else { ystep = -1; } for (; x0<=x1; x0++) { if (steep) { writePixel(y0, x0, color); } else { writePixel(x0, y0, color); } err -= dy; if (err < 0) { y0 += ystep; err += dx; } } } void Adafruit_GFX::startWrite(){ // Overwrite in subclasses if desired! } void Adafruit_GFX::writePixel(int16_t x, int16_t y, uint16_t color){ // Overwrite in subclasses if startWrite is defined! drawPixel(x, y, color); } // (x,y) is topmost point; if unsure, calling function // should sort endpoints or call writeLine() instead void Adafruit_GFX::writeFastVLine(int16_t x, int16_t y, int16_t h, uint16_t color) { // Overwrite in subclasses if startWrite is defined! // Can be just writeLine(x, y, x, y+h-1, color); // or writeFillRect(x, y, 1, h, color); drawFastVLine(x, y, h, color); } // (x,y) is leftmost point; if unsure, calling function // should sort endpoints or call writeLine() instead void Adafruit_GFX::writeFastHLine(int16_t x, int16_t y, int16_t w, uint16_t color) { // Overwrite in subclasses if startWrite is defined! // Example: writeLine(x, y, x+w-1, y, color); // or writeFillRect(x, y, w, 1, color); drawFastHLine(x, y, w, color); } void Adafruit_GFX::writeFillRect(int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color) { // Overwrite in subclasses if desired! fillRect(x,y,w,h,color); } void Adafruit_GFX::endWrite(){ // Overwrite in subclasses if startWrite is defined! } // (x,y) is topmost point; if unsure, calling function // should sort endpoints or call drawLine() instead void Adafruit_GFX::drawFastVLine(int16_t x, int16_t y, int16_t h, uint16_t color) { // Update in subclasses if desired! startWrite(); writeLine(x, y, x, y+h-1, color); endWrite(); } // (x,y) is leftmost point; if unsure, calling function // should sort endpoints or call drawLine() instead void Adafruit_GFX::drawFastHLine(int16_t x, int16_t y, int16_t w, uint16_t color) { // Update in subclasses if desired! startWrite(); writeLine(x, y, x+w-1, y, color); endWrite(); } void Adafruit_GFX::fillRect(int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color) { // Update in subclasses if desired! startWrite(); for (int16_t i=x; i y1) _swap_int16_t(y0, y1); drawFastVLine(x0, y0, y1 - y0 + 1, color); } else if(y0 == y1){ if(x0 > x1) _swap_int16_t(x0, x1); drawFastHLine(x0, y0, x1 - x0 + 1, color); } else { startWrite(); writeLine(x0, y0, x1, y1, color); endWrite(); } } // Draw a circle outline void Adafruit_GFX::drawCircle(int16_t x0, int16_t y0, int16_t r, uint16_t color) { int16_t f = 1 - r; int16_t ddF_x = 1; int16_t ddF_y = -2 * r; int16_t x = 0; int16_t y = r; startWrite(); writePixel(x0 , y0+r, color); writePixel(x0 , y0-r, color); writePixel(x0+r, y0 , color); writePixel(x0-r, y0 , color); while (x= 0) { y--; ddF_y += 2; f += ddF_y; } x++; ddF_x += 2; f += ddF_x; writePixel(x0 + x, y0 + y, color); writePixel(x0 - x, y0 + y, color); writePixel(x0 + x, y0 - y, color); writePixel(x0 - x, y0 - y, color); writePixel(x0 + y, y0 + x, color); writePixel(x0 - y, y0 + x, color); writePixel(x0 + y, y0 - x, color); writePixel(x0 - y, y0 - x, color); } endWrite(); } void Adafruit_GFX::drawCircleHelper( int16_t x0, int16_t y0, int16_t r, uint8_t cornername, uint16_t color) { int16_t f = 1 - r; int16_t ddF_x = 1; int16_t ddF_y = -2 * r; int16_t x = 0; int16_t y = r; while (x= 0) { y--; ddF_y += 2; f += ddF_y; } x++; ddF_x += 2; f += ddF_x; if (cornername & 0x4) { writePixel(x0 + x, y0 + y, color); writePixel(x0 + y, y0 + x, color); } if (cornername & 0x2) { writePixel(x0 + x, y0 - y, color); writePixel(x0 + y, y0 - x, color); } if (cornername & 0x8) { writePixel(x0 - y, y0 + x, color); writePixel(x0 - x, y0 + y, color); } if (cornername & 0x1) { writePixel(x0 - y, y0 - x, color); writePixel(x0 - x, y0 - y, color); } } } void Adafruit_GFX::fillCircle(int16_t x0, int16_t y0, int16_t r, uint16_t color) { startWrite(); writeFastVLine(x0, y0-r, 2*r+1, color); fillCircleHelper(x0, y0, r, 3, 0, color); endWrite(); } // Used to do circles and roundrects void Adafruit_GFX::fillCircleHelper(int16_t x0, int16_t y0, int16_t r, uint8_t cornername, int16_t delta, uint16_t color) { int16_t f = 1 - r; int16_t ddF_x = 1; int16_t ddF_y = -2 * r; int16_t x = 0; int16_t y = r; while (x= 0) { y--; ddF_y += 2; f += ddF_y; } x++; ddF_x += 2; f += ddF_x; if (cornername & 0x1) { writeFastVLine(x0+x, y0-y, 2*y+1+delta, color); writeFastVLine(x0+y, y0-x, 2*x+1+delta, color); } if (cornername & 0x2) { writeFastVLine(x0-x, y0-y, 2*y+1+delta, color); writeFastVLine(x0-y, y0-x, 2*x+1+delta, color); } } } // Draw a rectangle void Adafruit_GFX::drawRect(int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color) { startWrite(); writeFastHLine(x, y, w, color); writeFastHLine(x, y+h-1, w, color); writeFastVLine(x, y, h, color); writeFastVLine(x+w-1, y, h, color); endWrite(); } // Draw a rounded rectangle void Adafruit_GFX::drawRoundRect(int16_t x, int16_t y, int16_t w, int16_t h, int16_t r, uint16_t color) { // smarter version startWrite(); writeFastHLine(x+r , y , w-2*r, color); // Top writeFastHLine(x+r , y+h-1, w-2*r, color); // Bottom writeFastVLine(x , y+r , h-2*r, color); // Left writeFastVLine(x+w-1, y+r , h-2*r, color); // Right // draw four corners drawCircleHelper(x+r , y+r , r, 1, color); drawCircleHelper(x+w-r-1, y+r , r, 2, color); drawCircleHelper(x+w-r-1, y+h-r-1, r, 4, color); drawCircleHelper(x+r , y+h-r-1, r, 8, color); endWrite(); } // Fill a rounded rectangle void Adafruit_GFX::fillRoundRect(int16_t x, int16_t y, int16_t w, int16_t h, int16_t r, uint16_t color) { // smarter version startWrite(); writeFillRect(x+r, y, w-2*r, h, color); // draw four corners fillCircleHelper(x+w-r-1, y+r, r, 1, h-2*r-1, color); fillCircleHelper(x+r , y+r, r, 2, h-2*r-1, color); endWrite(); } // Draw a triangle void Adafruit_GFX::drawTriangle(int16_t x0, int16_t y0, int16_t x1, int16_t y1, int16_t x2, int16_t y2, uint16_t color) { drawLine(x0, y0, x1, y1, color); drawLine(x1, y1, x2, y2, color); drawLine(x2, y2, x0, y0, color); } // Fill a triangle void Adafruit_GFX::fillTriangle(int16_t x0, int16_t y0, int16_t x1, int16_t y1, int16_t x2, int16_t y2, uint16_t color) { int16_t a, b, y, last; // Sort coordinates by Y order (y2 >= y1 >= y0) if (y0 > y1) { _swap_int16_t(y0, y1); _swap_int16_t(x0, x1); } if (y1 > y2) { _swap_int16_t(y2, y1); _swap_int16_t(x2, x1); } if (y0 > y1) { _swap_int16_t(y0, y1); _swap_int16_t(x0, x1); } startWrite(); if(y0 == y2) { // Handle awkward all-on-same-line case as its own thing a = b = x0; if(x1 < a) a = x1; else if(x1 > b) b = x1; if(x2 < a) a = x2; else if(x2 > b) b = x2; writeFastHLine(a, y0, b-a+1, color); endWrite(); return; } int16_t dx01 = x1 - x0, dy01 = y1 - y0, dx02 = x2 - x0, dy02 = y2 - y0, dx12 = x2 - x1, dy12 = y2 - y1; int32_t sa = 0, sb = 0; // For upper part of triangle, find scanline crossings for segments // 0-1 and 0-2. If y1=y2 (flat-bottomed triangle), the scanline y1 // is included here (and second loop will be skipped, avoiding a /0 // error there), otherwise scanline y1 is skipped here and handled // in the second loop...which also avoids a /0 error here if y0=y1 // (flat-topped triangle). if(y1 == y2) last = y1; // Include y1 scanline else last = y1-1; // Skip it for(y=y0; y<=last; y++) { a = x0 + sa / dy01; b = x0 + sb / dy02; sa += dx01; sb += dx02; /* longhand: a = x0 + (x1 - x0) * (y - y0) / (y1 - y0); b = x0 + (x2 - x0) * (y - y0) / (y2 - y0); */ if(a > b) _swap_int16_t(a,b); writeFastHLine(a, y, b-a+1, color); } // For lower part of triangle, find scanline crossings for segments // 0-2 and 1-2. This loop is skipped if y1=y2. sa = dx12 * (y - y1); sb = dx02 * (y - y0); for(; y<=y2; y++) { a = x1 + sa / dy12; b = x0 + sb / dy02; sa += dx12; sb += dx02; /* longhand: a = x1 + (x2 - x1) * (y - y1) / (y2 - y1); b = x0 + (x2 - x0) * (y - y0) / (y2 - y0); */ if(a > b) _swap_int16_t(a,b); writeFastHLine(a, y, b-a+1, color); } endWrite(); } // BITMAP / XBITMAP / GRAYSCALE / RGB BITMAP FUNCTIONS --------------------- // Draw a PROGMEM-resident 1-bit image at the specified (x,y) position, // using the specified foreground color (unset bits are transparent). void Adafruit_GFX::drawBitmap(int16_t x, int16_t y, const uint8_t bitmap[], int16_t w, int16_t h, uint16_t color) { int16_t byteWidth = (w + 7) / 8; // Bitmap scanline pad = whole byte uint8_t byte = 0; startWrite(); for(int16_t j=0; j>= 1; else byte = pgm_read_byte(&bitmap[j * byteWidth + i / 8]); // Nearly identical to drawBitmap(), only the bit order // is reversed here (left-to-right = LSB to MSB): if(byte & 0x01) writePixel(x+i, y, color); } } endWrite(); } // Draw a PROGMEM-resident 8-bit image (grayscale) at the specified (x,y) // pos. Specifically for 8-bit display devices such as IS31FL3731; // no color reduction/expansion is performed. void Adafruit_GFX::drawGrayscaleBitmap(int16_t x, int16_t y, const uint8_t bitmap[], int16_t w, int16_t h) { startWrite(); for(int16_t j=0; j= _width) || // Clip right (y >= _height) || // Clip bottom ((x + 6 * size - 1) < 0) || // Clip left ((y + 8 * size - 1) < 0)) // Clip top return; if(!_cp437 && (c >= 176)) c++; // Handle 'classic' charset behavior startWrite(); for(int8_t i=0; i<5; i++ ) { // Char bitmap = 5 columns uint8_t line = pgm_read_byte(&font[c * 5 + i]); for(int8_t j=0; j<8; j++, line >>= 1) { if(line & 1) { if(size == 1) writePixel(x+i, y+j, color); else writeFillRect(x+i*size, y+j*size, size, size, color); } else if(bg != color) { if(size == 1) writePixel(x+i, y+j, bg); else writeFillRect(x+i*size, y+j*size, size, size, bg); } } } if(bg != color) { // If opaque, draw vertical line for last column if(size == 1) writeFastVLine(x+5, y, 8, bg); else writeFillRect(x+5*size, y, size, 8*size, bg); } endWrite(); } else { // Custom font // Character is assumed previously filtered by write() to eliminate // newlines, returns, non-printable characters, etc. Calling // drawChar() directly with 'bad' characters of font may cause mayhem! c -= (uint8_t)pgm_read_byte(&gfxFont->first); GFXglyph *glyph = &(((GFXglyph *)pgm_read_pointer(&gfxFont->glyph))[c]); uint8_t *bitmap = (uint8_t *)pgm_read_pointer(&gfxFont->bitmap); uint16_t bo = pgm_read_word(&glyph->bitmapOffset); uint8_t w = pgm_read_byte(&glyph->width), h = pgm_read_byte(&glyph->height); int8_t xo = pgm_read_byte(&glyph->xOffset), yo = pgm_read_byte(&glyph->yOffset); uint8_t xx, yy, bits = 0, bit = 0; int16_t xo16 = 0, yo16 = 0; if(size > 1) { xo16 = xo; yo16 = yo; } // Todo: Add character clipping here // NOTE: THERE IS NO 'BACKGROUND' COLOR OPTION ON CUSTOM FONTS. // THIS IS ON PURPOSE AND BY DESIGN. The background color feature // has typically been used with the 'classic' font to overwrite old // screen contents with new data. This ONLY works because the // characters are a uniform size; it's not a sensible thing to do with // proportionally-spaced fonts with glyphs of varying sizes (and that // may overlap). To replace previously-drawn text when using a custom // font, use the getTextBounds() function to determine the smallest // rectangle encompassing a string, erase the area with fillRect(), // then draw new text. This WILL infortunately 'blink' the text, but // is unavoidable. Drawing 'background' pixels will NOT fix this, // only creates a new set of problems. Have an idea to work around // this (a canvas object type for MCUs that can afford the RAM and // displays supporting setAddrWindow() and pushColors()), but haven't // implemented this yet. startWrite(); for(yy=0; yy= 100 size_t Adafruit_GFX::write(uint8_t c) { #else void Adafruit_GFX::write(uint8_t c) { #endif if(!gfxFont) { // 'Classic' built-in font if(c == '\n') { // Newline? cursor_x = 0; // Reset x to zero, cursor_y += textsize * 8; // advance y one line } else if(c != '\r') { // Ignore carriage returns if(wrap && ((cursor_x + textsize * 6) > _width)) { // Off right? cursor_x = 0; // Reset x to zero, cursor_y += textsize * 8; // advance y one line } drawChar(cursor_x, cursor_y, c, textcolor, textbgcolor, textsize); cursor_x += textsize * 6; // Advance x one char } } else { // Custom font if(c == '\n') { cursor_x = 0; cursor_y += (int16_t)textsize * (uint8_t)pgm_read_byte(&gfxFont->yAdvance); } else if(c != '\r') { uint8_t first = pgm_read_byte(&gfxFont->first); if((c >= first) && (c <= (uint8_t)pgm_read_byte(&gfxFont->last))) { GFXglyph *glyph = &(((GFXglyph *)pgm_read_pointer( &gfxFont->glyph))[c - first]); uint8_t w = pgm_read_byte(&glyph->width), h = pgm_read_byte(&glyph->height); if((w > 0) && (h > 0)) { // Is there an associated bitmap? int16_t xo = (int8_t)pgm_read_byte(&glyph->xOffset); // sic if(wrap && ((cursor_x + textsize * (xo + w)) > _width)) { cursor_x = 0; cursor_y += (int16_t)textsize * (uint8_t)pgm_read_byte(&gfxFont->yAdvance); } drawChar(cursor_x, cursor_y, c, textcolor, textbgcolor, textsize); } cursor_x += (uint8_t)pgm_read_byte(&glyph->xAdvance) * (int16_t)textsize; } } } #if ARDUINO >= 100 return 1; #endif } void Adafruit_GFX::setCursor(int16_t x, int16_t y) { cursor_x = x; cursor_y = y; } int16_t Adafruit_GFX::getCursorX(void) const { return cursor_x; } int16_t Adafruit_GFX::getCursorY(void) const { return cursor_y; } void Adafruit_GFX::setTextSize(uint8_t s) { textsize = (s > 0) ? s : 1; } void Adafruit_GFX::setTextColor(uint16_t c) { // For 'transparent' background, we'll set the bg // to the same as fg instead of using a flag textcolor = textbgcolor = c; } void Adafruit_GFX::setTextColor(uint16_t c, uint16_t b) { textcolor = c; textbgcolor = b; } void Adafruit_GFX::setTextWrap(boolean w) { wrap = w; } uint8_t Adafruit_GFX::getRotation(void) const { return rotation; } void Adafruit_GFX::setRotation(uint8_t x) { rotation = (x & 3); switch(rotation) { case 0: case 2: _width = WIDTH; _height = HEIGHT; break; case 1: case 3: _width = HEIGHT; _height = WIDTH; break; } } // Enable (or disable) Code Page 437-compatible charset. // There was an error in glcdfont.c for the longest time -- one character // (#176, the 'light shade' block) was missing -- this threw off the index // of every character that followed it. But a TON of code has been written // with the erroneous character indices. By default, the library uses the // original 'wrong' behavior and old sketches will still work. Pass 'true' // to this function to use correct CP437 character values in your code. void Adafruit_GFX::cp437(boolean x) { _cp437 = x; } void Adafruit_GFX::setFont(const GFXfont *f) { if(f) { // Font struct pointer passed in? if(!gfxFont) { // And no current font struct? // Switching from classic to new font behavior. // Move cursor pos down 6 pixels so it's on baseline. cursor_y += 6; } } else if(gfxFont) { // NULL passed. Current font struct defined? // Switching from new to classic font behavior. // Move cursor pos up 6 pixels so it's at top-left of char. cursor_y -= 6; } gfxFont = (GFXfont *)f; } // Broke this out as it's used by both the PROGMEM- and RAM-resident // getTextBounds() functions. void Adafruit_GFX::charBounds(char c, int16_t *x, int16_t *y, int16_t *minx, int16_t *miny, int16_t *maxx, int16_t *maxy) { if(gfxFont) { if(c == '\n') { // Newline? *x = 0; // Reset x to zero, advance y by one line *y += textsize * (uint8_t)pgm_read_byte(&gfxFont->yAdvance); } else if(c != '\r') { // Not a carriage return; is normal char uint8_t first = pgm_read_byte(&gfxFont->first), last = pgm_read_byte(&gfxFont->last); if((c >= first) && (c <= last)) { // Char present in this font? GFXglyph *glyph = &(((GFXglyph *)pgm_read_pointer( &gfxFont->glyph))[c - first]); uint8_t gw = pgm_read_byte(&glyph->width), gh = pgm_read_byte(&glyph->height), xa = pgm_read_byte(&glyph->xAdvance); int8_t xo = pgm_read_byte(&glyph->xOffset), yo = pgm_read_byte(&glyph->yOffset); if(wrap && ((*x+(((int16_t)xo+gw)*textsize)) > _width)) { *x = 0; // Reset x to zero, advance y by one line *y += textsize * (uint8_t)pgm_read_byte(&gfxFont->yAdvance); } int16_t ts = (int16_t)textsize, x1 = *x + xo * ts, y1 = *y + yo * ts, x2 = x1 + gw * ts - 1, y2 = y1 + gh * ts - 1; if(x1 < *minx) *minx = x1; if(y1 < *miny) *miny = y1; if(x2 > *maxx) *maxx = x2; if(y2 > *maxy) *maxy = y2; *x += xa * ts; } } } else { // Default font if(c == '\n') { // Newline? *x = 0; // Reset x to zero, *y += textsize * 8; // advance y one line // min/max x/y unchaged -- that waits for next 'normal' character } else if(c != '\r') { // Normal char; ignore carriage returns if(wrap && ((*x + textsize * 6) > _width)) { // Off right? *x = 0; // Reset x to zero, *y += textsize * 8; // advance y one line } int x2 = *x + textsize * 6 - 1, // Lower-right pixel of char y2 = *y + textsize * 8 - 1; if(x2 > *maxx) *maxx = x2; // Track max x, y if(y2 > *maxy) *maxy = y2; if(*x < *minx) *minx = *x; // Track min x, y if(*y < *miny) *miny = *y; *x += textsize * 6; // Advance x one char } } } // Pass string and a cursor position, returns UL corner and W,H. void Adafruit_GFX::getTextBounds(char *str, int16_t x, int16_t y, int16_t *x1, int16_t *y1, uint16_t *w, uint16_t *h) { uint8_t c; // Current character *x1 = x; *y1 = y; *w = *h = 0; int16_t minx = _width, miny = _height, maxx = -1, maxy = -1; while((c = *str++)) charBounds(c, &x, &y, &minx, &miny, &maxx, &maxy); if(maxx >= minx) { *x1 = minx; *w = maxx - minx + 1; } if(maxy >= miny) { *y1 = miny; *h = maxy - miny + 1; } } // Same as above, but for PROGMEM strings void Adafruit_GFX::getTextBounds(const __FlashStringHelper *str, int16_t x, int16_t y, int16_t *x1, int16_t *y1, uint16_t *w, uint16_t *h) { uint8_t *s = (uint8_t *)str, c; *x1 = x; *y1 = y; *w = *h = 0; int16_t minx = _width, miny = _height, maxx = -1, maxy = -1; while((c = pgm_read_byte(s++))) charBounds(c, &x, &y, &minx, &miny, &maxx, &maxy); if(maxx >= minx) { *x1 = minx; *w = maxx - minx + 1; } if(maxy >= miny) { *y1 = miny; *h = maxy - miny + 1; } } // Return the size of the display (per current rotation) int16_t Adafruit_GFX::width(void) const { return _width; } int16_t Adafruit_GFX::height(void) const { return _height; } void Adafruit_GFX::invertDisplay(boolean i) { // Do nothing, must be subclassed if supported by hardware } /***************************************************************************/ // code for the GFX button UI element Adafruit_GFX_Button::Adafruit_GFX_Button(void) { _gfx = 0; } // Classic initButton() function: pass center & size void Adafruit_GFX_Button::initButton( Adafruit_GFX *gfx, int16_t x, int16_t y, uint16_t w, uint16_t h, uint16_t outline, uint16_t fill, uint16_t textcolor, char *label, uint8_t textsize) { // Tweak arguments and pass to the newer initButtonUL() function... initButtonUL(gfx, x - (w / 2), y - (h / 2), w, h, outline, fill, textcolor, label, textsize); } // Newer function instead accepts upper-left corner & size void Adafruit_GFX_Button::initButtonUL( Adafruit_GFX *gfx, int16_t x1, int16_t y1, uint16_t w, uint16_t h, uint16_t outline, uint16_t fill, uint16_t textcolor, char *label, uint8_t textsize) { _x1 = x1; _y1 = y1; _w = w; _h = h; _outlinecolor = outline; _fillcolor = fill; _textcolor = textcolor; _textsize = textsize; _gfx = gfx; strncpy(_label, label, 9); } void Adafruit_GFX_Button::drawButton(boolean inverted) { uint16_t fill, outline, text; if(!inverted) { fill = _fillcolor; outline = _outlinecolor; text = _textcolor; } else { fill = _textcolor; outline = _outlinecolor; text = _fillcolor; } uint8_t r = min(_w, _h) / 4; // Corner radius _gfx->fillRoundRect(_x1, _y1, _w, _h, r, fill); _gfx->drawRoundRect(_x1, _y1, _w, _h, r, outline); _gfx->setCursor(_x1 + (_w/2) - (strlen(_label) * 3 * _textsize), _y1 + (_h/2) - (4 * _textsize)); _gfx->setTextColor(text); _gfx->setTextSize(_textsize); _gfx->print(_label); } boolean Adafruit_GFX_Button::contains(int16_t x, int16_t y) { return ((x >= _x1) && (x < (_x1 + _w)) && (y >= _y1) && (y < (_y1 + _h))); } void Adafruit_GFX_Button::press(boolean p) { laststate = currstate; currstate = p; } boolean Adafruit_GFX_Button::isPressed() { return currstate; } boolean Adafruit_GFX_Button::justPressed() { return (currstate && !laststate); } boolean Adafruit_GFX_Button::justReleased() { return (!currstate && laststate); } // ------------------------------------------------------------------------- // GFXcanvas1, GFXcanvas8 and GFXcanvas16 (currently a WIP, don't get too // comfy with the implementation) provide 1-, 8- and 16-bit offscreen // canvases, the address of which can be passed to drawBitmap() or // pushColors() (the latter appears only in a couple of GFX-subclassed TFT // libraries at this time). This is here mostly to help with the recently- // added proportionally-spaced fonts; adds a way to refresh a section of the // screen without a massive flickering clear-and-redraw...but maybe you'll // find other uses too. VERY RAM-intensive, since the buffer is in MCU // memory and not the display driver...GXFcanvas1 might be minimally useful // on an Uno-class board, but this and the others are much more likely to // require at least a Mega or various recent ARM-type boards (recommended, // as the text+bitmap draw can be pokey). GFXcanvas1 requires 1 bit per // pixel (rounded up to nearest byte per scanline), GFXcanvas8 is 1 byte // per pixel (no scanline pad), and GFXcanvas16 uses 2 bytes per pixel (no // scanline pad). // NOT EXTENSIVELY TESTED YET. MAY CONTAIN WORST BUGS KNOWN TO HUMANKIND. GFXcanvas1::GFXcanvas1(uint16_t w, uint16_t h) : Adafruit_GFX(w, h) { uint16_t bytes = ((w + 7) / 8) * h; if((buffer = (uint8_t *)malloc(bytes))) { memset(buffer, 0, bytes); } } GFXcanvas1::~GFXcanvas1(void) { if(buffer) free(buffer); } uint8_t* GFXcanvas1::getBuffer(void) { return buffer; } void GFXcanvas1::drawPixel(int16_t x, int16_t y, uint16_t color) { #ifdef __AVR__ // Bitmask tables of 0x80>>X and ~(0x80>>X), because X>>Y is slow on AVR static const uint8_t PROGMEM GFXsetBit[] = { 0x80, 0x40, 0x20, 0x10, 0x08, 0x04, 0x02, 0x01 }, GFXclrBit[] = { 0x7F, 0xBF, 0xDF, 0xEF, 0xF7, 0xFB, 0xFD, 0xFE }; #endif if(buffer) { if((x < 0) || (y < 0) || (x >= _width) || (y >= _height)) return; int16_t t; switch(rotation) { case 1: t = x; x = WIDTH - 1 - y; y = t; break; case 2: x = WIDTH - 1 - x; y = HEIGHT - 1 - y; break; case 3: t = x; x = y; y = HEIGHT - 1 - t; break; } uint8_t *ptr = &buffer[(x / 8) + y * ((WIDTH + 7) / 8)]; #ifdef __AVR__ if(color) *ptr |= pgm_read_byte(&GFXsetBit[x & 7]); else *ptr &= pgm_read_byte(&GFXclrBit[x & 7]); #else if(color) *ptr |= 0x80 >> (x & 7); else *ptr &= ~(0x80 >> (x & 7)); #endif } } void GFXcanvas1::fillScreen(uint16_t color) { if(buffer) { uint16_t bytes = ((WIDTH + 7) / 8) * HEIGHT; memset(buffer, color ? 0xFF : 0x00, bytes); } } GFXcanvas8::GFXcanvas8(uint16_t w, uint16_t h) : Adafruit_GFX(w, h) { uint32_t bytes = w * h; if((buffer = (uint8_t *)malloc(bytes))) { memset(buffer, 0, bytes); } } GFXcanvas8::~GFXcanvas8(void) { if(buffer) free(buffer); } uint8_t* GFXcanvas8::getBuffer(void) { return buffer; } void GFXcanvas8::drawPixel(int16_t x, int16_t y, uint16_t color) { if(buffer) { if((x < 0) || (y < 0) || (x >= _width) || (y >= _height)) return; int16_t t; switch(rotation) { case 1: t = x; x = WIDTH - 1 - y; y = t; break; case 2: x = WIDTH - 1 - x; y = HEIGHT - 1 - y; break; case 3: t = x; x = y; y = HEIGHT - 1 - t; break; } buffer[x + y * WIDTH] = color; } } void GFXcanvas8::fillScreen(uint16_t color) { if(buffer) { memset(buffer, color, WIDTH * HEIGHT); } } void GFXcanvas8::writeFastHLine(int16_t x, int16_t y, int16_t w, uint16_t color) { if((x >= _width) || (y < 0) || (y >= _height)) return; int16_t x2 = x + w - 1; if(x2 < 0) return; // Clip left/right if(x < 0) { x = 0; w = x2 + 1; } if(x2 >= _width) w = _width - x; int16_t t; switch(rotation) { case 1: t = x; x = WIDTH - 1 - y; y = t; break; case 2: x = WIDTH - 1 - x; y = HEIGHT - 1 - y; break; case 3: t = x; x = y; y = HEIGHT - 1 - t; break; } memset(buffer + y * WIDTH + x, color, w); } GFXcanvas16::GFXcanvas16(uint16_t w, uint16_t h) : Adafruit_GFX(w, h) { uint32_t bytes = w * h * 2; if((buffer = (uint16_t *)malloc(bytes))) { memset(buffer, 0, bytes); } } GFXcanvas16::~GFXcanvas16(void) { if(buffer) free(buffer); } uint16_t* GFXcanvas16::getBuffer(void) { return buffer; } void GFXcanvas16::drawPixel(int16_t x, int16_t y, uint16_t color) { if(buffer) { if((x < 0) || (y < 0) || (x >= _width) || (y >= _height)) return; int16_t t; switch(rotation) { case 1: t = x; x = WIDTH - 1 - y; y = t; break; case 2: x = WIDTH - 1 - x; y = HEIGHT - 1 - y; break; case 3: t = x; x = y; y = HEIGHT - 1 - t; break; } buffer[x + y * WIDTH] = color; } } void GFXcanvas16::fillScreen(uint16_t color) { if(buffer) { uint8_t hi = color >> 8, lo = color & 0xFF; if(hi == lo) { memset(buffer, lo, WIDTH * HEIGHT * 2); } else { uint32_t i, pixels = WIDTH * HEIGHT; for(i=0; i= 100 #include "Arduino.h" #include "Print.h" #else #include "WProgram.h" #endif #include "gfxfont.h" class Adafruit_GFX : public Print { public: Adafruit_GFX(int16_t w, int16_t h); // Constructor // This MUST be defined by the subclass: virtual void drawPixel(int16_t x, int16_t y, uint16_t color) = 0; // TRANSACTION API / CORE DRAW API // These MAY be overridden by the subclass to provide device-specific // optimized code. Otherwise 'generic' versions are used. virtual void startWrite(void); virtual void writePixel(int16_t x, int16_t y, uint16_t color); virtual void writeFillRect(int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color); virtual void writeFastVLine(int16_t x, int16_t y, int16_t h, uint16_t color); virtual void writeFastHLine(int16_t x, int16_t y, int16_t w, uint16_t color); virtual void writeLine(int16_t x0, int16_t y0, int16_t x1, int16_t y1, uint16_t color); virtual void endWrite(void); // CONTROL API // These MAY be overridden by the subclass to provide device-specific // optimized code. Otherwise 'generic' versions are used. virtual void setRotation(uint8_t r); virtual void invertDisplay(boolean i); // BASIC DRAW API // These MAY be overridden by the subclass to provide device-specific // optimized code. Otherwise 'generic' versions are used. virtual void // It's good to implement those, even if using transaction API drawFastVLine(int16_t x, int16_t y, int16_t h, uint16_t color), drawFastHLine(int16_t x, int16_t y, int16_t w, uint16_t color), fillRect(int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color), fillScreen(uint16_t color), // Optional and probably not necessary to change drawLine(int16_t x0, int16_t y0, int16_t x1, int16_t y1, uint16_t color), drawRect(int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color); // These exist only with Adafruit_GFX (no subclass overrides) void drawCircle(int16_t x0, int16_t y0, int16_t r, uint16_t color), drawCircleHelper(int16_t x0, int16_t y0, int16_t r, uint8_t cornername, uint16_t color), fillCircle(int16_t x0, int16_t y0, int16_t r, uint16_t color), fillCircleHelper(int16_t x0, int16_t y0, int16_t r, uint8_t cornername, int16_t delta, uint16_t color), drawTriangle(int16_t x0, int16_t y0, int16_t x1, int16_t y1, int16_t x2, int16_t y2, uint16_t color), fillTriangle(int16_t x0, int16_t y0, int16_t x1, int16_t y1, int16_t x2, int16_t y2, uint16_t color), drawRoundRect(int16_t x0, int16_t y0, int16_t w, int16_t h, int16_t radius, uint16_t color), fillRoundRect(int16_t x0, int16_t y0, int16_t w, int16_t h, int16_t radius, uint16_t color), drawBitmap(int16_t x, int16_t y, const uint8_t bitmap[], int16_t w, int16_t h, uint16_t color), drawBitmap(int16_t x, int16_t y, const uint8_t bitmap[], int16_t w, int16_t h, uint16_t color, uint16_t bg), drawBitmap(int16_t x, int16_t y, uint8_t *bitmap, int16_t w, int16_t h, uint16_t color), drawBitmap(int16_t x, int16_t y, uint8_t *bitmap, int16_t w, int16_t h, uint16_t color, uint16_t bg), drawXBitmap(int16_t x, int16_t y, const uint8_t bitmap[], int16_t w, int16_t h, uint16_t color), drawGrayscaleBitmap(int16_t x, int16_t y, const uint8_t bitmap[], int16_t w, int16_t h), drawGrayscaleBitmap(int16_t x, int16_t y, uint8_t *bitmap, int16_t w, int16_t h), drawGrayscaleBitmap(int16_t x, int16_t y, const uint8_t bitmap[], const uint8_t mask[], int16_t w, int16_t h), drawGrayscaleBitmap(int16_t x, int16_t y, uint8_t *bitmap, uint8_t *mask, int16_t w, int16_t h), drawRGBBitmap(int16_t x, int16_t y, const uint16_t bitmap[], int16_t w, int16_t h), drawRGBBitmap(int16_t x, int16_t y, uint16_t *bitmap, int16_t w, int16_t h), drawRGBBitmap(int16_t x, int16_t y, const uint16_t bitmap[], const uint8_t mask[], int16_t w, int16_t h), drawRGBBitmap(int16_t x, int16_t y, uint16_t *bitmap, uint8_t *mask, int16_t w, int16_t h), drawChar(int16_t x, int16_t y, unsigned char c, uint16_t color, uint16_t bg, uint8_t size), setCursor(int16_t x, int16_t y), setTextColor(uint16_t c), setTextColor(uint16_t c, uint16_t bg), setTextSize(uint8_t s), setTextWrap(boolean w), cp437(boolean x=true), setFont(const GFXfont *f = NULL), getTextBounds(char *string, int16_t x, int16_t y, int16_t *x1, int16_t *y1, uint16_t *w, uint16_t *h), getTextBounds(const __FlashStringHelper *s, int16_t x, int16_t y, int16_t *x1, int16_t *y1, uint16_t *w, uint16_t *h); #if ARDUINO >= 100 virtual size_t write(uint8_t); #else virtual void write(uint8_t); #endif int16_t height(void) const; int16_t width(void) const; uint8_t getRotation(void) const; // get current cursor position (get rotation safe maximum values, using: width() for x, height() for y) int16_t getCursorX(void) const; int16_t getCursorY(void) const; protected: void charBounds(char c, int16_t *x, int16_t *y, int16_t *minx, int16_t *miny, int16_t *maxx, int16_t *maxy); const int16_t WIDTH, HEIGHT; // This is the 'raw' display w/h - never changes int16_t _width, _height, // Display w/h as modified by current rotation cursor_x, cursor_y; uint16_t textcolor, textbgcolor; uint8_t textsize, rotation; boolean wrap, // If set, 'wrap' text at right edge of display _cp437; // If set, use correct CP437 charset (default is off) GFXfont *gfxFont; }; class Adafruit_GFX_Button { public: Adafruit_GFX_Button(void); // "Classic" initButton() uses center & size void initButton(Adafruit_GFX *gfx, int16_t x, int16_t y, uint16_t w, uint16_t h, uint16_t outline, uint16_t fill, uint16_t textcolor, char *label, uint8_t textsize); // New/alt initButton() uses upper-left corner & size void initButtonUL(Adafruit_GFX *gfx, int16_t x1, int16_t y1, uint16_t w, uint16_t h, uint16_t outline, uint16_t fill, uint16_t textcolor, char *label, uint8_t textsize); void drawButton(boolean inverted = false); boolean contains(int16_t x, int16_t y); void press(boolean p); boolean isPressed(); boolean justPressed(); boolean justReleased(); private: Adafruit_GFX *_gfx; int16_t _x1, _y1; // Coordinates of top-left corner uint16_t _w, _h; uint8_t _textsize; uint16_t _outlinecolor, _fillcolor, _textcolor; char _label[10]; boolean currstate, laststate; }; class GFXcanvas1 : public Adafruit_GFX { public: GFXcanvas1(uint16_t w, uint16_t h); ~GFXcanvas1(void); void drawPixel(int16_t x, int16_t y, uint16_t color), fillScreen(uint16_t color); uint8_t *getBuffer(void); private: uint8_t *buffer; }; class GFXcanvas8 : public Adafruit_GFX { public: GFXcanvas8(uint16_t w, uint16_t h); ~GFXcanvas8(void); void drawPixel(int16_t x, int16_t y, uint16_t color), fillScreen(uint16_t color), writeFastHLine(int16_t x, int16_t y, int16_t w, uint16_t color); uint8_t *getBuffer(void); private: uint8_t *buffer; }; class GFXcanvas16 : public Adafruit_GFX { public: GFXcanvas16(uint16_t w, uint16_t h); ~GFXcanvas16(void); void drawPixel(int16_t x, int16_t y, uint16_t color), fillScreen(uint16_t color); uint16_t *getBuffer(void); private: uint16_t *buffer; }; #endif // _ADAFRUIT_GFX_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Adafruit_SPITFT.cpp ================================================ /*************************************************** This is our library for generic SPI TFT Displays with address windows and 16 bit color (e.g. ILI9341, HX8357D, ST7735...) Check out the links above for our tutorials and wiring diagrams These displays use SPI to communicate, 4 or 5 pins are required to interface (RST is optional) Adafruit invests time and resources providing this open source code, please support Adafruit and open-source hardware by purchasing products from Adafruit! Written by Limor Fried/Ladyada for Adafruit Industries. MIT license, all text above must be included in any redistribution ****************************************************/ #ifndef __AVR_ATtiny85__ // NOT A CHANCE of this stuff working on ATtiny! #include "Adafruit_SPITFT.h" #ifndef ARDUINO_STM32_FEATHER #include "pins_arduino.h" #ifndef RASPI #include "wiring_private.h" #endif #endif #include #include "Adafruit_SPITFT_Macros.h" // Pass 8-bit (each) R,G,B, get back 16-bit packed color uint16_t Adafruit_SPITFT::color565(uint8_t r, uint8_t g, uint8_t b) { return ((r & 0xF8) << 8) | ((g & 0xFC) << 3) | ((b & 0xF8) >> 3); } Adafruit_SPITFT::Adafruit_SPITFT(uint16_t w, uint16_t h, int8_t cs, int8_t dc, int8_t mosi, int8_t sclk, int8_t rst, int8_t miso) : Adafruit_GFX(w, h) { _cs = cs; _dc = dc; _rst = rst; _sclk = sclk; _mosi = mosi; _miso = miso; _freq = 0; #ifdef USE_FAST_PINIO csport = portOutputRegister(digitalPinToPort(_cs)); cspinmask = digitalPinToBitMask(_cs); dcport = portOutputRegister(digitalPinToPort(_dc)); dcpinmask = digitalPinToBitMask(_dc); clkport = portOutputRegister(digitalPinToPort(_sclk)); clkpinmask = digitalPinToBitMask(_sclk); mosiport = portOutputRegister(digitalPinToPort(_mosi)); mosipinmask = digitalPinToBitMask(_mosi); if(miso >= 0){ misoport = portInputRegister(digitalPinToPort(_miso)); misopinmask = digitalPinToBitMask(_miso); } else { misoport = 0; misopinmask = 0; } #endif } Adafruit_SPITFT::Adafruit_SPITFT(uint16_t w, uint16_t h, int8_t cs, int8_t dc, int8_t rst) : Adafruit_GFX(w, h) { _cs = cs; _dc = dc; _rst = rst; _sclk = -1; _mosi = -1; _miso = -1; _freq = 0; #ifdef USE_FAST_PINIO csport = portOutputRegister(digitalPinToPort(_cs)); cspinmask = digitalPinToBitMask(_cs); dcport = portOutputRegister(digitalPinToPort(_dc)); dcpinmask = digitalPinToBitMask(_dc); clkport = 0; clkpinmask = 0; mosiport = 0; mosipinmask = 0; misoport = 0; misopinmask = 0; #endif } void Adafruit_SPITFT::initSPI(uint32_t freq) { _freq = freq; // Control Pins pinMode(_dc, OUTPUT); digitalWrite(_dc, LOW); pinMode(_cs, OUTPUT); digitalWrite(_cs, HIGH); // Software SPI if(_sclk >= 0){ pinMode(_mosi, OUTPUT); digitalWrite(_mosi, LOW); pinMode(_sclk, OUTPUT); digitalWrite(_sclk, HIGH); if(_miso >= 0){ pinMode(_miso, INPUT); } } // Hardware SPI SPI_BEGIN(); // toggle RST low to reset if (_rst >= 0) { pinMode(_rst, OUTPUT); digitalWrite(_rst, HIGH); delay(100); digitalWrite(_rst, LOW); delay(100); digitalWrite(_rst, HIGH); delay(200); } } uint8_t Adafruit_SPITFT::spiRead() { if(_sclk < 0){ return HSPI_READ(); } if(_miso < 0){ return 0; } uint8_t r = 0; for (uint8_t i=0; i<8; i++) { SSPI_SCK_LOW(); SSPI_SCK_HIGH(); r <<= 1; if (SSPI_MISO_READ()){ r |= 0x1; } } return r; } void Adafruit_SPITFT::spiWrite(uint8_t b) { if(_sclk < 0){ HSPI_WRITE(b); return; } for(uint8_t bit = 0x80; bit; bit >>= 1){ if((b) & bit){ SSPI_MOSI_HIGH(); } else { SSPI_MOSI_LOW(); } SSPI_SCK_LOW(); SSPI_SCK_HIGH(); } } /* * Transaction API * */ void Adafruit_SPITFT::startWrite(void){ SPI_BEGIN_TRANSACTION(); SPI_CS_LOW(); } void Adafruit_SPITFT::endWrite(void){ SPI_CS_HIGH(); SPI_END_TRANSACTION(); } void Adafruit_SPITFT::writeCommand(uint8_t cmd){ SPI_DC_LOW(); spiWrite(cmd); SPI_DC_HIGH(); } void Adafruit_SPITFT::pushColor(uint16_t color) { startWrite(); SPI_WRITE16(color); endWrite(); } void Adafruit_SPITFT::writePixel(uint16_t color){ SPI_WRITE16(color); } void Adafruit_SPITFT::writePixels(uint16_t * colors, uint32_t len){ SPI_WRITE_PIXELS((uint8_t*)colors , len * 2); } void Adafruit_SPITFT::writeColor(uint16_t color, uint32_t len){ #ifdef SPI_HAS_WRITE_PIXELS if(_sclk >= 0){ for (uint32_t t=0; t SPI_MAX_PIXELS_AT_ONCE)?SPI_MAX_PIXELS_AT_ONCE:len; uint16_t tlen = 0; for (uint32_t t=0; tblen)?blen:len; writePixels(temp, tlen); len -= tlen; } #else uint8_t hi = color >> 8, lo = color; if(_sclk < 0){ //AVR Optimization for (uint32_t t=len; t; t--){ HSPI_WRITE(hi); HSPI_WRITE(lo); } return; } for (uint32_t t=len; t; t--){ spiWrite(hi); spiWrite(lo); } #endif } void Adafruit_SPITFT::writePixel(int16_t x, int16_t y, uint16_t color) { if((x < 0) ||(x >= _width) || (y < 0) || (y >= _height)) return; setAddrWindow(x,y,1,1); writePixel(color); } void Adafruit_SPITFT::writeFillRect(int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color){ if((x >= _width) || (y >= _height)) return; int16_t x2 = x + w - 1, y2 = y + h - 1; if((x2 < 0) || (y2 < 0)) return; // Clip left/top if(x < 0) { x = 0; w = x2 + 1; } if(y < 0) { y = 0; h = y2 + 1; } // Clip right/bottom if(x2 >= _width) w = _width - x; if(y2 >= _height) h = _height - y; int32_t len = (int32_t)w * h; setAddrWindow(x, y, w, h); writeColor(color, len); } void Adafruit_SPITFT::writeFastVLine(int16_t x, int16_t y, int16_t h, uint16_t color){ writeFillRect(x, y, 1, h, color); } void Adafruit_SPITFT::writeFastHLine(int16_t x, int16_t y, int16_t w, uint16_t color){ writeFillRect(x, y, w, 1, color); } void Adafruit_SPITFT::drawPixel(int16_t x, int16_t y, uint16_t color){ startWrite(); writePixel(x, y, color); endWrite(); } void Adafruit_SPITFT::drawFastVLine(int16_t x, int16_t y, int16_t h, uint16_t color) { startWrite(); writeFastVLine(x, y, h, color); endWrite(); } void Adafruit_SPITFT::drawFastHLine(int16_t x, int16_t y, int16_t w, uint16_t color) { startWrite(); writeFastHLine(x, y, w, color); endWrite(); } void Adafruit_SPITFT::fillRect(int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color) { startWrite(); writeFillRect(x,y,w,h,color); endWrite(); } // Adapted from https://github.com/PaulStoffregen/ILI9341_t3 // by Marc MERLIN. See examples/pictureEmbed to use this. // 5/6/2017: function name and arguments have changed for compatibility // with current GFX library and to avoid naming problems in prior // implementation. Formerly drawBitmap() with arguments in different order. void Adafruit_SPITFT::drawRGBBitmap(int16_t x, int16_t y, uint16_t *pcolors, int16_t w, int16_t h) { int16_t x2, y2; // Lower-right coord if(( x >= _width ) || // Off-edge right ( y >= _height) || // " top ((x2 = (x+w-1)) < 0 ) || // " left ((y2 = (y+h-1)) < 0) ) return; // " bottom int16_t bx1=0, by1=0, // Clipped top-left within bitmap saveW=w; // Save original bitmap width value if(x < 0) { // Clip left w += x; bx1 = -x; x = 0; } if(y < 0) { // Clip top h += y; by1 = -y; y = 0; } if(x2 >= _width ) w = _width - x; // Clip right if(y2 >= _height) h = _height - y; // Clip bottom pcolors += by1 * saveW + bx1; // Offset bitmap ptr to clipped top-left startWrite(); setAddrWindow(x, y, w, h); // Clipped area while(h--) { // For each (clipped) scanline... writePixels(pcolors, w); // Push one (clipped) row pcolors += saveW; // Advance pointer by one full (unclipped) line } endWrite(); } #endif // !__AVR_ATtiny85__ ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Adafruit_SPITFT.h ================================================ #ifndef _ADAFRUIT_SPITFT_ #define _ADAFRUIT_SPITFT_ #if ARDUINO >= 100 #include "Arduino.h" #include "Print.h" #else #include "WProgram.h" #endif #include #include "Adafruit_GFX.h" #if defined(ARDUINO_STM32_FEATHER) typedef volatile uint32 RwReg; #endif #if defined(ARDUINO_FEATHER52) typedef volatile uint32_t RwReg; #endif class Adafruit_SPITFT : public Adafruit_GFX { protected: public: Adafruit_SPITFT(uint16_t w, uint16_t h, int8_t _CS, int8_t _DC, int8_t _MOSI, int8_t _SCLK, int8_t _RST = -1, int8_t _MISO = -1); Adafruit_SPITFT(uint16_t w, uint16_t h, int8_t _CS, int8_t _DC, int8_t _RST = -1); virtual void begin(uint32_t freq) = 0; void initSPI(uint32_t freq); // Required Non-Transaction void drawPixel(int16_t x, int16_t y, uint16_t color); // Transaction API void startWrite(void); void endWrite(void); void writePixel(int16_t x, int16_t y, uint16_t color); void writeFillRect(int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color); void writeFastVLine(int16_t x, int16_t y, int16_t h, uint16_t color); void writeFastHLine(int16_t x, int16_t y, int16_t w, uint16_t color); // Transaction API not used by GFX virtual void setAddrWindow(uint16_t x, uint16_t y, uint16_t w, uint16_t h) = 0; void writePixel(uint16_t color); void writePixels(uint16_t * colors, uint32_t len); void writeColor(uint16_t color, uint32_t len); void pushColor(uint16_t color); // Recommended Non-Transaction void drawFastVLine(int16_t x, int16_t y, int16_t h, uint16_t color); void drawFastHLine(int16_t x, int16_t y, int16_t w, uint16_t color); void fillRect(int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color); using Adafruit_GFX::drawRGBBitmap; // Check base class first void drawRGBBitmap(int16_t x, int16_t y, uint16_t *pcolors, int16_t w, int16_t h); uint16_t color565(uint8_t r, uint8_t g, uint8_t b); protected: uint32_t _freq; #if defined (__AVR__) || defined(TEENSYDUINO) || defined (ESP8266) || defined (ESP32) int8_t _cs, _dc, _rst, _sclk, _mosi, _miso; #else int32_t _cs, _dc, _rst, _sclk, _mosi, _miso; #endif #ifdef USE_FAST_PINIO volatile RwReg *mosiport, *misoport, *clkport, *dcport, *csport; RwReg mosipinmask, misopinmask, clkpinmask, cspinmask, dcpinmask; #endif void writeCommand(uint8_t cmd); void spiWrite(uint8_t v); uint8_t spiRead(void); }; #endif ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Adafruit_SPITFT_Macros.h ================================================ /* * Control Pins * */ #ifdef USE_FAST_PINIO #define SPI_DC_HIGH() *dcport |= dcpinmask #define SPI_DC_LOW() *dcport &= ~dcpinmask #define SPI_CS_HIGH() *csport |= cspinmask #define SPI_CS_LOW() *csport &= ~cspinmask #else #define SPI_DC_HIGH() digitalWrite(_dc, HIGH) #define SPI_DC_LOW() digitalWrite(_dc, LOW) #define SPI_CS_HIGH() digitalWrite(_cs, HIGH) #define SPI_CS_LOW() digitalWrite(_cs, LOW) #endif /* * Software SPI Macros * */ #ifdef USE_FAST_PINIO #define SSPI_MOSI_HIGH() *mosiport |= mosipinmask #define SSPI_MOSI_LOW() *mosiport &= ~mosipinmask #define SSPI_SCK_HIGH() *clkport |= clkpinmask #define SSPI_SCK_LOW() *clkport &= ~clkpinmask #define SSPI_MISO_READ() ((*misoport & misopinmask) != 0) #else #define SSPI_MOSI_HIGH() digitalWrite(_mosi, HIGH) #define SSPI_MOSI_LOW() digitalWrite(_mosi, LOW) #define SSPI_SCK_HIGH() digitalWrite(_sclk, HIGH) #define SSPI_SCK_LOW() digitalWrite(_sclk, LOW) #define SSPI_MISO_READ() digitalRead(_miso) #endif #define SSPI_BEGIN_TRANSACTION() #define SSPI_END_TRANSACTION() #define SSPI_WRITE(v) spiWrite(v) #define SSPI_WRITE16(s) SSPI_WRITE((s) >> 8); SSPI_WRITE(s) #define SSPI_WRITE32(l) SSPI_WRITE((l) >> 24); SSPI_WRITE((l) >> 16); SSPI_WRITE((l) >> 8); SSPI_WRITE(l) #define SSPI_WRITE_PIXELS(c,l) for(uint32_t i=0; i<(l); i+=2){ SSPI_WRITE(((uint8_t*)(c))[i+1]); SSPI_WRITE(((uint8_t*)(c))[i]); } /* * Hardware SPI Macros * */ #define SPI_OBJECT SPI #if defined (__AVR__) || defined(TEENSYDUINO) || defined(ARDUINO_ARCH_STM32F1) #define HSPI_SET_CLOCK() SPI_OBJECT.setClockDivider(SPI_CLOCK_DIV2); #elif defined (__arm__) #define HSPI_SET_CLOCK() SPI_OBJECT.setClockDivider(11); #elif defined(ESP8266) || defined(ESP32) #define HSPI_SET_CLOCK() SPI_OBJECT.setFrequency(_freq); #elif defined(RASPI) #define HSPI_SET_CLOCK() SPI_OBJECT.setClock(_freq); #elif defined(ARDUINO_ARCH_STM32F1) #define HSPI_SET_CLOCK() SPI_OBJECT.setClock(_freq); #else #define HSPI_SET_CLOCK() #endif #ifdef SPI_HAS_TRANSACTION #define HSPI_BEGIN_TRANSACTION() SPI_OBJECT.beginTransaction(SPISettings(_freq, MSBFIRST, SPI_MODE0)) #define HSPI_END_TRANSACTION() SPI_OBJECT.endTransaction() #else #define HSPI_BEGIN_TRANSACTION() HSPI_SET_CLOCK(); SPI_OBJECT.setBitOrder(MSBFIRST); SPI_OBJECT.setDataMode(SPI_MODE0) #define HSPI_END_TRANSACTION() #endif #ifdef ESP32 #define SPI_HAS_WRITE_PIXELS #endif #if defined(ESP8266) || defined(ESP32) // Optimized SPI (ESP8266 and ESP32) #define HSPI_READ() SPI_OBJECT.transfer(0) #define HSPI_WRITE(b) SPI_OBJECT.write(b) #define HSPI_WRITE16(s) SPI_OBJECT.write16(s) #define HSPI_WRITE32(l) SPI_OBJECT.write32(l) #ifdef SPI_HAS_WRITE_PIXELS #define SPI_MAX_PIXELS_AT_ONCE 32 #define HSPI_WRITE_PIXELS(c,l) SPI_OBJECT.writePixels(c,l) #else #define HSPI_WRITE_PIXELS(c,l) for(uint32_t i=0; i<((l)/2); i++){ SPI_WRITE16(((uint16_t*)(c))[i]); } #endif #else // Standard Byte-by-Byte SPI #if defined (__AVR__) || defined(TEENSYDUINO) static inline uint8_t _avr_spi_read(void) __attribute__((always_inline)); static inline uint8_t _avr_spi_read(void) { uint8_t r = 0; SPDR = r; while(!(SPSR & _BV(SPIF))); r = SPDR; return r; } #define HSPI_WRITE(b) {SPDR = (b); while(!(SPSR & _BV(SPIF)));} #define HSPI_READ() _avr_spi_read() #else #define HSPI_WRITE(b) SPI_OBJECT.transfer((uint8_t)(b)) #define HSPI_READ() HSPI_WRITE(0) #endif #define HSPI_WRITE16(s) HSPI_WRITE((s) >> 8); HSPI_WRITE(s) #define HSPI_WRITE32(l) HSPI_WRITE((l) >> 24); HSPI_WRITE((l) >> 16); HSPI_WRITE((l) >> 8); HSPI_WRITE(l) #define HSPI_WRITE_PIXELS(c,l) for(uint32_t i=0; i<(l); i+=2){ HSPI_WRITE(((uint8_t*)(c))[i+1]); HSPI_WRITE(((uint8_t*)(c))[i]); } #endif #define SPI_BEGIN() if(_sclk < 0){SPI_OBJECT.begin();} #define SPI_BEGIN_TRANSACTION() if(_sclk < 0){HSPI_BEGIN_TRANSACTION();} #define SPI_END_TRANSACTION() if(_sclk < 0){HSPI_END_TRANSACTION();} #define SPI_WRITE16(s) if(_sclk < 0){HSPI_WRITE16(s);}else{SSPI_WRITE16(s);} #define SPI_WRITE32(l) if(_sclk < 0){HSPI_WRITE32(l);}else{SSPI_WRITE32(l);} #define SPI_WRITE_PIXELS(c,l) if(_sclk < 0){HSPI_WRITE_PIXELS(c,l);}else{SSPI_WRITE_PIXELS(c,l);} ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeMono12pt7b.h ================================================ const uint8_t FreeMono12pt7bBitmaps[] PROGMEM = { 0x49, 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0x03, 0x04, 0x3F, 0x00, 0xC1, 0xC8, 0x09, 0x01, 0x20, 0x24, 0x04, 0x80, 0x90, 0x12, 0x02, 0x61, 0xC7, 0xCC, 0xF8, 0xF9, 0x01, 0x08, 0x10, 0x60, 0x81, 0x08, 0x08, 0x40, 0x22, 0x01, 0x20, 0x05, 0x00, 0x30, 0x00, 0xF0, 0x7A, 0x01, 0x10, 0x08, 0x8C, 0x42, 0x62, 0x12, 0x90, 0xA5, 0x05, 0x18, 0x28, 0xC0, 0x86, 0x00, 0x78, 0xF3, 0x04, 0x18, 0x80, 0xD0, 0x06, 0x00, 0x70, 0x09, 0x81, 0x0C, 0x20, 0x6F, 0x8F, 0xF0, 0xF2, 0x02, 0x20, 0x41, 0x04, 0x10, 0x80, 0x88, 0x09, 0x00, 0x50, 0x06, 0x00, 0x20, 0x04, 0x00, 0x40, 0x08, 0x0F, 0xE0, 0xFF, 0x41, 0x00, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x40, 0xBF, 0xC0, 0x19, 0x08, 0x42, 0x10, 0x84, 0x64, 0x18, 0x42, 0x10, 0x84, 0x20, 0xC0, 0xFF, 0xFF, 0xC0, 0xC1, 0x08, 0x42, 0x10, 0x84, 0x10, 0x4C, 0x42, 0x10, 0x84, 0x26, 0x00, 0x38, 0x13, 0x38, 0x38 }; const GFXglyph FreeMono12pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 14, 0, 1 }, // 0x20 ' ' { 0, 3, 15, 14, 6, -14 }, // 0x21 '!' { 6, 8, 7, 14, 3, -14 }, // 0x22 '"' { 13, 10, 16, 14, 2, -14 }, // 0x23 '#' { 33, 10, 17, 14, 2, -14 }, // 0x24 '$' { 55, 10, 15, 14, 2, -14 }, // 0x25 '%' { 74, 9, 12, 14, 3, -11 }, // 0x26 '&' { 88, 3, 7, 14, 5, -14 }, // 0x27 ''' { 91, 3, 18, 14, 7, -14 }, // 0x28 '(' { 98, 3, 18, 14, 4, -14 }, // 0x29 ')' { 105, 9, 9, 14, 3, -14 }, // 0x2A '*' { 116, 9, 11, 14, 3, -11 }, // 0x2B '+' { 129, 5, 7, 14, 3, -3 }, // 0x2C ',' { 134, 11, 1, 14, 2, -6 }, // 0x2D '-' { 136, 3, 3, 14, 5, -2 }, // 0x2E '.' { 138, 9, 18, 14, 3, -15 }, // 0x2F '/' { 159, 9, 15, 14, 3, -14 }, // 0x30 '0' { 176, 7, 14, 14, 4, -13 }, // 0x31 '1' { 189, 9, 15, 14, 2, -14 }, // 0x32 '2' { 206, 10, 15, 14, 2, -14 }, // 0x33 '3' { 225, 8, 15, 14, 3, -14 }, // 0x34 '4' { 240, 9, 15, 14, 3, -14 }, // 0x35 '5' { 257, 9, 15, 14, 3, -14 }, // 0x36 '6' { 274, 8, 15, 14, 3, -14 }, // 0x37 '7' { 289, 9, 15, 14, 3, -14 }, // 0x38 '8' { 306, 9, 15, 14, 3, -14 }, // 0x39 '9' { 323, 3, 10, 14, 5, -9 }, // 0x3A ':' { 327, 5, 13, 14, 3, -9 }, // 0x3B ';' { 336, 11, 11, 14, 2, -11 }, // 0x3C '<' { 352, 12, 4, 14, 1, -8 }, // 0x3D '=' { 358, 11, 11, 14, 2, -11 }, // 0x3E '>' { 374, 9, 14, 14, 3, -13 }, // 0x3F '?' { 390, 9, 16, 14, 3, -14 }, // 0x40 '@' { 408, 14, 14, 14, 0, -13 }, // 0x41 'A' { 433, 11, 14, 14, 2, -13 }, // 0x42 'B' { 453, 10, 14, 14, 2, -13 }, // 0x43 'C' { 471, 10, 14, 14, 2, -13 }, // 0x44 'D' { 489, 11, 14, 14, 2, -13 }, // 0x45 'E' { 509, 11, 14, 14, 2, -13 }, // 0x46 'F' { 529, 11, 14, 14, 2, -13 }, // 0x47 'G' { 549, 10, 14, 14, 2, -13 }, // 0x48 'H' { 567, 7, 14, 14, 4, -13 }, // 0x49 'I' { 580, 11, 14, 14, 2, -13 }, // 0x4A 'J' { 600, 12, 14, 14, 2, -13 }, // 0x4B 'K' { 621, 11, 14, 14, 2, -13 }, // 0x4C 'L' { 641, 13, 14, 14, 1, -13 }, // 0x4D 'M' { 664, 12, 14, 14, 1, -13 }, // 0x4E 'N' { 685, 12, 14, 14, 1, -13 }, // 0x4F 'O' { 706, 10, 14, 14, 2, -13 }, // 0x50 'P' { 724, 12, 17, 14, 1, -13 }, // 0x51 'Q' { 750, 12, 14, 14, 2, -13 }, // 0x52 'R' { 771, 10, 14, 14, 2, -13 }, // 0x53 'S' { 789, 11, 14, 14, 2, -13 }, // 0x54 'T' { 809, 12, 14, 14, 1, -13 }, // 0x55 'U' { 830, 14, 14, 14, 0, -13 }, // 0x56 'V' { 855, 14, 14, 14, 0, -13 }, // 0x57 'W' { 880, 12, 14, 14, 1, -13 }, // 0x58 'X' { 901, 12, 14, 14, 1, -13 }, // 0x59 'Y' { 922, 9, 14, 14, 3, -13 }, // 0x5A 'Z' { 938, 3, 18, 14, 7, -14 }, // 0x5B '[' { 945, 9, 18, 14, 3, -15 }, // 0x5C '\' { 966, 3, 18, 14, 5, -14 }, // 0x5D ']' { 973, 9, 6, 14, 3, -14 }, // 0x5E '^' { 980, 14, 1, 14, 0, 3 }, // 0x5F '_' { 982, 4, 4, 14, 4, -15 }, // 0x60 '`' { 984, 10, 10, 14, 2, -9 }, // 0x61 'a' { 997, 13, 15, 14, 0, -14 }, // 0x62 'b' { 1022, 11, 10, 14, 2, -9 }, // 0x63 'c' { 1036, 11, 15, 14, 2, -14 }, // 0x64 'd' { 1057, 10, 10, 14, 2, -9 }, // 0x65 'e' { 1070, 9, 15, 14, 4, -14 }, // 0x66 'f' { 1087, 11, 14, 14, 2, -9 }, // 0x67 'g' { 1107, 10, 15, 14, 2, -14 }, // 0x68 'h' { 1126, 9, 15, 14, 3, -14 }, // 0x69 'i' { 1143, 7, 19, 14, 3, -14 }, // 0x6A 'j' { 1160, 12, 15, 14, 1, -14 }, // 0x6B 'k' { 1183, 9, 15, 14, 3, -14 }, // 0x6C 'l' { 1200, 13, 10, 14, 1, -9 }, // 0x6D 'm' { 1217, 12, 10, 14, 1, -9 }, // 0x6E 'n' { 1232, 11, 10, 14, 2, -9 }, // 0x6F 'o' { 1246, 12, 14, 14, 1, -9 }, // 0x70 'p' { 1267, 11, 14, 14, 2, -9 }, // 0x71 'q' { 1287, 10, 10, 14, 3, -9 }, // 0x72 'r' { 1300, 10, 10, 14, 2, -9 }, // 0x73 's' { 1313, 11, 14, 14, 1, -13 }, // 0x74 't' { 1333, 11, 10, 14, 2, -9 }, // 0x75 'u' { 1347, 13, 10, 14, 1, -9 }, // 0x76 'v' { 1364, 13, 10, 14, 1, -9 }, // 0x77 'w' { 1381, 12, 10, 14, 1, -9 }, // 0x78 'x' { 1396, 12, 14, 14, 1, -9 }, // 0x79 'y' { 1417, 9, 10, 14, 3, -9 }, // 0x7A 'z' { 1429, 5, 18, 14, 5, -14 }, // 0x7B '{' { 1441, 1, 18, 14, 7, -14 }, // 0x7C '|' { 1444, 5, 18, 14, 5, -14 }, // 0x7D '}' { 1456, 10, 3, 14, 2, -7 } }; // 0x7E '~' const GFXfont FreeMono12pt7b PROGMEM = { (uint8_t *)FreeMono12pt7bBitmaps, (GFXglyph *)FreeMono12pt7bGlyphs, 0x20, 0x7E, 24 }; // Approx. 2132 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeMono18pt7b.h 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18, 21, 4, -17 }, // 0x26 '&' { 177, 4, 10, 21, 8, -20 }, // 0x27 ''' { 182, 5, 25, 21, 10, -20 }, // 0x28 '(' { 198, 5, 25, 21, 6, -20 }, // 0x29 ')' { 214, 13, 12, 21, 4, -20 }, // 0x2A '*' { 234, 15, 17, 21, 3, -17 }, // 0x2B '+' { 266, 7, 10, 21, 5, -4 }, // 0x2C ',' { 275, 15, 1, 21, 3, -9 }, // 0x2D '-' { 277, 5, 5, 21, 8, -4 }, // 0x2E '.' { 281, 13, 26, 21, 4, -22 }, // 0x2F '/' { 324, 13, 21, 21, 4, -20 }, // 0x30 '0' { 359, 13, 21, 21, 4, -20 }, // 0x31 '1' { 394, 13, 21, 21, 3, -20 }, // 0x32 '2' { 429, 14, 21, 21, 3, -20 }, // 0x33 '3' { 466, 12, 21, 21, 4, -20 }, // 0x34 '4' { 498, 14, 21, 21, 3, -20 }, // 0x35 '5' { 535, 12, 21, 21, 5, -20 }, // 0x36 '6' { 567, 12, 21, 21, 4, -20 }, // 0x37 '7' { 599, 13, 21, 21, 4, -20 }, // 0x38 '8' { 634, 12, 21, 21, 5, -20 }, // 0x39 '9' { 666, 5, 15, 21, 8, -14 }, // 0x3A ':' { 676, 7, 20, 21, 5, -14 }, // 0x3B ';' { 694, 15, 16, 21, 3, -17 }, // 0x3C '<' { 724, 17, 6, 21, 2, -12 }, // 0x3D '=' { 737, 15, 16, 21, 3, -17 }, // 0x3E '>' { 767, 12, 20, 21, 5, -19 }, // 0x3F '?' { 797, 13, 23, 21, 4, -20 }, // 0x40 '@' { 835, 21, 20, 21, 0, -19 }, // 0x41 'A' { 888, 18, 20, 21, 1, -19 }, // 0x42 'B' { 933, 17, 20, 21, 2, -19 }, // 0x43 'C' { 976, 16, 20, 21, 2, -19 }, // 0x44 'D' { 1016, 17, 20, 21, 1, -19 }, // 0x45 'E' { 1059, 17, 20, 21, 1, -19 }, // 0x46 'F' { 1102, 17, 20, 21, 2, -19 }, // 0x47 'G' { 1145, 16, 20, 21, 2, -19 }, // 0x48 'H' { 1185, 13, 20, 21, 4, -19 }, // 0x49 'I' { 1218, 17, 20, 21, 3, -19 }, // 0x4A 'J' { 1261, 18, 20, 21, 1, -19 }, // 0x4B 'K' { 1306, 15, 20, 21, 3, -19 }, // 0x4C 'L' { 1344, 19, 20, 21, 1, -19 }, // 0x4D 'M' { 1392, 18, 20, 21, 1, -19 }, // 0x4E 'N' { 1437, 17, 20, 21, 2, -19 }, // 0x4F 'O' { 1480, 16, 20, 21, 1, -19 }, // 0x50 'P' { 1520, 17, 24, 21, 2, -19 }, // 0x51 'Q' { 1571, 19, 20, 21, 1, -19 }, // 0x52 'R' { 1619, 14, 20, 21, 3, -19 }, // 0x53 'S' { 1654, 15, 20, 21, 3, -19 }, // 0x54 'T' { 1692, 17, 20, 21, 2, -19 }, // 0x55 'U' { 1735, 21, 20, 21, 0, -19 }, // 0x56 'V' { 1788, 19, 20, 21, 1, -19 }, // 0x57 'W' { 1836, 19, 20, 21, 1, -19 }, // 0x58 'X' { 1884, 17, 20, 21, 2, -19 }, // 0x59 'Y' { 1927, 13, 20, 21, 4, -19 }, // 0x5A 'Z' { 1960, 5, 25, 21, 10, -20 }, // 0x5B '[' { 1976, 13, 26, 21, 4, -22 }, // 0x5C '\' { 2019, 5, 25, 21, 6, -20 }, // 0x5D ']' { 2035, 13, 9, 21, 4, -20 }, // 0x5E '^' { 2050, 21, 1, 21, 0, 4 }, // 0x5F '_' { 2053, 6, 5, 21, 5, -21 }, // 0x60 '`' { 2057, 16, 15, 21, 3, -14 }, // 0x61 'a' { 2087, 18, 21, 21, 1, -20 }, // 0x62 'b' { 2135, 15, 15, 21, 3, -14 }, // 0x63 'c' { 2164, 18, 21, 21, 2, -20 }, // 0x64 'd' { 2212, 16, 15, 21, 2, -14 }, // 0x65 'e' { 2242, 14, 21, 21, 4, -20 }, // 0x66 'f' { 2279, 17, 22, 21, 2, -14 }, // 0x67 'g' { 2326, 17, 21, 21, 1, -20 }, // 0x68 'h' { 2371, 14, 22, 21, 4, -21 }, // 0x69 'i' { 2410, 10, 29, 21, 5, -21 }, // 0x6A 'j' { 2447, 16, 21, 21, 2, -20 }, // 0x6B 'k' { 2489, 14, 21, 21, 4, -20 }, // 0x6C 'l' { 2526, 19, 15, 21, 1, -14 }, // 0x6D 'm' { 2562, 17, 15, 21, 1, -14 }, // 0x6E 'n' { 2594, 15, 15, 21, 3, -14 }, // 0x6F 'o' { 2623, 18, 22, 21, 1, -14 }, // 0x70 'p' { 2673, 18, 22, 21, 2, -14 }, // 0x71 'q' { 2723, 15, 15, 21, 3, -14 }, // 0x72 'r' { 2752, 13, 15, 21, 4, -14 }, // 0x73 's' { 2777, 16, 20, 21, 1, -19 }, // 0x74 't' { 2817, 17, 15, 21, 1, -14 }, // 0x75 'u' { 2849, 19, 15, 21, 1, -14 }, // 0x76 'v' { 2885, 19, 15, 21, 1, -14 }, // 0x77 'w' { 2921, 17, 15, 21, 2, -14 }, // 0x78 'x' { 2953, 17, 22, 21, 2, -14 }, // 0x79 'y' { 3000, 13, 15, 21, 4, -14 }, // 0x7A 'z' { 3025, 8, 25, 21, 6, -20 }, // 0x7B '{' { 3050, 1, 25, 21, 10, -20 }, // 0x7C '|' { 3054, 8, 25, 21, 7, -20 }, // 0x7D '}' { 3079, 15, 5, 21, 3, -11 } }; // 0x7E '~' const GFXfont FreeMono18pt7b PROGMEM = { (uint8_t *)FreeMono18pt7bBitmaps, (GFXglyph *)FreeMono18pt7bGlyphs, 0x20, 0x7E, 35 }; // Approx. 3761 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeMono24pt7b.h 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0x60, 0x0C, 0x01, 0x80, 0x30, 0x06, 0x00, 0xC0, 0x18, 0x03, 0x00, 0xC0, 0xF8, 0x1C, 0x00, 0x0F, 0x00, 0x03, 0xFC, 0x03, 0x70, 0xE0, 0x76, 0x07, 0x8E, 0xC0, 0x1F, 0xC0, 0x00, 0xF0 }; const GFXglyph FreeMono24pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 28, 0, 1 }, // 0x20 ' ' { 0, 5, 30, 28, 11, -28 }, // 0x21 '!' { 19, 16, 14, 28, 6, -28 }, // 0x22 '"' { 47, 19, 32, 28, 4, -29 }, // 0x23 '#' { 123, 18, 33, 28, 5, -29 }, // 0x24 '$' { 198, 20, 29, 28, 4, -27 }, // 0x25 '%' { 271, 18, 25, 28, 5, -23 }, // 0x26 '&' { 328, 7, 14, 28, 11, -28 }, // 0x27 ''' { 341, 7, 34, 28, 14, -27 }, // 0x28 '(' { 371, 7, 34, 28, 8, -27 }, // 0x29 ')' { 401, 18, 16, 28, 5, -27 }, // 0x2A '*' { 437, 20, 22, 28, 4, -23 }, // 0x2B '+' { 492, 9, 14, 28, 6, -6 }, // 0x2C ',' { 508, 22, 2, 28, 3, -13 }, // 0x2D '-' { 514, 7, 6, 28, 11, -4 }, // 0x2E '.' { 520, 18, 35, 28, 5, -30 }, // 0x2F '/' { 599, 18, 30, 28, 5, -28 }, // 0x30 '0' { 667, 16, 29, 28, 6, -28 }, // 0x31 '1' { 725, 18, 29, 28, 5, -28 }, // 0x32 '2' { 791, 19, 30, 28, 5, -28 }, // 0x33 '3' { 863, 16, 28, 28, 6, -27 }, // 0x34 '4' { 919, 19, 29, 28, 5, -27 }, // 0x35 '5' { 988, 18, 30, 28, 6, -28 }, // 0x36 '6' { 1056, 18, 28, 28, 5, -27 }, // 0x37 '7' { 1119, 18, 30, 28, 5, -28 }, // 0x38 '8' { 1187, 18, 30, 28, 6, -28 }, // 0x39 '9' { 1255, 7, 21, 28, 11, -19 }, // 0x3A ':' { 1274, 10, 27, 28, 7, -19 }, // 0x3B ';' { 1308, 22, 22, 28, 3, -23 }, // 0x3C '<' { 1369, 24, 9, 28, 2, -17 }, // 0x3D '=' { 1396, 21, 22, 28, 4, -23 }, // 0x3E '>' { 1454, 17, 28, 28, 6, -26 }, // 0x3F '?' { 1514, 18, 32, 28, 5, -28 }, // 0x40 '@' { 1586, 28, 26, 28, 0, -25 }, // 0x41 'A' { 1677, 22, 26, 28, 3, -25 }, // 0x42 'B' { 1749, 22, 28, 28, 3, -26 }, // 0x43 'C' { 1826, 22, 26, 28, 3, -25 }, // 0x44 'D' { 1898, 22, 26, 28, 3, -25 }, // 0x45 'E' { 1970, 22, 26, 28, 3, -25 }, // 0x46 'F' { 2042, 23, 28, 28, 3, -26 }, // 0x47 'G' { 2123, 23, 26, 28, 3, -25 }, // 0x48 'H' { 2198, 16, 26, 28, 6, -25 }, // 0x49 'I' { 2250, 23, 27, 28, 4, -25 }, // 0x4A 'J' { 2328, 24, 26, 28, 3, -25 }, // 0x4B 'K' { 2406, 21, 26, 28, 4, -25 }, // 0x4C 'L' { 2475, 26, 26, 28, 1, -25 }, // 0x4D 'M' { 2560, 24, 26, 28, 2, -25 }, // 0x4E 'N' { 2638, 24, 28, 28, 2, -26 }, // 0x4F 'O' { 2722, 21, 26, 28, 3, -25 }, // 0x50 'P' { 2791, 24, 32, 28, 2, -26 }, // 0x51 'Q' { 2887, 24, 26, 28, 3, -25 }, // 0x52 'R' { 2965, 20, 28, 28, 4, -26 }, // 0x53 'S' { 3035, 22, 26, 28, 3, -25 }, // 0x54 'T' { 3107, 23, 27, 28, 3, -25 }, // 0x55 'U' { 3185, 28, 26, 28, 0, -25 }, // 0x56 'V' { 3276, 26, 26, 28, 1, -25 }, // 0x57 'W' { 3361, 24, 26, 28, 2, -25 }, // 0x58 'X' { 3439, 24, 26, 28, 2, -25 }, // 0x59 'Y' { 3517, 18, 26, 28, 5, -25 }, // 0x5A 'Z' { 3576, 7, 34, 28, 13, -27 }, // 0x5B '[' { 3606, 18, 35, 28, 5, -30 }, // 0x5C '\' { 3685, 7, 34, 28, 8, -27 }, // 0x5D ']' { 3715, 18, 12, 28, 5, -28 }, // 0x5E '^' { 3742, 28, 2, 28, 0, 5 }, // 0x5F '_' { 3749, 8, 7, 28, 7, -29 }, // 0x60 '`' { 3756, 22, 22, 28, 3, -20 }, // 0x61 'a' { 3817, 23, 29, 28, 2, -27 }, // 0x62 'b' { 3901, 21, 22, 28, 4, -20 }, // 0x63 'c' { 3959, 24, 29, 28, 3, -27 }, // 0x64 'd' { 4046, 21, 22, 28, 3, -20 }, // 0x65 'e' { 4104, 19, 28, 28, 6, -27 }, // 0x66 'f' { 4171, 23, 30, 28, 3, -20 }, // 0x67 'g' { 4258, 23, 28, 28, 3, -27 }, // 0x68 'h' { 4339, 18, 29, 28, 5, -28 }, // 0x69 'i' { 4405, 14, 38, 28, 6, -28 }, // 0x6A 'j' { 4472, 22, 28, 28, 4, -27 }, // 0x6B 'k' { 4549, 18, 28, 28, 5, -27 }, // 0x6C 'l' { 4612, 28, 21, 28, 0, -20 }, // 0x6D 'm' { 4686, 23, 21, 28, 2, -20 }, // 0x6E 'n' { 4747, 22, 22, 28, 3, -20 }, // 0x6F 'o' { 4808, 23, 30, 28, 2, -20 }, // 0x70 'p' { 4895, 24, 30, 28, 3, -20 }, // 0x71 'q' { 4985, 21, 20, 28, 5, -19 }, // 0x72 'r' { 5038, 18, 22, 28, 5, -20 }, // 0x73 's' { 5088, 21, 27, 28, 3, -25 }, // 0x74 't' { 5159, 23, 21, 28, 3, -19 }, // 0x75 'u' { 5220, 26, 20, 28, 1, -19 }, // 0x76 'v' { 5285, 26, 20, 28, 1, -19 }, // 0x77 'w' { 5350, 24, 20, 28, 2, -19 }, // 0x78 'x' { 5410, 24, 29, 28, 2, -19 }, // 0x79 'y' { 5497, 17, 20, 28, 6, -19 }, // 0x7A 'z' { 5540, 11, 34, 28, 8, -27 }, // 0x7B '{' { 5587, 2, 34, 28, 13, -27 }, // 0x7C '|' { 5596, 11, 34, 28, 9, -27 }, // 0x7D '}' { 5643, 20, 6, 28, 4, -15 } }; // 0x7E '~' const GFXfont FreeMono24pt7b PROGMEM = { (uint8_t *)FreeMono24pt7bBitmaps, (GFXglyph *)FreeMono24pt7bGlyphs, 0x20, 0x7E, 47 }; // Approx. 6330 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeMono9pt7b.h ================================================ const uint8_t FreeMono9pt7bBitmaps[] PROGMEM = { 0xAA, 0xA8, 0x0C, 0xED, 0x24, 0x92, 0x48, 0x24, 0x48, 0x91, 0x2F, 0xE4, 0x89, 0x7F, 0x28, 0x51, 0x22, 0x40, 0x08, 0x3E, 0x62, 0x40, 0x30, 0x0E, 0x01, 0x81, 0xC3, 0xBE, 0x08, 0x08, 0x71, 0x12, 0x23, 0x80, 0x23, 0xB8, 0x0E, 0x22, 0x44, 0x70, 0x38, 0x81, 0x02, 0x06, 0x1A, 0x65, 0x46, 0xC8, 0xEC, 0xE9, 0x24, 0x5A, 0xAA, 0xA9, 0x40, 0xA9, 0x55, 0x5A, 0x80, 0x10, 0x22, 0x4B, 0xE3, 0x05, 0x11, 0x00, 0x10, 0x20, 0x47, 0xF1, 0x02, 0x04, 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0x00, 0x3D, 0xA1, 0xA0, 0x50, 0x28, 0x14, 0x09, 0x0C, 0x7A, 0x01, 0x00, 0x80, 0xE0, 0xCE, 0xA1, 0x82, 0x04, 0x08, 0x10, 0x7C, 0x3A, 0x8D, 0x0B, 0x80, 0xF0, 0x70, 0xDE, 0x40, 0x40, 0xFC, 0x40, 0x40, 0x40, 0x40, 0x40, 0x41, 0x3E, 0xC3, 0x41, 0x41, 0x41, 0x41, 0x41, 0x43, 0x3D, 0xE3, 0xA0, 0x90, 0x84, 0x42, 0x20, 0xA0, 0x50, 0x10, 0xE3, 0xC0, 0x92, 0x4B, 0x25, 0x92, 0xA9, 0x98, 0x44, 0xE3, 0x31, 0x05, 0x01, 0x01, 0x41, 0x11, 0x05, 0xC7, 0xE3, 0xA0, 0x90, 0x84, 0x42, 0x40, 0xA0, 0x60, 0x10, 0x10, 0x08, 0x3E, 0x00, 0xFD, 0x08, 0x20, 0x82, 0x08, 0x10, 0xBF, 0x29, 0x24, 0xA2, 0x49, 0x26, 0xFF, 0xF8, 0x89, 0x24, 0x8A, 0x49, 0x2C, 0x61, 0x24, 0x30 }; const GFXglyph FreeMono9pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 11, 0, 1 }, // 0x20 ' ' { 0, 2, 11, 11, 4, -10 }, // 0x21 '!' { 3, 6, 5, 11, 2, -10 }, // 0x22 '"' { 7, 7, 12, 11, 2, -10 }, // 0x23 '#' { 18, 8, 12, 11, 1, -10 }, // 0x24 '$' { 30, 7, 11, 11, 2, -10 }, // 0x25 '%' { 40, 7, 10, 11, 2, -9 }, // 0x26 '&' { 49, 3, 5, 11, 4, -10 }, // 0x27 ''' { 51, 2, 13, 11, 5, -10 }, // 0x28 '(' { 55, 2, 13, 11, 4, -10 }, // 0x29 ')' { 59, 7, 7, 11, 2, -10 }, // 0x2A '*' { 66, 7, 7, 11, 2, -8 }, // 0x2B '+' { 73, 3, 5, 11, 2, -1 }, // 0x2C ',' { 75, 9, 1, 11, 1, -5 }, // 0x2D '-' { 77, 2, 2, 11, 4, -1 }, // 0x2E '.' { 78, 7, 13, 11, 2, -11 }, // 0x2F '/' { 90, 7, 11, 11, 2, -10 }, // 0x30 '0' { 100, 5, 11, 11, 3, -10 }, // 0x31 '1' { 107, 7, 11, 11, 2, -10 }, // 0x32 '2' { 117, 8, 11, 11, 1, -10 }, // 0x33 '3' { 128, 6, 11, 11, 3, -10 }, // 0x34 '4' { 137, 7, 11, 11, 2, -10 }, // 0x35 '5' { 147, 7, 11, 11, 2, -10 }, // 0x36 '6' { 157, 7, 11, 11, 2, -10 }, // 0x37 '7' { 167, 7, 11, 11, 2, -10 }, // 0x38 '8' { 177, 7, 11, 11, 2, -10 }, // 0x39 '9' { 187, 2, 8, 11, 4, -7 }, // 0x3A ':' { 189, 3, 11, 11, 3, -7 }, // 0x3B ';' { 194, 8, 8, 11, 1, -8 }, // 0x3C '<' { 202, 9, 4, 11, 1, -6 }, // 0x3D '=' { 207, 9, 8, 11, 1, -8 }, // 0x3E '>' { 216, 7, 10, 11, 2, -9 }, // 0x3F '?' { 225, 8, 12, 11, 2, -10 }, // 0x40 '@' { 237, 11, 10, 11, 0, -9 }, // 0x41 'A' { 251, 9, 10, 11, 1, -9 }, // 0x42 'B' { 263, 9, 10, 11, 1, -9 }, // 0x43 'C' { 275, 9, 10, 11, 1, -9 }, // 0x44 'D' { 287, 9, 10, 11, 1, -9 }, // 0x45 'E' { 299, 9, 10, 11, 1, -9 }, // 0x46 'F' { 311, 10, 10, 11, 1, -9 }, // 0x47 'G' { 324, 9, 10, 11, 1, -9 }, // 0x48 'H' { 336, 5, 10, 11, 3, -9 }, // 0x49 'I' { 343, 8, 10, 11, 2, -9 }, // 0x4A 'J' { 353, 9, 10, 11, 1, -9 }, // 0x4B 'K' { 365, 8, 10, 11, 2, -9 }, // 0x4C 'L' { 375, 11, 10, 11, 0, -9 }, // 0x4D 'M' { 389, 9, 10, 11, 1, -9 }, // 0x4E 'N' { 401, 9, 10, 11, 1, -9 }, // 0x4F 'O' { 413, 8, 10, 11, 1, -9 }, // 0x50 'P' { 423, 9, 13, 11, 1, -9 }, // 0x51 'Q' { 438, 9, 10, 11, 1, -9 }, // 0x52 'R' { 450, 7, 10, 11, 2, -9 }, // 0x53 'S' { 459, 9, 10, 11, 1, -9 }, // 0x54 'T' { 471, 9, 10, 11, 1, -9 }, // 0x55 'U' { 483, 11, 10, 11, 0, -9 }, // 0x56 'V' { 497, 11, 10, 11, 0, -9 }, // 0x57 'W' { 511, 9, 10, 11, 1, -9 }, // 0x58 'X' { 523, 9, 10, 11, 1, -9 }, // 0x59 'Y' { 535, 7, 10, 11, 2, -9 }, // 0x5A 'Z' { 544, 2, 13, 11, 5, -10 }, // 0x5B '[' { 548, 7, 13, 11, 2, -11 }, // 0x5C '\' { 560, 2, 13, 11, 4, -10 }, // 0x5D ']' { 564, 7, 5, 11, 2, -10 }, // 0x5E '^' { 569, 11, 1, 11, 0, 2 }, // 0x5F '_' { 571, 3, 3, 11, 3, -11 }, // 0x60 '`' { 573, 9, 8, 11, 1, -7 }, // 0x61 'a' { 582, 9, 11, 11, 1, -10 }, // 0x62 'b' { 595, 7, 8, 11, 2, -7 }, // 0x63 'c' { 602, 9, 11, 11, 1, -10 }, // 0x64 'd' { 615, 8, 8, 11, 1, -7 }, // 0x65 'e' { 623, 6, 11, 11, 3, -10 }, // 0x66 'f' { 632, 9, 11, 11, 1, -7 }, // 0x67 'g' { 645, 9, 11, 11, 1, -10 }, // 0x68 'h' { 658, 7, 10, 11, 2, -9 }, // 0x69 'i' { 667, 5, 13, 11, 3, -9 }, // 0x6A 'j' { 676, 8, 11, 11, 2, -10 }, // 0x6B 'k' { 687, 7, 11, 11, 2, -10 }, // 0x6C 'l' { 697, 9, 8, 11, 1, -7 }, // 0x6D 'm' { 706, 9, 8, 11, 1, -7 }, // 0x6E 'n' { 715, 9, 8, 11, 1, -7 }, // 0x6F 'o' { 724, 9, 11, 11, 1, -7 }, // 0x70 'p' { 737, 9, 11, 11, 1, -7 }, // 0x71 'q' { 750, 7, 8, 11, 3, -7 }, // 0x72 'r' { 757, 7, 8, 11, 2, -7 }, // 0x73 's' { 764, 8, 10, 11, 2, -9 }, // 0x74 't' { 774, 8, 8, 11, 1, -7 }, // 0x75 'u' { 782, 9, 8, 11, 1, -7 }, // 0x76 'v' { 791, 9, 8, 11, 1, -7 }, // 0x77 'w' { 800, 9, 8, 11, 1, -7 }, // 0x78 'x' { 809, 9, 11, 11, 1, -7 }, // 0x79 'y' { 822, 7, 8, 11, 2, -7 }, // 0x7A 'z' { 829, 3, 13, 11, 4, -10 }, // 0x7B '{' { 834, 1, 13, 11, 5, -10 }, // 0x7C '|' { 836, 3, 13, 11, 4, -10 }, // 0x7D '}' { 841, 7, 3, 11, 2, -6 } }; // 0x7E '~' const GFXfont FreeMono9pt7b PROGMEM = { (uint8_t *)FreeMono9pt7bBitmaps, (GFXglyph *)FreeMono9pt7bGlyphs, 0x20, 0x7E, 18 }; // Approx. 1516 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeMonoBold12pt7b.h ================================================ const uint8_t FreeMonoBold12pt7bBitmaps[] PROGMEM = { 0xFF, 0xFF, 0xFF, 0xF6, 0x66, 0x60, 0x6F, 0x60, 0xE7, 0xE7, 0x62, 0x42, 0x42, 0x42, 0x42, 0x11, 0x87, 0x30, 0xC6, 0x18, 0xC3, 0x31, 0xFF, 0xFF, 0xF9, 0x98, 0x33, 0x06, 0x60, 0xCC, 0x7F, 0xEF, 0xFC, 0x66, 0x0C, 0xC3, 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0xFC, 0xFF, 0xC0, 0x3F, 0x9F, 0xFE, 0x1F, 0x82, 0xFE, 0x1F, 0xE0, 0xFF, 0x03, 0xE0, 0xFF, 0xFF, 0xF0, 0x30, 0x06, 0x00, 0xC0, 0x7F, 0xEF, 0xFC, 0x60, 0x0C, 0x01, 0x80, 0x30, 0x06, 0x00, 0xC0, 0x18, 0x71, 0xFE, 0x1F, 0x00, 0xF1, 0xF7, 0x8F, 0x8C, 0x0C, 0x60, 0x63, 0x03, 0x18, 0x18, 0xC0, 0xC6, 0x06, 0x38, 0xF0, 0xFF, 0xC3, 0xEE, 0xFC, 0xFF, 0xF3, 0xF3, 0x87, 0x0E, 0x1C, 0x1C, 0x60, 0x73, 0x80, 0xEC, 0x03, 0xF0, 0x07, 0x80, 0x1E, 0x00, 0x78, 0x00, 0xF8, 0x7F, 0xE1, 0xF7, 0x39, 0x8C, 0xE6, 0x37, 0xB0, 0xFF, 0xC3, 0xFF, 0x07, 0xBC, 0x1C, 0xF0, 0x73, 0x81, 0x86, 0x00, 0x7C, 0xF9, 0xF3, 0xE3, 0xCF, 0x07, 0xF8, 0x0F, 0xC0, 0x1E, 0x00, 0xFC, 0x07, 0x38, 0x38, 0x73, 0xF3, 0xFF, 0xCF, 0xC0, 0xF9, 0xFF, 0x9F, 0x70, 0xE3, 0x0C, 0x39, 0xC1, 0x98, 0x19, 0x81, 0xF8, 0x0F, 0x00, 0xF0, 0x06, 0x00, 0x60, 0x0E, 0x00, 0xC0, 0xFF, 0x0F, 0xF0, 0x7F, 0xCF, 0xF9, 0x8E, 0x33, 0x80, 0x70, 0x1C, 0x07, 0x01, 0xC6, 0x70, 0xFF, 0xFF, 0xFF, 0x80, 0x0E, 0x3C, 0x60, 0xC1, 0x83, 0x06, 0x0C, 0x39, 0xE3, 0xC0, 0xC1, 0x83, 0x06, 0x0C, 0x18, 0x3C, 0x38, 0xFF, 0xFF, 0xFF, 0xFF, 0xF0, 0xE1, 0xC0, 0xC1, 0x83, 0x06, 0x0C, 0x18, 0x30, 0x3C, 0x79, 0x83, 0x06, 0x0C, 0x18, 0x31, 0xE3, 0x80, 0x3C, 0x37, 0xE7, 0x67, 0xE6, 0x1C }; const GFXglyph FreeMonoBold12pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 14, 0, 1 }, // 0x20 ' ' { 0, 4, 15, 14, 5, -14 }, // 0x21 '!' { 8, 8, 7, 14, 3, -13 }, // 0x22 '"' { 15, 11, 18, 14, 2, -15 }, // 0x23 '#' { 40, 10, 20, 14, 2, -16 }, // 0x24 '$' { 65, 10, 15, 14, 2, -14 }, // 0x25 '%' { 84, 10, 13, 14, 2, -12 }, // 0x26 '&' { 101, 3, 7, 14, 5, -13 }, // 0x27 ''' { 104, 5, 19, 14, 6, -14 }, // 0x28 '(' { 116, 5, 19, 14, 3, -14 }, // 0x29 ')' { 128, 10, 10, 14, 2, -14 }, // 0x2A '*' { 141, 12, 13, 14, 1, -12 }, // 0x2B '+' { 161, 5, 7, 14, 4, -2 }, // 0x2C ',' { 166, 12, 2, 14, 1, -7 }, // 0x2D '-' { 169, 3, 3, 14, 5, -2 }, // 0x2E '.' { 171, 10, 20, 14, 2, -16 }, // 0x2F '/' { 196, 10, 15, 14, 2, -14 }, // 0x30 '0' { 215, 10, 15, 14, 2, -14 }, // 0x31 '1' { 234, 10, 15, 14, 2, -14 }, // 0x32 '2' { 253, 11, 15, 14, 1, -14 }, // 0x33 '3' { 274, 9, 14, 14, 2, -13 }, // 0x34 '4' { 290, 10, 15, 14, 2, -14 }, // 0x35 '5' { 309, 10, 15, 14, 2, -14 }, // 0x36 '6' { 328, 10, 15, 14, 2, -14 }, // 0x37 '7' { 347, 10, 15, 14, 2, -14 }, // 0x38 '8' { 366, 10, 15, 14, 3, -14 }, // 0x39 '9' { 385, 3, 11, 14, 5, -10 }, // 0x3A ':' { 390, 4, 15, 14, 4, -10 }, // 0x3B ';' { 398, 12, 11, 14, 1, -11 }, // 0x3C '<' { 415, 12, 7, 14, 1, -9 }, // 0x3D '=' { 426, 12, 11, 14, 1, -11 }, // 0x3E '>' { 443, 9, 14, 14, 3, -13 }, // 0x3F '?' { 459, 11, 19, 14, 2, -14 }, // 0x40 '@' { 486, 15, 14, 14, -1, -13 }, // 0x41 'A' { 513, 13, 14, 14, 0, -13 }, // 0x42 'B' { 536, 12, 14, 14, 1, -13 }, // 0x43 'C' { 557, 12, 14, 14, 1, -13 }, // 0x44 'D' { 578, 13, 14, 14, 0, -13 }, // 0x45 'E' { 601, 13, 14, 14, 0, -13 }, // 0x46 'F' { 624, 13, 14, 14, 1, -13 }, // 0x47 'G' { 647, 14, 14, 14, 0, -13 }, // 0x48 'H' { 672, 10, 14, 14, 2, -13 }, // 0x49 'I' { 690, 13, 14, 14, 1, -13 }, // 0x4A 'J' { 713, 14, 14, 14, 0, -13 }, // 0x4B 'K' { 738, 12, 14, 14, 1, -13 }, // 0x4C 'L' { 759, 14, 14, 14, 0, -13 }, // 0x4D 'M' { 784, 13, 14, 14, 0, -13 }, // 0x4E 'N' { 807, 12, 14, 14, 1, -13 }, // 0x4F 'O' { 828, 12, 14, 14, 0, -13 }, // 0x50 'P' { 849, 12, 17, 14, 1, -13 }, // 0x51 'Q' { 875, 14, 14, 14, 0, -13 }, // 0x52 'R' { 900, 10, 14, 14, 2, -13 }, // 0x53 'S' { 918, 12, 14, 14, 1, -13 }, // 0x54 'T' { 939, 12, 14, 14, 1, -13 }, // 0x55 'U' { 960, 16, 14, 14, -1, -13 }, // 0x56 'V' { 988, 14, 14, 14, 0, -13 }, // 0x57 'W' { 1013, 14, 14, 14, 0, -13 }, // 0x58 'X' { 1038, 12, 14, 14, 1, -13 }, // 0x59 'Y' { 1059, 10, 14, 14, 2, -13 }, // 0x5A 'Z' { 1077, 5, 19, 14, 6, -14 }, // 0x5B '[' { 1089, 10, 20, 14, 2, -16 }, // 0x5C '\' { 1114, 5, 19, 14, 3, -14 }, // 0x5D ']' { 1126, 10, 8, 14, 2, -15 }, // 0x5E '^' { 1136, 14, 2, 14, 0, 4 }, // 0x5F '_' { 1140, 4, 4, 14, 4, -15 }, // 0x60 '`' { 1142, 12, 11, 14, 1, -10 }, // 0x61 'a' { 1159, 13, 15, 14, 0, -14 }, // 0x62 'b' { 1184, 12, 11, 14, 1, -10 }, // 0x63 'c' { 1201, 13, 15, 14, 1, -14 }, // 0x64 'd' { 1226, 12, 11, 14, 1, -10 }, // 0x65 'e' { 1243, 11, 15, 14, 2, -14 }, // 0x66 'f' { 1264, 13, 16, 14, 1, -10 }, // 0x67 'g' { 1290, 14, 15, 14, 0, -14 }, // 0x68 'h' { 1317, 11, 14, 14, 1, -13 }, // 0x69 'i' { 1337, 8, 19, 15, 3, -13 }, // 0x6A 'j' { 1356, 13, 15, 14, 1, -14 }, // 0x6B 'k' { 1381, 11, 15, 14, 1, -14 }, // 0x6C 'l' { 1402, 15, 11, 14, 0, -10 }, // 0x6D 'm' { 1423, 14, 11, 14, 0, -10 }, // 0x6E 'n' { 1443, 12, 11, 14, 1, -10 }, // 0x6F 'o' { 1460, 14, 16, 14, 0, -10 }, // 0x70 'p' { 1488, 14, 16, 14, 0, -10 }, // 0x71 'q' { 1516, 12, 11, 14, 1, -10 }, // 0x72 'r' { 1533, 10, 11, 14, 2, -10 }, // 0x73 's' { 1547, 11, 14, 14, 1, -13 }, // 0x74 't' { 1567, 13, 11, 14, 0, -10 }, // 0x75 'u' { 1585, 14, 11, 14, 0, -10 }, // 0x76 'v' { 1605, 14, 11, 14, 0, -10 }, // 0x77 'w' { 1625, 14, 11, 14, 0, -10 }, // 0x78 'x' { 1645, 12, 16, 14, 1, -10 }, // 0x79 'y' { 1669, 11, 11, 14, 1, -10 }, // 0x7A 'z' { 1685, 7, 19, 14, 3, -14 }, // 0x7B '{' { 1702, 2, 19, 14, 6, -14 }, // 0x7C '|' { 1707, 7, 19, 14, 4, -14 }, // 0x7D '}' { 1724, 12, 4, 14, 1, -7 } }; // 0x7E '~' const GFXfont FreeMonoBold12pt7b PROGMEM = { (uint8_t *)FreeMonoBold12pt7bBitmaps, (GFXglyph *)FreeMonoBold12pt7bGlyphs, 0x20, 0x7E, 24 }; // Approx. 2402 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeMonoBold18pt7b.h ================================================ const uint8_t FreeMonoBold18pt7bBitmaps[] PROGMEM = { 0x77, 0xFF, 0xFF, 0xFF, 0xFF, 0xFB, 0x9C, 0xE7, 0x39, 0xC4, 0x03, 0xBF, 0xFF, 0xB8, 0xF1, 0xFE, 0x3F, 0xC7, 0xF8, 0xFF, 0x1E, 0xC1, 0x98, 0x33, 0x06, 0x60, 0xCC, 0x18, 0x0E, 0x1C, 0x0F, 0x3C, 0x1F, 0x3C, 0x1E, 0x3C, 0x1E, 0x3C, 0x1E, 0x78, 0x1E, 0x78, 0xFF, 0xFE, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0x1E, 0x78, 0x1E, 0x78, 0x1E, 0x78, 0x7F, 0xFE, 0x7F, 0xFE, 0x7F, 0xFE, 0x7F, 0xFE, 0x3C, 0x78, 0x3C, 0x78, 0x3C, 0x78, 0x3C, 0xF0, 0x3C, 0xF0, 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0xFF, 0xE0, 0x07, 0xE6, 0x1F, 0xFE, 0x7F, 0xFE, 0x7F, 0xFE, 0x78, 0x1E, 0x78, 0x0E, 0x7F, 0xE0, 0x3F, 0xFC, 0x03, 0xFE, 0x60, 0x1F, 0xE0, 0x0F, 0xF8, 0x1F, 0xFF, 0xFF, 0xFF, 0xFE, 0x7F, 0xFC, 0x07, 0xE0, 0x0C, 0x00, 0x0F, 0x00, 0x07, 0x80, 0x03, 0xC0, 0x01, 0xE0, 0x07, 0xFF, 0xF3, 0xFF, 0xF9, 0xFF, 0xFC, 0xFF, 0xFC, 0x0F, 0x00, 0x07, 0x80, 0x03, 0xC0, 0x01, 0xE0, 0x00, 0xF0, 0x00, 0x78, 0x00, 0x3C, 0x00, 0x1E, 0x07, 0x8F, 0xFF, 0xC3, 0xFF, 0xC1, 0xFF, 0xC0, 0x3F, 0x80, 0xFC, 0x1F, 0xBF, 0x0F, 0xEF, 0xC3, 0xFB, 0xF0, 0xFE, 0x3C, 0x07, 0x8F, 0x01, 0xE3, 0xC0, 0x78, 0xF0, 0x1E, 0x3C, 0x07, 0x8F, 0x01, 0xE3, 0xC0, 0x78, 0xF8, 0x7E, 0x3F, 0xFF, 0xC7, 0xFF, 0xF0, 0xFF, 0x7C, 0x0F, 0x9E, 0x7F, 0x07, 0xF7, 0xFC, 0x7F, 0xFF, 0xE3, 0xFE, 0xFE, 0x0F, 0xE1, 0xE0, 0x3C, 0x0F, 0x01, 0xE0, 0x3C, 0x1E, 0x01, 0xE0, 0xF0, 0x07, 0x8F, 0x00, 0x3E, 0x78, 0x00, 0xF7, 0x80, 0x07, 0xFC, 0x00, 0x1F, 0xC0, 0x00, 0xFE, 0x00, 0x03, 0xE0, 0x00, 0x1F, 0x00, 0x7E, 0x03, 0xF7, 0xF8, 0x3F, 0xFF, 0xC1, 0xFE, 0xFC, 0x07, 0xF3, 0xC7, 0x0F, 0x1E, 0x7C, 0xF0, 0x73, 0xE7, 0x83, 0x9F, 0x7C, 0x1F, 0xFF, 0xC0, 0xFF, 0xFE, 0x03, 0xF7, 0xF0, 0x1F, 0xBF, 0x80, 0xFC, 0xF8, 0x07, 0xC7, 0xC0, 0x1E, 0x3E, 0x00, 0xE0, 0xE0, 0x7E, 0x0F, 0xDF, 0xE3, 0xFF, 0xFC, 0x7F, 0xBF, 0x07, 0xE1, 0xF1, 0xF0, 0x1F, 0xFC, 0x01, 0xFF, 0x00, 0x1F, 0xC0, 0x07, 0xF8, 0x01, 0xFF, 0xC0, 0x7E, 0xFC, 0x1F, 0x8F, 0xC7, 0xE0, 0xFD, 0xFE, 0x3F, 0xFF, 0xC7, 0xFF, 0xF0, 0x7F, 0x7E, 0x0F, 0xDF, 0xE3, 0xFF, 0xFC, 0x7F, 0xBF, 0x07, 0xE3, 0xC0, 0x78, 0x3C, 0x0E, 0x07, 0x83, 0xC0, 0x78, 0x70, 0x0F, 0x1E, 0x00, 0xE3, 0x80, 0x1E, 0xF0, 0x01, 0xDC, 0x00, 0x3F, 0x80, 0x03, 0xE0, 0x00, 0x7C, 0x00, 0x07, 0x00, 0x01, 0xE0, 0x00, 0x38, 0x00, 0x0F, 0x00, 0x3F, 0xF0, 0x0F, 0xFF, 0x01, 0xFF, 0xE0, 0x1F, 0xF8, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF0, 0xF9, 0xC7, 0xC0, 0x3E, 0x01, 0xF0, 0x0F, 0x80, 0x78, 0x03, 0xC0, 0x1E, 0x07, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0x81, 0xF0, 0xFC, 0x7E, 0x1F, 0x07, 0x81, 0xE0, 0x78, 0x1E, 0x07, 0x81, 0xE0, 0xF8, 0xFC, 0x3E, 0x0F, 0x83, 0xF0, 0x3E, 0x07, 0x81, 0xE0, 0x78, 0x1E, 0x07, 0x81, 0xF0, 0x7E, 0x0F, 0xC3, 0xF0, 0x38, 0x6F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF0, 0x70, 0x3E, 0x0F, 0xC1, 0xF8, 0x3E, 0x07, 0x81, 0xE0, 0x78, 0x1E, 0x07, 0x81, 0xE0, 0x7C, 0x0F, 0xC1, 0xF0, 0x7C, 0x3F, 0x1F, 0x07, 0x81, 0xE0, 0x78, 0x1E, 0x07, 0x83, 0xE1, 0xF8, 0xFC, 0x3F, 0x07, 0x00, 0x1E, 0x00, 0x1F, 0xC0, 0x1F, 0xF0, 0xDF, 0xFC, 0xFF, 0x3F, 0xFB, 0x0F, 0xF8, 0x03, 0xF8, 0x00, 0x78 }; const GFXglyph FreeMonoBold18pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 21, 0, 1 }, // 0x20 ' ' { 0, 5, 22, 21, 8, -21 }, // 0x21 '!' { 14, 11, 10, 21, 5, -20 }, // 0x22 '"' { 28, 16, 25, 21, 3, -22 }, // 0x23 '#' { 78, 14, 28, 21, 4, -23 }, // 0x24 '$' { 127, 15, 21, 21, 3, -20 }, // 0x25 '%' { 167, 15, 20, 21, 3, -19 }, // 0x26 '&' { 205, 4, 10, 21, 8, -20 }, // 0x27 ''' { 210, 8, 27, 21, 9, -21 }, // 0x28 '(' { 237, 8, 27, 21, 4, -21 }, // 0x29 ')' { 264, 16, 15, 21, 3, -21 }, // 0x2A '*' { 294, 16, 19, 21, 3, -18 }, // 0x2B '+' { 332, 7, 10, 21, 5, -3 }, // 0x2C ',' { 341, 19, 4, 21, 1, -11 }, // 0x2D '-' { 351, 5, 5, 21, 8, -4 }, // 0x2E '.' { 355, 15, 28, 21, 3, -23 }, // 0x2F '/' { 408, 16, 23, 21, 3, -22 }, // 0x30 '0' { 454, 15, 22, 21, 3, -21 }, // 0x31 '1' { 496, 15, 23, 21, 3, -22 }, // 0x32 '2' { 540, 16, 23, 21, 3, -22 }, // 0x33 '3' { 586, 15, 21, 21, 3, -20 }, // 0x34 '4' { 626, 17, 22, 21, 2, -21 }, // 0x35 '5' { 673, 15, 23, 21, 4, -22 }, // 0x36 '6' { 717, 15, 22, 21, 3, -21 }, // 0x37 '7' { 759, 15, 23, 21, 3, -22 }, // 0x38 '8' { 803, 15, 23, 21, 4, -22 }, // 0x39 '9' { 847, 5, 16, 21, 8, -15 }, // 0x3A ':' { 857, 7, 22, 21, 5, -15 }, // 0x3B ';' { 877, 18, 16, 21, 1, -17 }, // 0x3C '<' { 913, 19, 10, 21, 1, -14 }, // 0x3D '=' { 937, 18, 16, 21, 2, -17 }, // 0x3E '>' { 973, 15, 21, 21, 4, -20 }, // 0x3F '?' { 1013, 15, 27, 21, 3, -21 }, // 0x40 '@' { 1064, 22, 21, 21, -1, -20 }, // 0x41 'A' { 1122, 20, 21, 21, 1, -20 }, // 0x42 'B' { 1175, 19, 21, 21, 1, -20 }, // 0x43 'C' { 1225, 18, 21, 21, 2, -20 }, // 0x44 'D' { 1273, 19, 21, 21, 1, -20 }, // 0x45 'E' { 1323, 19, 21, 21, 1, -20 }, // 0x46 'F' { 1373, 20, 21, 21, 1, -20 }, // 0x47 'G' { 1426, 21, 21, 21, 0, -20 }, // 0x48 'H' { 1482, 14, 21, 21, 4, -20 }, // 0x49 'I' { 1519, 19, 21, 21, 2, -20 }, // 0x4A 'J' { 1569, 20, 21, 21, 1, -20 }, // 0x4B 'K' { 1622, 18, 21, 21, 2, -20 }, // 0x4C 'L' { 1670, 23, 21, 21, -1, -20 }, // 0x4D 'M' { 1731, 20, 21, 21, 1, -20 }, // 0x4E 'N' { 1784, 20, 21, 21, 1, -20 }, // 0x4F 'O' { 1837, 18, 21, 21, 1, -20 }, // 0x50 'P' { 1885, 20, 26, 21, 1, -20 }, // 0x51 'Q' { 1950, 21, 21, 21, 0, -20 }, // 0x52 'R' { 2006, 17, 21, 21, 2, -20 }, // 0x53 'S' { 2051, 19, 21, 21, 1, -20 }, // 0x54 'T' { 2101, 21, 21, 21, 0, -20 }, // 0x55 'U' { 2157, 23, 21, 21, -1, -20 }, // 0x56 'V' { 2218, 21, 21, 21, 0, -20 }, // 0x57 'W' { 2274, 19, 21, 21, 1, -20 }, // 0x58 'X' { 2324, 20, 21, 21, 1, -20 }, // 0x59 'Y' { 2377, 16, 21, 21, 3, -20 }, // 0x5A 'Z' { 2419, 8, 27, 21, 9, -21 }, // 0x5B '[' { 2446, 15, 28, 21, 3, -23 }, // 0x5C '\' { 2499, 8, 27, 21, 4, -21 }, // 0x5D ']' { 2526, 15, 11, 21, 3, -21 }, // 0x5E '^' { 2547, 21, 4, 21, 0, 4 }, // 0x5F '_' { 2558, 6, 6, 21, 6, -22 }, // 0x60 '`' { 2563, 19, 16, 21, 1, -15 }, // 0x61 'a' { 2601, 19, 22, 21, 1, -21 }, // 0x62 'b' { 2654, 17, 16, 21, 2, -15 }, // 0x63 'c' { 2688, 20, 22, 21, 1, -21 }, // 0x64 'd' { 2743, 18, 16, 21, 1, -15 }, // 0x65 'e' { 2779, 16, 22, 21, 4, -21 }, // 0x66 'f' { 2823, 19, 23, 21, 1, -15 }, // 0x67 'g' { 2878, 21, 22, 21, 0, -21 }, // 0x68 'h' { 2936, 16, 22, 21, 3, -21 }, // 0x69 'i' { 2980, 12, 29, 21, 5, -21 }, // 0x6A 'j' { 3024, 18, 22, 21, 2, -21 }, // 0x6B 'k' { 3074, 16, 22, 21, 3, -21 }, // 0x6C 'l' { 3118, 22, 16, 21, -1, -15 }, // 0x6D 'm' { 3162, 20, 16, 21, 0, -15 }, // 0x6E 'n' { 3202, 19, 16, 21, 1, -15 }, // 0x6F 'o' { 3240, 21, 23, 21, 0, -15 }, // 0x70 'p' { 3301, 21, 23, 22, 1, -15 }, // 0x71 'q' { 3362, 17, 16, 21, 3, -15 }, // 0x72 'r' { 3396, 16, 16, 21, 3, -15 }, // 0x73 's' { 3428, 17, 21, 21, 1, -20 }, // 0x74 't' { 3473, 18, 16, 21, 1, -15 }, // 0x75 'u' { 3509, 21, 16, 21, 0, -15 }, // 0x76 'v' { 3551, 21, 16, 21, 0, -15 }, // 0x77 'w' { 3593, 19, 16, 21, 1, -15 }, // 0x78 'x' { 3631, 19, 23, 21, 1, -15 }, // 0x79 'y' { 3686, 14, 16, 21, 3, -15 }, // 0x7A 'z' { 3714, 10, 27, 21, 6, -21 }, // 0x7B '{' { 3748, 4, 27, 21, 9, -21 }, // 0x7C '|' { 3762, 10, 27, 21, 6, -21 }, // 0x7D '}' { 3796, 17, 8, 21, 2, -13 } }; // 0x7E '~' const GFXfont FreeMonoBold18pt7b PROGMEM = { (uint8_t *)FreeMonoBold18pt7bBitmaps, (GFXglyph *)FreeMonoBold18pt7bGlyphs, 0x20, 0x7E, 35 }; // Approx. 4485 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeMonoBold24pt7b.h ================================================ const uint8_t FreeMonoBold24pt7bBitmaps[] PROGMEM = { 0x38, 0xFB, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFD, 0xF3, 0xE7, 0xCF, 0x9F, 0x3E, 0x7C, 0xF9, 0xF3, 0xE3, 0x82, 0x00, 0x00, 0x00, 0x71, 0xF7, 0xFF, 0xEF, 0x9E, 0x00, 0xFC, 0x7E, 0xF8, 0x7D, 0xF0, 0xFB, 0xE1, 0xF7, 0xC3, 0xEF, 0x87, 0xDF, 0x0F, 0xBE, 0x1F, 0x38, 0x1C, 0x70, 0x38, 0xE0, 0x71, 0xC0, 0xE3, 0x81, 0xC7, 0x03, 0x80, 0x01, 0xC1, 0xC0, 0x0F, 0x8F, 0x80, 0x3E, 0x3E, 0x00, 0xF8, 0xF8, 0x03, 0xE3, 0xE0, 0x0F, 0x8F, 0x80, 0x7E, 0x3E, 0x01, 0xF0, 0xF8, 0x07, 0xC7, 0xC0, 0x1F, 0x1F, 0x03, 0xFF, 0xFF, 0x9F, 0xFF, 0xFF, 0x7F, 0xFF, 0xFD, 0xFF, 0xFF, 0xF3, 0xFF, 0xFF, 0x81, 0xF1, 0xF0, 0x07, 0xC7, 0xC0, 0x1F, 0x1F, 0x00, 0x7C, 0x7C, 0x1F, 0xFF, 0xFC, 0xFF, 0xFF, 0xFB, 0xFF, 0xFF, 0xEF, 0xFF, 0xFF, 0x9F, 0xFF, 0xFC, 0x0F, 0x8F, 0x80, 0x3E, 0x3E, 0x00, 0xF8, 0xF8, 0x03, 0xE3, 0xE0, 0x0F, 0x8F, 0x80, 0x3E, 0x3E, 0x00, 0xF8, 0xF8, 0x03, 0xE3, 0xE0, 0x0F, 0x8F, 0x80, 0x3C, 0x3C, 0x00, 0x00, 0xE0, 0x00, 0x3E, 0x00, 0x07, 0xC0, 0x00, 0xF8, 0x00, 0x1F, 0x00, 0x1F, 0xFF, 0x07, 0xFF, 0xF1, 0xFF, 0xFE, 0x7F, 0xFF, 0xDF, 0xC1, 0xFB, 0xF0, 0x1F, 0x7C, 0x01, 0xEF, 0x80, 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0xFF, 0xFF, 0xF0, 0x0F, 0x9F, 0xFC, 0x00, 0xF8, 0x7F, 0x00, 0x0F, 0x80, 0x00, 0x00, 0xF8, 0x00, 0x00, 0x0F, 0x80, 0x00, 0x00, 0xF8, 0x00, 0x00, 0x7F, 0xF8, 0x00, 0x0F, 0xFF, 0xC0, 0x00, 0xFF, 0xFC, 0x00, 0x0F, 0xFF, 0xC0, 0x00, 0x7F, 0xF8, 0x00, 0x00, 0x00, 0x7E, 0x00, 0x00, 0x3F, 0xF9, 0xFC, 0x0F, 0xFF, 0xDF, 0xE1, 0xFF, 0xFF, 0xFE, 0x3F, 0xFF, 0xFF, 0xE3, 0xF8, 0x1F, 0xFC, 0x7F, 0x00, 0x7F, 0x07, 0xC0, 0x03, 0xF0, 0xFC, 0x00, 0x3F, 0x0F, 0x80, 0x01, 0xF0, 0xF8, 0x00, 0x1F, 0x0F, 0x80, 0x01, 0xF0, 0xF8, 0x00, 0x1F, 0x0F, 0xC0, 0x01, 0xF0, 0xFC, 0x00, 0x3F, 0x07, 0xE0, 0x07, 0xF0, 0x7F, 0x81, 0xFF, 0x03, 0xFF, 0xFF, 0xF0, 0x1F, 0xFF, 0xFF, 0x00, 0xFF, 0xFF, 0xF0, 0x03, 0xFF, 0x9F, 0x00, 0x0F, 0xE1, 0xF0, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x01, 0xF0, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x01, 0xF0, 0x00, 0x01, 0xFF, 0xE0, 0x00, 0x3F, 0xFF, 0x00, 0x03, 0xFF, 0xF0, 0x00, 0x3F, 0xFF, 0x00, 0x01, 0xFF, 0xE0, 0x00, 0x01, 0xF0, 0x3F, 0xC7, 0xFC, 0x7F, 0xCF, 0xFE, 0x7F, 0xDF, 0xFF, 0x7F, 0xFF, 0xFF, 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0x00, 0x7C, 0x00, 0x00, 0xF8, 0x00, 0x01, 0xF0, 0x03, 0x83, 0xF0, 0x1F, 0x87, 0xFF, 0xFF, 0x07, 0xFF, 0xFE, 0x0F, 0xFF, 0xF8, 0x07, 0xFF, 0xC0, 0x03, 0xFC, 0x00, 0x7F, 0x01, 0xFE, 0x7F, 0x81, 0xFF, 0x3F, 0xC0, 0xFF, 0x9F, 0xE0, 0x7F, 0xC7, 0xF0, 0x1F, 0xE0, 0xF8, 0x01, 0xF0, 0x7C, 0x00, 0xF8, 0x3E, 0x00, 0x7C, 0x1F, 0x00, 0x3E, 0x0F, 0x80, 0x1F, 0x07, 0xC0, 0x0F, 0x83, 0xE0, 0x07, 0xC1, 0xF0, 0x03, 0xE0, 0xF8, 0x01, 0xF0, 0x7C, 0x01, 0xF8, 0x3F, 0x01, 0xFC, 0x1F, 0xC1, 0xFF, 0x07, 0xFF, 0xFF, 0xC3, 0xFF, 0xFF, 0xE0, 0xFF, 0xF7, 0xF0, 0x3F, 0xF3, 0xF0, 0x03, 0xF0, 0x00, 0x7F, 0xE0, 0x7F, 0xEF, 0xFF, 0x0F, 0xFF, 0xFF, 0xF0, 0xFF, 0xFF, 0xFF, 0x0F, 0xFF, 0x7F, 0xE0, 0x7F, 0xE0, 0xF8, 0x01, 0xF0, 0x0F, 0xC0, 0x1F, 0x00, 0x7C, 0x03, 0xE0, 0x07, 0xE0, 0x3E, 0x00, 0x3E, 0x07, 0xC0, 0x03, 0xF0, 0x7C, 0x00, 0x1F, 0x0F, 0x80, 0x01, 0xF8, 0xF8, 0x00, 0x0F, 0x9F, 0x00, 0x00, 0xFD, 0xF0, 0x00, 0x07, 0xFE, 0x00, 0x00, 0x7F, 0xE0, 0x00, 0x03, 0xFC, 0x00, 0x00, 0x3F, 0xC0, 0x00, 0x01, 0xFC, 0x00, 0x00, 0x1F, 0x80, 0x00, 0x7F, 0x80, 0x1F, 0xEF, 0xFC, 0x03, 0xFF, 0xFF, 0xC0, 0x3F, 0xFF, 0xFC, 0x03, 0xFF, 0x7F, 0x80, 0x1F, 0xE1, 0xF0, 0xF8, 0x7C, 0x1F, 0x1F, 0x87, 0xC1, 0xF1, 0xF8, 0xFC, 0x1F, 0x1F, 0xCF, 0x80, 0xFB, 0xFC, 0xF8, 0x0F, 0xBF, 0xDF, 0x80, 0xFB, 0xFF, 0xF0, 0x0F, 0xFF, 0xFF, 0x00, 0x7F, 0xDF, 0xF0, 0x07, 0xF9, 0xFF, 0x00, 0x7F, 0x9F, 0xE0, 0x07, 0xF0, 0xFE, 0x00, 0x3F, 0x0F, 0xE0, 0x03, 0xF0, 0x7E, 0x00, 0x3E, 0x07, 0xC0, 0x03, 0xE0, 0x3C, 0x00, 0x3F, 0xC0, 0xFF, 0x1F, 0xF8, 0x7F, 0xE7, 0xFE, 0x1F, 0xF9, 0xFF, 0x87, 0xFE, 0x3F, 0xC0, 0xFF, 0x03, 0xF8, 0x7F, 0x00, 0x7F, 0x3F, 0x80, 0x0F, 0xFF, 0xC0, 0x01, 0xFF, 0xE0, 0x00, 0x3F, 0xE0, 0x00, 0x07, 0xF8, 0x00, 0x07, 0xFF, 0x00, 0x03, 0xFF, 0xE0, 0x01, 0xFF, 0xFE, 0x00, 0xFE, 0x1F, 0xC0, 0x7F, 0x03, 0xF8, 0x7F, 0xC0, 0xFF, 0xBF, 0xF8, 0x7F, 0xFF, 0xFE, 0x1F, 0xFF, 0xFF, 0x87, 0xFF, 0x7F, 0xC0, 0xFF, 0x80, 0x7F, 0x80, 0x7F, 0xBF, 0xF0, 0x3F, 0xFF, 0xFC, 0x0F, 0xFF, 0xFF, 0x03, 0xFF, 0x7F, 0x80, 0x7F, 0x8F, 0xC0, 0x07, 0x81, 0xF0, 0x03, 0xE0, 0x7E, 0x01, 0xF0, 0x0F, 0x80, 0x7C, 0x03, 0xF0, 0x3E, 0x00, 0x7C, 0x0F, 0x80, 0x0F, 0x87, 0xC0, 0x03, 0xE1, 0xF0, 0x00, 0x7C, 0xF8, 0x00, 0x1F, 0xFE, 0x00, 0x03, 0xFF, 0x00, 0x00, 0xFF, 0xC0, 0x00, 0x1F, 0xE0, 0x00, 0x07, 0xF0, 0x00, 0x00, 0xFC, 0x00, 0x00, 0x3E, 0x00, 0x00, 0x1F, 0x80, 0x00, 0x07, 0xC0, 0x00, 0x03, 0xF0, 0x00, 0x00, 0xF8, 0x00, 0x1F, 0xFF, 0x80, 0x0F, 0xFF, 0xF0, 0x03, 0xFF, 0xFC, 0x00, 0xFF, 0xFF, 0x00, 0x1F, 0xFF, 0x80, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF0, 0x3F, 0xBE, 0x0F, 0xC3, 0x83, 0xF0, 0x00, 0xFC, 0x00, 0x3F, 0x00, 0x0F, 0xC0, 0x03, 0xF0, 0x00, 0xFC, 0x00, 0x3F, 0x00, 0x0F, 0xC0, 0x3B, 0xF0, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0x00, 0x78, 0x03, 0xF0, 0x1F, 0xC0, 0xFF, 0x07, 0xF8, 0x1F, 0x80, 0x7C, 0x01, 0xF0, 0x07, 0xC0, 0x1F, 0x00, 0x7C, 0x01, 0xF0, 0x07, 0xC0, 0x1F, 0x00, 0x7C, 0x01, 0xF0, 0x0F, 0x81, 0xFE, 0x0F, 0xF0, 0x3F, 0x80, 0xFF, 0x01, 0xFE, 0x00, 0xFC, 0x01, 0xF0, 0x07, 0xC0, 0x1F, 0x00, 0x7C, 0x01, 0xF0, 0x07, 0xC0, 0x1F, 0x00, 0x7C, 0x01, 0xF8, 0x07, 0xF8, 0x0F, 0xF0, 0x3F, 0xC0, 0x7F, 0x00, 0x78, 0x77, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0xE0, 0x78, 0x03, 0xF0, 0x0F, 0xE0, 0x3F, 0xC0, 0x7F, 0x00, 0x7E, 0x00, 0xF8, 0x03, 0xE0, 0x0F, 0x80, 0x3E, 0x00, 0xF8, 0x03, 0xE0, 0x0F, 0x80, 0x3E, 0x00, 0xF8, 0x03, 0xE0, 0x07, 0xC0, 0x1F, 0xE0, 0x3F, 0xC0, 0x7F, 0x03, 0xFC, 0x1F, 0xE0, 0xFC, 0x03, 0xE0, 0x0F, 0x80, 0x3E, 0x00, 0xF8, 0x03, 0xE0, 0x0F, 0x80, 0x3E, 0x00, 0xF8, 0x07, 0xE0, 0x7F, 0x83, 0xFC, 0x0F, 0xF0, 0x3F, 0x80, 0x78, 0x00, 0x07, 0x80, 0x00, 0x7F, 0x80, 0x03, 0xFF, 0x03, 0x9F, 0xFE, 0x1F, 0xFF, 0xFC, 0xFF, 0xF3, 0xFF, 0xFF, 0x87, 0xFF, 0x9C, 0x0F, 0xFC, 0x00, 0x0F, 0xE0, 0x00, 0x1F, 0x00 }; const GFXglyph FreeMonoBold24pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 28, 0, 1 }, // 0x20 ' ' { 0, 7, 31, 28, 10, -29 }, // 0x21 '!' { 28, 15, 14, 28, 6, -28 }, // 0x22 '"' { 55, 22, 34, 28, 3, -30 }, // 0x23 '#' { 149, 19, 38, 28, 5, -31 }, // 0x24 '$' { 240, 21, 30, 28, 4, -28 }, // 0x25 '%' { 319, 21, 28, 28, 4, -26 }, // 0x26 '&' { 393, 6, 14, 28, 11, -28 }, // 0x27 ''' { 404, 10, 37, 28, 12, -29 }, // 0x28 '(' { 451, 10, 37, 28, 6, -29 }, // 0x29 ')' { 498, 21, 19, 28, 4, -28 }, // 0x2A '*' { 548, 23, 26, 28, 3, -25 }, // 0x2B '+' { 623, 9, 14, 28, 7, -6 }, // 0x2C ',' { 639, 24, 5, 28, 2, -15 }, // 0x2D '-' { 654, 7, 6, 28, 11, -4 }, // 0x2E '.' { 660, 20, 38, 28, 4, -32 }, // 0x2F '/' { 755, 21, 31, 28, 4, -29 }, // 0x30 '0' { 837, 20, 29, 28, 4, -28 }, // 0x31 '1' { 910, 21, 30, 28, 3, -29 }, // 0x32 '2' { 989, 21, 31, 28, 4, -29 }, // 0x33 '3' { 1071, 20, 28, 28, 4, -27 }, // 0x34 '4' { 1141, 21, 31, 28, 4, -29 }, // 0x35 '5' { 1223, 20, 31, 28, 5, -29 }, // 0x36 '6' { 1301, 20, 30, 28, 4, -29 }, // 0x37 '7' { 1376, 20, 31, 28, 4, -29 }, // 0x38 '8' { 1454, 20, 31, 28, 5, -29 }, // 0x39 '9' { 1532, 7, 22, 28, 11, -20 }, // 0x3A ':' { 1552, 10, 28, 28, 6, -20 }, // 0x3B ';' { 1587, 24, 21, 28, 2, -23 }, // 0x3C '<' { 1650, 24, 14, 28, 2, -19 }, // 0x3D '=' { 1692, 23, 22, 28, 3, -23 }, // 0x3E '>' { 1756, 20, 29, 28, 5, -27 }, // 0x3F '?' { 1829, 19, 36, 28, 4, -28 }, // 0x40 '@' { 1915, 29, 27, 28, -1, -26 }, // 0x41 'A' { 2013, 26, 27, 28, 1, -26 }, // 0x42 'B' { 2101, 25, 29, 28, 2, -27 }, // 0x43 'C' { 2192, 25, 27, 28, 1, -26 }, // 0x44 'D' { 2277, 25, 27, 28, 1, -26 }, // 0x45 'E' { 2362, 25, 27, 28, 1, -26 }, // 0x46 'F' { 2447, 25, 29, 28, 2, -27 }, // 0x47 'G' { 2538, 26, 27, 28, 1, -26 }, // 0x48 'H' { 2626, 19, 27, 28, 5, -26 }, // 0x49 'I' { 2691, 25, 28, 28, 3, -26 }, // 0x4A 'J' { 2779, 27, 27, 28, 1, -26 }, // 0x4B 'K' { 2871, 25, 27, 28, 2, -26 }, // 0x4C 'L' { 2956, 31, 27, 28, -1, -26 }, // 0x4D 'M' { 3061, 28, 27, 28, 0, -26 }, // 0x4E 'N' { 3156, 27, 29, 28, 1, -27 }, // 0x4F 'O' { 3254, 24, 27, 28, 1, -26 }, // 0x50 'P' { 3335, 27, 35, 28, 1, -27 }, // 0x51 'Q' { 3454, 28, 27, 28, 0, -26 }, // 0x52 'R' { 3549, 22, 29, 28, 3, -27 }, // 0x53 'S' { 3629, 25, 27, 28, 2, -26 }, // 0x54 'T' { 3714, 28, 28, 28, 0, -26 }, // 0x55 'U' { 3812, 30, 27, 28, -1, -26 }, // 0x56 'V' { 3914, 28, 27, 28, 0, -26 }, // 0x57 'W' { 4009, 26, 27, 28, 1, -26 }, // 0x58 'X' { 4097, 26, 27, 28, 1, -26 }, // 0x59 'Y' { 4185, 21, 27, 28, 4, -26 }, // 0x5A 'Z' { 4256, 10, 37, 28, 12, -29 }, // 0x5B '[' { 4303, 20, 38, 28, 4, -32 }, // 0x5C '\' { 4398, 10, 37, 28, 6, -29 }, // 0x5D ']' { 4445, 20, 15, 28, 4, -29 }, // 0x5E '^' { 4483, 28, 5, 28, 0, 5 }, // 0x5F '_' { 4501, 9, 8, 28, 8, -30 }, // 0x60 '`' { 4510, 24, 23, 28, 2, -21 }, // 0x61 'a' { 4579, 27, 31, 28, 0, -29 }, // 0x62 'b' { 4684, 24, 23, 28, 3, -21 }, // 0x63 'c' { 4753, 26, 31, 28, 2, -29 }, // 0x64 'd' { 4854, 24, 23, 28, 2, -21 }, // 0x65 'e' { 4923, 22, 30, 28, 4, -29 }, // 0x66 'f' { 5006, 25, 31, 28, 2, -21 }, // 0x67 'g' { 5103, 26, 30, 28, 1, -29 }, // 0x68 'h' { 5201, 21, 29, 28, 4, -28 }, // 0x69 'i' { 5278, 17, 38, 28, 5, -28 }, // 0x6A 'j' { 5359, 25, 30, 28, 2, -29 }, // 0x6B 'k' { 5453, 21, 30, 28, 4, -29 }, // 0x6C 'l' { 5532, 30, 22, 28, -1, -21 }, // 0x6D 'm' { 5615, 25, 22, 28, 1, -21 }, // 0x6E 'n' { 5684, 25, 23, 28, 2, -21 }, // 0x6F 'o' { 5756, 28, 31, 28, 0, -21 }, // 0x70 'p' { 5865, 28, 31, 28, 1, -21 }, // 0x71 'q' { 5974, 24, 22, 28, 3, -21 }, // 0x72 'r' { 6040, 21, 23, 28, 4, -21 }, // 0x73 's' { 6101, 23, 28, 28, 1, -26 }, // 0x74 't' { 6182, 25, 22, 28, 1, -20 }, // 0x75 'u' { 6251, 28, 21, 28, 0, -20 }, // 0x76 'v' { 6325, 28, 21, 28, 0, -20 }, // 0x77 'w' { 6399, 26, 21, 28, 1, -20 }, // 0x78 'x' { 6468, 26, 30, 28, 1, -20 }, // 0x79 'y' { 6566, 19, 21, 28, 5, -20 }, // 0x7A 'z' { 6616, 14, 37, 28, 7, -29 }, // 0x7B '{' { 6681, 5, 36, 28, 12, -28 }, // 0x7C '|' { 6704, 14, 37, 28, 8, -29 }, // 0x7D '}' { 6769, 22, 10, 28, 3, -17 } }; // 0x7E '~' const GFXfont FreeMonoBold24pt7b PROGMEM = { (uint8_t *)FreeMonoBold24pt7bBitmaps, (GFXglyph *)FreeMonoBold24pt7bGlyphs, 0x20, 0x7E, 47 }; // Approx. 7469 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeMonoBold9pt7b.h ================================================ const uint8_t FreeMonoBold9pt7bBitmaps[] PROGMEM = { 0xFF, 0xFF, 0xD2, 0x1F, 0x80, 0xEC, 0x89, 0x12, 0x24, 0x40, 0x36, 0x36, 0x36, 0x7F, 0x7F, 0x36, 0xFF, 0xFF, 0x3C, 0x3C, 0x3C, 0x00, 0x18, 0xFF, 0xFE, 0x3C, 0x1F, 0x1F, 0x83, 0x46, 0x8D, 0xF0, 0xC1, 0x83, 0x00, 0x61, 0x22, 0x44, 0x86, 0x67, 0x37, 0x11, 0x22, 0x4C, 0x70, 0x3C, 0x7E, 0x60, 0x60, 0x30, 0x7B, 0xDF, 0xCE, 0xFF, 0x7F, 0xC9, 0x24, 0x37, 0x66, 0xCC, 0xCC, 0xCC, 0x66, 0x31, 0xCE, 0x66, 0x33, 0x33, 0x33, 0x66, 0xC8, 0x18, 0x18, 0xFF, 0xFF, 0x3C, 0x3C, 0x66, 0x18, 0x18, 0x18, 0xFF, 0xFF, 0x18, 0x18, 0x18, 0x18, 0x6B, 0x48, 0xFF, 0xFF, 0xC0, 0xF0, 0x02, 0x0C, 0x18, 0x60, 0xC3, 0x06, 0x0C, 0x30, 0x61, 0x83, 0x0C, 0x18, 0x20, 0x00, 0x38, 0xFB, 0xBE, 0x3C, 0x78, 0xF1, 0xE3, 0xC7, 0xDD, 0xF1, 0xC0, 0x38, 0xF3, 0x60, 0xC1, 0x83, 0x06, 0x0C, 0x18, 0xFD, 0xF8, 0x3C, 0xFE, 0xC7, 0x03, 0x03, 0x06, 0x0C, 0x18, 0x70, 0xE3, 0xFF, 0xFF, 0x7C, 0xFE, 0x03, 0x03, 0x03, 0x1E, 0x1E, 0x07, 0x03, 0x03, 0xFE, 0x7C, 0x1C, 0x38, 0xB1, 0x64, 0xD9, 0xBF, 0xFF, 0x3E, 0x7C, 0x7E, 0x3F, 0x18, 0x0F, 0xC7, 0xF3, 0x1C, 0x06, 0x03, 0xC3, 0xFF, 0x9F, 0x80, 0x0F, 0x3F, 0x30, 0x60, 0x60, 0xDC, 0xFE, 0xE3, 0xC3, 0x63, 0x7E, 0x3C, 0xFF, 0xFF, 0xC3, 0x03, 0x06, 0x06, 0x06, 0x0C, 0x0C, 0x0C, 0x18, 0x38, 0xFB, 0x1E, 0x3C, 0x6F, 0x9F, 0x63, 0xC7, 0x8F, 0xF1, 0xC0, 0x3C, 0x7E, 0xE6, 0xC3, 0xC3, 0xE7, 0x7F, 0x3B, 0x06, 0x0E, 0xFC, 0xF0, 0xF0, 0x0F, 0x6C, 0x00, 0x1A, 0xD2, 0x00, 0x01, 0x83, 0x87, 0x0E, 0x0F, 0x80, 0xE0, 0x1C, 0x03, 0xFF, 0xFF, 0xC0, 0x00, 0x0F, 0xFF, 0xFC, 0xC0, 0x78, 0x0F, 0x01, 0xE0, 0xF9, 0xE3, 0xC1, 0x80, 0x7C, 0xFE, 0xC7, 0x03, 0x0E, 0x1C, 0x00, 0x00, 0x00, 0x30, 0x30, 0x1E, 0x1F, 0x1C, 0xDC, 0x6C, 0x76, 0x7B, 0x6D, 0xB6, 0xDB, 0x6F, 0xF3, 0xFC, 0x06, 0x33, 0xF8, 0x78, 0x3C, 0x07, 0xC0, 0x38, 0x05, 0x81, 0xB0, 0x36, 0x0F, 0xE1, 0xFC, 0x71, 0xDF, 0x7F, 0xEF, 0x80, 0xFF, 0x3F, 0xE6, 0x19, 0x86, 0x7F, 0x1F, 0xE6, 0x1D, 0x83, 0x60, 0xFF, 0xFF, 0xF0, 0x1F, 0xBF, 0xD8, 0xF8, 0x3C, 0x06, 0x03, 0x01, 0x80, 0x61, 0xBF, 0xC7, 0xC0, 0xFE, 0x3F, 0xE6, 0x19, 0x83, 0x60, 0xD8, 0x36, 0x0D, 0x83, 0x61, 0xBF, 0xEF, 0xE0, 0xFF, 0xFF, 0xD8, 0x6D, 0xB7, 0xC3, 0xE1, 0xB0, 0xC3, 0x61, 0xFF, 0xFF, 0xE0, 0xFF, 0xFF, 0xD8, 0x6D, 0xB7, 0xC3, 0xE1, 0xB0, 0xC0, 0x60, 0x7C, 0x3E, 0x00, 0x1F, 0x9F, 0xE6, 0x1B, 0x06, 0xC0, 0x30, 0x0C, 0x7F, 0x1F, 0xE1, 0x9F, 0xE3, 0xF0, 0xF7, 0xFB, 0xD8, 0xCC, 0x66, 0x33, 0xF9, 0xFC, 0xC6, 0x63, 0x7B, 0xFD, 0xE0, 0xFF, 0xF3, 0x0C, 0x30, 0xC3, 0x0C, 0x33, 0xFF, 0xC0, 0x1F, 0xC7, 0xF0, 0x30, 0x0C, 0x03, 0x00, 0xCC, 0x33, 0x0C, 0xC7, 0x3F, 0x87, 0xC0, 0xF7, 0xBD, 0xE6, 0x61, 0xB0, 0x78, 0x1F, 0x06, 0xE1, 0x98, 0x63, 0x3C, 0xFF, 0x3C, 0xFC, 0x7E, 0x0C, 0x06, 0x03, 0x01, 0x80, 0xC6, 0x63, 0x31, 0xFF, 0xFF, 0xE0, 0xE0, 0xFE, 0x3D, 0xC7, 0x3D, 0xE7, 0xBC, 0xD7, 0x9B, 0xB3, 0x76, 0x60, 0xDE, 0x3F, 0xC7, 0x80, 0xE1, 0xFE, 0x3D, 0xE3, 0x3C, 0x66, 0xCC, 0xDD, 0x99, 0xB3, 0x1E, 0x63, 0xDE, 0x3B, 0xC3, 0x00, 0x1F, 0x07, 0xF1, 0xC7, 0x70, 0x7C, 0x07, 0x80, 0xF0, 0x1F, 0x07, 0x71, 0xC7, 0xF0, 0x7C, 0x00, 0xFE, 0x7F, 0x98, 0x6C, 0x36, 0x1B, 0xF9, 0xF8, 0xC0, 0x60, 0x7C, 0x3E, 0x00, 0x1F, 0x07, 0xF1, 0xC7, 0x70, 0x7C, 0x07, 0x80, 0xF0, 0x1F, 0x07, 0x71, 0xC7, 0xF0, 0x7C, 0x0C, 0x33, 0xFE, 0x7F, 0x80, 0xFC, 0x7F, 0x18, 0xCC, 0x66, 0x73, 0xF1, 0xF0, 0xCC, 0x63, 0x7D, 0xFE, 0x60, 0x3F, 0xBF, 0xF0, 0x78, 0x0F, 0x03, 0xF8, 0x3F, 0x83, 0xC3, 0xFF, 0xBF, 0x80, 0xFF, 0xFF, 0xF6, 0x7B, 0x3D, 0x98, 0xC0, 0x60, 0x30, 0x18, 0x3F, 0x1F, 0x80, 0xF1, 0xFE, 0x3D, 0x83, 0x30, 0x66, 0x0C, 0xC1, 0x98, 0x33, 0x06, 0x60, 0xC7, 0xF0, 0x7C, 0x00, 0xFB, 0xFF, 0x7D, 0xC3, 0x18, 0xC3, 0x18, 0x36, 0x06, 0xC0, 0x50, 0x0E, 0x01, 0xC0, 0x10, 0x00, 0xFB, 0xFE, 0xF6, 0x0D, 0x93, 0x6E, 0xDB, 0xB7, 0xAD, 0xEE, 0x7B, 0x8E, 0xE3, 0x18, 0xF3, 0xFC, 0xF7, 0x38, 0xFC, 0x1E, 0x03, 0x01, 0xE0, 0xCC, 0x73, 0xBC, 0xFF, 0x3C, 0xF3, 0xFC, 0xF7, 0x38, 0xCC, 0x1E, 0x07, 0x80, 0xC0, 0x30, 0x0C, 0x0F, 0xC3, 0xF0, 0xFE, 0xFE, 0xC6, 0xCC, 0x18, 0x18, 0x30, 0x63, 0xC3, 0xFF, 0xFF, 0xFF, 0xCC, 0xCC, 0xCC, 0xCC, 0xCC, 0xFF, 0x01, 0x03, 0x06, 0x06, 0x0C, 0x0C, 0x18, 0x18, 0x30, 0x30, 0x60, 0x60, 0xC0, 0x80, 0xFF, 0x33, 0x33, 0x33, 0x33, 0x33, 0xFF, 0x10, 0x71, 0xE3, 0x6C, 0x70, 0x40, 0xFF, 0xFF, 0xFC, 0x88, 0x80, 0x7E, 0x3F, 0x8F, 0xCF, 0xEE, 0x36, 0x1B, 0xFE, 0xFF, 0xE0, 0x38, 0x06, 0x01, 0xBC, 0x7F, 0x9C, 0x76, 0x0D, 0x83, 0x71, 0xFF, 0xEE, 0xF0, 0x3F, 0xBF, 0xF8, 0x78, 0x3C, 0x07, 0x05, 0xFE, 0x7E, 0x03, 0x80, 0xE0, 0x18, 0xF6, 0x7F, 0xB8, 0xEC, 0x1B, 0x06, 0xE3, 0x9F, 0xF3, 0xFC, 0x3E, 0x3F, 0xB0, 0xFF, 0xFF, 0xFE, 0x01, 0xFE, 0x7E, 0x1F, 0x3F, 0x30, 0x7E, 0x7E, 0x30, 0x30, 0x30, 0x30, 0xFE, 0xFE, 0x3F, 0xBF, 0xF9, 0xD8, 0x6C, 0x37, 0x39, 0xFC, 0x76, 0x03, 0x01, 0x8F, 0xC7, 0xC0, 0xE0, 0x70, 0x18, 0x0D, 0xC7, 0xF3, 0x99, 0x8C, 0xC6, 0x63, 0x7B, 0xFD, 0xE0, 0x18, 0x18, 0x00, 0x78, 0x78, 0x18, 0x18, 0x18, 0x18, 0xFF, 0xFF, 0x18, 0x60, 0x3F, 0xFC, 0x30, 0xC3, 0x0C, 0x30, 0xC3, 0x0F, 0xFF, 0x80, 0xE0, 0x70, 0x18, 0x0D, 0xE6, 0xF3, 0xE1, 0xE0, 0xF8, 0x6E, 0x73, 0xF9, 0xE0, 0x78, 0x78, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0xFF, 0xFF, 0xFD, 0x9F, 0xF9, 0x9B, 0x33, 0x66, 0x6C, 0xCD, 0xBD, 0xFF, 0xBF, 0xEE, 0x7F, 0x98, 0xCC, 0x66, 0x33, 0x1B, 0xDF, 0xEF, 0x3E, 0x3F, 0xB8, 0xF8, 0x3C, 0x1F, 0x1D, 0xFC, 0x7C, 0xEF, 0x1F, 0xF9, 0xC3, 0xB0, 0x36, 0x06, 0xE1, 0xDF, 0xF3, 0x78, 0x60, 0x0C, 0x03, 0xE0, 0x7C, 0x00, 0x1E, 0xEF, 0xFF, 0x87, 0x60, 0x6C, 0x0D, 0xC3, 0x9F, 0xF0, 0xF6, 0x00, 0xC0, 0x18, 0x0F, 0x81, 0xF0, 0x77, 0xBF, 0xCF, 0x06, 0x03, 0x01, 0x83, 0xF9, 0xFC, 0x3F, 0xFF, 0xC3, 0xFC, 0x3F, 0xC3, 0xFF, 0xFC, 0x60, 0x60, 0x60, 0xFE, 0xFE, 0x60, 0x60, 0x60, 0x61, 0x7F, 0x3E, 0xE7, 0x73, 0x98, 0xCC, 0x66, 0x33, 0x19, 0xFE, 0x7F, 0xFB, 0xFF, 0x7C, 0xC6, 0x18, 0xC1, 0xB0, 0x36, 0x03, 0x80, 0x70, 0xF1, 0xFE, 0x3D, 0xBB, 0x37, 0x63, 0xF8, 0x77, 0x0E, 0xE1, 0x8C, 0xF7, 0xFB, 0xCD, 0x83, 0x83, 0xC3, 0xBB, 0xDF, 0xEF, 0xF3, 0xFC, 0xF6, 0x18, 0xCC, 0x33, 0x07, 0x81, 0xE0, 0x30, 0x0C, 0x06, 0x0F, 0xC3, 0xF0, 0xFF, 0xFF, 0x30, 0xC3, 0x0C, 0x7F, 0xFF, 0x37, 0x66, 0x66, 0xCC, 0x66, 0x66, 0x73, 0xFF, 0xFF, 0xFF, 0xF0, 0xCE, 0x66, 0x66, 0x33, 0x66, 0x66, 0xEC, 0x70, 0x7C, 0xF3, 0xC0, 0xC0 }; const GFXglyph FreeMonoBold9pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 11, 0, 1 }, // 0x20 ' ' { 0, 3, 11, 11, 4, -10 }, // 0x21 '!' { 5, 7, 5, 11, 2, -10 }, // 0x22 '"' { 10, 8, 12, 11, 1, -10 }, // 0x23 '#' { 22, 7, 14, 11, 2, -11 }, // 0x24 '$' { 35, 7, 11, 11, 2, -10 }, // 0x25 '%' { 45, 8, 10, 11, 1, -9 }, // 0x26 '&' { 55, 3, 5, 11, 4, -10 }, // 0x27 ''' { 57, 4, 14, 11, 5, -10 }, // 0x28 '(' { 64, 4, 14, 11, 2, -10 }, // 0x29 ')' { 71, 8, 7, 11, 2, -10 }, // 0x2A '*' { 78, 8, 9, 11, 2, -8 }, // 0x2B '+' { 87, 3, 5, 11, 3, -1 }, // 0x2C ',' { 89, 9, 2, 11, 1, -5 }, // 0x2D '-' { 92, 2, 2, 11, 4, -1 }, // 0x2E '.' { 93, 7, 15, 11, 2, -12 }, // 0x2F '/' { 107, 7, 12, 11, 2, -11 }, // 0x30 '0' { 118, 7, 11, 11, 2, -10 }, // 0x31 '1' { 128, 8, 12, 11, 1, -11 }, // 0x32 '2' { 140, 8, 12, 11, 2, -11 }, // 0x33 '3' { 152, 7, 10, 11, 2, -9 }, // 0x34 '4' { 161, 9, 11, 11, 1, -10 }, // 0x35 '5' { 174, 8, 12, 11, 2, -11 }, // 0x36 '6' { 186, 8, 11, 11, 1, -10 }, // 0x37 '7' { 197, 7, 12, 11, 2, -11 }, // 0x38 '8' { 208, 8, 12, 11, 2, -11 }, // 0x39 '9' { 220, 2, 8, 11, 4, -7 }, // 0x3A ':' { 222, 3, 11, 11, 3, -7 }, // 0x3B ';' { 227, 9, 8, 11, 1, -8 }, // 0x3C '<' { 236, 9, 6, 11, 1, -7 }, // 0x3D '=' { 243, 9, 8, 11, 1, -8 }, // 0x3E '>' { 252, 8, 11, 11, 2, -10 }, // 0x3F '?' { 263, 9, 15, 11, 1, -11 }, // 0x40 '@' { 280, 11, 11, 11, 0, -10 }, // 0x41 'A' { 296, 10, 11, 11, 1, -10 }, // 0x42 'B' { 310, 9, 11, 11, 1, -10 }, // 0x43 'C' { 323, 10, 11, 11, 0, -10 }, // 0x44 'D' { 337, 9, 11, 11, 1, -10 }, // 0x45 'E' { 350, 9, 11, 11, 1, -10 }, // 0x46 'F' { 363, 10, 11, 11, 1, -10 }, // 0x47 'G' { 377, 9, 11, 11, 1, -10 }, // 0x48 'H' { 390, 6, 11, 11, 3, -10 }, // 0x49 'I' { 399, 10, 11, 11, 1, -10 }, // 0x4A 'J' { 413, 10, 11, 11, 1, -10 }, // 0x4B 'K' { 427, 9, 11, 11, 1, -10 }, // 0x4C 'L' { 440, 11, 11, 11, 0, -10 }, // 0x4D 'M' { 456, 11, 11, 11, 0, -10 }, // 0x4E 'N' { 472, 11, 11, 11, 0, -10 }, // 0x4F 'O' { 488, 9, 11, 11, 1, -10 }, // 0x50 'P' { 501, 11, 14, 11, 0, -10 }, // 0x51 'Q' { 521, 9, 11, 11, 1, -10 }, // 0x52 'R' { 534, 9, 11, 11, 1, -10 }, // 0x53 'S' { 547, 9, 11, 11, 1, -10 }, // 0x54 'T' { 560, 11, 11, 11, 0, -10 }, // 0x55 'U' { 576, 11, 11, 11, 0, -10 }, // 0x56 'V' { 592, 10, 11, 11, 0, -10 }, // 0x57 'W' { 606, 10, 11, 11, 0, -10 }, // 0x58 'X' { 620, 10, 11, 11, 0, -10 }, // 0x59 'Y' { 634, 8, 11, 11, 2, -10 }, // 0x5A 'Z' { 645, 4, 14, 11, 5, -10 }, // 0x5B '[' { 652, 7, 15, 11, 2, -12 }, // 0x5C '\' { 666, 4, 14, 11, 2, -10 }, // 0x5D ']' { 673, 7, 6, 11, 2, -11 }, // 0x5E '^' { 679, 11, 2, 11, 0, 3 }, // 0x5F '_' { 682, 3, 3, 11, 3, -11 }, // 0x60 '`' { 684, 9, 8, 11, 1, -7 }, // 0x61 'a' { 693, 10, 11, 11, 0, -10 }, // 0x62 'b' { 707, 9, 8, 11, 1, -7 }, // 0x63 'c' { 716, 10, 11, 11, 1, -10 }, // 0x64 'd' { 730, 9, 8, 11, 1, -7 }, // 0x65 'e' { 739, 8, 11, 11, 2, -10 }, // 0x66 'f' { 750, 9, 12, 11, 1, -7 }, // 0x67 'g' { 764, 9, 11, 11, 1, -10 }, // 0x68 'h' { 777, 8, 11, 11, 2, -10 }, // 0x69 'i' { 788, 6, 15, 11, 2, -10 }, // 0x6A 'j' { 800, 9, 11, 11, 1, -10 }, // 0x6B 'k' { 813, 8, 11, 11, 2, -10 }, // 0x6C 'l' { 824, 11, 8, 11, 0, -7 }, // 0x6D 'm' { 835, 9, 8, 11, 1, -7 }, // 0x6E 'n' { 844, 9, 8, 11, 1, -7 }, // 0x6F 'o' { 853, 11, 12, 11, 0, -7 }, // 0x70 'p' { 870, 11, 12, 11, 0, -7 }, // 0x71 'q' { 887, 9, 8, 11, 1, -7 }, // 0x72 'r' { 896, 8, 8, 11, 2, -7 }, // 0x73 's' { 904, 8, 11, 11, 1, -10 }, // 0x74 't' { 915, 9, 8, 11, 1, -7 }, // 0x75 'u' { 924, 11, 8, 11, 0, -7 }, // 0x76 'v' { 935, 11, 8, 11, 0, -7 }, // 0x77 'w' { 946, 9, 8, 11, 1, -7 }, // 0x78 'x' { 955, 10, 12, 11, 0, -7 }, // 0x79 'y' { 970, 7, 8, 11, 2, -7 }, // 0x7A 'z' { 977, 4, 14, 11, 3, -10 }, // 0x7B '{' { 984, 2, 14, 11, 5, -10 }, // 0x7C '|' { 988, 4, 14, 11, 4, -10 }, // 0x7D '}' { 995, 9, 4, 11, 1, -6 } }; // 0x7E '~' const GFXfont FreeMonoBold9pt7b PROGMEM = { (uint8_t *)FreeMonoBold9pt7bBitmaps, (GFXglyph *)FreeMonoBold9pt7bGlyphs, 0x20, 0x7E, 18 }; // Approx. 1672 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeMonoBoldOblique12pt7b.h ================================================ const uint8_t FreeMonoBoldOblique12pt7bBitmaps[] PROGMEM = { 0x1C, 0xF3, 0xCE, 0x38, 0xE7, 0x1C, 0x61, 0x86, 0x00, 0x63, 0x8C, 0x00, 0xE7, 0xE7, 0xE6, 0xC6, 0xC6, 0xC4, 0x84, 0x03, 0x30, 0x19, 0x81, 0xDC, 0x0C, 0xE0, 0x66, 0x1F, 0xFC, 0xFF, 0xE1, 0x98, 0x0C, 0xC0, 0xEE, 0x06, 0x70, 0xFF, 0xCF, 0xFE, 0x1D, 0xC0, 0xCC, 0x06, 0x60, 0x77, 0x03, 0x30, 0x00, 0x01, 0x00, 0x70, 0x0C, 0x07, 0xF1, 0xFE, 0x71, 0xCC, 0x11, 0x80, 0x3F, 0x03, 0xF0, 0x0F, 0x20, 0x6E, 0x0D, 0xC3, 0x3F, 0xE7, 0xF8, 0x1C, 0x03, 0x00, 0x60, 0x0C, 0x00, 0x0E, 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0x06, 0x03, 0x80, 0xE0, 0x30, 0x1C, 0x3E, 0x0F, 0x00, 0x60, 0x18, 0x06, 0x03, 0x80, 0xC0, 0x30, 0x0F, 0x01, 0xC0, 0x0C, 0x71, 0xC7, 0x18, 0x63, 0x8E, 0x30, 0xC3, 0x1C, 0x71, 0x86, 0x38, 0xE3, 0x04, 0x00, 0x0E, 0x07, 0x80, 0xC0, 0x60, 0x70, 0x30, 0x18, 0x0C, 0x06, 0x01, 0xC1, 0xE1, 0xC0, 0xC0, 0xE0, 0x70, 0x30, 0x38, 0x78, 0x38, 0x00, 0x3C, 0x27, 0xE6, 0xEF, 0xCC, 0x38 }; const GFXglyph FreeMonoBoldOblique12pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 14, 0, 1 }, // 0x20 ' ' { 0, 6, 15, 14, 6, -14 }, // 0x21 '!' { 12, 8, 7, 14, 6, -13 }, // 0x22 '"' { 19, 13, 18, 14, 2, -15 }, // 0x23 '#' { 49, 11, 20, 14, 3, -16 }, // 0x24 '$' { 77, 11, 15, 14, 3, -14 }, // 0x25 '%' { 98, 11, 13, 14, 2, -12 }, // 0x26 '&' { 116, 3, 7, 14, 8, -13 }, // 0x27 ''' { 119, 7, 19, 14, 7, -14 }, // 0x28 '(' { 136, 7, 19, 14, 2, -14 }, // 0x29 ')' { 153, 11, 10, 14, 4, -14 }, // 0x2A '*' { 167, 12, 13, 14, 3, -12 }, // 0x2B '+' { 187, 6, 7, 14, 3, -2 }, // 0x2C ',' { 193, 13, 2, 14, 2, -7 }, // 0x2D '-' { 197, 3, 3, 14, 6, -2 }, // 0x2E '.' { 199, 14, 20, 14, 2, -16 }, // 0x2F '/' { 234, 11, 15, 14, 3, -14 }, // 0x30 '0' { 255, 11, 15, 14, 2, -14 }, // 0x31 '1' { 276, 13, 15, 14, 1, -14 }, // 0x32 '2' { 301, 12, 15, 14, 2, -14 }, // 0x33 '3' { 324, 11, 14, 14, 3, -13 }, // 0x34 '4' { 344, 12, 15, 14, 2, -14 }, // 0x35 '5' { 367, 11, 15, 14, 4, -14 }, // 0x36 '6' { 388, 11, 15, 14, 4, -14 }, // 0x37 '7' { 409, 11, 15, 14, 3, -14 }, // 0x38 '8' { 430, 11, 15, 14, 3, -14 }, // 0x39 '9' { 451, 5, 11, 14, 5, -10 }, // 0x3A ':' { 458, 7, 15, 14, 3, -10 }, // 0x3B ';' { 472, 13, 11, 14, 2, -11 }, // 0x3C '<' { 490, 13, 7, 14, 2, -9 }, // 0x3D '=' { 502, 13, 11, 14, 2, -11 }, // 0x3E '>' { 520, 9, 14, 14, 5, -13 }, // 0x3F '?' { 536, 12, 19, 14, 2, -14 }, // 0x40 '@' { 565, 15, 14, 14, 0, -13 }, // 0x41 'A' { 592, 13, 14, 14, 1, -13 }, // 0x42 'B' { 615, 14, 14, 14, 2, -13 }, // 0x43 'C' { 640, 13, 14, 14, 1, -13 }, // 0x44 'D' { 663, 15, 14, 14, 0, -13 }, // 0x45 'E' { 690, 16, 14, 14, 0, -13 }, // 0x46 'F' { 718, 14, 14, 14, 1, -13 }, // 0x47 'G' { 743, 16, 14, 14, 0, -13 }, // 0x48 'H' { 771, 12, 14, 14, 2, -13 }, // 0x49 'I' { 792, 16, 14, 14, 0, -13 }, // 0x4A 'J' { 820, 16, 14, 14, 0, -13 }, // 0x4B 'K' { 848, 13, 14, 14, 1, -13 }, // 0x4C 'L' { 871, 18, 14, 14, 0, -13 }, // 0x4D 'M' { 903, 16, 14, 14, 1, -13 }, // 0x4E 'N' { 931, 14, 14, 14, 1, -13 }, // 0x4F 'O' { 956, 13, 14, 14, 1, -13 }, // 0x50 'P' { 979, 14, 17, 14, 1, -13 }, // 0x51 'Q' { 1009, 15, 14, 14, 0, -13 }, // 0x52 'R' { 1036, 12, 14, 14, 3, -13 }, // 0x53 'S' { 1057, 13, 14, 14, 2, -13 }, // 0x54 'T' { 1080, 14, 14, 14, 2, -13 }, // 0x55 'U' { 1105, 15, 14, 14, 1, -13 }, // 0x56 'V' { 1132, 15, 14, 14, 1, -13 }, // 0x57 'W' { 1159, 16, 14, 14, 0, -13 }, // 0x58 'X' { 1187, 13, 14, 14, 2, -13 }, // 0x59 'Y' { 1210, 14, 14, 14, 1, -13 }, // 0x5A 'Z' { 1235, 9, 19, 14, 5, -14 }, // 0x5B '[' { 1257, 7, 20, 14, 5, -16 }, // 0x5C '\' { 1275, 9, 19, 14, 3, -14 }, // 0x5D ']' { 1297, 10, 8, 14, 4, -15 }, // 0x5E '^' { 1307, 15, 2, 14, -1, 4 }, // 0x5F '_' { 1311, 4, 4, 14, 7, -15 }, // 0x60 '`' { 1313, 12, 11, 14, 2, -10 }, // 0x61 'a' { 1330, 15, 15, 14, -1, -14 }, // 0x62 'b' { 1359, 12, 11, 14, 2, -10 }, // 0x63 'c' { 1376, 14, 15, 14, 2, -14 }, // 0x64 'd' { 1403, 12, 11, 14, 2, -10 }, // 0x65 'e' { 1420, 15, 15, 14, 2, -14 }, // 0x66 'f' { 1449, 14, 16, 14, 2, -10 }, // 0x67 'g' { 1477, 13, 15, 14, 1, -14 }, // 0x68 'h' { 1502, 11, 14, 14, 2, -13 }, // 0x69 'i' { 1522, 12, 19, 14, 1, -13 }, // 0x6A 'j' { 1551, 14, 15, 14, 1, -14 }, // 0x6B 'k' { 1578, 11, 15, 14, 2, -14 }, // 0x6C 'l' { 1599, 15, 11, 14, 0, -10 }, // 0x6D 'm' { 1620, 13, 11, 14, 1, -10 }, // 0x6E 'n' { 1638, 12, 11, 14, 2, -10 }, // 0x6F 'o' { 1655, 16, 16, 14, -1, -10 }, // 0x70 'p' { 1687, 15, 16, 14, 1, -10 }, // 0x71 'q' { 1717, 14, 11, 14, 1, -10 }, // 0x72 'r' { 1737, 12, 11, 14, 2, -10 }, // 0x73 's' { 1754, 10, 14, 14, 2, -13 }, // 0x74 't' { 1772, 12, 11, 14, 2, -10 }, // 0x75 'u' { 1789, 15, 11, 14, 1, -10 }, // 0x76 'v' { 1810, 14, 11, 14, 2, -10 }, // 0x77 'w' { 1830, 14, 11, 14, 1, -10 }, // 0x78 'x' { 1850, 16, 16, 14, 0, -10 }, // 0x79 'y' { 1882, 12, 11, 14, 2, -10 }, // 0x7A 'z' { 1899, 10, 19, 14, 4, -14 }, // 0x7B '{' { 1923, 6, 19, 14, 5, -14 }, // 0x7C '|' { 1938, 9, 19, 14, 3, -14 }, // 0x7D '}' { 1960, 12, 4, 14, 3, -7 } }; // 0x7E '~' const GFXfont FreeMonoBoldOblique12pt7b PROGMEM = { (uint8_t *)FreeMonoBoldOblique12pt7bBitmaps, (GFXglyph *)FreeMonoBoldOblique12pt7bGlyphs, 0x20, 0x7E, 24 }; // Approx. 2638 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeMonoBoldOblique18pt7b.h ================================================ const uint8_t FreeMonoBoldOblique18pt7bBitmaps[] PROGMEM = { 0x0F, 0x07, 0xC7, 0xE3, 0xF1, 0xF0, 0xF8, 0xFC, 0x7C, 0x3E, 0x1F, 0x0F, 0x07, 0x87, 0xC3, 0xC1, 0xE0, 0x60, 0x00, 0x38, 0x3E, 0x1F, 0x0F, 0x83, 0x80, 0xF8, 0xFF, 0x0E, 0xF1, 0xEF, 0x1E, 0xE1, 0xCE, 0x1C, 0xC1, 0xCC, 0x18, 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0x78, 0x70, 0x70, 0x70, 0xF0, 0xF0, 0xE0, 0xE0, 0x01, 0xC0, 0x1F, 0x00, 0xFC, 0x07, 0xE0, 0x0F, 0x00, 0x78, 0x03, 0xC0, 0x1C, 0x00, 0xE0, 0x0F, 0x00, 0x78, 0x03, 0xC0, 0x1F, 0x80, 0x7C, 0x03, 0xE0, 0x3F, 0x03, 0xC0, 0x1C, 0x00, 0xE0, 0x0F, 0x00, 0x78, 0x03, 0x80, 0x3C, 0x0F, 0xE0, 0x7E, 0x07, 0xE0, 0x1E, 0x00, 0x0F, 0x00, 0x1F, 0xC0, 0x1F, 0xF0, 0xFF, 0xFC, 0xFF, 0x3F, 0xFF, 0x0F, 0xF8, 0x03, 0xF8, 0x00, 0xF0 }; const GFXglyph FreeMonoBoldOblique18pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 21, 0, 1 }, // 0x20 ' ' { 0, 9, 22, 21, 9, -21 }, // 0x21 '!' { 25, 12, 10, 21, 9, -20 }, // 0x22 '"' { 40, 18, 25, 21, 4, -22 }, // 0x23 '#' { 97, 18, 28, 21, 4, -23 }, // 0x24 '$' { 160, 16, 21, 21, 5, -20 }, // 0x25 '%' { 202, 16, 20, 21, 4, -19 }, // 0x26 '&' { 242, 5, 10, 21, 12, -20 }, // 0x27 ''' { 249, 10, 27, 21, 11, -21 }, // 0x28 '(' { 283, 10, 27, 21, 4, -21 }, // 0x29 ')' { 317, 15, 15, 21, 6, -21 }, // 0x2A '*' { 346, 18, 19, 21, 4, -18 }, // 0x2B '+' { 389, 9, 10, 21, 4, -3 }, // 0x2C ',' { 401, 18, 4, 21, 4, -11 }, // 0x2D '-' { 410, 5, 5, 21, 8, -4 }, // 0x2E '.' { 414, 21, 28, 21, 2, -23 }, // 0x2F '/' { 488, 17, 23, 21, 5, -22 }, // 0x30 '0' { 537, 15, 22, 21, 3, -21 }, // 0x31 '1' { 579, 20, 23, 21, 2, -22 }, // 0x32 '2' { 637, 18, 23, 21, 3, -22 }, // 0x33 '3' { 689, 16, 21, 21, 4, -20 }, // 0x34 '4' { 731, 18, 22, 21, 4, -21 }, // 0x35 '5' { 781, 19, 23, 21, 5, -22 }, // 0x36 '6' { 836, 16, 22, 21, 6, -21 }, // 0x37 '7' { 880, 19, 23, 21, 3, -22 }, // 0x38 '8' { 935, 18, 23, 21, 4, -22 }, // 0x39 '9' { 987, 7, 16, 21, 9, -15 }, // 0x3A ':' { 1001, 11, 22, 21, 4, -15 }, // 0x3B ';' { 1032, 18, 16, 21, 4, -17 }, // 0x3C '<' { 1068, 19, 10, 21, 3, -14 }, // 0x3D '=' { 1092, 19, 16, 21, 3, -17 }, // 0x3E '>' { 1130, 14, 21, 21, 8, -20 }, // 0x3F '?' { 1167, 18, 27, 21, 3, -21 }, // 0x40 '@' { 1228, 22, 21, 21, 0, -20 }, // 0x41 'A' { 1286, 21, 21, 21, 1, -20 }, // 0x42 'B' { 1342, 21, 21, 21, 2, -20 }, // 0x43 'C' { 1398, 21, 21, 21, 1, -20 }, // 0x44 'D' { 1454, 22, 21, 21, 0, -20 }, // 0x45 'E' { 1512, 23, 21, 21, 0, -20 }, // 0x46 'F' { 1573, 21, 21, 21, 2, -20 }, // 0x47 'G' { 1629, 23, 21, 21, 0, -20 }, // 0x48 'H' { 1690, 19, 21, 21, 2, -20 }, // 0x49 'I' { 1740, 23, 21, 21, 0, -20 }, // 0x4A 'J' { 1801, 23, 21, 21, 0, -20 }, // 0x4B 'K' { 1862, 20, 21, 21, 1, -20 }, // 0x4C 'L' { 1915, 25, 21, 21, 0, -20 }, // 0x4D 'M' { 1981, 24, 21, 21, 1, -20 }, // 0x4E 'N' { 2044, 20, 21, 21, 2, -20 }, // 0x4F 'O' { 2097, 21, 21, 21, 1, -20 }, // 0x50 'P' { 2153, 20, 26, 21, 2, -20 }, // 0x51 'Q' { 2218, 22, 21, 21, 0, -20 }, // 0x52 'R' { 2276, 19, 21, 21, 3, -20 }, // 0x53 'S' { 2326, 19, 21, 21, 3, -20 }, // 0x54 'T' { 2376, 21, 21, 21, 3, -20 }, // 0x55 'U' { 2432, 23, 21, 21, 1, -20 }, // 0x56 'V' { 2493, 22, 21, 21, 2, -20 }, // 0x57 'W' { 2551, 24, 21, 21, 0, -20 }, // 0x58 'X' { 2614, 20, 21, 21, 3, -20 }, // 0x59 'Y' { 2667, 19, 21, 21, 2, -20 }, // 0x5A 'Z' { 2717, 13, 27, 21, 8, -21 }, // 0x5B '[' { 2761, 10, 28, 21, 8, -23 }, // 0x5C '\' { 2796, 13, 27, 21, 4, -21 }, // 0x5D ']' { 2840, 15, 11, 21, 6, -21 }, // 0x5E '^' { 2861, 21, 4, 21, -1, 4 }, // 0x5F '_' { 2872, 6, 6, 21, 10, -22 }, // 0x60 '`' { 2877, 19, 16, 21, 2, -15 }, // 0x61 'a' { 2915, 22, 22, 21, 0, -21 }, // 0x62 'b' { 2976, 19, 16, 21, 3, -15 }, // 0x63 'c' { 3014, 21, 22, 21, 3, -21 }, // 0x64 'd' { 3072, 18, 16, 21, 3, -15 }, // 0x65 'e' { 3108, 21, 22, 21, 3, -21 }, // 0x66 'f' { 3166, 21, 23, 21, 2, -15 }, // 0x67 'g' { 3227, 20, 22, 21, 1, -21 }, // 0x68 'h' { 3282, 16, 22, 21, 3, -21 }, // 0x69 'i' { 3326, 18, 29, 21, 2, -21 }, // 0x6A 'j' { 3392, 20, 22, 21, 1, -21 }, // 0x6B 'k' { 3447, 16, 22, 21, 3, -21 }, // 0x6C 'l' { 3491, 23, 16, 21, 0, -15 }, // 0x6D 'm' { 3537, 21, 16, 21, 1, -15 }, // 0x6E 'n' { 3579, 18, 16, 21, 3, -15 }, // 0x6F 'o' { 3615, 23, 23, 21, -1, -15 }, // 0x70 'p' { 3682, 22, 23, 21, 2, -15 }, // 0x71 'q' { 3746, 20, 16, 21, 2, -15 }, // 0x72 'r' { 3786, 16, 16, 21, 4, -15 }, // 0x73 's' { 3818, 16, 21, 21, 4, -20 }, // 0x74 't' { 3860, 18, 16, 21, 3, -15 }, // 0x75 'u' { 3896, 21, 16, 21, 2, -15 }, // 0x76 'v' { 3938, 21, 16, 21, 3, -15 }, // 0x77 'w' { 3980, 21, 16, 21, 1, -15 }, // 0x78 'x' { 4022, 24, 23, 21, -1, -15 }, // 0x79 'y' { 4091, 18, 16, 21, 3, -15 }, // 0x7A 'z' { 4127, 12, 27, 21, 8, -21 }, // 0x7B '{' { 4168, 8, 27, 21, 8, -21 }, // 0x7C '|' { 4195, 13, 27, 21, 4, -21 }, // 0x7D '}' { 4239, 17, 8, 21, 4, -13 } }; // 0x7E '~' const GFXfont FreeMonoBoldOblique18pt7b PROGMEM = { (uint8_t *)FreeMonoBoldOblique18pt7bBitmaps, (GFXglyph *)FreeMonoBoldOblique18pt7bGlyphs, 0x20, 0x7E, 35 }; // Approx. 4928 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeMonoBoldOblique24pt7b.h ================================================ const uint8_t FreeMonoBoldOblique24pt7bBitmaps[] PROGMEM = { 0x01, 0xE0, 0x3F, 0x07, 0xF0, 0xFF, 0x0F, 0xF0, 0xFF, 0x0F, 0xE0, 0xFE, 0x0F, 0xE0, 0xFE, 0x0F, 0xC0, 0xFC, 0x1F, 0xC1, 0xF8, 0x1F, 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47, 17, 14, 28, 11, -28 }, // 0x22 '"' { 77, 24, 34, 28, 5, -30 }, // 0x23 '#' { 179, 25, 38, 28, 4, -31 }, // 0x24 '$' { 298, 22, 30, 28, 6, -28 }, // 0x25 '%' { 381, 21, 28, 28, 5, -26 }, // 0x26 '&' { 455, 7, 14, 28, 16, -28 }, // 0x27 ''' { 468, 14, 37, 28, 14, -29 }, // 0x28 '(' { 533, 14, 37, 28, 5, -29 }, // 0x29 ')' { 598, 21, 19, 28, 8, -28 }, // 0x2A '*' { 648, 24, 26, 28, 5, -25 }, // 0x2B '+' { 726, 12, 14, 28, 6, -6 }, // 0x2C ',' { 747, 24, 5, 28, 5, -15 }, // 0x2D '-' { 762, 7, 6, 28, 11, -4 }, // 0x2E '.' { 768, 28, 38, 28, 3, -32 }, // 0x2F '/' { 901, 23, 31, 28, 6, -29 }, // 0x30 '0' { 991, 21, 30, 28, 4, -29 }, // 0x31 '1' { 1070, 26, 30, 28, 3, -29 }, // 0x32 '2' { 1168, 25, 31, 28, 4, -29 }, // 0x33 '3' { 1265, 22, 28, 28, 5, -27 }, // 0x34 '4' { 1342, 25, 31, 28, 4, -29 }, // 0x35 '5' { 1439, 24, 31, 28, 7, -29 }, // 0x36 '6' { 1532, 22, 30, 28, 9, -29 }, // 0x37 '7' { 1615, 23, 31, 28, 6, -29 }, // 0x38 '8' { 1705, 24, 31, 28, 5, -29 }, // 0x39 '9' { 1798, 10, 22, 28, 11, -20 }, // 0x3A ':' { 1826, 15, 28, 28, 5, -20 }, // 0x3B ';' { 1879, 25, 21, 28, 5, -23 }, // 0x3C '<' { 1945, 26, 14, 28, 4, -19 }, // 0x3D '=' { 1991, 25, 22, 28, 4, -23 }, // 0x3E '>' { 2060, 19, 29, 28, 10, -27 }, // 0x3F '?' { 2129, 23, 36, 28, 5, -28 }, // 0x40 '@' { 2233, 30, 27, 28, 0, -26 }, // 0x41 'A' { 2335, 29, 27, 28, 1, -26 }, // 0x42 'B' { 2433, 28, 29, 28, 3, -27 }, // 0x43 'C' { 2535, 28, 27, 28, 1, -26 }, // 0x44 'D' { 2630, 29, 27, 28, 1, -26 }, // 0x45 'E' { 2728, 31, 27, 28, 0, -26 }, // 0x46 'F' { 2833, 28, 29, 28, 3, -27 }, // 0x47 'G' { 2935, 30, 27, 28, 1, -26 }, // 0x48 'H' { 3037, 25, 27, 28, 3, -26 }, // 0x49 'I' { 3122, 31, 28, 28, 0, -26 }, // 0x4A 'J' { 3231, 31, 27, 28, 0, -26 }, // 0x4B 'K' { 3336, 27, 27, 28, 1, -26 }, // 0x4C 'L' { 3428, 34, 27, 28, 0, -26 }, // 0x4D 'M' { 3543, 32, 27, 28, 1, -26 }, // 0x4E 'N' { 3651, 27, 29, 28, 3, -27 }, // 0x4F 'O' { 3749, 28, 27, 28, 1, -26 }, // 0x50 'P' { 3844, 27, 35, 28, 3, -27 }, // 0x51 'Q' { 3963, 29, 27, 28, 0, -26 }, // 0x52 'R' { 4061, 26, 29, 28, 3, -27 }, // 0x53 'S' { 4156, 26, 27, 28, 4, -26 }, // 0x54 'T' { 4244, 28, 28, 28, 4, -26 }, // 0x55 'U' { 4342, 30, 27, 28, 2, -26 }, // 0x56 'V' { 4444, 29, 27, 28, 3, -26 }, // 0x57 'W' { 4542, 32, 27, 28, 0, -26 }, // 0x58 'X' { 4650, 26, 27, 28, 4, -26 }, // 0x59 'Y' { 4738, 27, 27, 28, 2, -26 }, // 0x5A 'Z' { 4830, 18, 37, 28, 10, -29 }, // 0x5B '[' { 4914, 13, 38, 28, 10, -32 }, // 0x5C '\' { 4976, 18, 37, 28, 5, -29 }, // 0x5D ']' { 5060, 20, 15, 28, 8, -29 }, // 0x5E '^' { 5098, 29, 5, 28, -2, 5 }, // 0x5F '_' { 5117, 8, 8, 28, 13, -30 }, // 0x60 '`' { 5125, 24, 23, 28, 3, -21 }, // 0x61 'a' { 5194, 29, 31, 28, 0, -29 }, // 0x62 'b' { 5307, 25, 23, 28, 3, -21 }, // 0x63 'c' { 5379, 28, 31, 28, 3, -29 }, // 0x64 'd' { 5488, 24, 23, 28, 3, -21 }, // 0x65 'e' { 5557, 28, 30, 28, 4, -29 }, // 0x66 'f' { 5662, 28, 31, 28, 3, -21 }, // 0x67 'g' { 5771, 26, 30, 28, 2, -29 }, // 0x68 'h' { 5869, 23, 29, 28, 3, -28 }, // 0x69 'i' { 5953, 23, 38, 28, 3, -28 }, // 0x6A 'j' { 6063, 26, 30, 28, 2, -29 }, // 0x6B 'k' { 6161, 23, 30, 28, 3, -29 }, // 0x6C 'l' { 6248, 30, 22, 28, 0, -21 }, // 0x6D 'm' { 6331, 26, 22, 28, 2, -21 }, // 0x6E 'n' { 6403, 25, 23, 28, 3, -21 }, // 0x6F 'o' { 6475, 31, 31, 28, -1, -21 }, // 0x70 'p' { 6596, 29, 31, 28, 2, -21 }, // 0x71 'q' { 6709, 28, 22, 28, 2, -21 }, // 0x72 'r' { 6786, 23, 23, 28, 4, -21 }, // 0x73 's' { 6853, 20, 28, 28, 5, -26 }, // 0x74 't' { 6923, 23, 22, 28, 5, -20 }, // 0x75 'u' { 6987, 28, 21, 28, 3, -20 }, // 0x76 'v' { 7061, 28, 21, 28, 3, -20 }, // 0x77 'w' { 7135, 29, 21, 28, 1, -20 }, // 0x78 'x' { 7212, 32, 30, 28, -1, -20 }, // 0x79 'y' { 7332, 25, 21, 28, 4, -20 }, // 0x7A 'z' { 7398, 17, 37, 28, 10, -29 }, // 0x7B '{' { 7477, 11, 36, 28, 11, -28 }, // 0x7C '|' { 7527, 17, 37, 28, 6, -29 }, // 0x7D '}' { 7606, 23, 10, 28, 5, -17 } }; // 0x7E '~' const GFXfont FreeMonoBoldOblique24pt7b PROGMEM = { (uint8_t *)FreeMonoBoldOblique24pt7bBitmaps, (GFXglyph *)FreeMonoBoldOblique24pt7bGlyphs, 0x20, 0x7E, 47 }; // Approx. 8307 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeMonoBoldOblique9pt7b.h ================================================ const uint8_t FreeMonoBoldOblique9pt7bBitmaps[] PROGMEM = { 0x39, 0xCC, 0x67, 0x31, 0x8C, 0x07, 0x38, 0x6C, 0xD9, 0x36, 0x48, 0x80, 0x09, 0x0D, 0x86, 0xCF, 0xF7, 0xF9, 0xB3, 0xFD, 0xFE, 0x6C, 0x36, 0x1B, 0x00, 0x00, 0x06, 0x07, 0x07, 0xE6, 0x33, 0x01, 0xE0, 0x7C, 0x06, 0x43, 0x33, 0xBF, 0x83, 0x03, 0x00, 0x80, 0x1C, 0x11, 0x10, 0x88, 0x83, 0xB8, 0xF3, 0xB8, 0x22, 0x21, 0x11, 0x07, 0x00, 0x0F, 0x1F, 0x30, 0x30, 0x38, 0x7B, 0xDF, 0xCE, 0xFF, 0x7E, 0xFA, 0x80, 0x19, 0x8C, 0xC6, 0x63, 0x18, 0xC6, 0x31, 0xC6, 0x30, 0x31, 0xC6, 0x31, 0x8C, 0x63, 0x31, 0x98, 0xCC, 0x40, 0x08, 0x08, 0xFF, 0xFF, 0x38, 0x6C, 0x6C, 0x0C, 0x06, 0x03, 0x1F, 0xFF, 0xF8, 0xC0, 0x60, 0x30, 0x10, 0x00, 0x36, 0x4C, 0x80, 0xFF, 0xFF, 0xC0, 0xFC, 0x00, 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0x19, 0x81, 0xF0, 0x0E, 0x00, 0xE0, 0x0C, 0x01, 0x80, 0xFC, 0x0F, 0xC0, 0x7F, 0xBF, 0xD9, 0xC1, 0x83, 0x83, 0x1B, 0xFD, 0xFE, 0x06, 0x1C, 0x60, 0xC1, 0x86, 0x3C, 0x70, 0x30, 0x41, 0x83, 0x07, 0x06, 0x00, 0x33, 0x32, 0x26, 0x66, 0x44, 0xCC, 0xC8, 0x0C, 0x0E, 0x04, 0x0C, 0x0C, 0x0C, 0x0F, 0x0F, 0x18, 0x18, 0x10, 0x30, 0xF0, 0xE0, 0x38, 0x7C, 0xF7, 0xC1, 0xC0 }; const GFXglyph FreeMonoBoldOblique9pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 11, 0, 1 }, // 0x20 ' ' { 0, 5, 11, 11, 4, -10 }, // 0x21 '!' { 7, 7, 5, 11, 4, -10 }, // 0x22 '"' { 12, 9, 12, 11, 2, -10 }, // 0x23 '#' { 26, 9, 14, 11, 2, -11 }, // 0x24 '$' { 42, 9, 11, 11, 2, -10 }, // 0x25 '%' { 55, 8, 10, 11, 2, -9 }, // 0x26 '&' { 65, 2, 5, 11, 6, -10 }, // 0x27 ''' { 67, 5, 14, 11, 5, -10 }, // 0x28 '(' { 76, 5, 14, 11, 2, -10 }, // 0x29 ')' { 85, 8, 7, 11, 3, -10 }, // 0x2A '*' { 92, 9, 9, 11, 2, -8 }, // 0x2B '+' { 103, 4, 5, 11, 2, -1 }, // 0x2C ',' { 106, 9, 2, 11, 2, -5 }, // 0x2D '-' { 109, 3, 2, 11, 4, -1 }, // 0x2E '.' { 110, 11, 15, 11, 1, -12 }, // 0x2F '/' { 131, 9, 12, 11, 2, -11 }, // 0x30 '0' { 145, 8, 12, 11, 2, -11 }, // 0x31 '1' { 157, 10, 12, 11, 1, -11 }, // 0x32 '2' { 172, 9, 12, 11, 2, -11 }, // 0x33 '3' { 186, 8, 10, 11, 2, -9 }, // 0x34 '4' { 196, 9, 11, 11, 3, -10 }, // 0x35 '5' { 209, 9, 12, 11, 3, -11 }, // 0x36 '6' { 223, 8, 11, 11, 3, -10 }, // 0x37 '7' { 234, 9, 12, 11, 2, -11 }, // 0x38 '8' { 248, 8, 12, 11, 3, -11 }, // 0x39 '9' { 260, 4, 8, 11, 4, -7 }, // 0x3A ':' { 264, 6, 11, 11, 2, -7 }, // 0x3B ';' { 273, 10, 8, 11, 2, -8 }, // 0x3C '<' { 283, 10, 6, 11, 1, -7 }, // 0x3D '=' { 291, 10, 8, 11, 1, -8 }, // 0x3E '>' { 301, 7, 11, 11, 4, -10 }, // 0x3F '?' { 311, 9, 15, 11, 2, -11 }, // 0x40 '@' { 328, 11, 11, 11, 0, -10 }, // 0x41 'A' { 344, 11, 11, 11, 0, -10 }, // 0x42 'B' { 360, 12, 11, 11, 1, -10 }, // 0x43 'C' { 377, 11, 11, 11, 0, -10 }, // 0x44 'D' { 393, 12, 11, 11, 0, -10 }, // 0x45 'E' { 410, 12, 11, 11, 0, -10 }, // 0x46 'F' { 427, 11, 11, 11, 1, -10 }, // 0x47 'G' { 443, 12, 11, 11, 0, -10 }, // 0x48 'H' { 460, 10, 11, 11, 1, -10 }, // 0x49 'I' { 474, 12, 11, 11, 0, -10 }, // 0x4A 'J' { 491, 11, 11, 11, 0, -10 }, // 0x4B 'K' { 507, 11, 11, 11, 0, -10 }, // 0x4C 'L' { 523, 13, 11, 11, 0, -10 }, // 0x4D 'M' { 541, 13, 11, 11, 0, -10 }, // 0x4E 'N' { 559, 10, 11, 11, 1, -10 }, // 0x4F 'O' { 573, 11, 11, 11, 0, -10 }, // 0x50 'P' { 589, 10, 14, 11, 1, -10 }, // 0x51 'Q' { 607, 12, 11, 11, 0, -10 }, // 0x52 'R' { 624, 10, 11, 11, 2, -10 }, // 0x53 'S' { 638, 11, 11, 11, 1, -10 }, // 0x54 'T' { 654, 11, 11, 11, 1, -10 }, // 0x55 'U' { 670, 11, 11, 11, 1, -10 }, // 0x56 'V' { 686, 11, 11, 11, 1, -10 }, // 0x57 'W' { 702, 12, 11, 11, 0, -10 }, // 0x58 'X' { 719, 11, 11, 11, 1, -10 }, // 0x59 'Y' { 735, 10, 11, 11, 1, -10 }, // 0x5A 'Z' { 749, 7, 14, 11, 4, -10 }, // 0x5B '[' { 762, 5, 15, 11, 4, -12 }, // 0x5C '\' { 772, 7, 14, 11, 2, -10 }, // 0x5D ']' { 785, 8, 6, 11, 3, -11 }, // 0x5E '^' { 791, 11, 2, 11, -1, 3 }, // 0x5F '_' { 794, 3, 3, 11, 5, -11 }, // 0x60 '`' { 796, 10, 8, 11, 1, -7 }, // 0x61 'a' { 806, 11, 11, 11, 0, -10 }, // 0x62 'b' { 822, 10, 8, 11, 1, -7 }, // 0x63 'c' { 832, 11, 11, 11, 1, -10 }, // 0x64 'd' { 848, 9, 8, 11, 1, -7 }, // 0x65 'e' { 857, 10, 11, 11, 2, -10 }, // 0x66 'f' { 871, 11, 12, 11, 1, -7 }, // 0x67 'g' { 888, 10, 11, 11, 1, -10 }, // 0x68 'h' { 902, 9, 11, 11, 1, -10 }, // 0x69 'i' { 915, 9, 15, 11, 1, -10 }, // 0x6A 'j' { 932, 10, 11, 11, 1, -10 }, // 0x6B 'k' { 946, 9, 11, 11, 1, -10 }, // 0x6C 'l' { 959, 12, 8, 11, 0, -7 }, // 0x6D 'm' { 971, 11, 8, 11, 1, -7 }, // 0x6E 'n' { 982, 10, 8, 11, 1, -7 }, // 0x6F 'o' { 992, 12, 12, 11, -1, -7 }, // 0x70 'p' { 1010, 11, 12, 11, 1, -7 }, // 0x71 'q' { 1027, 10, 8, 11, 1, -7 }, // 0x72 'r' { 1037, 8, 8, 11, 2, -7 }, // 0x73 's' { 1045, 9, 11, 11, 1, -10 }, // 0x74 't' { 1058, 10, 8, 11, 1, -7 }, // 0x75 'u' { 1068, 11, 8, 11, 1, -7 }, // 0x76 'v' { 1079, 11, 8, 11, 1, -7 }, // 0x77 'w' { 1090, 11, 8, 11, 1, -7 }, // 0x78 'x' { 1101, 12, 12, 11, 0, -7 }, // 0x79 'y' { 1119, 9, 8, 11, 2, -7 }, // 0x7A 'z' { 1128, 7, 14, 11, 3, -10 }, // 0x7B '{' { 1141, 4, 14, 11, 4, -10 }, // 0x7C '|' { 1148, 8, 14, 11, 2, -10 }, // 0x7D '}' { 1162, 9, 4, 11, 2, -6 } }; // 0x7E '~' const GFXfont FreeMonoBoldOblique9pt7b PROGMEM = { (uint8_t *)FreeMonoBoldOblique9pt7bBitmaps, (GFXglyph *)FreeMonoBoldOblique9pt7bGlyphs, 0x20, 0x7E, 18 }; // Approx. 1839 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeMonoOblique12pt7b.h ================================================ const uint8_t FreeMonoOblique12pt7bBitmaps[] PROGMEM = { 0x11, 0x11, 0x12, 0x22, 0x22, 0x00, 0x0E, 0xE0, 0xE7, 0xE7, 0xC6, 0xC6, 0xC6, 0x84, 0x84, 0x02, 0x40, 0x88, 0x12, 0x02, 0x40, 0x48, 0x7F, 0xC2, 0x40, 0x48, 0x11, 0x1F, 0xF8, 0x48, 0x09, 0x02, 0x40, 0x48, 0x09, 0x02, 0x20, 0x02, 0x01, 0x00, 0xF4, 0xC3, 0x60, 0x50, 0x04, 0x00, 0xC0, 0x0F, 0x00, 0x60, 0x0A, 0x02, 0x81, 0x30, 0xC7, 0xC0, 0x80, 0x20, 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0x04, 0x19, 0xF0, 0xE0, 0xF2, 0x02, 0x40, 0x24, 0x02, 0x40, 0x24, 0x06, 0x40, 0x44, 0x04, 0x41, 0xC3, 0xE6, 0xF8, 0xFA, 0x01, 0x08, 0x10, 0x41, 0x02, 0x08, 0x10, 0x80, 0x48, 0x02, 0x40, 0x14, 0x00, 0xC0, 0x00, 0xE0, 0x7A, 0x01, 0x10, 0x08, 0x8C, 0x84, 0xA4, 0x25, 0x21, 0x4A, 0x0A, 0x50, 0x63, 0x02, 0x18, 0x00, 0x1E, 0x3C, 0x20, 0x40, 0x46, 0x00, 0xB0, 0x03, 0x00, 0x0E, 0x00, 0xC8, 0x06, 0x10, 0x20, 0x23, 0xE3, 0xC0, 0x3C, 0x3C, 0x40, 0x20, 0x81, 0x02, 0x08, 0x08, 0x20, 0x31, 0x00, 0x48, 0x01, 0x40, 0x05, 0x00, 0x08, 0x00, 0x40, 0x02, 0x00, 0x08, 0x03, 0xF0, 0x00, 0x3F, 0xC4, 0x18, 0x06, 0x01, 0x80, 0x60, 0x10, 0x04, 0x01, 0x00, 0x40, 0x9F, 0xF0, 0x06, 0x10, 0x20, 0x41, 0x02, 0x04, 0x08, 0x21, 0x80, 0x81, 0x02, 0x08, 0x10, 0x20, 0x40, 0xC0, 0x01, 0x11, 0x12, 0x22, 0x24, 0x44, 0x44, 0x88, 0x80, 0x0C, 0x08, 0x10, 0x20, 0x40, 0x82, 0x04, 0x08, 0x0C, 0x20, 0x81, 0x02, 0x04, 0x08, 0x21, 0x80, 0x38, 0x28, 0x88, 0x0E, 0x00 }; const GFXglyph FreeMonoOblique12pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 14, 0, 1 }, // 0x20 ' ' { 0, 4, 15, 14, 6, -14 }, // 0x21 '!' { 8, 8, 7, 14, 5, -14 }, // 0x22 '"' { 15, 11, 16, 14, 3, -14 }, // 0x23 '#' { 37, 10, 18, 14, 4, -15 }, // 0x24 '$' { 60, 11, 15, 14, 3, -14 }, // 0x25 '%' { 81, 9, 12, 14, 3, -11 }, // 0x26 '&' { 95, 3, 7, 14, 8, -14 }, // 0x27 ''' { 98, 5, 18, 14, 8, -14 }, // 0x28 '(' { 110, 5, 18, 14, 4, -14 }, // 0x29 ')' { 122, 9, 9, 14, 5, -14 }, // 0x2A '*' { 133, 11, 11, 14, 3, -11 }, // 0x2B '+' { 149, 6, 7, 14, 3, -3 }, // 0x2C ',' { 155, 11, 1, 14, 3, -6 }, // 0x2D '-' { 157, 3, 3, 14, 6, -2 }, // 0x2E '.' { 159, 13, 18, 14, 2, -15 }, // 0x2F '/' { 189, 10, 15, 14, 4, -14 }, // 0x30 '0' { 208, 9, 15, 14, 3, -14 }, // 0x31 '1' { 225, 12, 15, 14, 2, -14 }, // 0x32 '2' { 248, 11, 15, 14, 3, -14 }, // 0x33 '3' { 269, 10, 15, 14, 3, -14 }, // 0x34 '4' { 288, 11, 15, 14, 3, -14 }, // 0x35 '5' { 309, 11, 15, 14, 4, -14 }, // 0x36 '6' { 330, 10, 15, 14, 5, -14 }, // 0x37 '7' { 349, 11, 15, 14, 3, -14 }, // 0x38 '8' { 370, 11, 15, 14, 3, -14 }, // 0x39 '9' { 391, 5, 10, 14, 5, -9 }, // 0x3A ':' { 398, 7, 13, 14, 3, -9 }, // 0x3B ';' { 410, 12, 11, 14, 3, -11 }, // 0x3C '<' { 427, 13, 4, 14, 2, -8 }, // 0x3D '=' { 434, 12, 11, 14, 2, -11 }, // 0x3E '>' { 451, 8, 14, 14, 6, -13 }, // 0x3F '?' { 465, 10, 16, 14, 3, -14 }, // 0x40 '@' { 485, 14, 14, 14, 0, -13 }, // 0x41 'A' { 510, 13, 14, 14, 1, -13 }, // 0x42 'B' { 533, 12, 14, 14, 3, -13 }, // 0x43 'C' { 554, 13, 14, 14, 1, -13 }, // 0x44 'D' { 577, 14, 14, 14, 1, -13 }, // 0x45 'E' { 602, 14, 14, 14, 1, -13 }, // 0x46 'F' { 627, 12, 14, 14, 3, -13 }, // 0x47 'G' { 648, 15, 14, 14, 1, -13 }, // 0x48 'H' { 675, 11, 14, 14, 3, -13 }, // 0x49 'I' { 695, 15, 14, 14, 2, -13 }, // 0x4A 'J' { 722, 15, 14, 14, 1, -13 }, // 0x4B 'K' { 749, 12, 14, 14, 2, -13 }, // 0x4C 'L' { 770, 17, 14, 14, 0, -13 }, // 0x4D 'M' { 800, 15, 14, 14, 1, -13 }, // 0x4E 'N' { 827, 13, 14, 14, 2, -13 }, // 0x4F 'O' { 850, 13, 14, 14, 1, -13 }, // 0x50 'P' { 873, 13, 17, 14, 2, -13 }, // 0x51 'Q' { 901, 13, 14, 14, 1, -13 }, // 0x52 'R' { 924, 11, 14, 14, 3, -13 }, // 0x53 'S' { 944, 12, 14, 14, 4, -13 }, // 0x54 'T' { 965, 13, 14, 14, 3, -13 }, // 0x55 'U' { 988, 14, 14, 14, 3, -13 }, // 0x56 'V' { 1013, 14, 14, 14, 3, -13 }, // 0x57 'W' { 1038, 15, 14, 14, 1, -13 }, // 0x58 'X' { 1065, 12, 14, 14, 4, -13 }, // 0x59 'Y' { 1086, 12, 14, 14, 2, -13 }, // 0x5A 'Z' { 1107, 7, 18, 14, 6, -14 }, // 0x5B '[' { 1123, 5, 18, 14, 6, -15 }, // 0x5C '\' { 1135, 7, 18, 14, 3, -14 }, // 0x5D ']' { 1151, 9, 6, 14, 5, -14 }, // 0x5E '^' { 1158, 15, 1, 14, -1, 3 }, // 0x5F '_' { 1160, 3, 4, 14, 6, -15 }, // 0x60 '`' { 1162, 12, 10, 14, 2, -9 }, // 0x61 'a' { 1177, 13, 15, 14, 1, -14 }, // 0x62 'b' { 1202, 12, 10, 14, 3, -9 }, // 0x63 'c' { 1217, 13, 15, 14, 2, -14 }, // 0x64 'd' { 1242, 11, 10, 14, 3, -9 }, // 0x65 'e' { 1256, 13, 15, 14, 3, -14 }, // 0x66 'f' { 1281, 13, 14, 14, 3, -9 }, // 0x67 'g' { 1304, 13, 15, 14, 1, -14 }, // 0x68 'h' { 1329, 10, 15, 14, 2, -14 }, // 0x69 'i' { 1348, 10, 19, 14, 2, -14 }, // 0x6A 'j' { 1372, 12, 15, 14, 2, -14 }, // 0x6B 'k' { 1395, 10, 15, 14, 2, -14 }, // 0x6C 'l' { 1414, 14, 10, 14, 0, -9 }, // 0x6D 'm' { 1432, 12, 10, 14, 1, -9 }, // 0x6E 'n' { 1447, 11, 10, 14, 3, -9 }, // 0x6F 'o' { 1461, 14, 14, 14, 0, -9 }, // 0x70 'p' { 1486, 13, 14, 14, 3, -9 }, // 0x71 'q' { 1509, 13, 10, 14, 2, -9 }, // 0x72 'r' { 1526, 10, 10, 14, 3, -9 }, // 0x73 's' { 1539, 9, 14, 14, 3, -13 }, // 0x74 't' { 1555, 12, 10, 14, 2, -9 }, // 0x75 'u' { 1570, 13, 10, 14, 3, -9 }, // 0x76 'v' { 1587, 13, 10, 14, 3, -9 }, // 0x77 'w' { 1604, 14, 10, 14, 1, -9 }, // 0x78 'x' { 1622, 14, 14, 14, 1, -9 }, // 0x79 'y' { 1647, 11, 10, 14, 3, -9 }, // 0x7A 'z' { 1661, 7, 18, 14, 5, -14 }, // 0x7B '{' { 1677, 4, 17, 14, 6, -13 }, // 0x7C '|' { 1686, 7, 18, 14, 4, -14 }, // 0x7D '}' { 1702, 11, 3, 14, 3, -7 } }; // 0x7E '~' const GFXfont FreeMonoOblique12pt7b PROGMEM = { (uint8_t *)FreeMonoOblique12pt7bBitmaps, (GFXglyph *)FreeMonoOblique12pt7bGlyphs, 0x20, 0x7E, 24 }; // Approx. 2379 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeMonoOblique18pt7b.h ================================================ const uint8_t FreeMonoOblique18pt7bBitmaps[] PROGMEM = { 0x00, 0x1C, 0x38, 0x70, 0xC1, 0x83, 0x06, 0x18, 0x30, 0x60, 0xC1, 0x02, 0x04, 0x00, 0x00, 0x01, 0xC7, 0x8F, 0x1C, 0x00, 0x78, 0x7B, 0xC3, 0xFC, 0x3D, 0xE1, 0xEF, 0x0F, 0x70, 0x73, 0x83, 0x98, 0x18, 0xC0, 0xC6, 0x06, 0x00, 0x00, 0x8C, 0x01, 0x18, 0x06, 0x20, 0x08, 0x40, 0x11, 0x80, 0x62, 0x00, 0xC4, 0x01, 0x18, 0x02, 0x30, 0x7F, 0xFC, 0x10, 0x80, 0x23, 0x00, 0xC4, 0x01, 0x88, 0x3F, 0xFF, 0x04, 0x60, 0x18, 0x80, 0x21, 0x00, 0x46, 0x01, 0x88, 0x03, 0x10, 0x04, 0x60, 0x08, 0xC0, 0x31, 0x00, 0x00, 0x30, 0x00, 0x20, 0x00, 0x20, 0x00, 0xF9, 0x03, 0x0F, 0x06, 0x03, 0x04, 0x03, 0x08, 0x00, 0x08, 0x00, 0x08, 0x00, 0x04, 0x00, 0x03, 0xC0, 0x00, 0x78, 0x00, 0x0C, 0x00, 0x04, 0x00, 0x04, 0x40, 0x04, 0x40, 0x08, 0x40, 0x18, 0xF0, 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0x10, 0x02, 0x00, 0x40, 0x08, 0x02, 0x00, 0x40, 0x08, 0x01, 0x00, 0x18, 0x00, 0x00, 0x10, 0xC3, 0x08, 0x20, 0x86, 0x18, 0x41, 0x04, 0x30, 0xC2, 0x08, 0x21, 0x86, 0x10, 0x43, 0x0C, 0x20, 0x06, 0x00, 0x40, 0x10, 0x04, 0x01, 0x00, 0x40, 0x10, 0x04, 0x02, 0x00, 0x80, 0x20, 0x0C, 0x01, 0xC0, 0xC0, 0x40, 0x10, 0x04, 0x03, 0x00, 0x80, 0x20, 0x08, 0x02, 0x01, 0x00, 0xC0, 0xE0, 0x00, 0x1E, 0x02, 0x66, 0x0D, 0x86, 0x16, 0x06, 0x48, 0x07, 0x00 }; const GFXglyph FreeMonoOblique18pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 21, 0, 1 }, // 0x20 ' ' { 0, 7, 22, 21, 9, -21 }, // 0x21 '!' { 20, 13, 10, 21, 7, -20 }, // 0x22 '"' { 37, 15, 24, 21, 5, -21 }, // 0x23 '#' { 82, 16, 26, 21, 4, -22 }, // 0x24 '$' { 134, 16, 21, 21, 5, -20 }, // 0x25 '%' { 176, 13, 18, 21, 5, -17 }, // 0x26 '&' { 206, 5, 10, 21, 12, -20 }, // 0x27 ''' { 213, 8, 25, 21, 12, -20 }, // 0x28 '(' { 238, 8, 25, 21, 5, -20 }, // 0x29 ')' { 263, 14, 11, 21, 7, -19 }, // 0x2A '*' { 283, 15, 17, 21, 5, -17 }, // 0x2B '+' { 315, 9, 10, 21, 4, -4 }, // 0x2C ',' { 327, 16, 1, 21, 5, -9 }, // 0x2D '-' { 329, 5, 5, 21, 8, -4 }, // 0x2E '.' { 333, 19, 26, 21, 3, -22 }, // 0x2F '/' { 395, 14, 21, 21, 5, -20 }, // 0x30 '0' { 432, 13, 21, 21, 4, -20 }, // 0x31 '1' { 467, 17, 21, 21, 3, -20 }, // 0x32 '2' { 512, 16, 21, 21, 3, -20 }, // 0x33 '3' { 554, 14, 21, 21, 5, -20 }, // 0x34 '4' { 591, 17, 21, 21, 4, -20 }, // 0x35 '5' { 636, 16, 21, 21, 6, -20 }, // 0x36 '6' { 678, 13, 21, 21, 8, -20 }, // 0x37 '7' { 713, 15, 21, 21, 5, -20 }, // 0x38 '8' { 753, 15, 21, 21, 5, -20 }, // 0x39 '9' { 793, 7, 15, 21, 8, -14 }, // 0x3A ':' { 807, 11, 20, 21, 4, -14 }, // 0x3B ';' { 835, 17, 16, 21, 5, -17 }, // 0x3C '<' { 869, 19, 6, 21, 3, -12 }, // 0x3D '=' { 884, 18, 16, 21, 3, -17 }, // 0x3E '>' { 920, 12, 20, 21, 8, -19 }, // 0x3F '?' { 950, 15, 23, 21, 5, -20 }, // 0x40 '@' { 994, 21, 20, 21, 0, -19 }, // 0x41 'A' { 1047, 18, 20, 21, 2, -19 }, // 0x42 'B' { 1092, 18, 20, 21, 4, -19 }, // 0x43 'C' { 1137, 18, 20, 21, 2, -19 }, // 0x44 'D' { 1182, 20, 20, 21, 2, -19 }, // 0x45 'E' { 1232, 20, 20, 21, 2, -19 }, // 0x46 'F' { 1282, 18, 20, 21, 4, -19 }, // 0x47 'G' { 1327, 21, 20, 21, 2, -19 }, // 0x48 'H' { 1380, 17, 20, 21, 4, -19 }, // 0x49 'I' { 1423, 20, 20, 21, 4, -19 }, // 0x4A 'J' { 1473, 21, 20, 21, 2, -19 }, // 0x4B 'K' { 1526, 18, 20, 21, 2, -19 }, // 0x4C 'L' { 1571, 24, 20, 21, 1, -19 }, // 0x4D 'M' { 1631, 22, 20, 21, 2, -19 }, // 0x4E 'N' { 1686, 17, 20, 21, 4, -19 }, // 0x4F 'O' { 1729, 18, 20, 21, 2, -19 }, // 0x50 'P' { 1774, 17, 24, 21, 4, -19 }, // 0x51 'Q' { 1825, 18, 20, 21, 2, -19 }, // 0x52 'R' { 1870, 18, 20, 21, 3, -19 }, // 0x53 'S' { 1915, 17, 20, 21, 5, -19 }, // 0x54 'T' { 1958, 18, 20, 21, 5, -19 }, // 0x55 'U' { 2003, 21, 20, 21, 4, -19 }, // 0x56 'V' { 2056, 20, 20, 21, 4, -19 }, // 0x57 'W' { 2106, 21, 20, 21, 2, -19 }, // 0x58 'X' { 2159, 18, 20, 21, 5, -19 }, // 0x59 'Y' { 2204, 17, 20, 21, 4, -19 }, // 0x5A 'Z' { 2247, 11, 25, 21, 9, -20 }, // 0x5B '[' { 2282, 8, 27, 21, 9, -22 }, // 0x5C '\' { 2309, 11, 25, 21, 5, -20 }, // 0x5D ']' { 2344, 13, 9, 21, 7, -20 }, // 0x5E '^' { 2359, 21, 1, 21, -1, 4 }, // 0x5F '_' { 2362, 5, 5, 21, 9, -21 }, // 0x60 '`' { 2366, 16, 15, 21, 3, -14 }, // 0x61 'a' { 2396, 19, 21, 21, 1, -20 }, // 0x62 'b' { 2446, 17, 15, 21, 4, -14 }, // 0x63 'c' { 2478, 18, 21, 21, 4, -20 }, // 0x64 'd' { 2526, 16, 15, 21, 4, -14 }, // 0x65 'e' { 2556, 19, 21, 21, 4, -20 }, // 0x66 'f' { 2606, 19, 22, 21, 4, -14 }, // 0x67 'g' { 2659, 18, 21, 21, 2, -20 }, // 0x68 'h' { 2707, 15, 22, 21, 3, -21 }, // 0x69 'i' { 2749, 15, 29, 21, 3, -21 }, // 0x6A 'j' { 2804, 18, 21, 21, 2, -20 }, // 0x6B 'k' { 2852, 15, 21, 21, 3, -20 }, // 0x6C 'l' { 2892, 20, 15, 21, 1, -14 }, // 0x6D 'm' { 2930, 17, 15, 21, 2, -14 }, // 0x6E 'n' { 2962, 16, 15, 21, 4, -14 }, // 0x6F 'o' { 2992, 20, 22, 21, 0, -14 }, // 0x70 'p' { 3047, 19, 22, 21, 4, -14 }, // 0x71 'q' { 3100, 19, 15, 21, 3, -14 }, // 0x72 'r' { 3136, 15, 15, 21, 4, -14 }, // 0x73 's' { 3165, 13, 20, 21, 5, -19 }, // 0x74 't' { 3198, 15, 15, 21, 4, -14 }, // 0x75 'u' { 3227, 19, 15, 21, 4, -14 }, // 0x76 'v' { 3263, 17, 15, 21, 5, -14 }, // 0x77 'w' { 3295, 19, 15, 21, 2, -14 }, // 0x78 'x' { 3331, 21, 22, 21, 1, -14 }, // 0x79 'y' { 3389, 16, 15, 21, 4, -14 }, // 0x7A 'z' { 3419, 11, 25, 21, 8, -20 }, // 0x7B '{' { 3454, 6, 24, 21, 9, -19 }, // 0x7C '|' { 3472, 10, 25, 21, 6, -20 }, // 0x7D '}' { 3504, 15, 5, 21, 5, -11 } }; // 0x7E '~' const GFXfont FreeMonoOblique18pt7b PROGMEM = { (uint8_t *)FreeMonoOblique18pt7bBitmaps, (GFXglyph *)FreeMonoOblique18pt7bGlyphs, 0x20, 0x7E, 35 }; // Approx. 4186 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeMonoOblique24pt7b.h ================================================ const uint8_t FreeMonoOblique24pt7bBitmaps[] PROGMEM = { 0x01, 0xC0, 0xF0, 0x3C, 0x0E, 0x03, 0x81, 0xE0, 0x78, 0x1C, 0x07, 0x01, 0xC0, 0xE0, 0x38, 0x0E, 0x03, 0x00, 0xC0, 0x70, 0x1C, 0x06, 0x01, 0x80, 0x00, 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0x01, 0x80, 0xC0, 0x60, 0x60, 0x30, 0x18, 0x0C, 0x06, 0x06, 0x03, 0x01, 0x80, 0xC0, 0x40, 0x60, 0x30, 0x18, 0x0C, 0x0C, 0x06, 0x03, 0x01, 0x80, 0xC0, 0xC0, 0x60, 0x30, 0x18, 0x08, 0x0C, 0x06, 0x03, 0x01, 0x80, 0x80, 0xC0, 0x60, 0x30, 0x00, 0x01, 0xC0, 0x03, 0xC0, 0x01, 0xC0, 0x01, 0x80, 0x03, 0x00, 0x06, 0x00, 0x0C, 0x00, 0x30, 0x00, 0x60, 0x00, 0xC0, 0x01, 0x80, 0x03, 0x00, 0x0C, 0x00, 0x18, 0x00, 0x38, 0x00, 0x38, 0x00, 0x3E, 0x00, 0x7C, 0x03, 0xC0, 0x0E, 0x00, 0x18, 0x00, 0x70, 0x00, 0xC0, 0x01, 0x80, 0x03, 0x00, 0x06, 0x00, 0x18, 0x00, 0x30, 0x00, 0x60, 0x00, 0xC0, 0x03, 0x00, 0x0E, 0x00, 0xF8, 0x01, 0xC0, 0x00, 0x0F, 0x00, 0x01, 0xFC, 0x03, 0x70, 0xE0, 0x7E, 0x07, 0x1E, 0xC0, 0x3F, 0x80, 0x01, 0xE0 }; const GFXglyph FreeMonoOblique24pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 28, 0, 1 }, // 0x20 ' ' { 0, 10, 30, 28, 12, -28 }, // 0x21 '!' { 38, 16, 14, 28, 10, -28 }, // 0x22 '"' { 66, 22, 32, 28, 6, -29 }, // 0x23 '#' { 154, 21, 33, 28, 6, -29 }, // 0x24 '$' { 241, 22, 29, 28, 6, -27 }, // 0x25 '%' { 321, 19, 25, 28, 6, -23 }, // 0x26 '&' { 381, 7, 14, 28, 16, -28 }, // 0x27 ''' { 394, 11, 34, 28, 16, -27 }, // 0x28 '(' { 441, 11, 34, 28, 7, -27 }, // 0x29 ')' { 488, 18, 17, 28, 10, -28 }, // 0x2A '*' { 527, 22, 22, 28, 6, -23 }, // 0x2B '+' { 588, 12, 14, 28, 5, -6 }, // 0x2C ',' { 609, 22, 2, 28, 6, -13 }, // 0x2D '-' { 615, 7, 6, 28, 11, -4 }, // 0x2E '.' { 621, 24, 35, 28, 5, -30 }, // 0x2F '/' { 726, 20, 30, 28, 7, -28 }, // 0x30 '0' { 801, 17, 29, 28, 6, -28 }, // 0x31 '1' { 863, 23, 29, 28, 4, -28 }, // 0x32 '2' { 947, 22, 30, 28, 5, -28 }, // 0x33 '3' { 1030, 19, 28, 28, 7, -27 }, // 0x34 '4' { 1097, 21, 29, 28, 6, -27 }, // 0x35 '5' { 1174, 21, 30, 28, 9, -28 }, // 0x36 '6' { 1253, 18, 28, 28, 10, -27 }, // 0x37 '7' { 1316, 20, 30, 28, 7, -28 }, // 0x38 '8' { 1391, 22, 30, 28, 6, -28 }, // 0x39 '9' { 1474, 10, 21, 28, 11, -19 }, // 0x3A ':' { 1501, 15, 27, 28, 5, -19 }, // 0x3B ';' { 1552, 23, 22, 28, 6, -23 }, // 0x3C '<' { 1616, 25, 9, 28, 4, -17 }, // 0x3D '=' { 1645, 24, 22, 28, 4, -23 }, // 0x3E '>' { 1711, 16, 28, 28, 11, -26 }, // 0x3F '?' { 1767, 19, 32, 28, 7, -28 }, // 0x40 '@' { 1843, 27, 26, 28, 1, -25 }, // 0x41 'A' { 1931, 26, 26, 28, 2, -25 }, // 0x42 'B' { 2016, 25, 28, 28, 5, -26 }, // 0x43 'C' { 2104, 26, 26, 28, 2, -25 }, // 0x44 'D' { 2189, 27, 26, 28, 2, -25 }, // 0x45 'E' { 2277, 28, 26, 28, 2, -25 }, // 0x46 'F' { 2368, 25, 28, 28, 5, -26 }, // 0x47 'G' { 2456, 27, 26, 28, 3, -25 }, // 0x48 'H' { 2544, 22, 26, 28, 6, -25 }, // 0x49 'I' { 2616, 28, 27, 28, 5, -25 }, // 0x4A 'J' { 2711, 29, 26, 28, 2, -25 }, // 0x4B 'K' { 2806, 25, 26, 28, 3, -25 }, // 0x4C 'L' { 2888, 32, 26, 28, 1, -25 }, // 0x4D 'M' { 2992, 30, 26, 28, 2, -25 }, // 0x4E 'N' { 3090, 24, 28, 28, 5, -26 }, // 0x4F 'O' { 3174, 26, 26, 28, 2, -25 }, // 0x50 'P' { 3259, 24, 32, 28, 5, -26 }, // 0x51 'Q' { 3355, 26, 26, 28, 2, -25 }, // 0x52 'R' { 3440, 24, 28, 28, 5, -26 }, // 0x53 'S' { 3524, 24, 26, 28, 7, -25 }, // 0x54 'T' { 3602, 26, 27, 28, 6, -25 }, // 0x55 'U' { 3690, 27, 26, 28, 6, -25 }, // 0x56 'V' { 3778, 27, 26, 28, 6, -25 }, // 0x57 'W' { 3866, 29, 26, 28, 2, -25 }, // 0x58 'X' { 3961, 24, 26, 28, 7, -25 }, // 0x59 'Y' { 4039, 23, 26, 28, 5, -25 }, // 0x5A 'Z' { 4114, 15, 34, 28, 12, -27 }, // 0x5B '[' { 4178, 10, 35, 28, 12, -30 }, // 0x5C '\' { 4222, 15, 34, 28, 6, -27 }, // 0x5D ']' { 4286, 18, 12, 28, 9, -28 }, // 0x5E '^' { 4313, 28, 2, 28, -1, 5 }, // 0x5F '_' { 4320, 6, 7, 28, 13, -29 }, // 0x60 '`' { 4326, 22, 22, 28, 4, -20 }, // 0x61 'a' { 4387, 27, 29, 28, 1, -27 }, // 0x62 'b' { 4485, 22, 22, 28, 6, -20 }, // 0x63 'c' { 4546, 25, 29, 28, 5, -27 }, // 0x64 'd' { 4637, 22, 22, 28, 5, -20 }, // 0x65 'e' { 4698, 26, 28, 28, 5, -27 }, // 0x66 'f' { 4789, 25, 30, 28, 5, -20 }, // 0x67 'g' { 4883, 24, 28, 28, 3, -27 }, // 0x68 'h' { 4967, 19, 29, 28, 5, -28 }, // 0x69 'i' { 5036, 20, 38, 28, 4, -28 }, // 0x6A 'j' { 5131, 24, 28, 28, 3, -27 }, // 0x6B 'k' { 5215, 19, 28, 28, 5, -27 }, // 0x6C 'l' { 5282, 27, 21, 28, 1, -20 }, // 0x6D 'm' { 5353, 23, 21, 28, 3, -20 }, // 0x6E 'n' { 5414, 22, 22, 28, 5, -20 }, // 0x6F 'o' { 5475, 29, 30, 28, -1, -20 }, // 0x70 'p' { 5584, 26, 30, 28, 5, -20 }, // 0x71 'q' { 5682, 25, 20, 28, 4, -19 }, // 0x72 'r' { 5745, 21, 22, 28, 5, -20 }, // 0x73 's' { 5803, 17, 27, 28, 7, -25 }, // 0x74 't' { 5861, 21, 21, 28, 6, -19 }, // 0x75 'u' { 5917, 26, 20, 28, 5, -19 }, // 0x76 'v' { 5982, 25, 20, 28, 6, -19 }, // 0x77 'w' { 6045, 26, 20, 28, 3, -19 }, // 0x78 'x' { 6110, 29, 29, 28, 1, -19 }, // 0x79 'y' { 6216, 21, 20, 28, 5, -19 }, // 0x7A 'z' { 6269, 15, 34, 28, 10, -27 }, // 0x7B '{' { 6333, 9, 35, 28, 12, -28 }, // 0x7C '|' { 6373, 15, 34, 28, 8, -27 }, // 0x7D '}' { 6437, 20, 6, 28, 7, -15 } }; // 0x7E '~' const GFXfont FreeMonoOblique24pt7b PROGMEM = { (uint8_t *)FreeMonoOblique24pt7bBitmaps, (GFXglyph *)FreeMonoOblique24pt7bGlyphs, 0x20, 0x7E, 47 }; // Approx. 7124 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeMonoOblique9pt7b.h ================================================ const uint8_t FreeMonoOblique9pt7bBitmaps[] PROGMEM = { 0x11, 0x22, 0x24, 0x40, 0x00, 0xC0, 0xDE, 0xE5, 0x29, 0x00, 0x09, 0x05, 0x02, 0x82, 0x47, 0xF8, 0xA0, 0x51, 0xFE, 0x28, 0x14, 0x0A, 0x09, 0x00, 0x08, 0x1D, 0x23, 0x40, 0x70, 0x1C, 0x02, 0x82, 0x84, 0x78, 0x20, 0x20, 0x1C, 0x11, 0x08, 0x83, 0x80, 0x18, 0x71, 0xC0, 0x1C, 0x11, 0x08, 0x83, 0x80, 0x1E, 0x60, 0x81, 0x03, 0x0A, 0x65, 0x46, 0x88, 0xE8, 0xFA, 0x80, 0x12, 0x24, 0x48, 0x88, 0x88, 0x88, 0x80, 0x01, 0x11, 0x11, 0x11, 0x22, 0x44, 0x80, 0x10, 0x22, 0x5B, 0xC3, 0x0A, 0x22, 0x00, 0x04, 0x02, 0x02, 0x1F, 0xF0, 0x80, 0x40, 0x20, 0x00, 0x36, 0x4C, 0x80, 0xFF, 0x80, 0xF0, 0x00, 0x80, 0x80, 0x40, 0x40, 0x40, 0x20, 0x20, 0x20, 0x10, 0x10, 0x10, 0x08, 0x08, 0x00, 0x1C, 0x45, 0x0A, 0x18, 0x30, 0x61, 0x42, 0x85, 0x11, 0xC0, 0x04, 0x38, 0x90, 0x20, 0x81, 0x02, 0x04, 0x08, 0x23, 0xF8, 0x07, 0x04, 0xC4, 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0x44, 0x44, 0x22, 0x22, 0x11, 0x11, 0x38, 0x42, 0x11, 0x08, 0x42, 0x10, 0x84, 0x2E, 0x00, 0x08, 0x28, 0x92, 0x18, 0x20, 0xFF, 0xC0, 0xA4, 0x3E, 0x00, 0x80, 0x47, 0xA4, 0x34, 0x12, 0x18, 0xF7, 0x38, 0x01, 0x00, 0x40, 0x09, 0xE1, 0xC6, 0x20, 0x44, 0x09, 0x01, 0x30, 0x46, 0x13, 0xBC, 0x00, 0x1F, 0x48, 0x74, 0x0A, 0x00, 0x80, 0x20, 0x0C, 0x18, 0xF8, 0x01, 0x80, 0x40, 0x23, 0x96, 0x32, 0x0A, 0x05, 0x02, 0x81, 0x61, 0x1F, 0xE0, 0x1F, 0x30, 0xD0, 0x3F, 0xF8, 0x04, 0x01, 0x00, 0x7C, 0x07, 0xC3, 0x00, 0x80, 0xFE, 0x10, 0x04, 0x01, 0x00, 0x40, 0x10, 0x08, 0x0F, 0xE0, 0x1D, 0xD8, 0xC4, 0x12, 0x04, 0x82, 0x20, 0x8C, 0x61, 0xE8, 0x02, 0x01, 0x07, 0x80, 0x30, 0x04, 0x01, 0x00, 0x5C, 0x38, 0x88, 0x22, 0x08, 0x82, 0x21, 0x18, 0x4F, 0x3C, 0x04, 0x04, 0x00, 0x38, 0x08, 0x08, 0x08, 0x08, 0x10, 0x10, 0xFF, 0x01, 0x00, 0x80, 0x03, 0xF0, 0x10, 0x08, 0x04, 0x02, 0x02, 0x01, 0x00, 0x80, 0x40, 0x47, 0xC0, 0x38, 0x08, 0x04, 0x02, 0x71, 0x20, 0xA0, 0xA0, 0x68, 0x24, 0x11, 0x38, 0xE0, 0x3C, 0x04, 0x04, 0x08, 0x08, 0x08, 0x08, 0x08, 0x10, 0x10, 0xFF, 0x3E, 0xE2, 0x64, 0x88, 0x91, 0x12, 0x24, 0x48, 0x91, 0x17, 0x33, 0x37, 0x14, 0x4C, 0x24, 0x12, 0x09, 0x08, 0x85, 0xE3, 0x1E, 0x10, 0x90, 0x30, 0x18, 0x0C, 0x0B, 0x08, 0x78, 0x33, 0xC3, 0x8C, 0x40, 0x88, 0x12, 0x02, 0x60, 0x8C, 0x31, 0x78, 0x20, 0x08, 0x03, 0xE0, 0x00, 0x1C, 0xD8, 0xC4, 0x12, 0x04, 0x81, 0x20, 0x4C, 0x21, 0xF8, 0x02, 0x00, 0x81, 0xF0, 0x73, 0x8E, 0x04, 0x04, 0x02, 0x01, 0x00, 0x81, 0xFC, 0x1F, 0x61, 0x40, 0x3C, 0x03, 0x81, 0x82, 0xFC, 0x10, 0x63, 0xF9, 0x02, 0x04, 0x10, 0x20, 0x40, 0x7C, 0xE3, 0x10, 0x90, 0x48, 0x24, 0x22, 0x11, 0x18, 0xF6, 0xF3, 0xD0, 0x44, 0x10, 0x88, 0x24, 0x09, 0x02, 0x80, 0x40, 0xE1, 0xD0, 0x24, 0x91, 0x24, 0x55, 0x19, 0x86, 0x61, 0x10, 0x39, 0xC4, 0x20, 0xB0, 0x30, 0x0C, 0x04, 0x86, 0x13, 0x8E, 0x3C, 0x71, 0x04, 0x10, 0x40, 0x88, 0x09, 0x00, 0xA0, 0x06, 0x00, 0x40, 0x08, 0x01, 0x00, 0xFC, 0x00, 0x7F, 0x42, 0x04, 0x08, 0x10, 0x20, 0x42, 0xFE, 0x0C, 0x41, 0x04, 0x30, 0x8C, 0x08, 0x21, 0x04, 0x10, 0x60, 0x24, 0x94, 0x92, 0x52, 0x40, 0x18, 0x20, 0x82, 0x10, 0x40, 0xC4, 0x10, 0x82, 0x08, 0xC0, 0x61, 0x24, 0x30 }; const GFXglyph FreeMonoOblique9pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 11, 0, 1 }, // 0x20 ' ' { 0, 4, 11, 11, 4, -10 }, // 0x21 '!' { 6, 5, 5, 11, 4, -10 }, // 0x22 '"' { 10, 9, 12, 11, 2, -10 }, // 0x23 '#' { 24, 8, 12, 11, 3, -10 }, // 0x24 '$' { 36, 9, 11, 11, 2, -10 }, // 0x25 '%' { 49, 7, 10, 11, 2, -9 }, // 0x26 '&' { 58, 2, 5, 11, 6, -10 }, // 0x27 ''' { 60, 4, 13, 11, 6, -10 }, // 0x28 '(' { 67, 4, 13, 11, 3, -10 }, // 0x29 ')' { 74, 7, 7, 11, 4, -10 }, // 0x2A '*' { 81, 9, 8, 11, 2, -8 }, // 0x2B '+' { 90, 4, 5, 11, 2, -1 }, // 0x2C ',' { 93, 9, 1, 11, 2, -5 }, // 0x2D '-' { 95, 2, 2, 11, 4, -1 }, // 0x2E '.' { 96, 9, 13, 11, 2, -11 }, // 0x2F '/' { 111, 7, 11, 11, 3, -10 }, // 0x30 '0' { 121, 7, 11, 11, 2, -10 }, // 0x31 '1' { 131, 9, 11, 11, 2, -10 }, // 0x32 '2' { 144, 9, 11, 11, 2, -10 }, // 0x33 '3' { 157, 8, 11, 11, 2, -10 }, // 0x34 '4' { 168, 9, 11, 11, 2, -10 }, // 0x35 '5' { 181, 8, 11, 11, 3, -10 }, // 0x36 '6' { 192, 7, 11, 11, 4, -10 }, // 0x37 '7' { 202, 8, 11, 11, 3, -10 }, // 0x38 '8' { 213, 8, 11, 11, 3, -10 }, // 0x39 '9' { 224, 3, 8, 11, 4, -7 }, // 0x3A ':' { 227, 5, 11, 11, 2, -7 }, // 0x3B ';' { 234, 9, 8, 11, 2, -8 }, // 0x3C '<' { 243, 9, 4, 11, 2, -6 }, // 0x3D '=' { 248, 9, 8, 11, 2, -8 }, // 0x3E '>' { 257, 7, 10, 11, 4, -9 }, // 0x3F '?' { 266, 7, 12, 11, 3, -10 }, // 0x40 '@' { 277, 11, 10, 11, 0, -9 }, // 0x41 'A' { 291, 10, 10, 11, 1, -9 }, // 0x42 'B' { 304, 9, 10, 11, 2, -9 }, // 0x43 'C' { 316, 10, 10, 11, 1, -9 }, // 0x44 'D' { 329, 10, 10, 11, 1, -9 }, // 0x45 'E' { 342, 11, 10, 11, 1, -9 }, // 0x46 'F' { 356, 9, 10, 11, 2, -9 }, // 0x47 'G' { 368, 11, 10, 11, 1, -9 }, // 0x48 'H' { 382, 9, 10, 11, 2, -9 }, // 0x49 'I' { 394, 11, 10, 11, 2, -9 }, // 0x4A 'J' { 408, 11, 10, 11, 1, -9 }, // 0x4B 'K' { 422, 10, 10, 11, 1, -9 }, // 0x4C 'L' { 435, 13, 10, 11, 0, -9 }, // 0x4D 'M' { 452, 11, 10, 11, 1, -9 }, // 0x4E 'N' { 466, 9, 10, 11, 2, -9 }, // 0x4F 'O' { 478, 10, 10, 11, 1, -9 }, // 0x50 'P' { 491, 9, 13, 11, 2, -9 }, // 0x51 'Q' { 506, 10, 10, 11, 1, -9 }, // 0x52 'R' { 519, 9, 10, 11, 2, -9 }, // 0x53 'S' { 531, 9, 10, 11, 3, -9 }, // 0x54 'T' { 543, 10, 10, 11, 2, -9 }, // 0x55 'U' { 556, 11, 10, 11, 2, -9 }, // 0x56 'V' { 570, 11, 10, 11, 2, -9 }, // 0x57 'W' { 584, 11, 10, 11, 1, -9 }, // 0x58 'X' { 598, 9, 10, 11, 3, -9 }, // 0x59 'Y' { 610, 9, 10, 11, 2, -9 }, // 0x5A 'Z' { 622, 5, 13, 11, 5, -10 }, // 0x5B '[' { 631, 4, 14, 11, 4, -11 }, // 0x5C '\' { 638, 5, 13, 11, 2, -10 }, // 0x5D ']' { 647, 7, 5, 11, 3, -10 }, // 0x5E '^' { 652, 11, 1, 11, 0, 2 }, // 0x5F '_' { 654, 2, 3, 11, 5, -11 }, // 0x60 '`' { 655, 9, 8, 11, 2, -7 }, // 0x61 'a' { 664, 11, 11, 11, 0, -10 }, // 0x62 'b' { 680, 10, 8, 11, 2, -7 }, // 0x63 'c' { 690, 9, 11, 11, 2, -10 }, // 0x64 'd' { 703, 9, 8, 11, 2, -7 }, // 0x65 'e' { 712, 10, 11, 11, 2, -10 }, // 0x66 'f' { 726, 10, 11, 11, 2, -7 }, // 0x67 'g' { 740, 10, 11, 11, 1, -10 }, // 0x68 'h' { 754, 8, 11, 11, 2, -10 }, // 0x69 'i' { 765, 9, 14, 11, 1, -10 }, // 0x6A 'j' { 781, 9, 11, 11, 1, -10 }, // 0x6B 'k' { 794, 8, 11, 11, 2, -10 }, // 0x6C 'l' { 805, 11, 8, 11, 0, -7 }, // 0x6D 'm' { 816, 9, 8, 11, 1, -7 }, // 0x6E 'n' { 825, 9, 8, 11, 2, -7 }, // 0x6F 'o' { 834, 11, 11, 11, 0, -7 }, // 0x70 'p' { 850, 10, 11, 11, 2, -7 }, // 0x71 'q' { 864, 9, 8, 11, 2, -7 }, // 0x72 'r' { 873, 8, 8, 11, 2, -7 }, // 0x73 's' { 881, 7, 10, 11, 2, -9 }, // 0x74 't' { 890, 9, 8, 11, 2, -7 }, // 0x75 'u' { 899, 10, 8, 11, 2, -7 }, // 0x76 'v' { 909, 10, 8, 11, 2, -7 }, // 0x77 'w' { 919, 10, 8, 11, 1, -7 }, // 0x78 'x' { 929, 12, 11, 11, 0, -7 }, // 0x79 'y' { 946, 8, 8, 11, 2, -7 }, // 0x7A 'z' { 954, 6, 13, 11, 4, -10 }, // 0x7B '{' { 964, 3, 12, 11, 5, -9 }, // 0x7C '|' { 969, 6, 13, 11, 3, -10 }, // 0x7D '}' { 979, 7, 3, 11, 3, -6 } }; // 0x7E '~' const GFXfont FreeMonoOblique9pt7b PROGMEM = { (uint8_t *)FreeMonoOblique9pt7bBitmaps, (GFXglyph *)FreeMonoOblique9pt7bGlyphs, 0x20, 0x7E, 18 }; // Approx. 1654 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSans12pt7b.h ================================================ const uint8_t FreeSans12pt7bBitmaps[] PROGMEM = { 0xFF, 0xFF, 0xFF, 0xF0, 0xF0, 0xCF, 0x3C, 0xF3, 0x8A, 0x20, 0x06, 0x30, 0x31, 0x03, 0x18, 0x18, 0xC7, 0xFF, 0xBF, 0xFC, 0x31, 0x03, 0x18, 0x18, 0xC7, 0xFF, 0xBF, 0xFC, 0x31, 0x01, 0x18, 0x18, 0xC0, 0xC6, 0x06, 0x30, 0x04, 0x03, 0xE1, 0xFF, 0x72, 0x6C, 0x47, 0x88, 0xF1, 0x07, 0x20, 0x7E, 0x03, 0xF0, 0x17, 0x02, 0x3C, 0x47, 0x88, 0xF1, 0x1B, 0x26, 0x7F, 0xC3, 0xE0, 0x10, 0x02, 0x00, 0x00, 0x06, 0x03, 0xC0, 0x40, 0x7E, 0x0C, 0x0E, 0x70, 0x80, 0xC3, 0x18, 0x0C, 0x31, 0x00, 0xE7, 0x30, 0x07, 0xE6, 0x00, 0x3C, 0x40, 0x00, 0x0C, 0x7C, 0x00, 0x8F, 0xE0, 0x19, 0xC7, 0x01, 0x18, 0x30, 0x31, 0x83, 0x02, 0x1C, 0x70, 0x40, 0xFE, 0x04, 0x07, 0xC0, 0x0F, 0x00, 0x7E, 0x03, 0x9C, 0x0C, 0x30, 0x30, 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0x1F, 0xEE, 0x1B, 0x00, 0xC0, 0x3C, 0x07, 0xF0, 0x3E, 0x01, 0xF0, 0x3E, 0x1D, 0xFE, 0x3E, 0x00, 0x63, 0x19, 0xFF, 0xB1, 0x8C, 0x63, 0x18, 0xC6, 0x31, 0xE7, 0xC0, 0xF0, 0x3C, 0x0F, 0x03, 0xC0, 0xF0, 0x3C, 0x0F, 0x03, 0xC0, 0xF0, 0x7E, 0x3D, 0xFB, 0x3C, 0xC0, 0xE0, 0x66, 0x06, 0x60, 0x67, 0x0C, 0x30, 0xC3, 0x0C, 0x39, 0x81, 0x98, 0x19, 0x81, 0xF0, 0x0F, 0x00, 0xE0, 0x0E, 0x00, 0xC1, 0xC1, 0xB0, 0xE1, 0xD8, 0x70, 0xCC, 0x2C, 0x66, 0x36, 0x31, 0x9B, 0x18, 0xCD, 0x98, 0x64, 0x6C, 0x16, 0x36, 0x0F, 0x1A, 0x07, 0x8F, 0x03, 0x83, 0x80, 0xC1, 0xC0, 0x60, 0xEE, 0x18, 0xC6, 0x0C, 0xC1, 0xF0, 0x1C, 0x01, 0x80, 0x78, 0x1B, 0x03, 0x30, 0xC7, 0x30, 0x66, 0x06, 0xE0, 0x6C, 0x0D, 0x83, 0x38, 0x63, 0x0C, 0x63, 0x0E, 0x60, 0xCC, 0x1B, 0x03, 0x60, 0x3C, 0x07, 0x00, 0xE0, 0x18, 0x03, 0x00, 0xE0, 0x78, 0x0E, 0x00, 0xFF, 0xFF, 0xF0, 0x18, 0x0C, 0x07, 0x03, 0x81, 0xC0, 0x60, 0x30, 0x18, 0x0E, 0x03, 0xFF, 0xFF, 0xC0, 0x19, 0xCC, 0x63, 0x18, 0xC6, 0x31, 0x99, 0x86, 0x18, 0xC6, 0x31, 0x8C, 0x63, 0x1C, 0x60, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0xC7, 0x18, 0xC6, 0x31, 0x8C, 0x63, 0x0C, 0x33, 0x31, 0x8C, 0x63, 0x18, 0xC6, 0x73, 0x00, 0x70, 0x3E, 0x09, 0xE4, 0x1F, 0x03, 0x80 }; const GFXglyph FreeSans12pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 6, 0, 1 }, // 0x20 ' ' { 0, 2, 18, 8, 3, -17 }, // 0x21 '!' { 5, 6, 6, 8, 1, -16 }, // 0x22 '"' { 10, 13, 16, 13, 0, -15 }, // 0x23 '#' { 36, 11, 20, 13, 1, -17 }, // 0x24 '$' { 64, 20, 17, 21, 1, -16 }, // 0x25 '%' { 107, 14, 17, 16, 1, -16 }, // 0x26 '&' { 137, 2, 6, 5, 1, -16 }, // 0x27 ''' { 139, 5, 23, 8, 2, -17 }, // 0x28 '(' { 154, 5, 23, 8, 1, -17 }, // 0x29 ')' { 169, 7, 7, 9, 1, -17 }, // 0x2A '*' { 176, 10, 11, 14, 2, -10 }, // 0x2B '+' { 190, 2, 6, 7, 2, -1 }, // 0x2C ',' { 192, 6, 2, 8, 1, -7 }, // 0x2D '-' { 194, 2, 2, 6, 2, -1 }, // 0x2E '.' { 195, 7, 18, 7, 0, -17 }, // 0x2F '/' { 211, 11, 17, 13, 1, -16 }, // 0x30 '0' { 235, 5, 17, 13, 3, -16 }, // 0x31 '1' { 246, 11, 17, 13, 1, -16 }, // 0x32 '2' { 270, 11, 17, 13, 1, -16 }, // 0x33 '3' { 294, 11, 17, 13, 1, -16 }, // 0x34 '4' { 318, 11, 17, 13, 1, -16 }, // 0x35 '5' { 342, 11, 17, 13, 1, -16 }, // 0x36 '6' { 366, 11, 17, 13, 1, -16 }, // 0x37 '7' { 390, 11, 17, 13, 1, -16 }, // 0x38 '8' { 414, 11, 17, 13, 1, -16 }, // 0x39 '9' { 438, 2, 13, 6, 2, -12 }, // 0x3A ':' { 442, 2, 16, 6, 2, -11 }, // 0x3B ';' { 446, 12, 12, 14, 1, -11 }, // 0x3C '<' { 464, 12, 6, 14, 1, -8 }, // 0x3D '=' { 473, 12, 12, 14, 1, -11 }, // 0x3E '>' { 491, 10, 18, 13, 2, -17 }, // 0x3F '?' { 514, 22, 21, 24, 1, -17 }, // 0x40 '@' { 572, 16, 18, 16, 0, -17 }, // 0x41 'A' { 608, 13, 18, 16, 2, -17 }, // 0x42 'B' { 638, 15, 18, 17, 1, -17 }, // 0x43 'C' { 672, 14, 18, 17, 2, -17 }, // 0x44 'D' { 704, 12, 18, 15, 2, -17 }, // 0x45 'E' { 731, 11, 18, 14, 2, -17 }, // 0x46 'F' { 756, 16, 18, 18, 1, -17 }, // 0x47 'G' { 792, 13, 18, 17, 2, -17 }, // 0x48 'H' { 822, 2, 18, 7, 2, -17 }, // 0x49 'I' { 827, 9, 18, 13, 1, -17 }, // 0x4A 'J' { 848, 14, 18, 16, 2, -17 }, // 0x4B 'K' { 880, 10, 18, 14, 2, -17 }, // 0x4C 'L' { 903, 16, 18, 20, 2, -17 }, // 0x4D 'M' { 939, 13, 18, 18, 2, -17 }, // 0x4E 'N' { 969, 17, 18, 19, 1, -17 }, // 0x4F 'O' { 1008, 12, 18, 16, 2, -17 }, // 0x50 'P' { 1035, 17, 19, 19, 1, -17 }, // 0x51 'Q' { 1076, 14, 18, 17, 2, -17 }, // 0x52 'R' { 1108, 14, 18, 16, 1, -17 }, // 0x53 'S' { 1140, 12, 18, 15, 1, -17 }, // 0x54 'T' { 1167, 13, 18, 17, 2, -17 }, // 0x55 'U' { 1197, 15, 18, 15, 0, -17 }, // 0x56 'V' { 1231, 22, 18, 22, 0, -17 }, // 0x57 'W' { 1281, 15, 18, 16, 0, -17 }, // 0x58 'X' { 1315, 16, 18, 16, 0, -17 }, // 0x59 'Y' { 1351, 13, 18, 15, 1, -17 }, // 0x5A 'Z' { 1381, 4, 23, 7, 2, -17 }, // 0x5B '[' { 1393, 7, 18, 7, 0, -17 }, // 0x5C '\' { 1409, 4, 23, 7, 1, -17 }, // 0x5D ']' { 1421, 9, 9, 11, 1, -16 }, // 0x5E '^' { 1432, 15, 1, 13, -1, 4 }, // 0x5F '_' { 1434, 5, 4, 6, 1, -17 }, // 0x60 '`' { 1437, 12, 13, 13, 1, -12 }, // 0x61 'a' { 1457, 12, 18, 13, 1, -17 }, // 0x62 'b' { 1484, 10, 13, 12, 1, -12 }, // 0x63 'c' { 1501, 11, 18, 13, 1, -17 }, // 0x64 'd' { 1526, 11, 13, 13, 1, -12 }, // 0x65 'e' { 1544, 5, 18, 7, 1, -17 }, // 0x66 'f' { 1556, 11, 18, 13, 1, -12 }, // 0x67 'g' { 1581, 10, 18, 13, 1, -17 }, // 0x68 'h' { 1604, 2, 18, 5, 2, -17 }, // 0x69 'i' { 1609, 4, 23, 6, 0, -17 }, // 0x6A 'j' { 1621, 11, 18, 12, 1, -17 }, // 0x6B 'k' { 1646, 2, 18, 5, 1, -17 }, // 0x6C 'l' { 1651, 17, 13, 19, 1, -12 }, // 0x6D 'm' { 1679, 10, 13, 13, 1, -12 }, // 0x6E 'n' { 1696, 11, 13, 13, 1, -12 }, // 0x6F 'o' { 1714, 12, 17, 13, 1, -12 }, // 0x70 'p' { 1740, 11, 17, 13, 1, -12 }, // 0x71 'q' { 1764, 6, 13, 8, 1, -12 }, // 0x72 'r' { 1774, 10, 13, 12, 1, -12 }, // 0x73 's' { 1791, 5, 16, 7, 1, -15 }, // 0x74 't' { 1801, 10, 13, 13, 1, -12 }, // 0x75 'u' { 1818, 12, 13, 12, 0, -12 }, // 0x76 'v' { 1838, 17, 13, 17, 0, -12 }, // 0x77 'w' { 1866, 11, 13, 11, 0, -12 }, // 0x78 'x' { 1884, 11, 18, 11, 0, -12 }, // 0x79 'y' { 1909, 10, 13, 12, 1, -12 }, // 0x7A 'z' { 1926, 5, 23, 8, 1, -17 }, // 0x7B '{' { 1941, 2, 23, 6, 2, -17 }, // 0x7C '|' { 1947, 5, 23, 8, 2, -17 }, // 0x7D '}' { 1962, 10, 5, 12, 1, -10 } }; // 0x7E '~' const GFXfont FreeSans12pt7b PROGMEM = { (uint8_t *)FreeSans12pt7bBitmaps, (GFXglyph *)FreeSans12pt7bGlyphs, 0x20, 0x7E, 29 }; // Approx. 2641 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSans18pt7b.h ================================================ const uint8_t FreeSans18pt7bBitmaps[] PROGMEM = { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE9, 0x20, 0x3F, 0xFC, 0xE3, 0xF1, 0xF8, 0xFC, 0x7E, 0x3F, 0x1F, 0x8E, 0x82, 0x41, 0x00, 0x01, 0xC3, 0x80, 0x38, 0x70, 0x06, 0x0E, 0x00, 0xC1, 0x80, 0x38, 0x70, 0x07, 0x0E, 0x0F, 0xFF, 0xF9, 0xFF, 0xFF, 0x3F, 0xFF, 0xE0, 0xE1, 0xC0, 0x1C, 0x38, 0x03, 0x87, 0x00, 0x70, 0xE0, 0x0C, 0x18, 0x3F, 0xFF, 0xF7, 0xFF, 0xFE, 0xFF, 0xFF, 0xC1, 0xC3, 0x80, 0x30, 0x60, 0x06, 0x0C, 0x01, 0xC3, 0x80, 0x38, 0x70, 0x07, 0x0E, 0x00, 0xC1, 0x80, 0x03, 0x00, 0x0F, 0xC0, 0x3F, 0xF0, 0x3F, 0xF8, 0x7B, 0x3C, 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0x1F, 0x1C, 0x1C, 0x1C, 0x1C, 0x1C, 0x1C, 0x1C, 0x1C, 0x1C, 0x1C, 0x1C, 0x38, 0xF8, 0xE0, 0xF8, 0x38, 0x1C, 0x1C, 0x1C, 0x1C, 0x1C, 0x1C, 0x1C, 0x1C, 0x1C, 0x1C, 0x1C, 0x1F, 0x0F, 0x07, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xE0, 0xF0, 0xF8, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x1C, 0x1F, 0x07, 0x1F, 0x1C, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0xF8, 0xF0, 0xE0, 0x38, 0x00, 0xFC, 0x03, 0xFC, 0x1F, 0x3E, 0x3C, 0x1F, 0xE0, 0x1F, 0x80, 0x1E, 0x00 }; const GFXglyph FreeSans18pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 9, 0, 1 }, // 0x20 ' ' { 0, 3, 26, 12, 4, -25 }, // 0x21 '!' { 10, 9, 9, 12, 1, -24 }, // 0x22 '"' { 21, 19, 24, 19, 0, -23 }, // 0x23 '#' { 78, 16, 30, 19, 2, -26 }, // 0x24 '$' { 138, 29, 25, 31, 1, -24 }, // 0x25 '%' { 229, 20, 25, 23, 2, -24 }, // 0x26 '&' { 292, 3, 9, 7, 2, -24 }, // 0x27 ''' { 296, 8, 33, 12, 3, -25 }, // 0x28 '(' { 329, 8, 33, 12, 1, -25 }, // 0x29 ')' { 362, 10, 10, 14, 2, -25 }, // 0x2A '*' { 375, 16, 16, 20, 2, -15 }, // 0x2B '+' { 407, 3, 9, 10, 3, -3 }, // 0x2C ',' { 411, 8, 3, 12, 2, -10 }, // 0x2D '-' { 414, 3, 4, 9, 3, -3 }, // 0x2E '.' { 416, 10, 26, 10, 0, -25 }, // 0x2F '/' { 449, 16, 25, 19, 2, -24 }, // 0x30 '0' { 499, 8, 25, 19, 4, -24 }, // 0x31 '1' { 524, 16, 25, 19, 2, -24 }, // 0x32 '2' { 574, 17, 25, 19, 1, -24 }, // 0x33 '3' { 628, 16, 25, 19, 1, -24 }, // 0x34 '4' { 678, 17, 25, 19, 1, -24 }, // 0x35 '5' { 732, 16, 25, 19, 2, -24 }, // 0x36 '6' { 782, 16, 25, 19, 2, -24 }, // 0x37 '7' { 832, 17, 25, 19, 1, -24 }, // 0x38 '8' { 886, 16, 25, 19, 1, -24 }, // 0x39 '9' { 936, 3, 19, 9, 3, -18 }, // 0x3A ':' { 944, 3, 24, 9, 3, -18 }, // 0x3B ';' { 953, 17, 17, 20, 2, -16 }, // 0x3C '<' { 990, 17, 9, 20, 2, -12 }, // 0x3D '=' { 1010, 17, 17, 20, 2, -16 }, // 0x3E '>' { 1047, 15, 26, 19, 3, -25 }, // 0x3F '?' { 1096, 32, 31, 36, 1, -25 }, // 0x40 '@' { 1220, 22, 26, 23, 1, -25 }, // 0x41 'A' { 1292, 19, 26, 23, 3, -25 }, // 0x42 'B' { 1354, 22, 26, 25, 1, -25 }, // 0x43 'C' { 1426, 20, 26, 24, 3, -25 }, // 0x44 'D' { 1491, 18, 26, 22, 3, -25 }, // 0x45 'E' { 1550, 17, 26, 21, 3, -25 }, // 0x46 'F' { 1606, 24, 26, 27, 1, -25 }, // 0x47 'G' { 1684, 19, 26, 25, 3, -25 }, // 0x48 'H' { 1746, 3, 26, 10, 4, -25 }, // 0x49 'I' { 1756, 14, 26, 18, 1, -25 }, // 0x4A 'J' { 1802, 20, 26, 24, 3, -25 }, // 0x4B 'K' { 1867, 15, 26, 20, 3, -25 }, // 0x4C 'L' { 1916, 24, 26, 30, 3, -25 }, // 0x4D 'M' { 1994, 20, 26, 26, 3, -25 }, // 0x4E 'N' { 2059, 25, 26, 27, 1, -25 }, // 0x4F 'O' { 2141, 18, 26, 23, 3, -25 }, // 0x50 'P' { 2200, 25, 28, 27, 1, -25 }, // 0x51 'Q' { 2288, 20, 26, 25, 3, -25 }, // 0x52 'R' { 2353, 20, 26, 23, 1, -25 }, // 0x53 'S' { 2418, 19, 26, 22, 1, -25 }, // 0x54 'T' { 2480, 19, 26, 25, 3, -25 }, // 0x55 'U' { 2542, 21, 26, 23, 1, -25 }, // 0x56 'V' { 2611, 32, 26, 33, 0, -25 }, // 0x57 'W' { 2715, 21, 26, 23, 1, -25 }, // 0x58 'X' { 2784, 23, 26, 24, 0, -25 }, // 0x59 'Y' { 2859, 19, 26, 22, 1, -25 }, // 0x5A 'Z' { 2921, 6, 33, 10, 2, -25 }, // 0x5B '[' { 2946, 10, 26, 10, 0, -25 }, // 0x5C '\' { 2979, 6, 33, 10, 1, -25 }, // 0x5D ']' { 3004, 13, 13, 16, 2, -24 }, // 0x5E '^' { 3026, 21, 2, 19, -1, 5 }, // 0x5F '_' { 3032, 7, 5, 9, 1, -25 }, // 0x60 '`' { 3037, 17, 19, 19, 1, -18 }, // 0x61 'a' { 3078, 16, 26, 20, 2, -25 }, // 0x62 'b' { 3130, 16, 19, 18, 1, -18 }, // 0x63 'c' { 3168, 17, 26, 20, 1, -25 }, // 0x64 'd' { 3224, 16, 19, 19, 1, -18 }, // 0x65 'e' { 3262, 7, 26, 10, 1, -25 }, // 0x66 'f' { 3285, 16, 27, 19, 1, -18 }, // 0x67 'g' { 3339, 15, 26, 19, 2, -25 }, // 0x68 'h' { 3388, 3, 26, 8, 2, -25 }, // 0x69 'i' { 3398, 6, 34, 9, 0, -25 }, // 0x6A 'j' { 3424, 16, 26, 18, 2, -25 }, // 0x6B 'k' { 3476, 3, 26, 7, 2, -25 }, // 0x6C 'l' { 3486, 24, 19, 28, 2, -18 }, // 0x6D 'm' { 3543, 15, 19, 19, 2, -18 }, // 0x6E 'n' { 3579, 17, 19, 19, 1, -18 }, // 0x6F 'o' { 3620, 16, 25, 20, 2, -18 }, // 0x70 'p' { 3670, 17, 25, 20, 1, -18 }, // 0x71 'q' { 3724, 9, 19, 12, 2, -18 }, // 0x72 'r' { 3746, 14, 19, 17, 2, -18 }, // 0x73 's' { 3780, 7, 23, 10, 1, -22 }, // 0x74 't' { 3801, 15, 19, 19, 2, -18 }, // 0x75 'u' { 3837, 17, 19, 17, 0, -18 }, // 0x76 'v' { 3878, 25, 19, 25, 0, -18 }, // 0x77 'w' { 3938, 16, 19, 17, 0, -18 }, // 0x78 'x' { 3976, 17, 27, 17, 0, -18 }, // 0x79 'y' { 4034, 15, 19, 17, 1, -18 }, // 0x7A 'z' { 4070, 8, 33, 12, 1, -25 }, // 0x7B '{' { 4103, 2, 33, 9, 3, -25 }, // 0x7C '|' { 4112, 8, 33, 12, 3, -25 }, // 0x7D '}' { 4145, 15, 7, 18, 1, -15 } }; // 0x7E '~' const GFXfont FreeSans18pt7b PROGMEM = { (uint8_t *)FreeSans18pt7bBitmaps, (GFXglyph *)FreeSans18pt7bGlyphs, 0x20, 0x7E, 42 }; // Approx. 4831 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSans24pt7b.h ================================================ const uint8_t FreeSans24pt7bBitmaps[] PROGMEM = { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x76, 0x66, 0x66, 0x00, 0x0F, 0xFF, 0xFF, 0xF1, 0xFE, 0x3F, 0xC7, 0xF8, 0xFF, 0x1F, 0xE3, 0xFC, 0x7F, 0x8F, 0xF1, 0xEC, 0x19, 0x83, 0x30, 0x60, 0x00, 0x70, 0x3C, 0x00, 0x70, 0x3C, 0x00, 0xF0, 0x38, 0x00, 0xF0, 0x38, 0x00, 0xF0, 0x78, 0x00, 0xE0, 0x78, 0x00, 0xE0, 0x78, 0x01, 0xE0, 0x70, 0x01, 0xE0, 0x70, 0x7F, 0xFF, 0xFF, 0x7F, 0xFF, 0xFF, 0x7F, 0xFF, 0xFF, 0x03, 0xC0, 0xE0, 0x03, 0xC0, 0xE0, 0x03, 0xC0, 0xE0, 0x03, 0x81, 0xE0, 0x03, 0x81, 0xE0, 0x03, 0x81, 0xE0, 0x07, 0x81, 0xC0, 0x07, 0x81, 0xC0, 0xFF, 0xFF, 0xFE, 0xFF, 0xFF, 0xFE, 0xFF, 0xFF, 0xFE, 0x0F, 0x03, 0x80, 0x0F, 0x03, 0x80, 0x0F, 0x07, 0x80, 0x0E, 0x07, 0x80, 0x0E, 0x07, 0x80, 0x1E, 0x07, 0x00, 0x1E, 0x07, 0x00, 0x1E, 0x07, 0x00, 0x1C, 0x0F, 0x00, 0x1C, 0x0F, 0x00, 0x00, 0x38, 0x00, 0x01, 0xFC, 0x00, 0x1F, 0xFE, 0x00, 0x7F, 0xFE, 0x01, 0xFF, 0xFE, 0x07, 0xE7, 0x3E, 0x0F, 0x8E, 0x3C, 0x3E, 0x1C, 0x3C, 0x78, 0x38, 0x38, 0xF0, 0x70, 0x71, 0xE0, 0xE0, 0xE3, 0xC1, 0xC0, 0x07, 0x83, 0x80, 0x0F, 0x87, 0x00, 0x0F, 0x8E, 0x00, 0x1F, 0xDC, 0x00, 0x1F, 0xF8, 0x00, 0x1F, 0xFF, 0x00, 0x0F, 0xFF, 0x80, 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0x1C, 0x03, 0x80, 0x70, 0x0E, 0x01, 0xC0, 0x78, 0x1E, 0x0F, 0x81, 0xE0, 0x3C, 0x07, 0xC0, 0x3C, 0x03, 0x80, 0x38, 0x07, 0x00, 0xE0, 0x1C, 0x03, 0x80, 0x70, 0x0E, 0x01, 0xC0, 0x38, 0x07, 0x00, 0xE0, 0x1C, 0x03, 0x80, 0x70, 0x0F, 0x00, 0xFC, 0x1F, 0x80, 0xF0, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF0, 0xF0, 0x1F, 0x83, 0xF0, 0x0F, 0x00, 0xE0, 0x1C, 0x03, 0x80, 0x70, 0x0E, 0x01, 0xC0, 0x38, 0x07, 0x00, 0xE0, 0x1C, 0x03, 0x80, 0x70, 0x0E, 0x01, 0xC0, 0x1C, 0x03, 0xC0, 0x3E, 0x03, 0xC0, 0x78, 0x1F, 0x07, 0x80, 0xE0, 0x38, 0x07, 0x00, 0xE0, 0x1C, 0x03, 0x80, 0x70, 0x0E, 0x01, 0xC0, 0x38, 0x07, 0x00, 0xE0, 0x1C, 0x03, 0x80, 0x70, 0x1E, 0x1F, 0x83, 0xF0, 0x78, 0x00, 0x3E, 0x00, 0x0F, 0xF0, 0x0D, 0xFF, 0x01, 0xF0, 0xF8, 0x7C, 0x0F, 0xFD, 0x80, 0x7F, 0x80, 0x03, 0xE0 }; const GFXglyph FreeSans24pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 12, 0, 1 }, // 0x20 ' ' { 0, 4, 34, 16, 6, -33 }, // 0x21 '!' { 17, 11, 12, 16, 2, -32 }, // 0x22 '"' { 34, 24, 33, 26, 1, -31 }, // 0x23 '#' { 133, 23, 41, 26, 1, -34 }, // 0x24 '$' { 251, 39, 34, 42, 1, -32 }, // 0x25 '%' { 417, 28, 34, 31, 2, -32 }, // 0x26 '&' { 536, 4, 12, 9, 2, -32 }, // 0x27 ''' { 542, 10, 44, 16, 3, -33 }, // 0x28 '(' { 597, 10, 44, 16, 2, -33 }, // 0x29 ')' { 652, 14, 14, 18, 2, -33 }, // 0x2A '*' { 677, 23, 22, 27, 2, -21 }, // 0x2B '+' { 741, 4, 12, 13, 4, -4 }, // 0x2C ',' { 747, 11, 4, 16, 2, -14 }, // 0x2D '-' { 753, 4, 5, 12, 4, -4 }, // 0x2E '.' { 756, 13, 35, 13, 0, -33 }, // 0x2F '/' { 813, 22, 34, 26, 2, -32 }, // 0x30 '0' { 907, 11, 33, 26, 5, -32 }, // 0x31 '1' { 953, 22, 33, 26, 2, -32 }, // 0x32 '2' { 1044, 23, 34, 26, 1, -32 }, // 0x33 '3' { 1142, 23, 33, 26, 1, -32 }, // 0x34 '4' { 1237, 22, 34, 26, 2, -32 }, // 0x35 '5' { 1331, 22, 34, 26, 2, -32 }, // 0x36 '6' { 1425, 21, 33, 26, 2, -32 }, // 0x37 '7' { 1512, 22, 34, 26, 2, -32 }, // 0x38 '8' { 1606, 21, 34, 26, 2, -32 }, // 0x39 '9' { 1696, 4, 25, 12, 4, -24 }, // 0x3A ':' { 1709, 4, 32, 12, 4, -24 }, // 0x3B ';' { 1725, 23, 23, 27, 2, -22 }, // 0x3C '<' { 1792, 23, 12, 27, 2, -16 }, // 0x3D '=' { 1827, 23, 23, 27, 2, -22 }, // 0x3E '>' { 1894, 20, 35, 26, 4, -34 }, // 0x3F '?' { 1982, 43, 42, 48, 2, -34 }, // 0x40 '@' { 2208, 30, 34, 31, 1, -33 }, // 0x41 'A' { 2336, 25, 34, 31, 4, -33 }, // 0x42 'B' { 2443, 29, 36, 33, 2, -34 }, // 0x43 'C' { 2574, 27, 34, 33, 4, -33 }, // 0x44 'D' { 2689, 24, 34, 30, 4, -33 }, // 0x45 'E' { 2791, 22, 34, 28, 4, -33 }, // 0x46 'F' { 2885, 31, 36, 36, 2, -34 }, // 0x47 'G' { 3025, 26, 34, 34, 4, -33 }, // 0x48 'H' { 3136, 4, 34, 13, 5, -33 }, // 0x49 'I' { 3153, 19, 35, 25, 2, -33 }, // 0x4A 'J' { 3237, 27, 34, 32, 4, -33 }, // 0x4B 'K' { 3352, 21, 34, 26, 4, -33 }, // 0x4C 'L' { 3442, 32, 34, 40, 4, -33 }, // 0x4D 'M' { 3578, 26, 34, 34, 4, -33 }, // 0x4E 'N' { 3689, 33, 36, 37, 2, -34 }, // 0x4F 'O' { 3838, 24, 34, 31, 4, -33 }, // 0x50 'P' { 3940, 33, 38, 37, 2, -34 }, // 0x51 'Q' { 4097, 26, 34, 33, 4, -33 }, // 0x52 'R' { 4208, 27, 36, 31, 2, -34 }, // 0x53 'S' { 4330, 26, 34, 30, 2, -33 }, // 0x54 'T' { 4441, 26, 35, 34, 4, -33 }, // 0x55 'U' { 4555, 29, 34, 30, 1, -33 }, // 0x56 'V' { 4679, 42, 34, 44, 1, -33 }, // 0x57 'W' { 4858, 29, 34, 31, 1, -33 }, // 0x58 'X' { 4982, 30, 34, 32, 1, -33 }, // 0x59 'Y' { 5110, 27, 34, 29, 1, -33 }, // 0x5A 'Z' { 5225, 8, 44, 13, 3, -33 }, // 0x5B '[' { 5269, 13, 35, 13, 0, -33 }, // 0x5C '\' { 5326, 8, 44, 13, 1, -33 }, // 0x5D ']' { 5370, 18, 18, 22, 2, -32 }, // 0x5E '^' { 5411, 28, 2, 26, -1, 7 }, // 0x5F '_' { 5418, 10, 7, 12, 1, -34 }, // 0x60 '`' { 5427, 24, 27, 26, 1, -25 }, // 0x61 'a' { 5508, 22, 35, 26, 3, -33 }, // 0x62 'b' { 5605, 21, 27, 24, 1, -25 }, // 0x63 'c' { 5676, 23, 35, 26, 1, -33 }, // 0x64 'd' { 5777, 22, 27, 25, 1, -25 }, // 0x65 'e' { 5852, 10, 34, 13, 1, -33 }, // 0x66 'f' { 5895, 22, 36, 26, 1, -25 }, // 0x67 'g' { 5994, 19, 34, 25, 3, -33 }, // 0x68 'h' { 6075, 4, 34, 10, 3, -33 }, // 0x69 'i' { 6092, 8, 44, 11, 0, -33 }, // 0x6A 'j' { 6136, 21, 34, 24, 3, -33 }, // 0x6B 'k' { 6226, 4, 34, 10, 3, -33 }, // 0x6C 'l' { 6243, 32, 26, 38, 3, -25 }, // 0x6D 'm' { 6347, 20, 26, 25, 3, -25 }, // 0x6E 'n' { 6412, 23, 27, 25, 1, -25 }, // 0x6F 'o' { 6490, 22, 35, 26, 3, -25 }, // 0x70 'p' { 6587, 23, 35, 26, 1, -25 }, // 0x71 'q' { 6688, 12, 26, 16, 3, -25 }, // 0x72 'r' { 6727, 20, 27, 23, 1, -25 }, // 0x73 's' { 6795, 10, 32, 13, 1, -30 }, // 0x74 't' { 6835, 20, 26, 25, 3, -24 }, // 0x75 'u' { 6900, 23, 25, 23, 0, -24 }, // 0x76 'v' { 6972, 34, 25, 34, 0, -24 }, // 0x77 'w' { 7079, 22, 25, 22, 0, -24 }, // 0x78 'x' { 7148, 22, 35, 22, 0, -24 }, // 0x79 'y' { 7245, 20, 25, 23, 1, -24 }, // 0x7A 'z' { 7308, 11, 44, 16, 2, -33 }, // 0x7B '{' { 7369, 3, 44, 12, 4, -33 }, // 0x7C '|' { 7386, 11, 44, 16, 2, -33 }, // 0x7D '}' { 7447, 19, 7, 24, 2, -19 } }; // 0x7E '~' const GFXfont FreeSans24pt7b PROGMEM = { (uint8_t *)FreeSans24pt7bBitmaps, (GFXglyph *)FreeSans24pt7bGlyphs, 0x20, 0x7E, 56 }; // Approx. 8136 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSans9pt7b.h ================================================ const uint8_t FreeSans9pt7bBitmaps[] PROGMEM = { 0xFF, 0xFF, 0xF8, 0xC0, 0xDE, 0xF7, 0x20, 0x09, 0x86, 0x41, 0x91, 0xFF, 0x13, 0x04, 0xC3, 0x20, 0xC8, 0xFF, 0x89, 0x82, 0x61, 0x90, 0x10, 0x1F, 0x14, 0xDA, 0x3D, 0x1E, 0x83, 0x40, 0x78, 0x17, 0x08, 0xF4, 0x7A, 0x35, 0x33, 0xF0, 0x40, 0x20, 0x38, 0x10, 0xEC, 0x20, 0xC6, 0x20, 0xC6, 0x40, 0xC6, 0x40, 0x6C, 0x80, 0x39, 0x00, 0x01, 0x3C, 0x02, 0x77, 0x02, 0x63, 0x04, 0x63, 0x04, 0x77, 0x08, 0x3C, 0x0E, 0x06, 0x60, 0xCC, 0x19, 0x81, 0xE0, 0x18, 0x0F, 0x03, 0x36, 0xC2, 0xD8, 0x73, 0x06, 0x31, 0xE3, 0xC4, 0xFE, 0x13, 0x26, 0x6C, 0xCC, 0xCC, 0xC4, 0x66, 0x23, 0x10, 0x8C, 0x46, 0x63, 0x33, 0x33, 0x32, 0x66, 0x4C, 0x80, 0x25, 0x7E, 0xA5, 0x00, 0x30, 0xC3, 0x3F, 0x30, 0xC3, 0x0C, 0xD6, 0xF0, 0xC0, 0x08, 0x44, 0x21, 0x10, 0x84, 0x42, 0x11, 0x08, 0x00, 0x3C, 0x66, 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0x30, 0xFF, 0xFF, 0xFF, 0xC0, 0xDE, 0xF7, 0x1C, 0xF0, 0xC7, 0x86, 0x3C, 0x31, 0xE1, 0x8F, 0x0C, 0x78, 0x63, 0xC3, 0x1E, 0x18, 0xC0, 0xDE, 0xE3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0x3C, 0x66, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0x66, 0x3C, 0xDE, 0x71, 0xB0, 0x78, 0x3C, 0x1E, 0x0F, 0x07, 0x83, 0xE3, 0x6F, 0x30, 0x18, 0x0C, 0x00, 0x3B, 0x67, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0x67, 0x3B, 0x03, 0x03, 0x03, 0xDF, 0x31, 0x8C, 0x63, 0x18, 0xC6, 0x00, 0x3E, 0xE3, 0xC0, 0xC0, 0xE0, 0x3C, 0x07, 0xC3, 0xE3, 0x7E, 0x66, 0xF6, 0x66, 0x66, 0x66, 0x67, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC7, 0x7B, 0xC1, 0xA0, 0x98, 0xCC, 0x42, 0x21, 0xB0, 0xD0, 0x28, 0x1C, 0x0C, 0x00, 0xC6, 0x1E, 0x38, 0x91, 0xC4, 0xCA, 0x66, 0xD3, 0x16, 0xD0, 0xA6, 0x87, 0x1C, 0x38, 0xC0, 0xC6, 0x00, 0x43, 0x62, 0x36, 0x1C, 0x18, 0x1C, 0x3C, 0x26, 0x62, 0x43, 0xC1, 0x21, 0x98, 0xCC, 0x42, 0x61, 0xB0, 0xD0, 0x38, 0x1C, 0x0C, 0x06, 0x03, 0x01, 0x03, 0x00, 0xFE, 0x0C, 0x30, 0xC1, 0x86, 0x18, 0x20, 0xC1, 0xFC, 0x36, 0x66, 0x66, 0x6E, 0xCE, 0x66, 0x66, 0x66, 0x30, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xC6, 0x66, 0x66, 0x67, 0x37, 0x66, 0x66, 0x66, 0xC0, 0x61, 0x24, 0x38 }; const GFXglyph FreeSans9pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 5, 0, 1 }, // 0x20 ' ' { 0, 2, 13, 6, 2, -12 }, // 0x21 '!' { 4, 5, 4, 6, 1, -12 }, // 0x22 '"' { 7, 10, 12, 10, 0, -11 }, // 0x23 '#' { 22, 9, 16, 10, 1, -13 }, // 0x24 '$' { 40, 16, 13, 16, 1, -12 }, // 0x25 '%' { 66, 11, 13, 12, 1, -12 }, // 0x26 '&' { 84, 2, 4, 4, 1, -12 }, // 0x27 ''' { 85, 4, 17, 6, 1, -12 }, // 0x28 '(' { 94, 4, 17, 6, 1, -12 }, // 0x29 ')' { 103, 5, 5, 7, 1, -12 }, // 0x2A '*' { 107, 6, 8, 11, 3, -7 }, // 0x2B '+' { 113, 2, 4, 5, 2, 0 }, // 0x2C ',' { 114, 4, 1, 6, 1, -4 }, // 0x2D '-' { 115, 2, 1, 5, 1, 0 }, // 0x2E '.' { 116, 5, 13, 5, 0, -12 }, // 0x2F '/' { 125, 8, 13, 10, 1, -12 }, // 0x30 '0' { 138, 4, 13, 10, 3, -12 }, // 0x31 '1' { 145, 9, 13, 10, 1, -12 }, // 0x32 '2' { 160, 8, 13, 10, 1, -12 }, // 0x33 '3' { 173, 7, 13, 10, 2, -12 }, // 0x34 '4' { 185, 9, 13, 10, 1, -12 }, // 0x35 '5' { 200, 9, 13, 10, 1, -12 }, // 0x36 '6' { 215, 8, 13, 10, 0, -12 }, // 0x37 '7' { 228, 9, 13, 10, 1, -12 }, // 0x38 '8' { 243, 8, 13, 10, 1, -12 }, // 0x39 '9' { 256, 2, 10, 5, 1, -9 }, // 0x3A ':' { 259, 3, 12, 5, 1, -8 }, // 0x3B ';' { 264, 9, 9, 11, 1, -8 }, // 0x3C '<' { 275, 9, 4, 11, 1, -5 }, // 0x3D '=' { 280, 9, 9, 11, 1, -8 }, // 0x3E '>' { 291, 9, 13, 10, 1, -12 }, // 0x3F '?' { 306, 17, 16, 18, 1, -12 }, // 0x40 '@' { 340, 12, 13, 12, 0, -12 }, // 0x41 'A' { 360, 11, 13, 12, 1, -12 }, // 0x42 'B' { 378, 11, 13, 13, 1, -12 }, // 0x43 'C' { 396, 11, 13, 13, 1, -12 }, // 0x44 'D' { 414, 9, 13, 11, 1, -12 }, // 0x45 'E' { 429, 8, 13, 11, 1, -12 }, // 0x46 'F' { 442, 12, 13, 14, 1, -12 }, // 0x47 'G' { 462, 11, 13, 13, 1, -12 }, // 0x48 'H' { 480, 2, 13, 5, 2, -12 }, // 0x49 'I' { 484, 7, 13, 10, 1, -12 }, // 0x4A 'J' { 496, 11, 13, 12, 1, -12 }, // 0x4B 'K' { 514, 8, 13, 10, 1, -12 }, // 0x4C 'L' { 527, 13, 13, 15, 1, -12 }, // 0x4D 'M' { 549, 11, 13, 13, 1, -12 }, // 0x4E 'N' { 567, 13, 13, 14, 1, -12 }, // 0x4F 'O' { 589, 10, 13, 12, 1, -12 }, // 0x50 'P' { 606, 13, 14, 14, 1, -12 }, // 0x51 'Q' { 629, 12, 13, 13, 1, -12 }, // 0x52 'R' { 649, 10, 13, 12, 1, -12 }, // 0x53 'S' { 666, 9, 13, 11, 1, -12 }, // 0x54 'T' { 681, 11, 13, 13, 1, -12 }, // 0x55 'U' { 699, 11, 13, 12, 0, -12 }, // 0x56 'V' { 717, 17, 13, 17, 0, -12 }, // 0x57 'W' { 745, 12, 13, 12, 0, -12 }, // 0x58 'X' { 765, 12, 13, 12, 0, -12 }, // 0x59 'Y' { 785, 10, 13, 11, 1, -12 }, // 0x5A 'Z' { 802, 3, 17, 5, 1, -12 }, // 0x5B '[' { 809, 5, 13, 5, 0, -12 }, // 0x5C '\' { 818, 3, 17, 5, 0, -12 }, // 0x5D ']' { 825, 7, 7, 8, 1, -12 }, // 0x5E '^' { 832, 10, 1, 10, 0, 3 }, // 0x5F '_' { 834, 4, 3, 5, 0, -12 }, // 0x60 '`' { 836, 9, 10, 10, 1, -9 }, // 0x61 'a' { 848, 9, 13, 10, 1, -12 }, // 0x62 'b' { 863, 8, 10, 9, 1, -9 }, // 0x63 'c' { 873, 8, 13, 10, 1, -12 }, // 0x64 'd' { 886, 8, 10, 10, 1, -9 }, // 0x65 'e' { 896, 4, 13, 5, 1, -12 }, // 0x66 'f' { 903, 8, 14, 10, 1, -9 }, // 0x67 'g' { 917, 8, 13, 10, 1, -12 }, // 0x68 'h' { 930, 2, 13, 4, 1, -12 }, // 0x69 'i' { 934, 4, 17, 4, 0, -12 }, // 0x6A 'j' { 943, 9, 13, 9, 1, -12 }, // 0x6B 'k' { 958, 2, 13, 4, 1, -12 }, // 0x6C 'l' { 962, 13, 10, 15, 1, -9 }, // 0x6D 'm' { 979, 8, 10, 10, 1, -9 }, // 0x6E 'n' { 989, 8, 10, 10, 1, -9 }, // 0x6F 'o' { 999, 9, 13, 10, 1, -9 }, // 0x70 'p' { 1014, 8, 13, 10, 1, -9 }, // 0x71 'q' { 1027, 5, 10, 6, 1, -9 }, // 0x72 'r' { 1034, 8, 10, 9, 1, -9 }, // 0x73 's' { 1044, 4, 12, 5, 1, -11 }, // 0x74 't' { 1050, 8, 10, 10, 1, -9 }, // 0x75 'u' { 1060, 9, 10, 9, 0, -9 }, // 0x76 'v' { 1072, 13, 10, 13, 0, -9 }, // 0x77 'w' { 1089, 8, 10, 9, 0, -9 }, // 0x78 'x' { 1099, 9, 14, 9, 0, -9 }, // 0x79 'y' { 1115, 7, 10, 9, 1, -9 }, // 0x7A 'z' { 1124, 4, 17, 6, 1, -12 }, // 0x7B '{' { 1133, 2, 17, 4, 2, -12 }, // 0x7C '|' { 1138, 4, 17, 6, 1, -12 }, // 0x7D '}' { 1147, 7, 3, 9, 1, -7 } }; // 0x7E '~' const GFXfont FreeSans9pt7b PROGMEM = { (uint8_t *)FreeSans9pt7bBitmaps, (GFXglyph *)FreeSans9pt7bGlyphs, 0x20, 0x7E, 22 }; // Approx. 1822 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSansBold12pt7b.h ================================================ const uint8_t FreeSansBold12pt7bBitmaps[] PROGMEM = { 0xFF, 0xFF, 0xFF, 0xFF, 0x76, 0x66, 0x60, 0xFF, 0xF0, 0xF3, 0xFC, 0xFF, 0x3F, 0xCF, 0x61, 0x98, 0x60, 0x0E, 0x70, 0x73, 0x83, 0x18, 0xFF, 0xF7, 0xFF, 0xBF, 0xFC, 0x73, 0x83, 0x18, 0x18, 0xC7, 0xFF, 0xBF, 0xFD, 0xFF, 0xE3, 0x18, 0x39, 0xC1, 0xCE, 0x0E, 0x70, 0x02, 0x00, 0x7E, 0x0F, 0xF8, 0x7F, 0xE7, 0xAF, 0xB9, 0x3D, 0xC8, 0x0F, 0x40, 0x3F, 0x00, 0xFF, 0x00, 0xFC, 0x05, 0xFF, 0x27, 0xF9, 0x3F, 0xEB, 0xEF, 0xFE, 0x3F, 0xE0, 0x7C, 0x00, 0x80, 0x04, 0x00, 0x3C, 0x06, 0x0F, 0xC1, 0x81, 0xFC, 0x30, 0x73, 0x8C, 0x0C, 0x31, 0x81, 0xCE, 0x60, 0x1F, 0xCC, 0x03, 0xF3, 0x00, 0x3C, 0x67, 0x80, 0x19, 0xF8, 0x02, 0x7F, 0x80, 0xCE, 0x70, 0x11, 0x86, 0x06, 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0x7B, 0xC7, 0xDF, 0xFE, 0x7F, 0xF1, 0xF7, 0x80, 0x3C, 0x01, 0xE0, 0x0F, 0x00, 0x78, 0x03, 0xC0, 0xF3, 0xF7, 0xFF, 0xF8, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0x1F, 0x87, 0xFC, 0xFF, 0xEF, 0x0F, 0xF8, 0x0F, 0xF0, 0x7F, 0xE0, 0xFF, 0x01, 0xFF, 0x0F, 0xFF, 0xE7, 0xFE, 0x1F, 0x80, 0x79, 0xE7, 0xBF, 0xFD, 0xE7, 0x9E, 0x79, 0xE7, 0x9E, 0x7D, 0xF3, 0xC0, 0xF0, 0xFF, 0x0F, 0xF0, 0xFF, 0x0F, 0xF0, 0xFF, 0x0F, 0xF0, 0xFF, 0x0F, 0xF0, 0xFF, 0x1F, 0xFF, 0xF7, 0xFF, 0x3E, 0xF0, 0xF0, 0x7B, 0x83, 0x9E, 0x1C, 0xF1, 0xE3, 0x8E, 0x1C, 0x70, 0x77, 0x83, 0xB8, 0x1D, 0xC0, 0x7E, 0x03, 0xE0, 0x1F, 0x00, 0x70, 0x00, 0xF0, 0xE1, 0xDC, 0x78, 0x77, 0x1F, 0x3D, 0xE7, 0xCF, 0x79, 0xB3, 0x8E, 0x6C, 0xE3, 0xBB, 0x38, 0xEE, 0xFC, 0x1F, 0x3F, 0x07, 0xC7, 0xC1, 0xF1, 0xF0, 0x7C, 0x78, 0x0E, 0x1E, 0x00, 0x78, 0xF3, 0xC7, 0x8F, 0x78, 0x3B, 0x81, 0xFC, 0x07, 0xC0, 0x1E, 0x01, 0xF0, 0x1F, 0xC0, 0xEF, 0x0F, 0x78, 0xF1, 0xE7, 0x87, 0x00, 0xF0, 0x7B, 0x83, 0x9E, 0x1C, 0x71, 0xE3, 0x8E, 0x1E, 0x70, 0x73, 0x83, 0xB8, 0x1F, 0xC0, 0x7E, 0x03, 0xE0, 0x0F, 0x00, 0x70, 0x03, 0x80, 0x3C, 0x07, 0xC0, 0x3E, 0x01, 0xE0, 0x00, 0xFF, 0xFF, 0xFF, 0xFC, 0x0F, 0x07, 0x83, 0xC1, 0xE0, 0xF0, 0x78, 0x3C, 0x0F, 0xFF, 0xFF, 0xFF, 0xC0, 0x1C, 0xF3, 0xCE, 0x38, 0xE3, 0x8E, 0x38, 0xE3, 0xBC, 0xF0, 0xE3, 0x8E, 0x38, 0xE3, 0x8E, 0x3C, 0xF1, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF0, 0xE3, 0x8F, 0x1C, 0x71, 0xC7, 0x1C, 0x71, 0xC7, 0x0F, 0x3D, 0xC7, 0x1C, 0x71, 0xC7, 0x1C, 0xF3, 0xCE, 0x00, 0x78, 0x0F, 0xE0, 0xCF, 0x30, 0x7F, 0x01, 0xE0 }; const GFXglyph FreeSansBold12pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 7, 0, 1 }, // 0x20 ' ' { 0, 4, 17, 8, 3, -16 }, // 0x21 '!' { 9, 10, 6, 11, 1, -17 }, // 0x22 '"' { 17, 13, 16, 13, 0, -15 }, // 0x23 '#' { 43, 13, 20, 13, 0, -17 }, // 0x24 '$' { 76, 19, 17, 21, 1, -16 }, // 0x25 '%' { 117, 16, 17, 17, 1, -16 }, // 0x26 '&' { 151, 4, 6, 6, 1, -17 }, // 0x27 ''' { 154, 6, 22, 8, 1, -17 }, // 0x28 '(' { 171, 6, 22, 8, 1, -17 }, // 0x29 ')' { 188, 7, 8, 9, 1, -17 }, // 0x2A '*' { 195, 11, 11, 14, 2, -10 }, // 0x2B '+' { 211, 4, 7, 6, 1, -2 }, // 0x2C ',' { 215, 6, 3, 8, 1, -7 }, // 0x2D '-' { 218, 4, 3, 6, 1, -2 }, // 0x2E '.' { 220, 6, 17, 7, 0, -16 }, // 0x2F '/' { 233, 12, 17, 13, 1, -16 }, // 0x30 '0' { 259, 7, 17, 14, 3, -16 }, // 0x31 '1' { 274, 12, 17, 13, 1, -16 }, // 0x32 '2' { 300, 12, 17, 13, 1, -16 }, // 0x33 '3' { 326, 11, 17, 13, 1, -16 }, // 0x34 '4' { 350, 12, 17, 13, 1, -16 }, // 0x35 '5' { 376, 12, 17, 13, 1, -16 }, // 0x36 '6' { 402, 11, 17, 13, 1, -16 }, // 0x37 '7' { 426, 12, 17, 13, 1, -16 }, // 0x38 '8' { 452, 12, 17, 13, 1, -16 }, // 0x39 '9' { 478, 4, 12, 6, 1, -11 }, // 0x3A ':' { 484, 4, 16, 6, 1, -11 }, // 0x3B ';' { 492, 12, 12, 14, 1, -11 }, // 0x3C '<' { 510, 12, 9, 14, 1, -9 }, // 0x3D '=' { 524, 12, 12, 14, 1, -11 }, // 0x3E '>' { 542, 12, 18, 15, 2, -17 }, // 0x3F '?' { 569, 21, 21, 23, 1, -17 }, // 0x40 '@' { 625, 16, 18, 17, 0, -17 }, // 0x41 'A' { 661, 14, 18, 17, 2, -17 }, // 0x42 'B' { 693, 16, 18, 17, 1, -17 }, // 0x43 'C' { 729, 15, 18, 17, 2, -17 }, // 0x44 'D' { 763, 13, 18, 16, 2, -17 }, // 0x45 'E' { 793, 12, 18, 15, 2, -17 }, // 0x46 'F' { 820, 16, 18, 18, 1, -17 }, // 0x47 'G' { 856, 14, 18, 18, 2, -17 }, // 0x48 'H' { 888, 4, 18, 7, 2, -17 }, // 0x49 'I' { 897, 11, 18, 14, 1, -17 }, // 0x4A 'J' { 922, 16, 18, 17, 2, -17 }, // 0x4B 'K' { 958, 11, 18, 15, 2, -17 }, // 0x4C 'L' { 983, 17, 18, 21, 2, -17 }, // 0x4D 'M' { 1022, 15, 18, 18, 2, -17 }, // 0x4E 'N' { 1056, 17, 18, 19, 1, -17 }, // 0x4F 'O' { 1095, 14, 18, 16, 2, -17 }, // 0x50 'P' { 1127, 17, 19, 19, 1, -17 }, // 0x51 'Q' { 1168, 16, 18, 17, 2, -17 }, // 0x52 'R' { 1204, 15, 18, 16, 1, -17 }, // 0x53 'S' { 1238, 12, 18, 15, 2, -17 }, // 0x54 'T' { 1265, 14, 18, 18, 2, -17 }, // 0x55 'U' { 1297, 15, 18, 16, 0, -17 }, // 0x56 'V' { 1331, 23, 18, 23, 0, -17 }, // 0x57 'W' { 1383, 15, 18, 16, 1, -17 }, // 0x58 'X' { 1417, 16, 18, 15, 0, -17 }, // 0x59 'Y' { 1453, 13, 18, 15, 1, -17 }, // 0x5A 'Z' { 1483, 6, 23, 8, 2, -17 }, // 0x5B '[' { 1501, 7, 17, 7, 0, -16 }, // 0x5C '\' { 1516, 6, 23, 8, 0, -17 }, // 0x5D ']' { 1534, 12, 11, 14, 1, -16 }, // 0x5E '^' { 1551, 15, 2, 13, -1, 4 }, // 0x5F '_' { 1555, 4, 3, 6, 0, -17 }, // 0x60 '`' { 1557, 13, 13, 14, 1, -12 }, // 0x61 'a' { 1579, 13, 18, 15, 2, -17 }, // 0x62 'b' { 1609, 12, 13, 13, 1, -12 }, // 0x63 'c' { 1629, 13, 18, 15, 1, -17 }, // 0x64 'd' { 1659, 13, 13, 14, 1, -12 }, // 0x65 'e' { 1681, 7, 18, 8, 1, -17 }, // 0x66 'f' { 1697, 13, 18, 15, 1, -12 }, // 0x67 'g' { 1727, 12, 18, 14, 2, -17 }, // 0x68 'h' { 1754, 4, 18, 7, 2, -17 }, // 0x69 'i' { 1763, 6, 23, 7, 0, -17 }, // 0x6A 'j' { 1781, 12, 18, 14, 2, -17 }, // 0x6B 'k' { 1808, 4, 18, 6, 2, -17 }, // 0x6C 'l' { 1817, 19, 13, 21, 2, -12 }, // 0x6D 'm' { 1848, 12, 13, 15, 2, -12 }, // 0x6E 'n' { 1868, 13, 13, 15, 1, -12 }, // 0x6F 'o' { 1890, 13, 18, 15, 2, -12 }, // 0x70 'p' { 1920, 13, 18, 15, 1, -12 }, // 0x71 'q' { 1950, 8, 13, 9, 2, -12 }, // 0x72 'r' { 1963, 12, 13, 13, 1, -12 }, // 0x73 's' { 1983, 6, 15, 8, 1, -14 }, // 0x74 't' { 1995, 12, 13, 15, 2, -12 }, // 0x75 'u' { 2015, 13, 13, 13, 0, -12 }, // 0x76 'v' { 2037, 18, 13, 19, 0, -12 }, // 0x77 'w' { 2067, 13, 13, 13, 0, -12 }, // 0x78 'x' { 2089, 13, 18, 13, 0, -12 }, // 0x79 'y' { 2119, 10, 13, 12, 1, -12 }, // 0x7A 'z' { 2136, 6, 23, 9, 1, -17 }, // 0x7B '{' { 2154, 2, 22, 7, 2, -17 }, // 0x7C '|' { 2160, 6, 23, 9, 3, -17 }, // 0x7D '}' { 2178, 12, 5, 12, 0, -7 } }; // 0x7E '~' const GFXfont FreeSansBold12pt7b PROGMEM = { (uint8_t *)FreeSansBold12pt7bBitmaps, (GFXglyph *)FreeSansBold12pt7bGlyphs, 0x20, 0x7E, 29 }; // Approx. 2858 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSansBold18pt7b.h ================================================ const uint8_t FreeSansBold18pt7bBitmaps[] PROGMEM = { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0xE7, 0x39, 0xCE, 0x73, 0x80, 0x0F, 0xFF, 0xFF, 0xF8, 0xF8, 0xFF, 0xC7, 0xFE, 0x3F, 0xF1, 0xFF, 0x8F, 0xFC, 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0x03, 0xE0, 0x00, 0x7C, 0xF8, 0xFF, 0x7F, 0xFF, 0xFF, 0xFF, 0xE1, 0xF8, 0x3E, 0x07, 0xC0, 0xF8, 0x1F, 0x03, 0xE0, 0x7C, 0x0F, 0x81, 0xF0, 0x3E, 0x07, 0xC0, 0xF8, 0x1F, 0x03, 0xE0, 0x00, 0x07, 0xF0, 0x0F, 0xFE, 0x0F, 0xFF, 0x87, 0xFF, 0xE7, 0xE1, 0xF3, 0xE0, 0x79, 0xF8, 0x00, 0xFF, 0x80, 0x3F, 0xFC, 0x1F, 0xFF, 0x83, 0xFF, 0xC0, 0x3F, 0xF0, 0x01, 0xFF, 0xC0, 0x7D, 0xF0, 0x7E, 0xFF, 0xFE, 0x3F, 0xFF, 0x0F, 0xFF, 0x01, 0xFE, 0x00, 0x3E, 0x1F, 0x0F, 0x87, 0xC3, 0xE7, 0xFF, 0xFF, 0xFF, 0x3E, 0x1F, 0x0F, 0x87, 0xC3, 0xE1, 0xF0, 0xF8, 0x7C, 0x3E, 0x1F, 0x0F, 0x87, 0xF3, 0xF8, 0xFC, 0x3E, 0xF8, 0x0F, 0xFC, 0x07, 0xFE, 0x03, 0xFF, 0x01, 0xFF, 0x80, 0xFF, 0xC0, 0x7F, 0xE0, 0x3F, 0xF0, 0x1F, 0xF8, 0x0F, 0xFC, 0x07, 0xFE, 0x03, 0xFF, 0x01, 0xFF, 0x80, 0xFF, 0xC0, 0xFF, 0xF0, 0xFF, 0xFF, 0xFF, 0x7F, 0xFF, 0x9F, 0xF7, 0xC7, 0xE3, 0xE0, 0x7C, 0x07, 0xCF, 0x80, 0xF9, 0xF0, 0x1F, 0x1F, 0x07, 0xC3, 0xE0, 0xF8, 0x7C, 0x1F, 0x07, 0x83, 0xC0, 0xF8, 0xF8, 0x1F, 0x1F, 0x01, 0xE3, 0xC0, 0x3E, 0x78, 0x07, 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0xF8, 0x00, 0x3F, 0x00, 0x07, 0xC0, 0x00, 0xF8, 0x00, 0x1E, 0x00, 0x07, 0xC0, 0x07, 0xF8, 0x00, 0xFE, 0x00, 0x1F, 0x80, 0x03, 0xE0, 0x00, 0x7F, 0xFE, 0x7F, 0xFE, 0x7F, 0xFE, 0x7F, 0xFE, 0x00, 0x7E, 0x00, 0xFC, 0x01, 0xF8, 0x03, 0xF0, 0x03, 0xF0, 0x07, 0xE0, 0x0F, 0xC0, 0x1F, 0x80, 0x3F, 0x00, 0x7E, 0x00, 0xFE, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x07, 0x87, 0xC7, 0xE3, 0xF1, 0xE0, 0xF0, 0x78, 0x3C, 0x1E, 0x0F, 0x07, 0x83, 0xC1, 0xE0, 0xF0, 0xF9, 0xF8, 0xF0, 0x7E, 0x0F, 0x83, 0xC1, 0xE0, 0xF0, 0x78, 0x3C, 0x1E, 0x0F, 0x07, 0x83, 0xC1, 0xE0, 0xFC, 0x7E, 0x1F, 0x07, 0x80, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xF0, 0x7C, 0x3E, 0x1F, 0x83, 0xC1, 0xE0, 0xF0, 0x78, 0x3C, 0x1E, 0x0F, 0x07, 0x83, 0xC1, 0xE0, 0xF0, 0x7C, 0x1F, 0x83, 0xC7, 0xE7, 0xC3, 0xC1, 0xE0, 0xF0, 0x78, 0x3C, 0x1E, 0x0F, 0x07, 0x83, 0xC7, 0xE3, 0xE1, 0xF0, 0xF0, 0x00, 0x3C, 0x00, 0xFE, 0x0F, 0xFE, 0x1E, 0x1F, 0xFC, 0x0F, 0xC0, 0x0F, 0x00 }; const GFXglyph FreeSansBold18pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 10, 0, 1 }, // 0x20 ' ' { 0, 5, 25, 12, 4, -24 }, // 0x21 '!' { 16, 13, 9, 17, 2, -25 }, // 0x22 '"' { 31, 20, 24, 19, 0, -23 }, // 0x23 '#' { 91, 19, 29, 19, 0, -25 }, // 0x24 '$' { 160, 29, 25, 31, 1, -24 }, // 0x25 '%' { 251, 22, 25, 25, 2, -24 }, // 0x26 '&' { 320, 5, 9, 9, 2, -25 }, // 0x27 ''' { 326, 9, 33, 12, 1, -25 }, // 0x28 '(' { 364, 9, 33, 12, 1, -25 }, // 0x29 ')' { 402, 12, 11, 14, 0, -25 }, // 0x2A '*' { 419, 16, 16, 20, 2, -15 }, // 0x2B '+' { 451, 5, 11, 9, 2, -4 }, // 0x2C ',' { 458, 9, 4, 12, 1, -10 }, // 0x2D '-' { 463, 5, 5, 9, 2, -4 }, // 0x2E '.' { 467, 9, 25, 10, 0, -24 }, // 0x2F '/' { 496, 17, 25, 19, 1, -24 }, // 0x30 '0' { 550, 10, 25, 19, 3, -24 }, // 0x31 '1' { 582, 17, 25, 19, 1, -24 }, // 0x32 '2' { 636, 17, 25, 19, 1, -24 }, // 0x33 '3' { 690, 16, 25, 19, 2, -24 }, // 0x34 '4' { 740, 17, 25, 19, 1, -24 }, // 0x35 '5' { 794, 18, 25, 19, 1, -24 }, // 0x36 '6' { 851, 17, 25, 19, 1, -24 }, // 0x37 '7' { 905, 17, 25, 19, 1, -24 }, // 0x38 '8' { 959, 17, 25, 19, 1, -24 }, // 0x39 '9' { 1013, 5, 18, 9, 2, -17 }, // 0x3A ':' { 1025, 5, 24, 9, 2, -17 }, // 0x3B ';' { 1040, 18, 17, 20, 1, -16 }, // 0x3C '<' { 1079, 17, 12, 20, 2, -13 }, // 0x3D '=' { 1105, 18, 17, 20, 1, -16 }, // 0x3E '>' { 1144, 18, 26, 21, 2, -25 }, // 0x3F '?' { 1203, 32, 31, 34, 1, -25 }, // 0x40 '@' { 1327, 24, 26, 24, 0, -25 }, // 0x41 'A' { 1405, 20, 26, 25, 3, -25 }, // 0x42 'B' { 1470, 23, 26, 25, 1, -25 }, // 0x43 'C' { 1545, 21, 26, 25, 3, -25 }, // 0x44 'D' { 1614, 19, 26, 23, 3, -25 }, // 0x45 'E' { 1676, 17, 26, 22, 3, -25 }, // 0x46 'F' { 1732, 24, 26, 27, 1, -25 }, // 0x47 'G' { 1810, 20, 26, 26, 3, -25 }, // 0x48 'H' { 1875, 5, 26, 11, 3, -25 }, // 0x49 'I' { 1892, 16, 26, 20, 1, -25 }, // 0x4A 'J' { 1944, 22, 26, 25, 3, -25 }, // 0x4B 'K' { 2016, 17, 26, 22, 3, -25 }, // 0x4C 'L' { 2072, 24, 26, 30, 3, -25 }, // 0x4D 'M' { 2150, 20, 26, 26, 3, -25 }, // 0x4E 'N' { 2215, 25, 26, 27, 1, -25 }, // 0x4F 'O' { 2297, 19, 26, 24, 3, -25 }, // 0x50 'P' { 2359, 25, 27, 27, 1, -25 }, // 0x51 'Q' { 2444, 21, 26, 25, 3, -25 }, // 0x52 'R' { 2513, 20, 26, 24, 2, -25 }, // 0x53 'S' { 2578, 19, 26, 23, 2, -25 }, // 0x54 'T' { 2640, 20, 26, 26, 3, -25 }, // 0x55 'U' { 2705, 22, 26, 23, 1, -25 }, // 0x56 'V' { 2777, 32, 26, 34, 1, -25 }, // 0x57 'W' { 2881, 22, 26, 24, 1, -25 }, // 0x58 'X' { 2953, 21, 26, 22, 1, -25 }, // 0x59 'Y' { 3022, 19, 26, 21, 1, -25 }, // 0x5A 'Z' { 3084, 8, 33, 12, 2, -25 }, // 0x5B '[' { 3117, 10, 25, 10, 0, -24 }, // 0x5C '\' { 3149, 8, 33, 12, 1, -25 }, // 0x5D ']' { 3182, 16, 15, 20, 2, -23 }, // 0x5E '^' { 3212, 21, 3, 19, -1, 5 }, // 0x5F '_' { 3220, 7, 5, 9, 1, -25 }, // 0x60 '`' { 3225, 18, 19, 20, 1, -18 }, // 0x61 'a' { 3268, 18, 26, 22, 2, -25 }, // 0x62 'b' { 3327, 17, 19, 20, 1, -18 }, // 0x63 'c' { 3368, 19, 26, 22, 1, -25 }, // 0x64 'd' { 3430, 18, 19, 20, 1, -18 }, // 0x65 'e' { 3473, 10, 26, 12, 1, -25 }, // 0x66 'f' { 3506, 18, 26, 21, 1, -18 }, // 0x67 'g' { 3565, 17, 26, 21, 2, -25 }, // 0x68 'h' { 3621, 5, 26, 10, 2, -25 }, // 0x69 'i' { 3638, 7, 33, 10, 0, -25 }, // 0x6A 'j' { 3667, 17, 26, 20, 2, -25 }, // 0x6B 'k' { 3723, 5, 26, 9, 2, -25 }, // 0x6C 'l' { 3740, 27, 19, 31, 2, -18 }, // 0x6D 'm' { 3805, 17, 19, 21, 2, -18 }, // 0x6E 'n' { 3846, 19, 19, 21, 1, -18 }, // 0x6F 'o' { 3892, 18, 26, 22, 2, -18 }, // 0x70 'p' { 3951, 19, 26, 22, 1, -18 }, // 0x71 'q' { 4013, 11, 19, 14, 2, -18 }, // 0x72 'r' { 4040, 17, 19, 19, 1, -18 }, // 0x73 's' { 4081, 9, 23, 12, 1, -22 }, // 0x74 't' { 4107, 17, 19, 21, 2, -18 }, // 0x75 'u' { 4148, 19, 19, 19, 0, -18 }, // 0x76 'v' { 4194, 27, 19, 27, 0, -18 }, // 0x77 'w' { 4259, 18, 19, 19, 1, -18 }, // 0x78 'x' { 4302, 19, 26, 19, 0, -18 }, // 0x79 'y' { 4364, 16, 19, 18, 1, -18 }, // 0x7A 'z' { 4402, 9, 33, 14, 1, -25 }, // 0x7B '{' { 4440, 3, 33, 10, 4, -25 }, // 0x7C '|' { 4453, 9, 33, 14, 3, -25 }, // 0x7D '}' { 4491, 15, 6, 18, 1, -10 } }; // 0x7E '~' const GFXfont FreeSansBold18pt7b PROGMEM = { (uint8_t *)FreeSansBold18pt7bBitmaps, (GFXglyph *)FreeSansBold18pt7bGlyphs, 0x20, 0x7E, 42 }; // Approx. 5175 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSansBold24pt7b.h ================================================ const uint8_t FreeSansBold24pt7bBitmaps[] PROGMEM = { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xDF, 0x3E, 0x7C, 0xF9, 0xF3, 0xE7, 0xC7, 0x0E, 0x1C, 0x00, 0x00, 0x07, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0xFE, 0x1F, 0xFF, 0x87, 0xFF, 0xE1, 0xFF, 0xF8, 0x7F, 0xFE, 0x1F, 0xFF, 0x87, 0xFF, 0xE1, 0xFD, 0xF0, 0x3E, 0x7C, 0x0F, 0x9F, 0x03, 0xE3, 0x80, 0x70, 0xE0, 0x1C, 0x00, 0xF8, 0x3E, 0x00, 0x3E, 0x0F, 0x80, 0x0F, 0x83, 0xE0, 0x03, 0xE0, 0xF8, 0x00, 0xF8, 0x7C, 0x00, 0x7C, 0x1F, 0x00, 0x1F, 0x07, 0xC1, 0xFF, 0xFF, 0xFF, 0x7F, 0xFF, 0xFF, 0xDF, 0xFF, 0xFF, 0xF7, 0xFF, 0xFF, 0xFD, 0xFF, 0xFF, 0xFF, 0x03, 0xE0, 0xF8, 0x00, 0xF8, 0x3E, 0x00, 0x3E, 0x1F, 0x00, 0x1F, 0x07, 0xC0, 0x07, 0xC1, 0xF0, 0x01, 0xF0, 0x7C, 0x00, 0x7C, 0x1F, 0x03, 0xFF, 0xFF, 0xFC, 0xFF, 0xFF, 0xFF, 0x3F, 0xFF, 0xFF, 0xCF, 0xFF, 0xFF, 0xF3, 0xFF, 0xFF, 0xFC, 0x0F, 0x87, 0xC0, 0x07, 0xC1, 0xF0, 0x01, 0xF0, 0x7C, 0x00, 0x7C, 0x1F, 0x00, 0x1F, 0x07, 0xC0, 0x07, 0xC3, 0xE0, 0x03, 0xE0, 0xF8, 0x00, 0xF8, 0x3E, 0x00, 0x3E, 0x0F, 0x80, 0x00, 0x00, 0x38, 0x00, 0x00, 0x1C, 0x00, 0x00, 0x7F, 0xE0, 0x00, 0xFF, 0xFC, 0x00, 0xFF, 0xFF, 0x80, 0xFF, 0xFF, 0xE0, 0xFF, 0xFF, 0xF8, 0x7F, 0x73, 0xFE, 0x7F, 0x38, 0xFF, 0x3F, 0x1C, 0x3F, 0xDF, 0x8E, 0x0F, 0xEF, 0xC7, 0x07, 0xF7, 0xE3, 0x80, 0x03, 0xF9, 0xC0, 0x01, 0xFE, 0xE0, 0x00, 0x7F, 0xF0, 0x00, 0x3F, 0xFC, 0x00, 0x0F, 0xFF, 0xC0, 0x03, 0xFF, 0xFC, 0x00, 0x7F, 0xFF, 0x80, 0x0F, 0xFF, 0xE0, 0x01, 0xFF, 0xF8, 0x00, 0xE7, 0xFC, 0x00, 0x71, 0xFF, 0x00, 0x38, 0x7F, 0xFF, 0x1C, 0x1F, 0xFF, 0x8E, 0x0F, 0xFF, 0xC7, 0x07, 0xFF, 0xE3, 0x87, 0xFB, 0xF9, 0xC3, 0xF9, 0xFE, 0xE7, 0xFC, 0x7F, 0xFF, 0xFC, 0x3F, 0xFF, 0xFC, 0x0F, 0xFF, 0xFC, 0x01, 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0xFF, 0xFC, 0x00, 0x3F, 0xE0, 0x03, 0xFE, 0x00, 0x1F, 0xE0, 0x01, 0xFE, 0x00, 0x1F, 0xE0, 0x01, 0xFE, 0x00, 0x1F, 0xE0, 0x01, 0xFE, 0x00, 0x1F, 0xE0, 0x01, 0xFE, 0x00, 0x1F, 0xE0, 0x01, 0xFE, 0x00, 0x1F, 0xE0, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x01, 0xF8, 0x1F, 0xC1, 0xFE, 0x0F, 0xF0, 0xFF, 0x87, 0xE0, 0x3E, 0x01, 0xF0, 0x0F, 0x80, 0x7C, 0x03, 0xE0, 0x1F, 0x00, 0xF8, 0x07, 0xC0, 0x3E, 0x01, 0xF0, 0x0F, 0x80, 0x7C, 0x03, 0xE0, 0x3F, 0x0F, 0xF0, 0x7F, 0x03, 0xF8, 0x1F, 0xE0, 0x1F, 0x80, 0x7C, 0x03, 0xE0, 0x1F, 0x00, 0xF8, 0x07, 0xC0, 0x3E, 0x01, 0xF0, 0x0F, 0x80, 0x7C, 0x03, 0xE0, 0x1F, 0x00, 0xF8, 0x07, 0xE0, 0x3F, 0xE0, 0xFF, 0x07, 0xF8, 0x1F, 0xC0, 0x7E, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x07, 0xF0, 0x3F, 0xC1, 0xFE, 0x0F, 0xF8, 0x0F, 0xC0, 0x3E, 0x01, 0xF0, 0x0F, 0x80, 0x7C, 0x03, 0xE0, 0x1F, 0x00, 0xF8, 0x07, 0xC0, 0x3E, 0x01, 0xF0, 0x0F, 0x80, 0x7C, 0x03, 0xE0, 0x1F, 0x80, 0x7F, 0x81, 0xFC, 0x0F, 0xE0, 0xFF, 0x0F, 0xC0, 0x7C, 0x03, 0xE0, 0x1F, 0x00, 0xF8, 0x07, 0xC0, 0x3E, 0x01, 0xF0, 0x0F, 0x80, 0x7C, 0x03, 0xE0, 0x1F, 0x00, 0xF8, 0x0F, 0xC3, 0xFE, 0x1F, 0xE0, 0xFF, 0x07, 0xF0, 0x3F, 0x00, 0x1F, 0x00, 0x03, 0xFE, 0x00, 0x1F, 0xF8, 0x0F, 0xFF, 0xF0, 0xFF, 0x0F, 0xFF, 0xF0, 0x1F, 0xF8, 0x00, 0x7F, 0x80, 0x00, 0xF8 }; const GFXglyph FreeSansBold24pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 13, 0, 1 }, // 0x20 ' ' { 0, 7, 34, 16, 5, -33 }, // 0x21 '!' { 30, 18, 12, 22, 2, -33 }, // 0x22 '"' { 57, 26, 33, 26, 0, -31 }, // 0x23 '#' { 165, 25, 40, 26, 1, -34 }, // 0x24 '$' { 290, 39, 34, 42, 1, -32 }, // 0x25 '%' { 456, 30, 35, 34, 3, -33 }, // 0x26 '&' { 588, 7, 12, 12, 3, -33 }, // 0x27 ''' { 599, 13, 44, 16, 2, -33 }, // 0x28 '(' { 671, 13, 44, 16, 1, -33 }, // 0x29 ')' { 743, 15, 15, 18, 1, -33 }, // 0x2A '*' { 772, 23, 22, 27, 2, -21 }, // 0x2B '+' { 836, 7, 15, 12, 2, -6 }, // 0x2C ',' { 850, 13, 6, 16, 1, -15 }, // 0x2D '-' { 860, 7, 7, 12, 2, -6 }, // 0x2E '.' { 867, 13, 34, 13, 0, -32 }, // 0x2F '/' { 923, 24, 35, 26, 1, -33 }, // 0x30 '0' { 1028, 14, 33, 26, 4, -32 }, // 0x31 '1' { 1086, 23, 34, 26, 2, -33 }, // 0x32 '2' { 1184, 23, 35, 26, 2, -33 }, // 0x33 '3' { 1285, 22, 33, 26, 2, -32 }, // 0x34 '4' { 1376, 23, 34, 26, 2, -32 }, // 0x35 '5' { 1474, 23, 35, 26, 2, -33 }, // 0x36 '6' { 1575, 23, 33, 26, 1, -32 }, // 0x37 '7' { 1670, 24, 35, 26, 1, -33 }, // 0x38 '8' { 1775, 24, 35, 26, 1, -33 }, // 0x39 '9' { 1880, 7, 25, 12, 2, -24 }, // 0x3A ':' { 1902, 7, 33, 12, 2, -24 }, // 0x3B ';' { 1931, 23, 23, 27, 2, -22 }, // 0x3C '<' { 1998, 23, 18, 27, 2, -19 }, // 0x3D '=' { 2050, 23, 23, 27, 2, -22 }, // 0x3E '>' { 2117, 24, 35, 29, 3, -34 }, // 0x3F '?' { 2222, 43, 41, 46, 1, -34 }, // 0x40 '@' { 2443, 32, 34, 33, 0, -33 }, // 0x41 'A' { 2579, 27, 34, 33, 4, -33 }, // 0x42 'B' { 2694, 30, 36, 34, 2, -34 }, // 0x43 'C' { 2829, 28, 34, 34, 4, -33 }, // 0x44 'D' { 2948, 25, 34, 31, 4, -33 }, // 0x45 'E' { 3055, 24, 34, 30, 4, -33 }, // 0x46 'F' { 3157, 31, 36, 36, 2, -34 }, // 0x47 'G' { 3297, 27, 34, 35, 4, -33 }, // 0x48 'H' { 3412, 7, 34, 15, 4, -33 }, // 0x49 'I' { 3442, 22, 35, 27, 1, -33 }, // 0x4A 'J' { 3539, 30, 34, 34, 4, -33 }, // 0x4B 'K' { 3667, 23, 34, 29, 4, -33 }, // 0x4C 'L' { 3765, 33, 34, 41, 4, -33 }, // 0x4D 'M' { 3906, 28, 34, 35, 4, -33 }, // 0x4E 'N' { 4025, 33, 36, 37, 2, -34 }, // 0x4F 'O' { 4174, 26, 34, 32, 4, -33 }, // 0x50 'P' { 4285, 33, 37, 37, 2, -34 }, // 0x51 'Q' { 4438, 28, 34, 34, 4, -33 }, // 0x52 'R' { 4557, 28, 36, 32, 2, -34 }, // 0x53 'S' { 4683, 27, 34, 30, 2, -33 }, // 0x54 'T' { 4798, 27, 35, 35, 4, -33 }, // 0x55 'U' { 4917, 29, 34, 31, 1, -33 }, // 0x56 'V' { 5041, 43, 34, 45, 1, -33 }, // 0x57 'W' { 5224, 30, 34, 32, 1, -33 }, // 0x58 'X' { 5352, 29, 34, 30, 1, -33 }, // 0x59 'Y' { 5476, 26, 34, 29, 1, -33 }, // 0x5A 'Z' { 5587, 11, 43, 16, 3, -33 }, // 0x5B '[' { 5647, 14, 34, 13, -1, -32 }, // 0x5C '\' { 5707, 11, 43, 16, 1, -33 }, // 0x5D ']' { 5767, 22, 20, 27, 3, -32 }, // 0x5E '^' { 5822, 28, 4, 26, -1, 6 }, // 0x5F '_' { 5836, 9, 7, 12, 1, -35 }, // 0x60 '`' { 5844, 24, 26, 27, 2, -24 }, // 0x61 'a' { 5922, 25, 35, 29, 3, -33 }, // 0x62 'b' { 6032, 23, 26, 26, 2, -24 }, // 0x63 'c' { 6107, 25, 35, 29, 2, -33 }, // 0x64 'd' { 6217, 24, 26, 27, 2, -24 }, // 0x65 'e' { 6295, 14, 34, 16, 1, -33 }, // 0x66 'f' { 6355, 24, 36, 29, 2, -24 }, // 0x67 'g' { 6463, 23, 34, 28, 3, -33 }, // 0x68 'h' { 6561, 7, 34, 13, 3, -33 }, // 0x69 'i' { 6591, 10, 45, 13, 0, -33 }, // 0x6A 'j' { 6648, 23, 34, 27, 3, -33 }, // 0x6B 'k' { 6746, 7, 34, 13, 3, -33 }, // 0x6C 'l' { 6776, 36, 25, 42, 3, -24 }, // 0x6D 'm' { 6889, 23, 25, 29, 3, -24 }, // 0x6E 'n' { 6961, 25, 26, 29, 2, -24 }, // 0x6F 'o' { 7043, 25, 36, 29, 3, -24 }, // 0x70 'p' { 7156, 25, 36, 29, 2, -24 }, // 0x71 'q' { 7269, 15, 25, 18, 3, -24 }, // 0x72 'r' { 7316, 24, 26, 26, 1, -24 }, // 0x73 's' { 7394, 12, 32, 16, 2, -30 }, // 0x74 't' { 7442, 23, 26, 29, 3, -24 }, // 0x75 'u' { 7517, 25, 25, 25, 0, -24 }, // 0x76 'v' { 7596, 35, 25, 37, 1, -24 }, // 0x77 'w' { 7706, 24, 25, 26, 1, -24 }, // 0x78 'x' { 7781, 25, 36, 26, 0, -24 }, // 0x79 'y' { 7894, 21, 25, 24, 1, -24 }, // 0x7A 'z' { 7960, 13, 43, 18, 2, -33 }, // 0x7B '{' { 8030, 4, 44, 13, 5, -33 }, // 0x7C '|' { 8052, 13, 43, 18, 3, -33 }, // 0x7D '}' { 8122, 21, 8, 23, 1, -14 } }; // 0x7E '~' const GFXfont FreeSansBold24pt7b PROGMEM = { (uint8_t *)FreeSansBold24pt7bBitmaps, (GFXglyph *)FreeSansBold24pt7bGlyphs, 0x20, 0x7E, 56 }; // Approx. 8815 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSansBold9pt7b.h ================================================ const uint8_t FreeSansBold9pt7bBitmaps[] PROGMEM = { 0xFF, 0xFF, 0xFE, 0x48, 0x7E, 0xEF, 0xDF, 0xBF, 0x74, 0x40, 0x19, 0x86, 0x67, 0xFD, 0xFF, 0x33, 0x0C, 0xC3, 0x33, 0xFE, 0xFF, 0x99, 0x86, 0x61, 0x90, 0x10, 0x1F, 0x1F, 0xDE, 0xFF, 0x3F, 0x83, 0xC0, 0xFC, 0x1F, 0x09, 0xFC, 0xFE, 0xF7, 0xF1, 0xE0, 0x40, 0x38, 0x10, 0x7C, 0x30, 0xC6, 0x20, 0xC6, 0x40, 0xC6, 0x40, 0x7C, 0x80, 0x39, 0x9C, 0x01, 0x3E, 0x03, 0x63, 0x02, 0x63, 0x04, 0x63, 0x0C, 0x3E, 0x08, 0x1C, 0x0E, 0x01, 0xF8, 0x3B, 0x83, 0xB8, 0x3F, 0x01, 0xE0, 0x3E, 0x67, 0x76, 0xE3, 0xEE, 0x1C, 0xF3, 0xC7, 0xFE, 0x3F, 0x70, 0xFF, 0xF4, 0x18, 0x63, 0x1C, 0x73, 0x8E, 0x38, 0xE3, 0x8E, 0x18, 0x70, 0xC3, 0x06, 0x08, 0x61, 0x83, 0x0E, 0x38, 0x71, 0xC7, 0x1C, 0x71, 0xC6, 0x38, 0xE3, 0x18, 0x40, 0x21, 0x3E, 0x45, 0x28, 0x38, 0x70, 0xE7, 0xFF, 0xE7, 0x0E, 0x1C, 0xFC, 0x9C, 0xFF, 0xC0, 0xFC, 0x08, 0xC4, 0x23, 0x10, 0x84, 0x62, 0x11, 0x88, 0x00, 0x3E, 0x3F, 0x9D, 0xDC, 0x7E, 0x3F, 0x1F, 0x8F, 0xC7, 0xE3, 0xF1, 0xDD, 0xCF, 0xE3, 0xE0, 0x08, 0xFF, 0xF3, 0x9C, 0xE7, 0x39, 0xCE, 0x73, 0x80, 0x3E, 0x3F, 0xB8, 0xFC, 0x70, 0x38, 0x1C, 0x1C, 0x1C, 0x1C, 0x1C, 0x1C, 0x0F, 0xF7, 0xF8, 0x3C, 0x7F, 0xE7, 0xE7, 0x07, 0x0C, 0x0E, 0x07, 0x07, 0xE7, 0xE7, 0x7E, 0x3C, 0x0E, 0x1E, 0x1E, 0x2E, 0x2E, 0x4E, 0x4E, 0x8E, 0xFF, 0xFF, 0x0E, 0x0E, 0x0E, 0x7F, 0x3F, 0x90, 0x18, 0x0D, 0xE7, 0xFB, 0x9E, 0x07, 0x03, 0x81, 0xF1, 0xFF, 0xE7, 0xC0, 0x3E, 0x3F, 0x9C, 0xFC, 0x0E, 0xE7, 0xFB, 0xDF, 0xC7, 0xE3, 0xF1, 0xDD, 0xEF, 0xE3, 0xE0, 0xFF, 0xFF, 0xC0, 0xE0, 0xE0, 0x60, 0x70, 0x30, 0x38, 0x1C, 0x0C, 0x0E, 0x07, 0x03, 0x80, 0x3F, 0x1F, 0xEE, 0x3F, 0x87, 0xE3, 0xCF, 0xC7, 0xFB, 0xCF, 0xE1, 0xF8, 0x7F, 0x3D, 0xFE, 0x3F, 0x00, 0x3E, 0x3F, 0xBD, 0xDC, 0x7E, 0x3F, 0x1F, 0xDE, 0xFF, 0x3B, 0x81, 0xF9, 0xCF, 0xE3, 0xC0, 0xFC, 0x00, 0x07, 0xE0, 0xFC, 0x00, 0x07, 0xE5, 0xE0, 0x00, 0x83, 0xC7, 0xDF, 0x0C, 0x07, 0x80, 0xF8, 0x1F, 0x01, 0x80, 0xFF, 0xFF, 0xC0, 0x00, 0x0F, 0xFF, 0xFC, 0x00, 0x70, 0x3F, 0x03, 0xE0, 0x38, 0x7D, 0xF1, 0xE0, 0x80, 0x00, 0x3E, 0x3F, 0xB8, 0xFC, 0x70, 0x38, 0x1C, 0x1C, 0x1C, 0x1C, 0x0E, 0x00, 0x03, 0x81, 0xC0, 0x03, 0xF0, 0x0F, 0xFC, 0x1E, 0x0E, 0x38, 0x02, 0x70, 0xE9, 0x63, 0x19, 0xC2, 0x19, 0xC6, 0x11, 0xC6, 0x33, 0xC6, 0x32, 0x63, 0xFE, 0x73, 0xDC, 0x3C, 0x00, 0x1F, 0xF8, 0x07, 0xF0, 0x07, 0x00, 0xF0, 0x0F, 0x80, 0xF8, 0x1D, 0x81, 0x9C, 0x19, 0xC3, 0x8C, 0x3F, 0xE7, 0xFE, 0x70, 0x66, 0x07, 0xE0, 0x70, 0xFF, 0x9F, 0xFB, 0x83, 0xF0, 0x7E, 0x0F, 0xFF, 0x3F, 0xF7, 0x06, 0xE0, 0xFC, 0x1F, 0x83, 0xFF, 0xEF, 0xF8, 0x1F, 0x83, 0xFE, 0x78, 0xE7, 0x07, 0xE0, 0x0E, 0x00, 0xE0, 0x0E, 0x00, 0xE0, 0x07, 0x07, 0x78, 0xF3, 0xFE, 0x1F, 0x80, 0xFF, 0x8F, 0xFC, 0xE0, 0xEE, 0x0E, 0xE0, 0x7E, 0x07, 0xE0, 0x7E, 0x07, 0xE0, 0x7E, 0x0E, 0xE0, 0xEF, 0xFC, 0xFF, 0x80, 0xFF, 0xFF, 0xF8, 0x1C, 0x0E, 0x07, 0xFB, 0xFD, 0xC0, 0xE0, 0x70, 0x38, 0x1F, 0xFF, 0xF8, 0xFF, 0xFF, 0xF8, 0x1C, 0x0E, 0x07, 0xFB, 0xFD, 0xC0, 0xE0, 0x70, 0x38, 0x1C, 0x0E, 0x00, 0x0F, 0x87, 0xF9, 0xE3, 0xB8, 0x3E, 0x01, 0xC0, 0x38, 0xFF, 0x1F, 0xE0, 0x6E, 0x0D, 0xE3, 0x9F, 0xD0, 0xF2, 0xE0, 0xFC, 0x1F, 0x83, 0xF0, 0x7E, 0x0F, 0xFF, 0xFF, 0xFF, 0x07, 0xE0, 0xFC, 0x1F, 0x83, 0xF0, 0x7E, 0x0E, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0xE7, 0xE7, 0xE7, 0x7E, 0x3C, 0xE0, 0xEE, 0x1C, 0xE3, 0x8E, 0x70, 0xEE, 0x0F, 0xC0, 0xFE, 0x0F, 0x70, 0xE7, 0x0E, 0x38, 0xE1, 0xCE, 0x0E, 0xE0, 0xE0, 0xE0, 0xE0, 0xE0, 0xE0, 0xE0, 0xE0, 0xE0, 0xE0, 0xE0, 0xE0, 0xE0, 0xFF, 0xFF, 0xF8, 0x7F, 0xE1, 0xFF, 0x87, 0xFE, 0x1F, 0xEC, 0x7F, 0xB3, 0x7E, 0xCD, 0xFB, 0x37, 0xEC, 0xDF, 0x9E, 0x7E, 0x79, 0xF9, 0xE7, 0xE7, 0x9C, 0xE0, 0xFE, 0x1F, 0xC3, 0xFC, 0x7F, 0xCF, 0xD9, 0xFB, 0xBF, 0x37, 0xE7, 0xFC, 0x7F, 0x87, 0xF0, 0xFE, 0x0E, 0x0F, 0x81, 0xFF, 0x1E, 0x3C, 0xE0, 0xEE, 0x03, 0xF0, 0x1F, 0x80, 0xFC, 0x07, 0xE0, 0x3B, 0x83, 0x9E, 0x3C, 0x7F, 0xC0, 0xF8, 0x00, 0xFF, 0x9F, 0xFB, 0x87, 0xF0, 0x7E, 0x0F, 0xC3, 0xFF, 0xF7, 0xFC, 0xE0, 0x1C, 0x03, 0x80, 0x70, 0x0E, 0x00, 0x0F, 0x81, 0xFF, 0x1E, 0x3C, 0xE0, 0xEE, 0x03, 0xF0, 0x1F, 0x80, 0xFC, 0x07, 0xE1, 0xBB, 0x8F, 0x9E, 0x3C, 0x7F, 0xE0, 0xFB, 0x80, 0x08, 0xFF, 0x8F, 0xFC, 0xE0, 0xEE, 0x0E, 0xE0, 0xEE, 0x0E, 0xFF, 0xCF, 0xFC, 0xE0, 0xEE, 0x0E, 0xE0, 0xEE, 0x0E, 0xE0, 0xF0, 0x3F, 0x0F, 0xFB, 0xC7, 0xF0, 0x7E, 0x01, 0xFC, 0x1F, 0xF0, 0x3F, 0x00, 0xFC, 0x1D, 0xC7, 0xBF, 0xE1, 0xF8, 0xFF, 0xFF, 0xC7, 0x03, 0x81, 0xC0, 0xE0, 0x70, 0x38, 0x1C, 0x0E, 0x07, 0x03, 0x81, 0xC0, 0xE0, 0xFC, 0x1F, 0x83, 0xF0, 0x7E, 0x0F, 0xC1, 0xF8, 0x3F, 0x07, 0xE0, 0xFC, 0x1F, 0xC7, 0xBF, 0xE1, 0xF0, 0x60, 0x67, 0x0E, 0x70, 0xE3, 0x0C, 0x30, 0xC3, 0x9C, 0x19, 0x81, 0x98, 0x1F, 0x80, 0xF0, 0x0F, 0x00, 0xF0, 0x06, 0x00, 0x61, 0xC3, 0xB8, 0xE1, 0x9C, 0x70, 0xCE, 0x3C, 0xE3, 0x36, 0x71, 0x9B, 0x30, 0xED, 0x98, 0x36, 0x7C, 0x1B, 0x3C, 0x0F, 0x1E, 0x07, 0x8F, 0x01, 0xC3, 0x80, 0xE1, 0x80, 0x70, 0xE7, 0x8E, 0x39, 0xC1, 0xF8, 0x1F, 0x80, 0xF0, 0x07, 0x00, 0xF0, 0x1F, 0x81, 0x9C, 0x39, 0xC7, 0x0E, 0x70, 0xE0, 0xE0, 0xFC, 0x39, 0xC7, 0x18, 0xC3, 0xB8, 0x36, 0x07, 0xC0, 0x70, 0x0E, 0x01, 0xC0, 0x38, 0x07, 0x00, 0xE0, 0xFF, 0xFF, 0xC0, 0xE0, 0xE0, 0xF0, 0x70, 0x70, 0x70, 0x78, 0x38, 0x38, 0x1F, 0xFF, 0xF8, 0xFF, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEF, 0xF0, 0x86, 0x10, 0x86, 0x10, 0x84, 0x30, 0x84, 0x30, 0x80, 0xFF, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x7F, 0xF0, 0x18, 0x1C, 0x3C, 0x3E, 0x36, 0x66, 0x63, 0xC3, 0xFF, 0xC0, 0xCC, 0x3F, 0x1F, 0xEE, 0x38, 0x0E, 0x3F, 0x9E, 0xEE, 0x3B, 0x9E, 0xFF, 0x9E, 0xE0, 0xE0, 0x38, 0x0E, 0x03, 0xBC, 0xFF, 0xBC, 0xEE, 0x1F, 0x87, 0xE1, 0xF8, 0x7F, 0x3B, 0xFE, 0xEF, 0x00, 0x1F, 0x3F, 0xDC, 0x7C, 0x0E, 0x07, 0x03, 0x80, 0xE3, 0x7F, 0x8F, 0x00, 0x03, 0x81, 0xC0, 0xE7, 0x77, 0xFB, 0xBF, 0x8F, 0xC7, 0xE3, 0xF1, 0xFD, 0xEF, 0xF3, 0xB8, 0x3E, 0x3F, 0x9C, 0xDC, 0x3F, 0xFF, 0xFF, 0x81, 0xC3, 0x7F, 0x8F, 0x00, 0x3B, 0xDD, 0xFF, 0xB9, 0xCE, 0x73, 0x9C, 0xE7, 0x00, 0x3B, 0xBF, 0xDD, 0xFC, 0x7E, 0x3F, 0x1F, 0x8F, 0xEF, 0x7F, 0x9D, 0xC0, 0xFC, 0x77, 0xF1, 0xF0, 0xE0, 0x70, 0x38, 0x1D, 0xEF, 0xFF, 0x9F, 0x8F, 0xC7, 0xE3, 0xF1, 0xF8, 0xFC, 0x7E, 0x38, 0xFC, 0x7F, 0xFF, 0xFF, 0xFE, 0x77, 0x07, 0x77, 0x77, 0x77, 0x77, 0x77, 0x7F, 0xE0, 0xE0, 0x70, 0x38, 0x1C, 0x7E, 0x77, 0x73, 0xF1, 0xF8, 0xFE, 0x77, 0x39, 0xDC, 0x6E, 0x38, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0xEF, 0x7B, 0xFF, 0xFE, 0x39, 0xF8, 0xE7, 0xE3, 0x9F, 0x8E, 0x7E, 0x39, 0xF8, 0xE7, 0xE3, 0x9F, 0x8E, 0x70, 0xEF, 0x7F, 0xF8, 0xFC, 0x7E, 0x3F, 0x1F, 0x8F, 0xC7, 0xE3, 0xF1, 0xC0, 0x1E, 0x1F, 0xE7, 0x3B, 0x87, 0xE1, 0xF8, 0x7E, 0x1D, 0xCE, 0x7F, 0x87, 0x80, 0xEF, 0x3F, 0xEF, 0x3B, 0x87, 0xE1, 0xF8, 0x7E, 0x1F, 0xCE, 0xFF, 0xBB, 0xCE, 0x03, 0x80, 0xE0, 0x38, 0x00, 0x3B, 0xBF, 0xFD, 0xFC, 0x7E, 0x3F, 0x1F, 0x8F, 0xEF, 0x7F, 0x9D, 0xC0, 0xE0, 0x70, 0x38, 0x1C, 0xEF, 0xFF, 0x38, 0xE3, 0x8E, 0x38, 0xE3, 0x80, 0x3E, 0x3F, 0xB8, 0xFC, 0x0F, 0xC3, 0xFC, 0x3F, 0xC7, 0xFF, 0x1F, 0x00, 0x73, 0xBF, 0xF7, 0x39, 0xCE, 0x73, 0x9E, 0x70, 0xE3, 0xF1, 0xF8, 0xFC, 0x7E, 0x3F, 0x1F, 0x8F, 0xC7, 0xFF, 0xBD, 0xC0, 0xE1, 0x98, 0x67, 0x39, 0xCC, 0x33, 0x0D, 0xC3, 0xE0, 0x78, 0x1E, 0x07, 0x00, 0xE3, 0x1D, 0x9E, 0x66, 0x79, 0x99, 0xE6, 0x77, 0xB8, 0xD2, 0xC3, 0xCF, 0x0F, 0x3C, 0x3C, 0xF0, 0x73, 0x80, 0x73, 0x9C, 0xE3, 0xF0, 0x78, 0x1E, 0x07, 0x81, 0xE0, 0xFC, 0x73, 0x9C, 0xE0, 0xE1, 0xD8, 0x67, 0x39, 0xCE, 0x33, 0x0E, 0xC3, 0xE0, 0x78, 0x1E, 0x03, 0x00, 0xC0, 0x70, 0x38, 0x0E, 0x00, 0xFE, 0xFE, 0x0E, 0x1C, 0x38, 0x38, 0x70, 0xE0, 0xFF, 0xFF, 0x37, 0x66, 0x66, 0x6E, 0xE6, 0x66, 0x66, 0x67, 0x30, 0xFF, 0xFF, 0x80, 0xCE, 0x66, 0x66, 0x67, 0x76, 0x66, 0x66, 0x6E, 0xC0, 0x71, 0x8E }; const GFXglyph FreeSansBold9pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 5, 0, 1 }, // 0x20 ' ' { 0, 3, 13, 6, 2, -12 }, // 0x21 '!' { 5, 7, 5, 9, 1, -12 }, // 0x22 '"' { 10, 10, 12, 10, 0, -11 }, // 0x23 '#' { 25, 9, 15, 10, 1, -13 }, // 0x24 '$' { 42, 16, 13, 16, 0, -12 }, // 0x25 '%' { 68, 12, 13, 13, 1, -12 }, // 0x26 '&' { 88, 3, 5, 5, 1, -12 }, // 0x27 ''' { 90, 6, 17, 6, 1, -12 }, // 0x28 '(' { 103, 6, 17, 6, 0, -12 }, // 0x29 ')' { 116, 5, 6, 7, 1, -12 }, // 0x2A '*' { 120, 7, 8, 11, 2, -7 }, // 0x2B '+' { 127, 3, 5, 4, 1, -1 }, // 0x2C ',' { 129, 5, 2, 6, 0, -5 }, // 0x2D '-' { 131, 3, 2, 4, 1, -1 }, // 0x2E '.' { 132, 5, 13, 5, 0, -12 }, // 0x2F '/' { 141, 9, 13, 10, 1, -12 }, // 0x30 '0' { 156, 5, 13, 10, 2, -12 }, // 0x31 '1' { 165, 9, 13, 10, 1, -12 }, // 0x32 '2' { 180, 8, 13, 10, 1, -12 }, // 0x33 '3' { 193, 8, 13, 10, 2, -12 }, // 0x34 '4' { 206, 9, 13, 10, 1, -12 }, // 0x35 '5' { 221, 9, 13, 10, 1, -12 }, // 0x36 '6' { 236, 9, 13, 10, 0, -12 }, // 0x37 '7' { 251, 10, 13, 10, 0, -12 }, // 0x38 '8' { 268, 9, 13, 10, 1, -12 }, // 0x39 '9' { 283, 3, 9, 4, 1, -8 }, // 0x3A ':' { 287, 3, 12, 4, 1, -8 }, // 0x3B ';' { 292, 9, 9, 11, 1, -8 }, // 0x3C '<' { 303, 9, 6, 11, 1, -6 }, // 0x3D '=' { 310, 9, 9, 11, 1, -8 }, // 0x3E '>' { 321, 9, 13, 11, 1, -12 }, // 0x3F '?' { 336, 16, 15, 18, 0, -12 }, // 0x40 '@' { 366, 12, 13, 13, 0, -12 }, // 0x41 'A' { 386, 11, 13, 13, 1, -12 }, // 0x42 'B' { 404, 12, 13, 13, 1, -12 }, // 0x43 'C' { 424, 12, 13, 13, 1, -12 }, // 0x44 'D' { 444, 9, 13, 12, 1, -12 }, // 0x45 'E' { 459, 9, 13, 11, 1, -12 }, // 0x46 'F' { 474, 11, 13, 14, 1, -12 }, // 0x47 'G' { 492, 11, 13, 13, 1, -12 }, // 0x48 'H' { 510, 3, 13, 6, 1, -12 }, // 0x49 'I' { 515, 8, 13, 10, 1, -12 }, // 0x4A 'J' { 528, 12, 13, 13, 1, -12 }, // 0x4B 'K' { 548, 8, 13, 11, 1, -12 }, // 0x4C 'L' { 561, 14, 13, 16, 1, -12 }, // 0x4D 'M' { 584, 11, 13, 14, 1, -12 }, // 0x4E 'N' { 602, 13, 13, 14, 1, -12 }, // 0x4F 'O' { 624, 11, 13, 12, 1, -12 }, // 0x50 'P' { 642, 13, 14, 14, 1, -12 }, // 0x51 'Q' { 665, 12, 13, 13, 1, -12 }, // 0x52 'R' { 685, 11, 13, 12, 1, -12 }, // 0x53 'S' { 703, 9, 13, 12, 2, -12 }, // 0x54 'T' { 718, 11, 13, 13, 1, -12 }, // 0x55 'U' { 736, 12, 13, 12, 0, -12 }, // 0x56 'V' { 756, 17, 13, 17, 0, -12 }, // 0x57 'W' { 784, 12, 13, 12, 0, -12 }, // 0x58 'X' { 804, 11, 13, 12, 1, -12 }, // 0x59 'Y' { 822, 9, 13, 11, 1, -12 }, // 0x5A 'Z' { 837, 4, 17, 6, 1, -12 }, // 0x5B '[' { 846, 5, 13, 5, 0, -12 }, // 0x5C '\' { 855, 4, 17, 6, 0, -12 }, // 0x5D ']' { 864, 8, 8, 11, 1, -12 }, // 0x5E '^' { 872, 10, 1, 10, 0, 4 }, // 0x5F '_' { 874, 3, 2, 5, 0, -12 }, // 0x60 '`' { 875, 10, 10, 10, 1, -9 }, // 0x61 'a' { 888, 10, 13, 11, 1, -12 }, // 0x62 'b' { 905, 9, 10, 10, 1, -9 }, // 0x63 'c' { 917, 9, 13, 11, 1, -12 }, // 0x64 'd' { 932, 9, 10, 10, 1, -9 }, // 0x65 'e' { 944, 5, 13, 6, 1, -12 }, // 0x66 'f' { 953, 9, 14, 11, 1, -9 }, // 0x67 'g' { 969, 9, 13, 11, 1, -12 }, // 0x68 'h' { 984, 3, 13, 5, 1, -12 }, // 0x69 'i' { 989, 4, 17, 5, 0, -12 }, // 0x6A 'j' { 998, 9, 13, 10, 1, -12 }, // 0x6B 'k' { 1013, 3, 13, 5, 1, -12 }, // 0x6C 'l' { 1018, 14, 10, 16, 1, -9 }, // 0x6D 'm' { 1036, 9, 10, 11, 1, -9 }, // 0x6E 'n' { 1048, 10, 10, 11, 1, -9 }, // 0x6F 'o' { 1061, 10, 14, 11, 1, -9 }, // 0x70 'p' { 1079, 9, 14, 11, 1, -9 }, // 0x71 'q' { 1095, 6, 10, 7, 1, -9 }, // 0x72 'r' { 1103, 9, 10, 10, 1, -9 }, // 0x73 's' { 1115, 5, 12, 6, 1, -11 }, // 0x74 't' { 1123, 9, 10, 11, 1, -9 }, // 0x75 'u' { 1135, 10, 10, 10, 0, -9 }, // 0x76 'v' { 1148, 14, 10, 14, 0, -9 }, // 0x77 'w' { 1166, 10, 10, 10, 0, -9 }, // 0x78 'x' { 1179, 10, 14, 10, 0, -9 }, // 0x79 'y' { 1197, 8, 10, 9, 1, -9 }, // 0x7A 'z' { 1207, 4, 17, 7, 1, -12 }, // 0x7B '{' { 1216, 1, 17, 5, 2, -12 }, // 0x7C '|' { 1219, 4, 17, 7, 2, -12 }, // 0x7D '}' { 1228, 8, 2, 9, 0, -4 } }; // 0x7E '~' const GFXfont FreeSansBold9pt7b PROGMEM = { (uint8_t *)FreeSansBold9pt7bBitmaps, (GFXglyph *)FreeSansBold9pt7bGlyphs, 0x20, 0x7E, 22 }; // Approx. 1902 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSansBoldOblique12pt7b.h ================================================ const uint8_t FreeSansBoldOblique12pt7bBitmaps[] PROGMEM = { 0x1C, 0x3C, 0x78, 0xE1, 0xC3, 0x8F, 0x1C, 0x38, 0x70, 0xC1, 0x83, 0x00, 0x1C, 0x78, 0xF0, 0x71, 0xFC, 0xFE, 0x3B, 0x8E, 0xC3, 0x30, 0xC0, 0x01, 0x8C, 0x07, 0x38, 0x0C, 0x61, 0xFF, 0xF3, 0xFF, 0xE7, 0xFF, 0x83, 0x9C, 0x0E, 0x70, 0x1C, 0xE1, 0xFF, 0xF3, 0xFF, 0xC7, 0xFF, 0x83, 0x18, 0x0E, 0x70, 0x18, 0xC0, 0x73, 0x80, 0x00, 0x40, 0x07, 0xF0, 0x3F, 0xF0, 0xFF, 0xF3, 0xC9, 0xE7, 0xB3, 0xCF, 0x60, 0x1F, 0xC0, 0x3F, 0xC0, 0x3F, 0xE0, 0x1F, 0xE0, 0x1B, 0xE0, 0x33, 0xDE, 0x47, 0xBC, 0x8F, 0x7F, 0x7C, 0x7F, 0xF0, 0x7F, 0x80, 0x18, 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0x07, 0x38, 0x0E, 0xE0, 0x1D, 0xC0, 0x3F, 0x00, 0x7E, 0x00, 0x78, 0x00, 0xF0, 0x01, 0xC0, 0x07, 0x00, 0x7E, 0x00, 0xF8, 0x01, 0xE0, 0x00, 0x1F, 0xF9, 0xFF, 0xCF, 0xFC, 0x01, 0xE0, 0x3E, 0x03, 0xC0, 0x3C, 0x03, 0xC0, 0x3C, 0x03, 0xC0, 0x3F, 0xF9, 0xFF, 0xCF, 0xFC, 0x00, 0x07, 0x87, 0xC3, 0xE3, 0xC1, 0xC0, 0xE0, 0x70, 0x38, 0x3C, 0x1C, 0x0E, 0x1E, 0x0F, 0x03, 0x81, 0xC0, 0xE0, 0x70, 0x78, 0x38, 0x1C, 0x0F, 0x87, 0xC1, 0xC0, 0x0C, 0x30, 0x86, 0x18, 0x61, 0x8C, 0x30, 0xC3, 0x0C, 0x61, 0x86, 0x18, 0x63, 0x0C, 0x30, 0xC2, 0x00, 0x00, 0x07, 0x07, 0xC3, 0xE0, 0x70, 0x38, 0x3C, 0x1C, 0x0E, 0x07, 0x03, 0x81, 0xE0, 0xF0, 0xE0, 0x70, 0x78, 0x38, 0x1C, 0x0E, 0x07, 0x07, 0x8F, 0x87, 0xC3, 0xC0, 0x3C, 0x07, 0xE0, 0xC7, 0x30, 0x7E, 0x01, 0xC0 }; const GFXglyph FreeSansBoldOblique12pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 7, 0, 1 }, // 0x20 ' ' { 0, 7, 17, 8, 3, -16 }, // 0x21 '!' { 15, 10, 6, 11, 4, -17 }, // 0x22 '"' { 23, 15, 16, 13, 1, -15 }, // 0x23 '#' { 53, 15, 21, 13, 1, -17 }, // 0x24 '$' { 93, 18, 18, 21, 3, -17 }, // 0x25 '%' { 134, 15, 17, 17, 2, -16 }, // 0x26 '&' { 166, 4, 6, 6, 4, -17 }, // 0x27 ''' { 169, 9, 22, 8, 2, -17 }, // 0x28 '(' { 194, 9, 22, 8, -1, -16 }, // 0x29 ')' { 219, 8, 8, 9, 3, -17 }, // 0x2A '*' { 227, 12, 11, 14, 2, -10 }, // 0x2B '+' { 244, 5, 7, 7, 1, -2 }, // 0x2C ',' { 249, 7, 3, 8, 2, -7 }, // 0x2D '-' { 252, 4, 3, 7, 2, -2 }, // 0x2E '.' { 254, 10, 17, 7, 0, -16 }, // 0x2F '/' { 276, 13, 17, 13, 2, -16 }, // 0x30 '0' { 304, 9, 17, 13, 4, -16 }, // 0x31 '1' { 324, 15, 17, 13, 1, -16 }, // 0x32 '2' { 356, 13, 17, 13, 2, -16 }, // 0x33 '3' { 384, 13, 17, 13, 1, -16 }, // 0x34 '4' { 412, 14, 17, 13, 1, -16 }, // 0x35 '5' { 442, 13, 17, 13, 2, -16 }, // 0x36 '6' { 470, 13, 17, 13, 3, -16 }, // 0x37 '7' { 498, 14, 17, 13, 1, -16 }, // 0x38 '8' { 528, 14, 17, 13, 2, -16 }, // 0x39 '9' { 558, 6, 12, 8, 3, -11 }, // 0x3A ':' { 567, 7, 16, 8, 2, -11 }, // 0x3B ';' { 581, 13, 12, 14, 2, -11 }, // 0x3C '<' { 601, 14, 9, 14, 1, -9 }, // 0x3D '=' { 617, 13, 12, 14, 1, -10 }, // 0x3E '>' { 637, 13, 18, 15, 4, -17 }, // 0x3F '?' { 667, 22, 21, 23, 2, -17 }, // 0x40 '@' { 725, 17, 18, 17, 0, -17 }, // 0x41 'A' { 764, 17, 18, 17, 2, -17 }, // 0x42 'B' { 803, 17, 18, 17, 3, -17 }, // 0x43 'C' { 842, 17, 18, 17, 2, -17 }, // 0x44 'D' { 881, 16, 18, 16, 2, -17 }, // 0x45 'E' { 917, 16, 18, 15, 2, -17 }, // 0x46 'F' { 953, 17, 18, 19, 3, -17 }, // 0x47 'G' { 992, 17, 18, 17, 2, -17 }, // 0x48 'H' { 1031, 7, 18, 7, 2, -17 }, // 0x49 'I' { 1047, 14, 18, 13, 1, -17 }, // 0x4A 'J' { 1079, 18, 18, 17, 2, -17 }, // 0x4B 'K' { 1120, 13, 18, 15, 2, -17 }, // 0x4C 'L' { 1150, 20, 18, 20, 2, -17 }, // 0x4D 'M' { 1195, 18, 18, 17, 2, -17 }, // 0x4E 'N' { 1236, 17, 18, 19, 3, -17 }, // 0x4F 'O' { 1275, 16, 18, 16, 2, -17 }, // 0x50 'P' { 1311, 17, 19, 19, 3, -17 }, // 0x51 'Q' { 1352, 17, 18, 17, 2, -17 }, // 0x52 'R' { 1391, 16, 18, 16, 2, -17 }, // 0x53 'S' { 1427, 15, 18, 15, 3, -17 }, // 0x54 'T' { 1461, 16, 18, 17, 3, -17 }, // 0x55 'U' { 1497, 15, 18, 16, 4, -17 }, // 0x56 'V' { 1531, 21, 18, 23, 4, -17 }, // 0x57 'W' { 1579, 18, 18, 16, 1, -17 }, // 0x58 'X' { 1620, 15, 18, 16, 4, -17 }, // 0x59 'Y' { 1654, 17, 18, 15, 1, -17 }, // 0x5A 'Z' { 1693, 10, 23, 8, 1, -17 }, // 0x5B '[' { 1722, 4, 23, 7, 3, -22 }, // 0x5C '\' { 1734, 10, 23, 8, 0, -17 }, // 0x5D ']' { 1763, 11, 11, 14, 3, -16 }, // 0x5E '^' { 1779, 15, 2, 13, -2, 4 }, // 0x5F '_' { 1783, 4, 3, 8, 4, -17 }, // 0x60 '`' { 1785, 13, 13, 13, 1, -12 }, // 0x61 'a' { 1807, 15, 18, 15, 1, -17 }, // 0x62 'b' { 1841, 13, 13, 13, 2, -12 }, // 0x63 'c' { 1863, 15, 18, 15, 2, -17 }, // 0x64 'd' { 1897, 13, 13, 13, 2, -12 }, // 0x65 'e' { 1919, 9, 18, 8, 2, -17 }, // 0x66 'f' { 1940, 15, 18, 15, 1, -12 }, // 0x67 'g' { 1974, 14, 18, 15, 2, -17 }, // 0x68 'h' { 2006, 7, 18, 7, 2, -17 }, // 0x69 'i' { 2022, 10, 23, 7, -1, -17 }, // 0x6A 'j' { 2051, 15, 18, 13, 1, -17 }, // 0x6B 'k' { 2085, 7, 18, 7, 2, -17 }, // 0x6C 'l' { 2101, 21, 13, 21, 1, -12 }, // 0x6D 'm' { 2136, 14, 13, 15, 2, -12 }, // 0x6E 'n' { 2159, 14, 13, 15, 2, -12 }, // 0x6F 'o' { 2182, 16, 18, 15, 0, -12 }, // 0x70 'p' { 2218, 14, 18, 15, 2, -12 }, // 0x71 'q' { 2250, 10, 13, 9, 2, -12 }, // 0x72 'r' { 2267, 12, 13, 13, 3, -12 }, // 0x73 's' { 2287, 8, 15, 8, 2, -14 }, // 0x74 't' { 2302, 14, 13, 15, 2, -12 }, // 0x75 'u' { 2325, 13, 13, 13, 3, -12 }, // 0x76 'v' { 2347, 17, 13, 19, 3, -12 }, // 0x77 'w' { 2375, 16, 13, 13, 0, -12 }, // 0x78 'x' { 2401, 15, 18, 13, 1, -12 }, // 0x79 'y' { 2435, 13, 13, 12, 1, -12 }, // 0x7A 'z' { 2457, 9, 23, 9, 3, -17 }, // 0x7B '{' { 2483, 6, 23, 7, 1, -17 }, // 0x7C '|' { 2501, 9, 23, 9, 0, -17 }, // 0x7D '}' { 2527, 12, 5, 14, 2, -7 } }; // 0x7E '~' const GFXfont FreeSansBoldOblique12pt7b PROGMEM = { (uint8_t *)FreeSansBoldOblique12pt7bBitmaps, (GFXglyph *)FreeSansBoldOblique12pt7bGlyphs, 0x20, 0x7E, 29 }; // Approx. 3207 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSansBoldOblique18pt7b.h ================================================ const uint8_t FreeSansBoldOblique18pt7bBitmaps[] PROGMEM = { 0x06, 0x01, 0xC0, 0x7C, 0x1F, 0x0F, 0xC3, 0xE0, 0xF8, 0x3E, 0x0F, 0x83, 0xC0, 0xF0, 0x7C, 0x1E, 0x07, 0x81, 0xE0, 0x78, 0x1C, 0x07, 0x01, 0xC0, 0x60, 0x7C, 0x1F, 0x07, 0xC3, 0xF0, 0xF8, 0x00, 0x78, 0x7B, 0xC3, 0xFE, 0x3F, 0xE1, 0xEF, 0x0F, 0x78, 0x7B, 0x83, 0x9C, 0x1C, 0xC0, 0xC0, 0x00, 0x3C, 0x38, 0x00, 0xF1, 0xE0, 0x07, 0x87, 0x00, 0x1E, 0x3C, 0x00, 0xF0, 0xE0, 0x3F, 0xFF, 0xF0, 0xFF, 0xFF, 0xC7, 0xFF, 0xFF, 0x1F, 0xFF, 0xF8, 0x0F, 0x0E, 0x00, 0x3C, 0x78, 0x00, 0xE1, 0xE0, 0x07, 0x8F, 0x00, 0x1C, 0x3C, 0x07, 0xFF, 0xFE, 0x1F, 0xFF, 0xF8, 0x7F, 0xFF, 0xE3, 0xFF, 0xFF, 0x01, 0xE3, 0xC0, 0x0F, 0x0E, 0x00, 0x3C, 0x78, 0x01, 0xE1, 0xC0, 0x07, 0x8F, 0x00, 0x3C, 0x38, 0x00, 0x00, 0x0C, 0x00, 0x01, 0x80, 0x00, 0xFC, 0x00, 0xFF, 0xC0, 0x3F, 0xFC, 0x0F, 0xFF, 0xC3, 0xE6, 0x78, 0x78, 0xCF, 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0x03, 0xE3, 0xE0, 0x3E, 0x3E, 0x03, 0xE3, 0xE0, 0x3E, 0x3E, 0x03, 0xE7, 0xC0, 0x7C, 0x7C, 0x07, 0xC7, 0xC0, 0x7C, 0x7C, 0x07, 0xC7, 0xC0, 0x7C, 0xF8, 0x0F, 0x8F, 0x81, 0xF8, 0xF8, 0x3F, 0x8F, 0xFF, 0xF8, 0xFF, 0xFF, 0x07, 0xFD, 0xF0, 0x3F, 0x1F, 0x00, 0xF8, 0x0F, 0xFE, 0x03, 0xEF, 0x81, 0xF3, 0xE0, 0x7C, 0xF8, 0x3E, 0x3E, 0x0F, 0x8F, 0x87, 0xC1, 0xE1, 0xF0, 0x78, 0xF8, 0x1E, 0x3E, 0x07, 0x9F, 0x01, 0xF7, 0x80, 0x7F, 0xE0, 0x1F, 0xF0, 0x03, 0xFC, 0x00, 0xFE, 0x00, 0x3F, 0x80, 0x0F, 0xC0, 0x03, 0xF0, 0x00, 0xF8, 0x1F, 0x07, 0xFF, 0x03, 0xE0, 0xFB, 0xE0, 0xFC, 0x1F, 0x7C, 0x1F, 0x87, 0xCF, 0x87, 0xF0, 0xF9, 0xF0, 0xFE, 0x3E, 0x3E, 0x3D, 0xC7, 0xC3, 0xC7, 0xB9, 0xF0, 0x79, 0xE7, 0x3E, 0x0F, 0x3C, 0xE7, 0x81, 0xEF, 0x1D, 0xF0, 0x3D, 0xE3, 0xBC, 0x07, 0xBC, 0x7F, 0x80, 0xFF, 0x0F, 0xE0, 0x1F, 0xE1, 0xFC, 0x03, 0xF8, 0x3F, 0x00, 0x7F, 0x07, 0xE0, 0x0F, 0xC0, 0xF8, 0x01, 0xF8, 0x1F, 0x00, 0x00, 0x0F, 0xC1, 0xF8, 0x3F, 0x07, 0xC0, 0x7C, 0x3E, 0x01, 0xF9, 0xF8, 0x03, 0xEF, 0xC0, 0x0F, 0xBE, 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0xE0, 0x0F, 0x00, 0x3C, 0x00, 0xF0, 0x07, 0x80, 0x1E, 0x00, 0x78, 0x01, 0xE0, 0x0F, 0x80, 0x3C, 0x01, 0xF0, 0x1F, 0x80, 0x70, 0x01, 0xF8, 0x01, 0xE0, 0x07, 0x80, 0x1E, 0x00, 0x78, 0x03, 0xC0, 0x0F, 0x00, 0x3C, 0x00, 0xF0, 0x07, 0x80, 0x1E, 0x00, 0x78, 0x01, 0xFC, 0x07, 0xE0, 0x0F, 0x80, 0x1E, 0x00, 0x03, 0x81, 0xC0, 0xC0, 0xE0, 0x70, 0x38, 0x1C, 0x0C, 0x0E, 0x07, 0x03, 0x81, 0xC0, 0xC0, 0xE0, 0x70, 0x38, 0x18, 0x1C, 0x0E, 0x07, 0x03, 0x81, 0x81, 0xC0, 0xE0, 0x70, 0x38, 0x18, 0x1C, 0x0E, 0x07, 0x01, 0x80, 0x80, 0x00, 0x00, 0x01, 0xE0, 0x07, 0xC0, 0x1F, 0x80, 0xFE, 0x00, 0x78, 0x01, 0xE0, 0x07, 0x80, 0x3C, 0x00, 0xF0, 0x03, 0xC0, 0x0F, 0x00, 0x78, 0x01, 0xE0, 0x07, 0x80, 0x1E, 0x00, 0x7E, 0x00, 0x38, 0x07, 0xE0, 0x3E, 0x00, 0xF0, 0x07, 0xC0, 0x1E, 0x00, 0x78, 0x01, 0xE0, 0x07, 0x80, 0x3C, 0x00, 0xF0, 0x03, 0xC0, 0x1F, 0x01, 0xF8, 0x0F, 0xE0, 0x3F, 0x00, 0xF8, 0x00, 0x0F, 0x00, 0x1F, 0xC1, 0xDF, 0xF0, 0xEE, 0x3F, 0xE6, 0x07, 0xF0, 0x01, 0xE0 }; const GFXglyph FreeSansBoldOblique18pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 10, 0, 1 }, // 0x20 ' ' { 0, 10, 25, 12, 4, -24 }, // 0x21 '!' { 32, 13, 9, 17, 6, -25 }, // 0x22 '"' { 47, 22, 24, 19, 1, -23 }, // 0x23 '#' { 113, 19, 31, 19, 2, -26 }, // 0x24 '$' { 187, 26, 26, 31, 5, -25 }, // 0x25 '%' { 272, 21, 25, 25, 3, -24 }, // 0x26 '&' { 338, 5, 9, 8, 6, -25 }, // 0x27 ''' { 344, 13, 33, 12, 3, -25 }, // 0x28 '(' { 398, 13, 33, 12, -1, -25 }, // 0x29 ')' { 452, 12, 11, 14, 5, -25 }, // 0x2A '*' { 469, 18, 16, 20, 3, -15 }, // 0x2B '+' { 505, 7, 11, 10, 1, -4 }, // 0x2C ',' { 515, 10, 4, 12, 2, -10 }, // 0x2D '-' { 520, 6, 5, 10, 2, -4 }, // 0x2E '.' { 524, 15, 25, 10, 0, -24 }, // 0x2F '/' { 571, 18, 25, 19, 3, -24 }, // 0x30 '0' { 628, 13, 25, 19, 6, -24 }, // 0x31 '1' { 669, 21, 25, 19, 1, -24 }, // 0x32 '2' { 735, 20, 25, 19, 2, -24 }, // 0x33 '3' { 798, 19, 25, 19, 2, -24 }, // 0x34 '4' { 858, 20, 24, 19, 2, -23 }, // 0x35 '5' { 918, 19, 25, 19, 3, -24 }, // 0x36 '6' { 978, 19, 24, 19, 5, -23 }, // 0x37 '7' { 1035, 20, 25, 19, 2, -24 }, // 0x38 '8' { 1098, 19, 25, 19, 2, -24 }, // 0x39 '9' { 1158, 9, 18, 12, 4, -17 }, // 0x3A ':' { 1179, 10, 24, 12, 3, -17 }, // 0x3B ';' { 1209, 19, 17, 20, 3, -16 }, // 0x3C '<' { 1250, 20, 12, 20, 2, -13 }, // 0x3D '=' { 1280, 19, 17, 20, 1, -15 }, // 0x3E '>' { 1321, 18, 26, 21, 6, -25 }, // 0x3F '?' { 1380, 33, 31, 34, 3, -25 }, // 0x40 '@' { 1508, 23, 26, 25, 1, -25 }, // 0x41 'A' { 1583, 24, 26, 25, 3, -25 }, // 0x42 'B' { 1661, 24, 26, 25, 4, -25 }, // 0x43 'C' { 1739, 24, 26, 25, 3, -25 }, // 0x44 'D' { 1817, 24, 26, 23, 3, -25 }, // 0x45 'E' { 1895, 23, 26, 21, 3, -25 }, // 0x46 'F' { 1970, 24, 26, 27, 4, -25 }, // 0x47 'G' { 2048, 26, 26, 25, 2, -25 }, // 0x48 'H' { 2133, 10, 26, 10, 2, -25 }, // 0x49 'I' { 2166, 20, 26, 19, 2, -25 }, // 0x4A 'J' { 2231, 26, 26, 25, 3, -25 }, // 0x4B 'K' { 2316, 18, 26, 21, 3, -25 }, // 0x4C 'L' { 2375, 31, 26, 29, 2, -25 }, // 0x4D 'M' { 2476, 27, 26, 25, 2, -25 }, // 0x4E 'N' { 2564, 25, 26, 27, 4, -25 }, // 0x4F 'O' { 2646, 23, 26, 23, 3, -25 }, // 0x50 'P' { 2721, 25, 27, 27, 4, -25 }, // 0x51 'Q' { 2806, 24, 26, 25, 3, -25 }, // 0x52 'R' { 2884, 22, 26, 23, 3, -25 }, // 0x53 'S' { 2956, 21, 26, 21, 5, -25 }, // 0x54 'T' { 3025, 24, 26, 25, 4, -25 }, // 0x55 'U' { 3103, 22, 26, 23, 6, -25 }, // 0x56 'V' { 3175, 32, 26, 33, 6, -25 }, // 0x57 'W' { 3279, 27, 26, 23, 1, -25 }, // 0x58 'X' { 3367, 22, 26, 23, 6, -25 }, // 0x59 'Y' { 3439, 25, 26, 21, 1, -25 }, // 0x5A 'Z' { 3521, 15, 33, 12, 1, -25 }, // 0x5B '[' { 3583, 5, 25, 10, 5, -24 }, // 0x5C '\' { 3599, 15, 33, 12, -1, -25 }, // 0x5D ']' { 3661, 16, 15, 20, 4, -23 }, // 0x5E '^' { 3691, 21, 3, 19, -2, 5 }, // 0x5F '_' { 3699, 5, 5, 12, 6, -25 }, // 0x60 '`' { 3703, 18, 19, 19, 2, -18 }, // 0x61 'a' { 3746, 20, 26, 21, 2, -25 }, // 0x62 'b' { 3811, 18, 19, 19, 3, -18 }, // 0x63 'c' { 3854, 22, 26, 21, 3, -25 }, // 0x64 'd' { 3926, 19, 19, 19, 2, -18 }, // 0x65 'e' { 3972, 13, 26, 12, 3, -25 }, // 0x66 'f' { 4015, 22, 27, 21, 1, -18 }, // 0x67 'g' { 4090, 20, 26, 21, 2, -25 }, // 0x68 'h' { 4155, 10, 26, 10, 2, -25 }, // 0x69 'i' { 4188, 15, 34, 10, -2, -25 }, // 0x6A 'j' { 4252, 21, 26, 19, 2, -25 }, // 0x6B 'k' { 4321, 10, 26, 10, 2, -25 }, // 0x6C 'l' { 4354, 30, 19, 31, 2, -18 }, // 0x6D 'm' { 4426, 20, 19, 21, 2, -18 }, // 0x6E 'n' { 4474, 19, 19, 21, 3, -18 }, // 0x6F 'o' { 4520, 22, 27, 21, 0, -18 }, // 0x70 'p' { 4595, 20, 27, 21, 3, -18 }, // 0x71 'q' { 4663, 15, 19, 14, 2, -18 }, // 0x72 'r' { 4699, 18, 19, 19, 2, -18 }, // 0x73 's' { 4742, 11, 23, 12, 4, -22 }, // 0x74 't' { 4774, 20, 19, 21, 3, -18 }, // 0x75 'u' { 4822, 18, 19, 19, 5, -18 }, // 0x76 'v' { 4865, 27, 19, 27, 4, -18 }, // 0x77 'w' { 4930, 22, 19, 19, 1, -18 }, // 0x78 'x' { 4983, 22, 27, 19, 1, -18 }, // 0x79 'y' { 5058, 19, 19, 17, 1, -18 }, // 0x7A 'z' { 5104, 14, 33, 14, 2, -25 }, // 0x7B '{' { 5162, 9, 33, 10, 2, -25 }, // 0x7C '|' { 5200, 14, 33, 14, 2, -25 }, // 0x7D '}' { 5258, 17, 6, 20, 3, -10 } }; // 0x7E '~' const GFXfont FreeSansBoldOblique18pt7b PROGMEM = { (uint8_t *)FreeSansBoldOblique18pt7bBitmaps, (GFXglyph *)FreeSansBoldOblique18pt7bGlyphs, 0x20, 0x7E, 42 }; // Approx. 5943 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSansBoldOblique24pt7b.h ================================================ const uint8_t FreeSansBoldOblique24pt7bBitmaps[] PROGMEM = { 0x01, 0xE0, 0x07, 0xF0, 0x1F, 0xC0, 0xFF, 0x03, 0xF8, 0x0F, 0xE0, 0x3F, 0x80, 0xFE, 0x07, 0xF0, 0x1F, 0xC0, 0x7F, 0x01, 0xFC, 0x07, 0xE0, 0x1F, 0x80, 0x7E, 0x01, 0xF0, 0x07, 0xC0, 0x1F, 0x00, 0xF8, 0x03, 0xE0, 0x0F, 0x80, 0x3C, 0x00, 0xF0, 0x03, 0xC0, 0x0E, 0x00, 0x00, 0x00, 0x00, 0x1F, 0xC0, 0x7F, 0x01, 0xFC, 0x07, 0xF0, 0x1F, 0xC0, 0xFE, 0x03, 0xF8, 0x00, 0x7E, 0x0F, 0xDF, 0x83, 0xF7, 0xE0, 0xFF, 0xF0, 0x7E, 0xFC, 0x1F, 0xBF, 0x07, 0xEF, 0xC1, 0xFB, 0xE0, 0x7C, 0xF8, 0x1F, 0x3C, 0x07, 0x8F, 0x01, 0xE3, 0x80, 0x70, 0x00, 0x07, 0xC1, 0xF0, 0x00, 0x3E, 0x0F, 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0xC0, 0x01, 0xF0, 0x00, 0x7C, 0x00, 0x1F, 0x00, 0x0F, 0x80, 0x03, 0xE0, 0x00, 0xF8, 0x00, 0x3E, 0x00, 0x1F, 0x80, 0x07, 0xC0, 0x01, 0xF0, 0x07, 0xFC, 0x01, 0xFE, 0x00, 0xFF, 0x80, 0x3F, 0xC0, 0x0F, 0xC0, 0x00, 0x0F, 0x80, 0x00, 0xFF, 0x80, 0x07, 0xFF, 0x03, 0xDF, 0xFE, 0x0F, 0xF0, 0x7F, 0xFB, 0x80, 0xFF, 0xE0, 0x01, 0xFF, 0x00, 0x03, 0xF0 }; const GFXglyph FreeSansBoldOblique24pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 13, 0, 1 }, // 0x20 ' ' { 0, 14, 34, 16, 5, -33 }, // 0x21 '!' { 60, 18, 12, 22, 8, -33 }, // 0x22 '"' { 87, 29, 33, 26, 2, -31 }, // 0x23 '#' { 207, 26, 42, 26, 3, -35 }, // 0x24 '$' { 344, 36, 34, 42, 6, -32 }, // 0x25 '%' { 497, 29, 35, 34, 4, -33 }, // 0x26 '&' { 624, 7, 12, 11, 8, -33 }, // 0x27 ''' { 635, 17, 44, 16, 4, -33 }, // 0x28 '(' { 729, 17, 44, 16, 0, -34 }, // 0x29 ')' { 823, 15, 15, 18, 7, -33 }, // 0x2A '*' { 852, 24, 22, 27, 4, -21 }, // 0x2B '+' { 918, 10, 15, 13, 1, -6 }, // 0x2C ',' { 937, 14, 6, 16, 3, -15 }, // 0x2D '-' { 948, 8, 7, 13, 3, -6 }, // 0x2E '.' { 955, 20, 34, 13, 0, -32 }, // 0x2F '/' { 1040, 25, 35, 26, 4, -33 }, // 0x30 '0' { 1150, 17, 33, 26, 8, -32 }, // 0x31 '1' { 1221, 29, 34, 26, 1, -33 }, // 0x32 '2' { 1345, 26, 35, 26, 3, -33 }, // 0x33 '3' { 1459, 25, 32, 26, 3, -31 }, // 0x34 '4' { 1559, 27, 34, 26, 3, -32 }, // 0x35 '5' { 1674, 25, 35, 26, 4, -33 }, // 0x36 '6' { 1784, 26, 33, 26, 6, -32 }, // 0x37 '7' { 1892, 26, 35, 26, 3, -33 }, // 0x38 '8' { 2006, 25, 35, 26, 4, -33 }, // 0x39 '9' { 2116, 12, 25, 16, 5, -24 }, // 0x3A ':' { 2154, 14, 33, 16, 3, -24 }, // 0x3B ';' { 2212, 26, 23, 27, 4, -22 }, // 0x3C '<' { 2287, 26, 18, 27, 3, -19 }, // 0x3D '=' { 2346, 26, 23, 27, 1, -21 }, // 0x3E '>' { 2421, 24, 35, 29, 8, -34 }, // 0x3F '?' { 2526, 45, 41, 46, 3, -34 }, // 0x40 '@' { 2757, 32, 34, 34, 1, -33 }, // 0x41 'A' { 2893, 32, 34, 34, 4, -33 }, // 0x42 'B' { 3029, 32, 36, 34, 5, -34 }, // 0x43 'C' { 3173, 32, 34, 34, 4, -33 }, // 0x44 'D' { 3309, 32, 34, 31, 4, -33 }, // 0x45 'E' { 3445, 32, 34, 29, 3, -33 }, // 0x46 'F' { 3581, 33, 36, 37, 5, -34 }, // 0x47 'G' { 3730, 35, 34, 34, 3, -33 }, // 0x48 'H' { 3879, 14, 34, 13, 3, -33 }, // 0x49 'I' { 3939, 27, 35, 26, 3, -33 }, // 0x4A 'J' { 4058, 37, 34, 34, 3, -33 }, // 0x4B 'K' { 4216, 24, 34, 29, 4, -33 }, // 0x4C 'L' { 4318, 41, 34, 39, 3, -33 }, // 0x4D 'M' { 4493, 35, 34, 34, 3, -33 }, // 0x4E 'N' { 4642, 34, 36, 37, 5, -34 }, // 0x4F 'O' { 4795, 31, 34, 31, 4, -33 }, // 0x50 'P' { 4927, 34, 37, 37, 5, -34 }, // 0x51 'Q' { 5085, 33, 34, 34, 4, -33 }, // 0x52 'R' { 5226, 30, 36, 31, 4, -34 }, // 0x53 'S' { 5361, 28, 34, 29, 7, -33 }, // 0x54 'T' { 5480, 32, 35, 34, 6, -33 }, // 0x55 'U' { 5620, 30, 34, 31, 8, -33 }, // 0x56 'V' { 5748, 43, 34, 44, 8, -33 }, // 0x57 'W' { 5931, 37, 34, 31, 1, -33 }, // 0x58 'X' { 6089, 29, 34, 31, 9, -33 }, // 0x59 'Y' { 6213, 33, 34, 29, 1, -33 }, // 0x5A 'Z' { 6354, 21, 43, 16, 1, -33 }, // 0x5B '[' { 6467, 7, 36, 13, 6, -34 }, // 0x5C '\' { 6499, 21, 43, 16, -1, -33 }, // 0x5D ']' { 6612, 21, 20, 27, 6, -32 }, // 0x5E '^' { 6665, 29, 4, 26, -3, 6 }, // 0x5F '_' { 6680, 7, 7, 16, 8, -35 }, // 0x60 '`' { 6687, 25, 26, 26, 2, -24 }, // 0x61 'a' { 6769, 27, 35, 29, 3, -33 }, // 0x62 'b' { 6888, 25, 26, 26, 4, -24 }, // 0x63 'c' { 6970, 29, 35, 29, 4, -33 }, // 0x64 'd' { 7097, 25, 26, 26, 3, -24 }, // 0x65 'e' { 7179, 18, 34, 16, 4, -33 }, // 0x66 'f' { 7256, 29, 35, 29, 2, -24 }, // 0x67 'g' { 7383, 27, 34, 29, 3, -33 }, // 0x68 'h' { 7498, 14, 34, 13, 3, -33 }, // 0x69 'i' { 7558, 19, 44, 13, -2, -33 }, // 0x6A 'j' { 7663, 28, 34, 26, 3, -33 }, // 0x6B 'k' { 7782, 14, 34, 13, 3, -33 }, // 0x6C 'l' { 7842, 40, 25, 42, 3, -24 }, // 0x6D 'm' { 7967, 27, 25, 29, 3, -24 }, // 0x6E 'n' { 8052, 26, 26, 29, 4, -24 }, // 0x6F 'o' { 8137, 29, 35, 29, 1, -24 }, // 0x70 'p' { 8264, 28, 35, 29, 3, -24 }, // 0x71 'q' { 8387, 20, 25, 18, 3, -24 }, // 0x72 'r' { 8450, 24, 26, 26, 3, -24 }, // 0x73 's' { 8528, 14, 32, 16, 5, -30 }, // 0x74 't' { 8584, 27, 26, 29, 4, -24 }, // 0x75 'u' { 8672, 25, 25, 26, 6, -24 }, // 0x76 'v' { 8751, 35, 25, 37, 6, -24 }, // 0x77 'w' { 8861, 29, 25, 26, 1, -24 }, // 0x78 'x' { 8952, 29, 35, 26, 2, -24 }, // 0x79 'y' { 9079, 26, 25, 23, 1, -24 }, // 0x7A 'z' { 9161, 18, 43, 18, 4, -33 }, // 0x7B '{' { 9258, 13, 43, 13, 3, -33 }, // 0x7C '|' { 9328, 18, 43, 18, 2, -33 }, // 0x7D '}' { 9425, 22, 8, 27, 5, -14 } }; // 0x7E '~' const GFXfont FreeSansBoldOblique24pt7b PROGMEM = { (uint8_t *)FreeSansBoldOblique24pt7bBitmaps, (GFXglyph *)FreeSansBoldOblique24pt7bGlyphs, 0x20, 0x7E, 56 }; // Approx. 10119 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSansBoldOblique9pt7b.h ================================================ const uint8_t FreeSansBoldOblique9pt7bBitmaps[] PROGMEM = { 0x21, 0x8E, 0x73, 0x18, 0xC6, 0x21, 0x19, 0xCE, 0x00, 0xEF, 0xDF, 0xBE, 0x68, 0x80, 0x06, 0xC1, 0x99, 0xFF, 0xBF, 0xF1, 0xB0, 0x66, 0x0C, 0xC7, 0xFC, 0xFF, 0x8C, 0x83, 0x30, 0x64, 0x00, 0x02, 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0x3B, 0xDC, 0xEB, 0x63, 0xAD, 0x8F, 0xBC, 0x1C, 0xF0, 0x73, 0xC1, 0xCE, 0x00, 0x1C, 0xE1, 0xCC, 0x0D, 0x80, 0xF8, 0x0F, 0x00, 0xF0, 0x1F, 0x03, 0xB8, 0x33, 0x87, 0x38, 0x70, 0xCE, 0x38, 0xC6, 0x19, 0xC3, 0x30, 0x66, 0x0F, 0x81, 0xF0, 0x3C, 0x03, 0x80, 0x60, 0x18, 0x0F, 0x01, 0xC0, 0x00, 0x1F, 0xCF, 0xF0, 0x38, 0x1C, 0x0E, 0x07, 0x03, 0x81, 0xC0, 0x7F, 0xBF, 0xE0, 0x0E, 0x38, 0x61, 0x83, 0x06, 0x0C, 0x78, 0xF0, 0xC1, 0x83, 0x0E, 0x1C, 0x38, 0x78, 0x70, 0x18, 0xC4, 0x21, 0x18, 0xC4, 0x21, 0x18, 0xC4, 0x23, 0x18, 0x80, 0x1C, 0x3C, 0x38, 0x70, 0xE1, 0x83, 0x06, 0x1E, 0x5C, 0x60, 0xC1, 0x83, 0x0C, 0x38, 0xE0, 0x71, 0x8E }; const GFXglyph FreeSansBoldOblique9pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 5, 0, 1 }, // 0x20 ' ' { 0, 5, 13, 6, 2, -12 }, // 0x21 '!' { 9, 7, 5, 9, 3, -12 }, // 0x22 '"' { 14, 11, 12, 10, 1, -11 }, // 0x23 '#' { 31, 11, 16, 10, 1, -13 }, // 0x24 '$' { 53, 14, 13, 16, 2, -12 }, // 0x25 '%' { 76, 12, 13, 13, 2, -12 }, // 0x26 '&' { 96, 3, 5, 4, 3, -12 }, // 0x27 ''' { 98, 8, 17, 6, 2, -12 }, // 0x28 '(' { 115, 8, 17, 6, -2, -13 }, // 0x29 ')' { 132, 6, 6, 7, 3, -12 }, // 0x2A '*' { 137, 9, 8, 11, 2, -7 }, // 0x2B '+' { 146, 4, 6, 5, 0, -2 }, // 0x2C ',' { 149, 5, 2, 6, 1, -5 }, // 0x2D '-' { 151, 3, 2, 5, 1, -1 }, // 0x2E '.' { 152, 8, 13, 5, 0, -12 }, // 0x2F '/' { 165, 10, 13, 10, 1, -12 }, // 0x30 '0' { 182, 7, 13, 10, 3, -12 }, // 0x31 '1' { 194, 11, 13, 10, 1, -12 }, // 0x32 '2' { 212, 11, 13, 10, 1, -12 }, // 0x33 '3' { 230, 10, 12, 10, 1, -11 }, // 0x34 '4' { 245, 11, 13, 10, 1, -12 }, // 0x35 '5' { 263, 10, 13, 10, 2, -12 }, // 0x36 '6' { 280, 10, 13, 10, 2, -12 }, // 0x37 '7' { 297, 11, 13, 10, 1, -12 }, // 0x38 '8' { 315, 11, 13, 10, 1, -12 }, // 0x39 '9' { 333, 4, 9, 6, 2, -8 }, // 0x3A ':' { 338, 5, 12, 6, 1, -8 }, // 0x3B ';' { 346, 10, 9, 11, 1, -8 }, // 0x3C '<' { 358, 10, 6, 11, 1, -6 }, // 0x3D '=' { 366, 10, 9, 11, 1, -7 }, // 0x3E '>' { 378, 10, 13, 11, 3, -12 }, // 0x3F '?' { 395, 18, 16, 18, 1, -13 }, // 0x40 '@' { 431, 13, 13, 13, 0, -12 }, // 0x41 'A' { 453, 13, 13, 13, 1, -12 }, // 0x42 'B' { 475, 13, 13, 13, 2, -12 }, // 0x43 'C' { 497, 13, 13, 13, 1, -12 }, // 0x44 'D' { 519, 13, 13, 12, 1, -12 }, // 0x45 'E' { 541, 12, 13, 11, 1, -12 }, // 0x46 'F' { 561, 12, 13, 14, 2, -12 }, // 0x47 'G' { 581, 14, 13, 13, 1, -12 }, // 0x48 'H' { 604, 5, 13, 5, 1, -12 }, // 0x49 'I' { 613, 11, 13, 10, 1, -12 }, // 0x4A 'J' { 631, 14, 13, 13, 1, -12 }, // 0x4B 'K' { 654, 10, 13, 11, 1, -12 }, // 0x4C 'L' { 671, 16, 13, 15, 1, -12 }, // 0x4D 'M' { 697, 14, 13, 13, 1, -12 }, // 0x4E 'N' { 720, 13, 13, 14, 2, -12 }, // 0x4F 'O' { 742, 13, 13, 12, 1, -12 }, // 0x50 'P' { 764, 13, 14, 14, 2, -12 }, // 0x51 'Q' { 787, 13, 13, 13, 1, -12 }, // 0x52 'R' { 809, 13, 13, 12, 1, -12 }, // 0x53 'S' { 831, 11, 13, 11, 3, -12 }, // 0x54 'T' { 849, 13, 13, 13, 2, -12 }, // 0x55 'U' { 871, 11, 13, 12, 3, -12 }, // 0x56 'V' { 889, 17, 13, 17, 3, -12 }, // 0x57 'W' { 917, 14, 13, 12, 0, -12 }, // 0x58 'X' { 940, 11, 13, 12, 3, -12 }, // 0x59 'Y' { 958, 12, 13, 11, 1, -12 }, // 0x5A 'Z' { 978, 8, 17, 6, 0, -12 }, // 0x5B '[' { 995, 3, 17, 5, 2, -16 }, // 0x5C '\' { 1002, 8, 17, 6, 0, -13 }, // 0x5D ']' { 1019, 8, 8, 11, 2, -12 }, // 0x5E '^' { 1027, 11, 1, 10, -1, 4 }, // 0x5F '_' { 1029, 3, 2, 6, 3, -12 }, // 0x60 '`' { 1030, 10, 10, 10, 1, -9 }, // 0x61 'a' { 1043, 11, 13, 11, 1, -12 }, // 0x62 'b' { 1061, 10, 10, 10, 1, -9 }, // 0x63 'c' { 1074, 12, 13, 11, 1, -12 }, // 0x64 'd' { 1094, 10, 10, 10, 1, -9 }, // 0x65 'e' { 1107, 6, 13, 6, 2, -12 }, // 0x66 'f' { 1117, 12, 14, 11, 0, -9 }, // 0x67 'g' { 1138, 11, 13, 11, 1, -12 }, // 0x68 'h' { 1156, 5, 13, 5, 1, -12 }, // 0x69 'i' { 1165, 8, 17, 5, -1, -12 }, // 0x6A 'j' { 1182, 11, 13, 10, 1, -12 }, // 0x6B 'k' { 1200, 5, 13, 5, 1, -12 }, // 0x6C 'l' { 1209, 16, 10, 16, 1, -9 }, // 0x6D 'm' { 1229, 11, 10, 11, 1, -9 }, // 0x6E 'n' { 1243, 11, 10, 11, 1, -9 }, // 0x6F 'o' { 1257, 12, 14, 11, 0, -9 }, // 0x70 'p' { 1278, 11, 14, 11, 1, -9 }, // 0x71 'q' { 1298, 8, 10, 7, 1, -9 }, // 0x72 'r' { 1308, 9, 10, 10, 2, -9 }, // 0x73 's' { 1320, 6, 12, 6, 2, -11 }, // 0x74 't' { 1329, 10, 10, 11, 2, -9 }, // 0x75 'u' { 1342, 10, 10, 10, 2, -9 }, // 0x76 'v' { 1355, 14, 10, 14, 2, -9 }, // 0x77 'w' { 1373, 12, 10, 10, 0, -9 }, // 0x78 'x' { 1388, 11, 14, 10, 1, -9 }, // 0x79 'y' { 1408, 10, 10, 9, 0, -9 }, // 0x7A 'z' { 1421, 7, 17, 7, 2, -12 }, // 0x7B '{' { 1436, 5, 17, 5, 1, -12 }, // 0x7C '|' { 1447, 7, 17, 7, 0, -13 }, // 0x7D '}' { 1462, 8, 2, 11, 2, -4 } }; // 0x7E '~' const GFXfont FreeSansBoldOblique9pt7b PROGMEM = { (uint8_t *)FreeSansBoldOblique9pt7bBitmaps, (GFXglyph *)FreeSansBoldOblique9pt7bGlyphs, 0x20, 0x7E, 22 }; // Approx. 2136 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSansOblique12pt7b.h ================================================ const uint8_t FreeSansOblique12pt7bBitmaps[] PROGMEM = { 0x0C, 0x61, 0x86, 0x18, 0x63, 0x0C, 0x30, 0xC2, 0x18, 0x61, 0x00, 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0x18, 0x0C, 0x0C, 0x06, 0x03, 0x01, 0xC0, 0xE0, 0x60, 0x60, 0x30, 0x18, 0x0C, 0x0C, 0x06, 0x03, 0x01, 0x83, 0x83, 0x80, 0x38, 0x0F, 0x82, 0x38, 0x83, 0xE0, 0x38 }; const GFXglyph FreeSansOblique12pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 7, 0, 1 }, // 0x20 ' ' { 0, 6, 18, 7, 3, -17 }, // 0x21 '!' { 14, 6, 6, 9, 4, -16 }, // 0x22 '"' { 19, 15, 18, 13, 1, -17 }, // 0x23 '#' { 53, 13, 21, 13, 2, -17 }, // 0x24 '$' { 88, 19, 17, 21, 3, -16 }, // 0x25 '%' { 129, 13, 17, 16, 2, -16 }, // 0x26 '&' { 157, 2, 6, 5, 4, -16 }, // 0x27 ''' { 159, 8, 23, 8, 3, -17 }, // 0x28 '(' { 182, 8, 23, 8, 0, -16 }, // 0x29 ')' { 205, 8, 8, 9, 4, -17 }, // 0x2A '*' { 213, 12, 11, 14, 2, -10 }, // 0x2B '+' { 230, 4, 6, 7, 1, -1 }, // 0x2C ',' { 233, 6, 2, 8, 2, -7 }, // 0x2D '-' { 235, 3, 2, 7, 2, -1 }, // 0x2E '.' { 236, 10, 18, 7, 0, -17 }, // 0x2F '/' { 259, 12, 17, 13, 2, -16 }, // 0x30 '0' { 285, 7, 17, 13, 5, -16 }, // 0x31 '1' { 300, 14, 17, 13, 1, -16 }, // 0x32 '2' { 330, 12, 17, 13, 2, -16 }, // 0x33 '3' { 356, 12, 17, 13, 2, -16 }, // 0x34 '4' { 382, 13, 17, 13, 2, -16 }, // 0x35 '5' { 410, 12, 17, 13, 2, -16 }, // 0x36 '6' { 436, 13, 17, 13, 3, -16 }, // 0x37 '7' { 464, 12, 17, 13, 2, -16 }, // 0x38 '8' { 490, 12, 17, 13, 2, -16 }, // 0x39 '9' { 516, 5, 12, 7, 3, -11 }, // 0x3A ':' { 524, 6, 16, 7, 2, -11 }, // 0x3B ';' { 536, 13, 12, 14, 2, -11 }, // 0x3C '<' { 556, 13, 6, 14, 2, -8 }, // 0x3D '=' { 566, 13, 12, 14, 1, -10 }, // 0x3E '>' { 586, 11, 18, 13, 4, -17 }, // 0x3F '?' { 611, 23, 21, 24, 2, -17 }, // 0x40 '@' { 672, 16, 18, 16, 0, -17 }, // 0x41 'A' { 708, 15, 18, 16, 2, -17 }, // 0x42 'B' { 742, 16, 18, 17, 2, -17 }, // 0x43 'C' { 778, 16, 18, 17, 2, -17 }, // 0x44 'D' { 814, 16, 18, 16, 2, -17 }, // 0x45 'E' { 850, 15, 18, 14, 2, -17 }, // 0x46 'F' { 884, 16, 18, 19, 3, -17 }, // 0x47 'G' { 920, 17, 18, 17, 2, -17 }, // 0x48 'H' { 959, 6, 18, 7, 2, -17 }, // 0x49 'I' { 973, 13, 18, 12, 1, -17 }, // 0x4A 'J' { 1003, 18, 18, 16, 2, -17 }, // 0x4B 'K' { 1044, 11, 18, 13, 2, -17 }, // 0x4C 'L' { 1069, 20, 18, 20, 2, -17 }, // 0x4D 'M' { 1114, 17, 18, 18, 2, -17 }, // 0x4E 'N' { 1153, 17, 18, 18, 2, -17 }, // 0x4F 'O' { 1192, 15, 18, 15, 2, -17 }, // 0x50 'P' { 1226, 18, 19, 19, 2, -17 }, // 0x51 'Q' { 1269, 16, 18, 17, 2, -17 }, // 0x52 'R' { 1305, 15, 18, 16, 2, -17 }, // 0x53 'S' { 1339, 14, 18, 15, 4, -17 }, // 0x54 'T' { 1371, 16, 18, 17, 3, -17 }, // 0x55 'U' { 1407, 15, 18, 15, 4, -17 }, // 0x56 'V' { 1441, 22, 18, 22, 4, -17 }, // 0x57 'W' { 1491, 19, 18, 16, 0, -17 }, // 0x58 'X' { 1534, 16, 18, 16, 4, -17 }, // 0x59 'Y' { 1570, 17, 18, 15, 1, -17 }, // 0x5A 'Z' { 1609, 10, 23, 7, 0, -17 }, // 0x5B '[' { 1638, 3, 18, 7, 4, -17 }, // 0x5C '\' { 1645, 10, 23, 7, -1, -16 }, // 0x5D ']' { 1674, 10, 9, 11, 2, -16 }, // 0x5E '^' { 1686, 14, 1, 13, -1, 4 }, // 0x5F '_' { 1688, 4, 4, 8, 4, -17 }, // 0x60 '`' { 1690, 11, 13, 13, 2, -12 }, // 0x61 'a' { 1708, 13, 18, 13, 1, -17 }, // 0x62 'b' { 1738, 11, 13, 12, 2, -12 }, // 0x63 'c' { 1756, 14, 18, 13, 2, -17 }, // 0x64 'd' { 1788, 12, 13, 13, 2, -12 }, // 0x65 'e' { 1808, 8, 18, 6, 2, -17 }, // 0x66 'f' { 1826, 14, 18, 13, 1, -12 }, // 0x67 'g' { 1858, 12, 18, 13, 1, -17 }, // 0x68 'h' { 1885, 5, 18, 5, 2, -17 }, // 0x69 'i' { 1897, 9, 23, 6, -1, -17 }, // 0x6A 'j' { 1923, 13, 18, 12, 1, -17 }, // 0x6B 'k' { 1953, 5, 18, 5, 2, -17 }, // 0x6C 'l' { 1965, 19, 13, 20, 1, -12 }, // 0x6D 'm' { 1996, 12, 13, 13, 1, -12 }, // 0x6E 'n' { 2016, 12, 13, 13, 2, -12 }, // 0x6F 'o' { 2036, 14, 18, 14, 0, -12 }, // 0x70 'p' { 2068, 13, 18, 13, 2, -12 }, // 0x71 'q' { 2098, 9, 13, 8, 1, -12 }, // 0x72 'r' { 2113, 12, 13, 12, 1, -12 }, // 0x73 's' { 2133, 7, 16, 6, 2, -15 }, // 0x74 't' { 2147, 12, 13, 13, 2, -12 }, // 0x75 'u' { 2167, 11, 13, 12, 3, -12 }, // 0x76 'v' { 2185, 17, 13, 17, 3, -12 }, // 0x77 'w' { 2213, 14, 13, 12, 0, -12 }, // 0x78 'x' { 2236, 14, 18, 11, 0, -12 }, // 0x79 'y' { 2268, 12, 13, 12, 1, -12 }, // 0x7A 'z' { 2288, 8, 23, 8, 3, -17 }, // 0x7B '{' { 2311, 6, 23, 6, 1, -17 }, // 0x7C '|' { 2329, 9, 23, 8, -1, -16 }, // 0x7D '}' { 2355, 11, 5, 14, 3, -10 } }; // 0x7E '~' const GFXfont FreeSansOblique12pt7b PROGMEM = { (uint8_t *)FreeSansOblique12pt7bBitmaps, (GFXglyph *)FreeSansOblique12pt7bGlyphs, 0x20, 0x7E, 29 }; // Approx. 3034 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSansOblique18pt7b.h ================================================ const uint8_t FreeSansOblique18pt7bBitmaps[] PROGMEM = { 0x03, 0x83, 0x81, 0xC0, 0xE0, 0x70, 0x78, 0x38, 0x1C, 0x0E, 0x07, 0x07, 0x83, 0x81, 0xC0, 0xE0, 0x60, 0x30, 0x30, 0x18, 0x0C, 0x04, 0x00, 0x00, 0x01, 0xC0, 0xE0, 0x70, 0x78, 0x00, 0x71, 0xDC, 0x7F, 0x3F, 0x8E, 0xE3, 0xB8, 0xEC, 0x33, 0x0C, 0xC3, 0x00, 0x00, 0x38, 0x70, 0x01, 0xC3, 0x80, 0x0C, 0x18, 0x00, 0xE1, 0xC0, 0x06, 0x0C, 0x00, 0x70, 0xE0, 0x03, 0x87, 0x03, 0xFF, 0xFF, 0x1F, 0xFF, 0xF0, 0xFF, 0xFF, 0x80, 0x60, 0xC0, 0x07, 0x0E, 0x00, 0x30, 0x60, 0x03, 0x87, 0x00, 0x18, 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0xE0, 0x0E, 0x00, 0xE0, 0x0E, 0x01, 0xC0, 0x1C, 0x01, 0xC0, 0x1C, 0x01, 0xC0, 0x1C, 0x01, 0xE0, 0x0F, 0x00, 0x70, 0x1F, 0x03, 0xC0, 0x78, 0x07, 0x00, 0x70, 0x0E, 0x00, 0xE0, 0x0E, 0x00, 0xE0, 0x0E, 0x01, 0xC0, 0x1C, 0x03, 0xC0, 0xF8, 0x0F, 0x80, 0xE0, 0x00, 0x1C, 0x00, 0x3F, 0x00, 0x7F, 0x83, 0x63, 0xC7, 0xC1, 0xFE, 0x00, 0xFC, 0x00, 0x78 }; const GFXglyph FreeSansOblique18pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 10, 0, 1 }, // 0x20 ' ' { 0, 9, 26, 10, 4, -25 }, // 0x21 '!' { 30, 10, 9, 12, 6, -24 }, // 0x22 '"' { 42, 21, 25, 19, 2, -24 }, // 0x23 '#' { 108, 20, 31, 19, 2, -26 }, // 0x24 '$' { 186, 26, 25, 31, 5, -24 }, // 0x25 '%' { 268, 20, 25, 23, 3, -24 }, // 0x26 '&' { 331, 4, 9, 7, 6, -24 }, // 0x27 ''' { 336, 12, 33, 12, 4, -25 }, // 0x28 '(' { 386, 12, 33, 12, -1, -24 }, // 0x29 ')' { 436, 10, 10, 14, 6, -25 }, // 0x2A '*' { 449, 18, 16, 20, 3, -15 }, // 0x2B '+' { 485, 5, 8, 10, 2, -2 }, // 0x2C ',' { 490, 9, 3, 12, 3, -10 }, // 0x2D '-' { 494, 4, 4, 10, 3, -3 }, // 0x2E '.' { 496, 15, 26, 10, 0, -25 }, // 0x2F '/' { 545, 18, 25, 19, 3, -24 }, // 0x30 '0' { 602, 10, 25, 19, 7, -24 }, // 0x31 '1' { 634, 20, 25, 19, 2, -24 }, // 0x32 '2' { 697, 19, 25, 19, 2, -24 }, // 0x33 '3' { 757, 18, 25, 19, 2, -24 }, // 0x34 '4' { 814, 20, 25, 19, 2, -24 }, // 0x35 '5' { 877, 19, 25, 19, 3, -24 }, // 0x36 '6' { 937, 18, 25, 19, 5, -24 }, // 0x37 '7' { 994, 19, 25, 19, 3, -24 }, // 0x38 '8' { 1054, 19, 25, 19, 2, -24 }, // 0x39 '9' { 1114, 7, 19, 10, 4, -18 }, // 0x3A ':' { 1131, 8, 24, 10, 3, -18 }, // 0x3B ';' { 1155, 19, 17, 20, 3, -16 }, // 0x3C '<' { 1196, 18, 9, 20, 3, -12 }, // 0x3D '=' { 1217, 19, 17, 20, 2, -15 }, // 0x3E '>' { 1258, 16, 26, 19, 6, -25 }, // 0x3F '?' { 1310, 33, 31, 36, 3, -25 }, // 0x40 '@' { 1438, 23, 26, 23, 0, -25 }, // 0x41 'A' { 1513, 21, 26, 23, 3, -25 }, // 0x42 'B' { 1582, 22, 26, 25, 4, -25 }, // 0x43 'C' { 1654, 23, 26, 25, 3, -25 }, // 0x44 'D' { 1729, 23, 26, 23, 3, -25 }, // 0x45 'E' { 1804, 22, 26, 21, 3, -25 }, // 0x46 'F' { 1876, 24, 26, 27, 4, -25 }, // 0x47 'G' { 1954, 25, 26, 25, 3, -25 }, // 0x48 'H' { 2036, 8, 26, 10, 4, -25 }, // 0x49 'I' { 2062, 18, 26, 18, 2, -25 }, // 0x4A 'J' { 2121, 25, 26, 23, 3, -25 }, // 0x4B 'K' { 2203, 16, 26, 19, 3, -25 }, // 0x4C 'L' { 2255, 29, 26, 30, 3, -25 }, // 0x4D 'M' { 2350, 25, 26, 26, 3, -25 }, // 0x4E 'N' { 2432, 24, 26, 27, 4, -25 }, // 0x4F 'O' { 2510, 22, 26, 23, 3, -25 }, // 0x50 'P' { 2582, 25, 28, 27, 4, -25 }, // 0x51 'Q' { 2670, 23, 26, 25, 3, -25 }, // 0x52 'R' { 2745, 22, 26, 23, 3, -25 }, // 0x53 'S' { 2817, 20, 26, 21, 6, -25 }, // 0x54 'T' { 2882, 24, 26, 25, 4, -25 }, // 0x55 'U' { 2960, 21, 26, 23, 6, -25 }, // 0x56 'V' { 3029, 32, 26, 33, 6, -25 }, // 0x57 'W' { 3133, 27, 26, 23, 1, -25 }, // 0x58 'X' { 3221, 23, 26, 24, 6, -25 }, // 0x59 'Y' { 3296, 25, 26, 21, 1, -25 }, // 0x5A 'Z' { 3378, 13, 33, 10, 1, -25 }, // 0x5B '[' { 3432, 4, 26, 10, 5, -25 }, // 0x5C '\' { 3445, 13, 33, 10, -1, -24 }, // 0x5D ']' { 3499, 14, 14, 16, 3, -24 }, // 0x5E '^' { 3524, 21, 2, 19, -2, 5 }, // 0x5F '_' { 3530, 6, 5, 12, 6, -25 }, // 0x60 '`' { 3534, 18, 19, 19, 2, -18 }, // 0x61 'a' { 3577, 19, 26, 20, 2, -25 }, // 0x62 'b' { 3639, 16, 19, 18, 3, -18 }, // 0x63 'c' { 3677, 20, 26, 20, 3, -25 }, // 0x64 'd' { 3742, 17, 19, 19, 3, -18 }, // 0x65 'e' { 3783, 11, 26, 9, 2, -25 }, // 0x66 'f' { 3819, 19, 27, 19, 2, -18 }, // 0x67 'g' { 3884, 18, 26, 19, 2, -25 }, // 0x68 'h' { 3943, 8, 26, 8, 2, -25 }, // 0x69 'i' { 3969, 14, 34, 8, -2, -25 }, // 0x6A 'j' { 4029, 19, 26, 18, 2, -25 }, // 0x6B 'k' { 4091, 8, 26, 8, 2, -25 }, // 0x6C 'l' { 4117, 27, 19, 29, 2, -18 }, // 0x6D 'm' { 4182, 18, 19, 19, 2, -18 }, // 0x6E 'n' { 4225, 17, 19, 19, 3, -18 }, // 0x6F 'o' { 4266, 21, 26, 20, 0, -18 }, // 0x70 'p' { 4335, 20, 27, 19, 2, -18 }, // 0x71 'q' { 4403, 13, 19, 11, 2, -18 }, // 0x72 'r' { 4434, 16, 19, 18, 2, -18 }, // 0x73 's' { 4472, 10, 23, 9, 3, -22 }, // 0x74 't' { 4501, 18, 19, 19, 3, -18 }, // 0x75 'u' { 4544, 16, 19, 17, 4, -18 }, // 0x76 'v' { 4582, 24, 19, 25, 4, -18 }, // 0x77 'w' { 4639, 19, 19, 17, 1, -18 }, // 0x78 'x' { 4685, 20, 27, 17, 0, -18 }, // 0x79 'y' { 4753, 19, 19, 17, 1, -18 }, // 0x7A 'z' { 4799, 12, 33, 12, 3, -25 }, // 0x7B '{' { 4849, 9, 33, 9, 2, -25 }, // 0x7C '|' { 4887, 12, 33, 12, 0, -24 }, // 0x7D '}' { 4937, 16, 7, 20, 5, -15 } }; // 0x7E '~' const GFXfont FreeSansOblique18pt7b PROGMEM = { (uint8_t *)FreeSansOblique18pt7bBitmaps, (GFXglyph *)FreeSansOblique18pt7bGlyphs, 0x20, 0x7E, 42 }; // Approx. 5623 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSansOblique24pt7b.h ================================================ const uint8_t FreeSansOblique24pt7bBitmaps[] PROGMEM = { 0x01, 0xE0, 0x3C, 0x0F, 0x81, 0xE0, 0x3C, 0x07, 0x80, 0xF0, 0x3C, 0x07, 0x80, 0xF0, 0x1E, 0x03, 0xC0, 0xF0, 0x1E, 0x03, 0xC0, 0x78, 0x0F, 0x03, 0xC0, 0x78, 0x0F, 0x01, 0xE0, 0x38, 0x07, 0x00, 0xE0, 0x18, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0xF0, 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{ 67, 28, 34, 26, 3, -32 }, // 0x23 '#' { 186, 26, 42, 26, 3, -35 }, // 0x24 '$' { 323, 36, 34, 42, 6, -32 }, // 0x25 '%' { 476, 26, 34, 31, 4, -32 }, // 0x26 '&' { 587, 5, 12, 9, 8, -32 }, // 0x27 ''' { 595, 15, 44, 16, 5, -33 }, // 0x28 '(' { 678, 15, 44, 16, 1, -33 }, // 0x29 ')' { 761, 14, 13, 18, 8, -33 }, // 0x2A '*' { 784, 23, 22, 27, 5, -20 }, // 0x2B '+' { 848, 7, 12, 13, 3, -4 }, // 0x2C ',' { 859, 12, 4, 16, 5, -14 }, // 0x2D '-' { 865, 6, 5, 13, 4, -4 }, // 0x2E '.' { 869, 21, 35, 13, -1, -33 }, // 0x2F '/' { 961, 23, 34, 26, 5, -32 }, // 0x30 '0' { 1059, 13, 33, 26, 10, -32 }, // 0x31 '1' { 1113, 27, 33, 26, 2, -32 }, // 0x32 '2' { 1225, 25, 34, 26, 3, -32 }, // 0x33 '3' { 1332, 24, 33, 26, 3, -32 }, // 0x34 '4' { 1431, 27, 34, 26, 3, -32 }, // 0x35 '5' { 1546, 24, 34, 26, 4, -32 }, // 0x36 '6' { 1648, 26, 33, 26, 6, -32 }, // 0x37 '7' { 1756, 25, 34, 26, 3, -32 }, // 0x38 '8' { 1863, 24, 34, 26, 4, -32 }, // 0x39 '9' { 1965, 10, 25, 13, 5, -24 }, // 0x3A ':' { 1997, 11, 32, 13, 4, -24 }, // 0x3B ';' { 2041, 26, 23, 27, 4, -22 }, // 0x3C '<' { 2116, 26, 12, 27, 3, -16 }, // 0x3D '=' { 2155, 26, 23, 27, 2, -21 }, // 0x3E '>' { 2230, 20, 35, 26, 9, -34 }, // 0x3F '?' { 2318, 45, 42, 48, 4, -34 }, // 0x40 '@' { 2555, 30, 34, 31, 1, -33 }, // 0x41 'A' { 2683, 29, 34, 31, 4, -33 }, // 0x42 'B' { 2807, 30, 36, 33, 5, -34 }, // 0x43 'C' { 2942, 31, 34, 33, 4, -33 }, // 0x44 'D' { 3074, 31, 34, 31, 4, -33 }, // 0x45 'E' { 3206, 30, 34, 28, 4, -33 }, // 0x46 'F' { 3334, 33, 36, 37, 5, -34 }, // 0x47 'G' { 3483, 33, 34, 34, 4, -33 }, // 0x48 'H' { 3624, 11, 34, 13, 5, -33 }, // 0x49 'I' { 3671, 25, 35, 24, 2, -33 }, // 0x4A 'J' { 3781, 34, 34, 31, 4, -33 }, // 0x4B 'K' { 3926, 22, 34, 26, 4, -33 }, // 0x4C 'L' { 4020, 39, 34, 40, 4, -33 }, // 0x4D 'M' { 4186, 34, 34, 34, 4, -33 }, // 0x4E 'N' { 4331, 33, 36, 36, 5, -34 }, // 0x4F 'O' { 4480, 29, 34, 30, 4, -33 }, // 0x50 'P' { 4604, 33, 38, 36, 5, -34 }, // 0x51 'Q' { 4761, 30, 34, 33, 4, -33 }, // 0x52 'R' { 4889, 29, 36, 31, 4, -34 }, // 0x53 'S' { 5020, 28, 34, 29, 7, -33 }, // 0x54 'T' { 5139, 31, 35, 34, 6, -33 }, // 0x55 'U' { 5275, 29, 34, 30, 8, -33 }, // 0x56 'V' { 5399, 43, 34, 44, 8, -33 }, // 0x57 'W' { 5582, 36, 34, 31, 1, -33 }, // 0x58 'X' { 5735, 30, 34, 32, 8, -33 }, // 0x59 'Y' { 5863, 34, 34, 29, 1, -33 }, // 0x5A 'Z' { 6008, 18, 44, 13, 1, -33 }, // 0x5B '[' { 6107, 6, 35, 13, 7, -33 }, // 0x5C '\' { 6134, 18, 44, 13, -1, -33 }, // 0x5D ']' { 6233, 17, 18, 22, 6, -32 }, // 0x5E '^' { 6272, 29, 2, 26, -3, 7 }, // 0x5F '_' { 6280, 8, 7, 16, 8, -34 }, // 0x60 '`' { 6287, 23, 27, 26, 3, -25 }, // 0x61 'a' { 6365, 25, 35, 26, 3, -33 }, // 0x62 'b' { 6475, 22, 27, 24, 4, -25 }, // 0x63 'c' { 6550, 27, 35, 26, 4, -33 }, // 0x64 'd' { 6669, 23, 27, 26, 4, -25 }, // 0x65 'e' { 6747, 15, 34, 12, 3, -33 }, // 0x66 'f' { 6811, 27, 36, 26, 2, -25 }, // 0x67 'g' { 6933, 23, 34, 25, 3, -33 }, // 0x68 'h' { 7031, 11, 34, 10, 3, -33 }, // 0x69 'i' { 7078, 18, 44, 11, -2, -33 }, // 0x6A 'j' { 7177, 25, 34, 24, 3, -33 }, // 0x6B 'k' { 7284, 11, 34, 10, 3, -33 }, // 0x6C 'l' { 7331, 36, 26, 38, 3, -25 }, // 0x6D 'm' { 7448, 23, 26, 25, 3, -25 }, // 0x6E 'n' { 7523, 23, 27, 26, 4, -25 }, // 0x6F 'o' { 7601, 27, 36, 26, 1, -25 }, // 0x70 'p' { 7723, 26, 36, 26, 3, -25 }, // 0x71 'q' { 7840, 17, 26, 15, 3, -25 }, // 0x72 'r' { 7896, 21, 27, 24, 3, -25 }, // 0x73 's' { 7967, 13, 32, 12, 4, -30 }, // 0x74 't' { 8019, 24, 26, 25, 4, -24 }, // 0x75 'u' { 8097, 22, 25, 23, 6, -24 }, // 0x76 'v' { 8166, 33, 25, 34, 6, -24 }, // 0x77 'w' { 8270, 26, 25, 23, 1, -24 }, // 0x78 'x' { 8352, 27, 35, 23, 0, -24 }, // 0x79 'y' { 8471, 25, 25, 23, 1, -24 }, // 0x7A 'z' { 8550, 16, 44, 16, 5, -33 }, // 0x7B '{' { 8638, 12, 44, 12, 3, -33 }, // 0x7C '|' { 8704, 16, 44, 16, -1, -33 }, // 0x7D '}' { 8792, 21, 7, 27, 6, -19 } }; // 0x7E '~' const GFXfont FreeSansOblique24pt7b PROGMEM = { (uint8_t *)FreeSansOblique24pt7bBitmaps, (GFXglyph *)FreeSansOblique24pt7bGlyphs, 0x20, 0x7E, 56 }; // Approx. 9483 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSansOblique9pt7b.h ================================================ const uint8_t FreeSansOblique9pt7bBitmaps[] PROGMEM = { 0x10, 0x84, 0x22, 0x10, 0x84, 0x42, 0x10, 0x08, 0x00, 0xDE, 0xE5, 0x20, 0x06, 0x40, 0x88, 0x13, 0x06, 0x43, 0xFE, 0x32, 0x04, 0x40, 0x98, 0x32, 0x1F, 0xF0, 0x98, 0x22, 0x04, 0xC0, 0x02, 0x01, 0xF8, 0x6B, 0x99, 0x33, 0x40, 0x68, 0x0F, 0x00, 0xF8, 0x07, 0xC1, 0x1B, 0x23, 0x64, 0x4E, 0x98, 0xFC, 0x04, 0x00, 0x80, 0x3C, 0x08, 0xCC, 0x23, 0x18, 0x86, 0x32, 0x0C, 0x64, 0x19, 0x90, 0x1E, 0x40, 0x01, 0x1E, 0x02, 0x66, 0x09, 0x8C, 0x23, 0x18, 0x86, 0x62, 0x07, 0x80, 0x0F, 0x06, 0x63, 0x18, 0xC6, 0x3F, 0x07, 0x03, 0xC1, 0xB3, 0xC7, 0xB0, 0xCC, 0x33, 0x3E, 0x79, 0x80, 0xFA, 0x04, 0x10, 0x60, 0x83, 0x04, 0x18, 0x30, 0xC1, 0x83, 0x06, 0x0C, 0x18, 0x10, 0x30, 0x20, 0x08, 0x18, 0x10, 0x30, 0x60, 0xC1, 0x83, 0x06, 0x18, 0x30, 0x41, 0x82, 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0x63, 0x83, 0x1C, 0x00, 0x10, 0xC3, 0x10, 0x24, 0x07, 0x80, 0xE0, 0x1C, 0x07, 0x81, 0x90, 0x23, 0x08, 0x20, 0x30, 0x46, 0x18, 0x42, 0x08, 0xC1, 0x10, 0x24, 0x07, 0x80, 0xE0, 0x1C, 0x03, 0x00, 0x60, 0x08, 0x03, 0x01, 0xC0, 0x00, 0x3F, 0x80, 0x80, 0x80, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0x7F, 0x00, 0x18, 0x88, 0x42, 0x10, 0x88, 0xC3, 0x18, 0x88, 0x42, 0x18, 0xE0, 0x11, 0x22, 0x22, 0x24, 0x44, 0x4C, 0x88, 0x88, 0x00, 0x38, 0xC2, 0x10, 0x88, 0xC6, 0x18, 0x88, 0x42, 0x10, 0x88, 0xC0, 0x70, 0x4E, 0x41, 0xC0 }; const GFXglyph FreeSansOblique9pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 5, 0, 1 }, // 0x20 ' ' { 0, 5, 13, 5, 2, -12 }, // 0x21 '!' { 9, 5, 4, 6, 3, -12 }, // 0x22 '"' { 12, 11, 13, 10, 1, -12 }, // 0x23 '#' { 30, 11, 16, 10, 1, -13 }, // 0x24 '$' { 52, 15, 13, 16, 2, -12 }, // 0x25 '%' { 77, 10, 13, 12, 2, -12 }, // 0x26 '&' { 94, 2, 4, 3, 3, -12 }, // 0x27 ''' { 95, 7, 17, 6, 2, -12 }, // 0x28 '(' { 110, 7, 17, 6, -1, -12 }, // 0x29 ')' { 125, 6, 5, 7, 3, -12 }, // 0x2A '*' { 129, 9, 8, 11, 2, -7 }, // 0x2B '+' { 138, 3, 5, 5, 1, -1 }, // 0x2C ',' { 140, 4, 1, 6, 2, -4 }, // 0x2D '-' { 141, 2, 1, 5, 2, 0 }, // 0x2E '.' { 142, 8, 13, 5, 0, -12 }, // 0x2F '/' { 155, 9, 13, 10, 2, -12 }, // 0x30 '0' { 170, 5, 13, 10, 4, -12 }, // 0x31 '1' { 179, 11, 13, 10, 1, -12 }, // 0x32 '2' { 197, 10, 13, 10, 1, -12 }, // 0x33 '3' { 214, 9, 13, 10, 1, -12 }, // 0x34 '4' { 229, 11, 13, 10, 1, -12 }, // 0x35 '5' { 247, 10, 13, 10, 2, -12 }, // 0x36 '6' { 264, 10, 13, 10, 2, -12 }, // 0x37 '7' { 281, 10, 13, 10, 1, -12 }, // 0x38 '8' { 298, 10, 13, 10, 1, -12 }, // 0x39 '9' { 315, 4, 9, 5, 2, -8 }, // 0x3A ':' { 320, 5, 12, 5, 1, -8 }, // 0x3B ';' { 328, 9, 9, 11, 2, -8 }, // 0x3C '<' { 339, 10, 4, 11, 1, -5 }, // 0x3D '=' { 344, 9, 9, 11, 1, -7 }, // 0x3E '>' { 355, 9, 13, 10, 3, -12 }, // 0x3F '?' { 370, 18, 16, 18, 1, -12 }, // 0x40 '@' { 406, 12, 13, 12, 0, -12 }, // 0x41 'A' { 426, 12, 13, 12, 1, -12 }, // 0x42 'B' { 446, 12, 13, 13, 2, -12 }, // 0x43 'C' { 466, 13, 13, 13, 1, -12 }, // 0x44 'D' { 488, 12, 13, 12, 1, -12 }, // 0x45 'E' { 508, 12, 13, 11, 1, -12 }, // 0x46 'F' { 528, 13, 13, 14, 2, -12 }, // 0x47 'G' { 550, 13, 13, 13, 1, -12 }, // 0x48 'H' { 572, 4, 13, 5, 2, -12 }, // 0x49 'I' { 579, 10, 13, 9, 1, -12 }, // 0x4A 'J' { 596, 14, 13, 12, 1, -12 }, // 0x4B 'K' { 619, 9, 13, 10, 1, -12 }, // 0x4C 'L' { 634, 16, 13, 15, 1, -12 }, // 0x4D 'M' { 660, 13, 13, 13, 1, -12 }, // 0x4E 'N' { 682, 13, 13, 14, 2, -12 }, // 0x4F 'O' { 704, 12, 13, 12, 1, -12 }, // 0x50 'P' { 724, 13, 14, 14, 2, -12 }, // 0x51 'Q' { 747, 13, 13, 13, 1, -12 }, // 0x52 'R' { 769, 12, 13, 12, 1, -12 }, // 0x53 'S' { 789, 10, 13, 11, 3, -12 }, // 0x54 'T' { 806, 12, 13, 13, 2, -12 }, // 0x55 'U' { 826, 11, 13, 12, 3, -12 }, // 0x56 'V' { 844, 16, 13, 17, 3, -12 }, // 0x57 'W' { 870, 14, 13, 12, 0, -12 }, // 0x58 'X' { 893, 12, 13, 12, 3, -12 }, // 0x59 'Y' { 913, 12, 13, 11, 1, -12 }, // 0x5A 'Z' { 933, 7, 17, 5, 0, -12 }, // 0x5B '[' { 948, 2, 13, 5, 3, -12 }, // 0x5C '\' { 952, 7, 17, 5, 0, -12 }, // 0x5D ']' { 967, 7, 7, 8, 2, -12 }, // 0x5E '^' { 974, 11, 1, 10, -1, 3 }, // 0x5F '_' { 976, 3, 3, 6, 3, -12 }, // 0x60 '`' { 978, 10, 10, 10, 1, -9 }, // 0x61 'a' { 991, 10, 13, 10, 1, -12 }, // 0x62 'b' { 1008, 9, 10, 9, 1, -9 }, // 0x63 'c' { 1020, 11, 13, 10, 1, -12 }, // 0x64 'd' { 1038, 10, 10, 10, 1, -9 }, // 0x65 'e' { 1051, 6, 13, 5, 1, -12 }, // 0x66 'f' { 1061, 10, 14, 10, 0, -9 }, // 0x67 'g' { 1079, 10, 13, 10, 1, -12 }, // 0x68 'h' { 1096, 4, 13, 4, 1, -12 }, // 0x69 'i' { 1103, 6, 17, 4, -1, -12 }, // 0x6A 'j' { 1116, 9, 13, 9, 1, -12 }, // 0x6B 'k' { 1131, 4, 13, 4, 1, -12 }, // 0x6C 'l' { 1138, 15, 10, 15, 1, -9 }, // 0x6D 'm' { 1157, 10, 11, 10, 1, -10 }, // 0x6E 'n' { 1171, 10, 10, 10, 1, -9 }, // 0x6F 'o' { 1184, 11, 14, 10, 0, -9 }, // 0x70 'p' { 1204, 10, 14, 10, 1, -9 }, // 0x71 'q' { 1222, 7, 10, 6, 1, -9 }, // 0x72 'r' { 1231, 8, 10, 9, 1, -9 }, // 0x73 's' { 1241, 4, 12, 5, 2, -11 }, // 0x74 't' { 1247, 9, 10, 10, 2, -9 }, // 0x75 'u' { 1259, 9, 10, 9, 2, -9 }, // 0x76 'v' { 1271, 13, 10, 13, 2, -9 }, // 0x77 'w' { 1288, 11, 10, 9, 0, -9 }, // 0x78 'x' { 1302, 11, 14, 9, 0, -9 }, // 0x79 'y' { 1322, 9, 10, 9, 1, -9 }, // 0x7A 'z' { 1334, 5, 17, 6, 2, -12 }, // 0x7B '{' { 1345, 4, 17, 5, 1, -12 }, // 0x7C '|' { 1354, 5, 17, 6, 0, -12 }, // 0x7D '}' { 1365, 9, 3, 11, 2, -7 } }; // 0x7E '~' const GFXfont FreeSansOblique9pt7b PROGMEM = { (uint8_t *)FreeSansOblique9pt7bBitmaps, (GFXglyph *)FreeSansOblique9pt7bGlyphs, 0x20, 0x7E, 22 }; // Approx. 2041 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSerif12pt7b.h ================================================ const uint8_t FreeSerif12pt7bBitmaps[] PROGMEM = { 0xFF, 0xFE, 0xA8, 0x3F, 0xCF, 0x3C, 0xF3, 0x8A, 0x20, 0x0C, 0x40, 0xC4, 0x08, 0x40, 0x8C, 0x08, 0xC7, 0xFF, 0x18, 0x81, 0x88, 0x10, 0x81, 0x08, 0xFF, 0xE1, 0x18, 0x31, 0x03, 0x10, 0x31, 0x02, 0x10, 0x04, 0x07, 0xC6, 0x5B, 0x12, 0xC4, 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0xE3, 0x98, 0x66, 0x19, 0x86, 0x61, 0x98, 0x66, 0x19, 0x86, 0x61, 0x9C, 0xE3, 0xDC, 0xF8, 0xEE, 0x08, 0xC1, 0x18, 0x41, 0x88, 0x32, 0x03, 0x40, 0x68, 0x06, 0x00, 0xC0, 0x10, 0x00, 0xF3, 0xE7, 0x61, 0x83, 0x70, 0xC2, 0x30, 0xC2, 0x30, 0xC4, 0x19, 0x64, 0x19, 0x68, 0x0E, 0x38, 0x0E, 0x38, 0x0C, 0x30, 0x04, 0x10, 0xFB, 0xC6, 0x30, 0x64, 0x0F, 0x00, 0xC0, 0x0C, 0x03, 0xC0, 0x98, 0x21, 0x8C, 0x3B, 0xCF, 0x80, 0xF8, 0xEE, 0x08, 0xC1, 0x18, 0x41, 0x88, 0x31, 0x03, 0x40, 0x68, 0x06, 0x00, 0xC0, 0x08, 0x02, 0x00, 0x40, 0x10, 0x1E, 0x03, 0x80, 0x7F, 0x90, 0xE0, 0x30, 0x18, 0x0E, 0x03, 0x01, 0xC0, 0xE0, 0x30, 0x5C, 0x3F, 0xF8, 0x19, 0x8C, 0x63, 0x18, 0xC6, 0x31, 0xB0, 0x63, 0x18, 0xC6, 0x31, 0x8C, 0x61, 0x80, 0xFF, 0xFF, 0x80, 0xC3, 0x18, 0xC6, 0x31, 0x8C, 0x63, 0x06, 0xC6, 0x31, 0x8C, 0x63, 0x18, 0xCC, 0x00, 0x38, 0x06, 0x62, 0x41, 0xC0 }; const GFXglyph FreeSerif12pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 6, 0, 1 }, // 0x20 ' ' { 0, 2, 16, 8, 3, -15 }, // 0x21 '!' { 4, 6, 6, 10, 1, -15 }, // 0x22 '"' { 9, 12, 16, 12, 0, -15 }, // 0x23 '#' { 33, 10, 18, 12, 1, -16 }, // 0x24 '$' { 56, 18, 17, 20, 1, -16 }, // 0x25 '%' { 95, 17, 16, 19, 1, -15 }, // 0x26 '&' { 129, 2, 6, 5, 1, -15 }, // 0x27 ''' { 131, 6, 20, 8, 1, -15 }, // 0x28 '(' { 146, 6, 20, 8, 1, -15 }, // 0x29 ')' { 161, 8, 10, 12, 3, -14 }, // 0x2A '*' { 171, 11, 11, 14, 1, -10 }, // 0x2B '+' { 187, 3, 6, 6, 2, -2 }, // 0x2C ',' { 190, 6, 1, 8, 1, -5 }, // 0x2D '-' { 191, 2, 3, 6, 2, -2 }, // 0x2E '.' { 192, 7, 17, 7, 0, -16 }, // 0x2F '/' { 207, 10, 17, 12, 1, -16 }, // 0x30 '0' { 229, 6, 17, 12, 3, -16 }, // 0x31 '1' { 242, 10, 15, 12, 1, -14 }, // 0x32 '2' { 261, 10, 16, 12, 1, -15 }, // 0x33 '3' { 281, 10, 16, 12, 1, -15 }, // 0x34 '4' { 301, 10, 17, 12, 1, -16 }, // 0x35 '5' { 323, 10, 17, 12, 1, -16 }, // 0x36 '6' { 345, 10, 16, 12, 0, -15 }, // 0x37 '7' { 365, 10, 17, 12, 1, -16 }, // 0x38 '8' { 387, 10, 18, 12, 1, -16 }, // 0x39 '9' { 410, 2, 12, 6, 2, -11 }, // 0x3A ':' { 413, 4, 15, 6, 2, -11 }, // 0x3B ';' { 421, 12, 13, 14, 1, -12 }, // 0x3C '<' { 441, 12, 6, 14, 1, -8 }, // 0x3D '=' { 450, 12, 13, 14, 1, -11 }, // 0x3E '>' { 470, 8, 17, 11, 2, -16 }, // 0x3F '?' { 487, 17, 16, 21, 2, -15 }, // 0x40 '@' { 521, 17, 16, 17, 0, -15 }, // 0x41 'A' { 555, 12, 16, 15, 1, -15 }, // 0x42 'B' { 579, 15, 16, 16, 1, -15 }, // 0x43 'C' { 609, 16, 16, 17, 0, -15 }, // 0x44 'D' { 641, 14, 16, 15, 0, -15 }, // 0x45 'E' { 669, 14, 16, 14, 0, -15 }, // 0x46 'F' { 697, 16, 16, 17, 1, -15 }, // 0x47 'G' { 729, 16, 16, 17, 0, -15 }, // 0x48 'H' { 761, 6, 16, 8, 1, -15 }, // 0x49 'I' { 773, 8, 16, 9, 0, -15 }, // 0x4A 'J' { 789, 16, 16, 17, 1, -15 }, // 0x4B 'K' { 821, 15, 16, 15, 0, -15 }, // 0x4C 'L' { 851, 19, 16, 21, 1, -15 }, // 0x4D 'M' { 889, 16, 16, 17, 1, -15 }, // 0x4E 'N' { 921, 15, 16, 17, 1, -15 }, // 0x4F 'O' { 951, 12, 16, 14, 0, -15 }, // 0x50 'P' { 975, 16, 20, 17, 1, -15 }, // 0x51 'Q' { 1015, 15, 16, 16, 0, -15 }, // 0x52 'R' { 1045, 11, 16, 13, 0, -15 }, // 0x53 'S' { 1067, 15, 16, 15, 0, -15 }, // 0x54 'T' { 1097, 16, 16, 17, 1, -15 }, // 0x55 'U' { 1129, 17, 16, 17, 0, -15 }, // 0x56 'V' { 1163, 22, 16, 23, 0, -15 }, // 0x57 'W' { 1207, 17, 16, 17, 0, -15 }, // 0x58 'X' { 1241, 16, 16, 17, 0, -15 }, // 0x59 'Y' { 1273, 14, 16, 15, 1, -15 }, // 0x5A 'Z' { 1301, 5, 20, 8, 2, -15 }, // 0x5B '[' { 1314, 7, 17, 7, 0, -16 }, // 0x5C '\' { 1329, 5, 20, 8, 1, -15 }, // 0x5D ']' { 1342, 10, 9, 11, 1, -15 }, // 0x5E '^' { 1354, 12, 1, 12, 0, 3 }, // 0x5F '_' { 1356, 5, 4, 6, 0, -15 }, // 0x60 '`' { 1359, 10, 11, 10, 1, -10 }, // 0x61 'a' { 1373, 10, 17, 12, 1, -16 }, // 0x62 'b' { 1395, 8, 11, 11, 1, -10 }, // 0x63 'c' { 1406, 10, 17, 12, 1, -16 }, // 0x64 'd' { 1428, 10, 11, 11, 1, -10 }, // 0x65 'e' { 1442, 9, 17, 9, 0, -16 }, // 0x66 'f' { 1462, 12, 16, 11, 0, -10 }, // 0x67 'g' { 1486, 11, 17, 12, 0, -16 }, // 0x68 'h' { 1510, 5, 16, 7, 0, -15 }, // 0x69 'i' { 1520, 6, 21, 8, 0, -15 }, // 0x6A 'j' { 1536, 11, 17, 12, 1, -16 }, // 0x6B 'k' { 1560, 5, 17, 6, 0, -16 }, // 0x6C 'l' { 1571, 18, 11, 19, 0, -10 }, // 0x6D 'm' { 1596, 11, 11, 12, 0, -10 }, // 0x6E 'n' { 1612, 10, 11, 12, 1, -10 }, // 0x6F 'o' { 1626, 11, 16, 12, 0, -10 }, // 0x70 'p' { 1648, 10, 16, 12, 1, -10 }, // 0x71 'q' { 1668, 8, 11, 8, 0, -10 }, // 0x72 'r' { 1679, 7, 11, 9, 1, -10 }, // 0x73 's' { 1689, 6, 13, 7, 1, -12 }, // 0x74 't' { 1699, 10, 11, 12, 1, -10 }, // 0x75 'u' { 1713, 11, 11, 11, 0, -10 }, // 0x76 'v' { 1729, 16, 11, 16, 0, -10 }, // 0x77 'w' { 1751, 11, 11, 12, 0, -10 }, // 0x78 'x' { 1767, 11, 16, 11, 0, -10 }, // 0x79 'y' { 1789, 10, 11, 10, 0, -10 }, // 0x7A 'z' { 1803, 5, 21, 12, 2, -16 }, // 0x7B '{' { 1817, 1, 17, 5, 2, -16 }, // 0x7C '|' { 1820, 5, 21, 12, 5, -15 }, // 0x7D '}' { 1834, 12, 3, 12, 0, -6 } }; // 0x7E '~' const GFXfont FreeSerif12pt7b PROGMEM = { (uint8_t *)FreeSerif12pt7bBitmaps, (GFXglyph *)FreeSerif12pt7bGlyphs, 0x20, 0x7E, 29 }; // Approx. 2511 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSerif18pt7b.h ================================================ const uint8_t FreeSerif18pt7bBitmaps[] PROGMEM = { 0x6F, 0xFF, 0xFF, 0xFE, 0x66, 0x66, 0x66, 0x64, 0x40, 0x00, 0x6F, 0xF6, 0xE7, 0xE7, 0xE7, 0xE7, 0xE7, 0x46, 0x42, 0x42, 0x42, 0x03, 0x06, 0x01, 0x83, 0x00, 0xC1, 0x80, 0x61, 0xC0, 0x30, 0xC0, 0x38, 0x60, 0x18, 0x30, 0xFF, 0xFF, 0x7F, 0xFF, 0x83, 0x06, 0x01, 0x86, 0x00, 0xC3, 0x00, 0xC1, 0x87, 0xFF, 0xFF, 0xFF, 0xFE, 0x18, 0x30, 0x0C, 0x18, 0x06, 0x18, 0x06, 0x0C, 0x03, 0x06, 0x01, 0x83, 0x00, 0xC1, 0x80, 0x60, 0xC0, 0x02, 0x00, 0x10, 0x03, 0xE0, 0x64, 0xE6, 0x23, 0x61, 0x1B, 0x08, 0x58, 0x42, 0xE2, 0x03, 0x90, 0x1F, 0x80, 0x7E, 0x00, 0xFC, 0x01, 0xF0, 0x0F, 0xC0, 0x4E, 0x02, 0x38, 0x10, 0xE0, 0x87, 0x04, 0x3C, 0x21, 0xE1, 0x1B, 0xC9, 0xCF, 0xFC, 0x1F, 0x80, 0x10, 0x00, 0x80, 0x07, 0x80, 0x20, 0x0F, 0xF0, 0x70, 0x0F, 0x07, 0xD0, 0x0F, 0x02, 0x18, 0x07, 0x01, 0x18, 0x07, 0x00, 0x8C, 0x03, 0x80, 0x4C, 0x01, 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0x07, 0x10, 0x38, 0x00, 0xE0, 0x07, 0x00, 0x38, 0x01, 0xE0, 0x07, 0x00, 0x38, 0x01, 0xE0, 0x07, 0x01, 0x38, 0x0D, 0xC0, 0x3F, 0xFF, 0xBF, 0xFE, 0x07, 0x0E, 0x1C, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x30, 0x60, 0x60, 0x10, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x1C, 0x0E, 0x07, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0x70, 0x38, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x08, 0x06, 0x06, 0x08, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x38, 0x70, 0xE0, 0x3E, 0x00, 0x7F, 0x87, 0xE3, 0xFE, 0x00, 0x7C }; const GFXglyph FreeSerif18pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 9, 0, 1 }, // 0x20 ' ' { 0, 4, 24, 12, 5, -23 }, // 0x21 '!' { 12, 8, 9, 14, 3, -23 }, // 0x22 '"' { 21, 17, 23, 17, 0, -22 }, // 0x23 '#' { 70, 13, 27, 17, 2, -24 }, // 0x24 '$' { 114, 25, 23, 29, 2, -22 }, // 0x25 '%' { 186, 25, 25, 27, 1, -24 }, // 0x26 '&' { 265, 3, 9, 7, 2, -23 }, // 0x27 ''' { 269, 9, 30, 12, 2, -23 }, // 0x28 '(' { 303, 9, 30, 12, 1, -22 }, // 0x29 ')' { 337, 12, 14, 18, 3, -23 }, // 0x2A '*' { 358, 16, 18, 20, 2, -17 }, // 0x2B '+' { 394, 4, 9, 9, 2, -3 }, // 0x2C ',' { 399, 8, 2, 12, 1, -8 }, // 0x2D '-' { 401, 4, 4, 9, 2, -3 }, // 0x2E '.' { 403, 10, 24, 10, 0, -23 }, // 0x2F '/' { 433, 16, 24, 18, 1, -23 }, // 0x30 '0' { 481, 10, 24, 18, 3, -23 }, // 0x31 '1' { 511, 16, 24, 17, 1, -23 }, // 0x32 '2' { 559, 13, 24, 17, 2, -23 }, // 0x33 '3' { 598, 16, 23, 18, 0, -22 }, // 0x34 '4' { 644, 13, 24, 17, 2, -23 }, // 0x35 '5' { 683, 16, 24, 18, 1, -23 }, // 0x36 '6' { 731, 14, 23, 18, 1, -22 }, // 0x37 '7' { 772, 12, 25, 18, 2, -24 }, // 0x38 '8' { 810, 16, 26, 17, 1, -24 }, // 0x39 '9' { 862, 4, 17, 9, 2, -16 }, // 0x3A ':' { 871, 5, 22, 9, 2, -16 }, // 0x3B ';' { 885, 18, 18, 20, 1, -17 }, // 0x3C '<' { 926, 18, 9, 20, 1, -12 }, // 0x3D '=' { 947, 18, 18, 20, 1, -17 }, // 0x3E '>' { 988, 13, 25, 16, 2, -24 }, // 0x3F '?' { 1029, 24, 25, 30, 3, -24 }, // 0x40 '@' { 1104, 24, 23, 25, 1, -22 }, // 0x41 'A' { 1173, 20, 23, 22, 1, -22 }, // 0x42 'B' { 1231, 22, 24, 23, 1, -23 }, // 0x43 'C' { 1297, 23, 23, 25, 1, -22 }, // 0x44 'D' { 1364, 20, 23, 21, 2, -22 }, // 0x45 'E' { 1422, 17, 23, 20, 2, -22 }, // 0x46 'F' { 1471, 23, 24, 25, 1, -23 }, // 0x47 'G' { 1540, 22, 23, 25, 2, -22 }, // 0x48 'H' { 1604, 9, 23, 11, 2, -22 }, // 0x49 'I' { 1630, 12, 23, 13, 0, -22 }, // 0x4A 'J' { 1665, 23, 23, 25, 2, -22 }, // 0x4B 'K' { 1732, 19, 23, 21, 2, -22 }, // 0x4C 'L' { 1787, 29, 23, 31, 1, -22 }, // 0x4D 'M' { 1871, 23, 23, 25, 1, -22 }, // 0x4E 'N' { 1938, 23, 24, 25, 1, -23 }, // 0x4F 'O' { 2007, 18, 23, 20, 1, -22 }, // 0x50 'P' { 2059, 23, 30, 25, 1, -23 }, // 0x51 'Q' { 2146, 21, 23, 23, 2, -22 }, // 0x52 'R' { 2207, 16, 24, 19, 1, -23 }, // 0x53 'S' { 2255, 20, 23, 21, 1, -22 }, // 0x54 'T' { 2313, 22, 23, 25, 2, -22 }, // 0x55 'U' { 2377, 24, 23, 25, 0, -22 }, // 0x56 'V' { 2446, 33, 23, 33, 0, -22 }, // 0x57 'W' { 2541, 25, 23, 25, 0, -22 }, // 0x58 'X' { 2613, 24, 23, 25, 1, -22 }, // 0x59 'Y' { 2682, 21, 23, 21, 0, -22 }, // 0x5A 'Z' { 2743, 7, 28, 12, 3, -22 }, // 0x5B '[' { 2768, 10, 24, 10, 0, -23 }, // 0x5C '\' { 2798, 7, 28, 12, 2, -22 }, // 0x5D ']' { 2823, 15, 13, 16, 1, -22 }, // 0x5E '^' { 2848, 18, 2, 17, 0, 3 }, // 0x5F '_' { 2853, 8, 6, 9, 1, -23 }, // 0x60 '`' { 2859, 13, 16, 15, 2, -15 }, // 0x61 'a' { 2885, 16, 25, 17, 1, -24 }, // 0x62 'b' { 2935, 14, 16, 16, 1, -15 }, // 0x63 'c' { 2963, 16, 25, 17, 1, -24 }, // 0x64 'd' { 3013, 13, 16, 16, 1, -15 }, // 0x65 'e' { 3039, 13, 25, 13, 0, -24 }, // 0x66 'f' { 3080, 16, 24, 16, 1, -15 }, // 0x67 'g' { 3128, 16, 25, 17, 1, -24 }, // 0x68 'h' { 3178, 8, 24, 10, 0, -23 }, // 0x69 'i' { 3202, 9, 32, 12, 0, -23 }, // 0x6A 'j' { 3238, 17, 25, 18, 1, -24 }, // 0x6B 'k' { 3292, 8, 25, 9, 0, -24 }, // 0x6C 'l' { 3317, 26, 16, 27, 1, -15 }, // 0x6D 'm' { 3369, 16, 16, 17, 1, -15 }, // 0x6E 'n' { 3401, 16, 16, 17, 1, -15 }, // 0x6F 'o' { 3433, 16, 24, 17, 1, -15 }, // 0x70 'p' { 3481, 16, 24, 17, 1, -15 }, // 0x71 'q' { 3529, 11, 16, 12, 1, -15 }, // 0x72 'r' { 3551, 10, 16, 13, 1, -15 }, // 0x73 's' { 3571, 8, 19, 10, 2, -18 }, // 0x74 't' { 3590, 16, 16, 17, 1, -15 }, // 0x75 'u' { 3622, 16, 16, 16, 0, -15 }, // 0x76 'v' { 3654, 24, 16, 24, 0, -15 }, // 0x77 'w' { 3702, 17, 16, 17, 0, -15 }, // 0x78 'x' { 3736, 16, 24, 16, 0, -15 }, // 0x79 'y' { 3784, 14, 16, 15, 0, -15 }, // 0x7A 'z' { 3812, 8, 30, 17, 3, -23 }, // 0x7B '{' { 3842, 2, 24, 7, 2, -23 }, // 0x7C '|' { 3848, 8, 30, 17, 6, -22 }, // 0x7D '}' { 3878, 16, 4, 17, 1, -10 } }; // 0x7E '~' const GFXfont FreeSerif18pt7b PROGMEM = { (uint8_t *)FreeSerif18pt7bBitmaps, (GFXglyph *)FreeSerif18pt7bGlyphs, 0x20, 0x7E, 42 }; // Approx. 4558 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSerif24pt7b.h ================================================ const uint8_t FreeSerif24pt7bBitmaps[] PROGMEM = { 0x77, 0xBF, 0xFF, 0xFF, 0xFF, 0xFB, 0x9C, 0xE7, 0x39, 0xCE, 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0x70, 0x0E, 0x01, 0xC0, 0x38, 0x07, 0x00, 0xE0, 0x3C, 0x07, 0x03, 0xC0, 0xF0, 0x00, 0x1F, 0x80, 0x00, 0xFF, 0x80, 0xC7, 0x0F, 0x87, 0xB8, 0x0F, 0xFC, 0x00, 0x07, 0xC0 }; const GFXglyph FreeSerif24pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 12, 0, 1 }, // 0x20 ' ' { 0, 5, 32, 16, 6, -31 }, // 0x21 '!' { 20, 12, 12, 19, 4, -31 }, // 0x22 '"' { 38, 23, 31, 23, 0, -30 }, // 0x23 '#' { 128, 19, 37, 24, 2, -33 }, // 0x24 '$' { 216, 33, 32, 39, 3, -30 }, // 0x25 '%' { 348, 32, 33, 37, 2, -31 }, // 0x26 '&' { 480, 4, 12, 9, 3, -31 }, // 0x27 ''' { 486, 12, 40, 16, 2, -31 }, // 0x28 '(' { 546, 12, 40, 16, 2, -30 }, // 0x29 ')' { 606, 16, 19, 24, 4, -30 }, // 0x2A '*' { 644, 23, 23, 27, 2, -22 }, // 0x2B '+' { 711, 6, 11, 12, 2, -4 }, // 0x2C ',' { 720, 11, 2, 16, 2, -10 }, // 0x2D '-' { 723, 5, 5, 12, 3, -3 }, // 0x2E '.' { 727, 14, 32, 14, 0, -30 }, // 0x2F '/' { 783, 22, 33, 23, 1, -31 }, // 0x30 '0' { 874, 13, 32, 24, 5, -31 }, // 0x31 '1' { 926, 21, 31, 23, 1, -30 }, // 0x32 '2' { 1008, 18, 32, 23, 2, -30 }, // 0x33 '3' { 1080, 21, 31, 24, 1, -30 }, // 0x34 '4' { 1162, 19, 33, 24, 2, -31 }, // 0x35 '5' { 1241, 21, 33, 23, 2, -31 }, // 0x36 '6' { 1328, 20, 31, 24, 1, -30 }, // 0x37 '7' { 1406, 18, 33, 23, 3, -31 }, // 0x38 '8' { 1481, 21, 33, 24, 1, -31 }, // 0x39 '9' { 1568, 5, 22, 12, 4, -20 }, // 0x3A ':' { 1582, 6, 27, 12, 3, -20 }, // 0x3B ';' { 1603, 24, 25, 27, 1, -24 }, // 0x3C '<' { 1678, 24, 11, 27, 1, -16 }, // 0x3D '=' { 1711, 24, 25, 27, 2, -23 }, // 0x3E '>' { 1786, 17, 32, 21, 3, -31 }, // 0x3F '?' { 1854, 32, 33, 41, 4, -31 }, // 0x40 '@' { 1986, 32, 32, 34, 1, -31 }, // 0x41 'A' { 2114, 27, 31, 30, 0, -30 }, // 0x42 'B' { 2219, 28, 33, 31, 2, -31 }, // 0x43 'C' { 2335, 31, 31, 34, 1, -30 }, // 0x44 'D' { 2456, 27, 31, 29, 2, -30 }, // 0x45 'E' { 2561, 24, 31, 27, 2, -30 }, // 0x46 'F' { 2654, 31, 33, 35, 2, -31 }, // 0x47 'G' { 2782, 30, 31, 34, 2, -30 }, // 0x48 'H' { 2899, 13, 31, 15, 1, -30 }, // 0x49 'I' { 2950, 17, 32, 18, 0, -30 }, // 0x4A 'J' { 3018, 32, 31, 33, 1, -30 }, // 0x4B 'K' { 3142, 26, 31, 29, 2, -30 }, // 0x4C 'L' { 3243, 39, 31, 41, 1, -30 }, // 0x4D 'M' { 3395, 32, 32, 34, 1, -30 }, // 0x4E 'N' { 3523, 30, 33, 34, 2, -31 }, // 0x4F 'O' { 3647, 23, 31, 27, 2, -30 }, // 0x50 'P' { 3737, 31, 40, 34, 2, -31 }, // 0x51 'Q' { 3892, 28, 31, 31, 2, -30 }, // 0x52 'R' { 4001, 21, 33, 25, 2, -31 }, // 0x53 'S' { 4088, 27, 31, 28, 1, -30 }, // 0x54 'T' { 4193, 32, 32, 34, 1, -30 }, // 0x55 'U' { 4321, 32, 32, 33, 0, -30 }, // 0x56 'V' { 4449, 44, 32, 45, 0, -30 }, // 0x57 'W' { 4625, 33, 31, 34, 0, -30 }, // 0x58 'X' { 4753, 32, 31, 33, 0, -30 }, // 0x59 'Y' { 4877, 27, 31, 29, 1, -30 }, // 0x5A 'Z' { 4982, 9, 38, 16, 4, -30 }, // 0x5B '[' { 5025, 14, 32, 14, 0, -30 }, // 0x5C '\' { 5081, 9, 38, 16, 3, -30 }, // 0x5D ']' { 5124, 20, 17, 22, 1, -30 }, // 0x5E '^' { 5167, 24, 2, 23, 0, 5 }, // 0x5F '_' { 5173, 10, 8, 12, 1, -31 }, // 0x60 '`' { 5183, 18, 21, 20, 1, -20 }, // 0x61 'a' { 5231, 21, 32, 24, 1, -31 }, // 0x62 'b' { 5315, 19, 21, 21, 1, -20 }, // 0x63 'c' { 5365, 22, 32, 23, 1, -31 }, // 0x64 'd' { 5453, 18, 21, 21, 1, -20 }, // 0x65 'e' { 5501, 17, 33, 18, 0, -32 }, // 0x66 'f' { 5572, 21, 31, 22, 1, -20 }, // 0x67 'g' { 5654, 22, 32, 23, 0, -31 }, // 0x68 'h' { 5742, 11, 32, 13, 0, -31 }, // 0x69 'i' { 5786, 12, 42, 16, 0, -31 }, // 0x6A 'j' { 5849, 23, 32, 24, 1, -31 }, // 0x6B 'k' { 5941, 11, 32, 12, 0, -31 }, // 0x6C 'l' { 5985, 35, 21, 37, 1, -20 }, // 0x6D 'm' { 6077, 22, 21, 23, 0, -20 }, // 0x6E 'n' { 6135, 22, 21, 23, 1, -20 }, // 0x6F 'o' { 6193, 21, 31, 24, 1, -20 }, // 0x70 'p' { 6275, 21, 31, 23, 1, -20 }, // 0x71 'q' { 6357, 15, 21, 16, 1, -20 }, // 0x72 'r' { 6397, 13, 21, 17, 2, -20 }, // 0x73 's' { 6432, 12, 26, 13, 1, -25 }, // 0x74 't' { 6471, 22, 21, 23, 1, -20 }, // 0x75 'u' { 6529, 22, 22, 22, 0, -20 }, // 0x76 'v' { 6590, 32, 22, 32, 0, -20 }, // 0x77 'w' { 6678, 22, 21, 23, 0, -20 }, // 0x78 'x' { 6736, 22, 31, 22, 0, -20 }, // 0x79 'y' { 6822, 18, 21, 20, 1, -20 }, // 0x7A 'z' { 6870, 11, 41, 23, 5, -31 }, // 0x7B '{' { 6927, 3, 32, 9, 3, -30 }, // 0x7C '|' { 6939, 11, 41, 23, 7, -31 }, // 0x7D '}' { 6996, 22, 5, 23, 1, -13 } }; // 0x7E '~' const GFXfont FreeSerif24pt7b PROGMEM = { (uint8_t *)FreeSerif24pt7bBitmaps, (GFXglyph *)FreeSerif24pt7bGlyphs, 0x20, 0x7E, 56 }; // Approx. 7682 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSerif9pt7b.h ================================================ const uint8_t FreeSerif9pt7bBitmaps[] PROGMEM = { 0xFF, 0xEA, 0x03, 0xDE, 0xF7, 0x20, 0x11, 0x09, 0x04, 0x82, 0x4F, 0xF9, 0x10, 0x89, 0xFF, 0x24, 0x12, 0x09, 0x0C, 0x80, 0x10, 0x7C, 0xD6, 0xD2, 0xD0, 0xF0, 0x38, 0x1E, 0x17, 0x93, 0x93, 0xD6, 0x7C, 0x10, 0x38, 0x43, 0x3C, 0x39, 0x21, 0x8A, 0x0C, 0x50, 0x65, 0x39, 0xCB, 0x20, 0xB9, 0x05, 0x88, 0x4C, 0x44, 0x64, 0x21, 0xC0, 0x0E, 0x00, 0xC8, 0x06, 0x40, 0x32, 0x01, 0xA0, 0x07, 0x78, 0x31, 0x87, 0x88, 0x46, 0x86, 0x34, 0x30, 0xC1, 0xC7, 0x17, 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0x88, 0xD8, 0x78, 0x36, 0x19, 0x8C, 0x6F, 0x78, 0x2E, 0x66, 0x66, 0x66, 0x66, 0x66, 0xF0, 0xEE, 0x71, 0xCE, 0x66, 0x31, 0x98, 0xC6, 0x63, 0x19, 0x8C, 0x66, 0x31, 0xBD, 0xEF, 0xEE, 0x39, 0x98, 0xCC, 0x66, 0x33, 0x19, 0x8D, 0xEF, 0x3E, 0x31, 0xB0, 0x78, 0x3C, 0x1E, 0x0D, 0x8C, 0x7C, 0xEE, 0x39, 0x98, 0x6C, 0x36, 0x1B, 0x0D, 0x8C, 0xFC, 0x60, 0x30, 0x18, 0x1E, 0x00, 0x3D, 0x31, 0xB0, 0xD8, 0x6C, 0x36, 0x1B, 0x8C, 0xFE, 0x03, 0x01, 0x80, 0xC0, 0xF0, 0x6D, 0xC6, 0x18, 0x61, 0x86, 0x3C, 0x76, 0x38, 0x58, 0x3E, 0x38, 0xFE, 0x27, 0x98, 0xC6, 0x31, 0x8C, 0x38, 0xE7, 0x31, 0x98, 0xCC, 0x66, 0x33, 0x19, 0x8C, 0x7F, 0xF3, 0x61, 0x22, 0x32, 0x14, 0x1C, 0x08, 0x08, 0xEF, 0x36, 0x61, 0x62, 0x22, 0x32, 0x35, 0x41, 0x9C, 0x18, 0x81, 0x08, 0xF7, 0x12, 0x0E, 0x03, 0x01, 0xC1, 0x21, 0x09, 0xCF, 0xF3, 0x61, 0x62, 0x32, 0x34, 0x14, 0x1C, 0x08, 0x08, 0x08, 0x10, 0xE0, 0xFD, 0x18, 0x60, 0x83, 0x0C, 0x70, 0xFE, 0x19, 0x8C, 0x63, 0x18, 0xC4, 0x61, 0x8C, 0x63, 0x18, 0xC3, 0xFF, 0xF0, 0xC3, 0x18, 0xC6, 0x31, 0x84, 0x33, 0x18, 0xC6, 0x31, 0x98, 0x70, 0x24, 0xC1, 0xC0 }; const GFXglyph FreeSerif9pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 5, 0, 1 }, // 0x20 ' ' { 0, 2, 12, 6, 2, -11 }, // 0x21 '!' { 3, 5, 4, 7, 1, -11 }, // 0x22 '"' { 6, 9, 12, 9, 0, -11 }, // 0x23 '#' { 20, 8, 14, 9, 1, -12 }, // 0x24 '$' { 34, 13, 12, 15, 1, -11 }, // 0x25 '%' { 54, 13, 13, 14, 1, -12 }, // 0x26 '&' { 76, 2, 4, 4, 1, -11 }, // 0x27 ''' { 77, 5, 15, 6, 1, -11 }, // 0x28 '(' { 87, 5, 15, 6, 0, -11 }, // 0x29 ')' { 97, 6, 8, 9, 3, -11 }, // 0x2A '*' { 103, 9, 9, 10, 0, -8 }, // 0x2B '+' { 114, 2, 3, 4, 2, 0 }, // 0x2C ',' { 115, 4, 1, 6, 1, -3 }, // 0x2D '-' { 116, 2, 2, 5, 1, -1 }, // 0x2E '.' { 117, 5, 12, 5, 0, -11 }, // 0x2F '/' { 125, 9, 13, 9, 0, -12 }, // 0x30 '0' { 140, 5, 13, 9, 2, -12 }, // 0x31 '1' { 149, 8, 12, 9, 1, -11 }, // 0x32 '2' { 161, 8, 12, 9, 0, -11 }, // 0x33 '3' { 173, 7, 12, 9, 1, -11 }, // 0x34 '4' { 184, 8, 12, 9, 0, -11 }, // 0x35 '5' { 196, 8, 13, 9, 1, -12 }, // 0x36 '6' { 209, 8, 12, 9, 0, -11 }, // 0x37 '7' { 221, 7, 13, 9, 1, -12 }, // 0x38 '8' { 233, 8, 14, 9, 1, -12 }, // 0x39 '9' { 247, 2, 8, 5, 1, -7 }, // 0x3A ':' { 249, 3, 10, 5, 1, -7 }, // 0x3B ';' { 253, 9, 9, 10, 1, -8 }, // 0x3C '<' { 264, 9, 5, 10, 1, -6 }, // 0x3D '=' { 270, 10, 9, 10, 0, -8 }, // 0x3E '>' { 282, 7, 13, 8, 1, -12 }, // 0x3F '?' { 294, 12, 13, 16, 2, -12 }, // 0x40 '@' { 314, 13, 12, 13, 0, -11 }, // 0x41 'A' { 334, 11, 12, 11, 0, -11 }, // 0x42 'B' { 351, 11, 12, 12, 1, -11 }, // 0x43 'C' { 368, 12, 12, 13, 0, -11 }, // 0x44 'D' { 386, 10, 12, 11, 1, -11 }, // 0x45 'E' { 401, 9, 12, 10, 1, -11 }, // 0x46 'F' { 415, 12, 12, 13, 1, -11 }, // 0x47 'G' { 433, 11, 12, 13, 1, -11 }, // 0x48 'H' { 450, 4, 12, 6, 1, -11 }, // 0x49 'I' { 456, 6, 12, 7, 0, -11 }, // 0x4A 'J' { 465, 12, 12, 13, 1, -11 }, // 0x4B 'K' { 483, 10, 12, 11, 1, -11 }, // 0x4C 'L' { 498, 15, 12, 16, 0, -11 }, // 0x4D 'M' { 521, 11, 12, 13, 1, -11 }, // 0x4E 'N' { 538, 11, 13, 13, 1, -12 }, // 0x4F 'O' { 556, 9, 12, 10, 1, -11 }, // 0x50 'P' { 570, 11, 16, 13, 1, -12 }, // 0x51 'Q' { 592, 11, 12, 12, 1, -11 }, // 0x52 'R' { 609, 9, 12, 10, 0, -11 }, // 0x53 'S' { 623, 11, 12, 11, 0, -11 }, // 0x54 'T' { 640, 11, 12, 13, 1, -11 }, // 0x55 'U' { 657, 12, 12, 13, 0, -11 }, // 0x56 'V' { 675, 17, 12, 17, 0, -11 }, // 0x57 'W' { 701, 13, 12, 13, 0, -11 }, // 0x58 'X' { 721, 12, 12, 13, 0, -11 }, // 0x59 'Y' { 739, 11, 12, 11, 0, -11 }, // 0x5A 'Z' { 756, 3, 15, 6, 2, -11 }, // 0x5B '[' { 762, 5, 12, 5, 0, -11 }, // 0x5C '\' { 770, 3, 15, 6, 1, -11 }, // 0x5D ']' { 776, 8, 7, 8, 0, -11 }, // 0x5E '^' { 783, 9, 1, 9, 0, 2 }, // 0x5F '_' { 785, 4, 3, 5, 0, -11 }, // 0x60 '`' { 787, 7, 8, 8, 1, -7 }, // 0x61 'a' { 794, 9, 13, 9, 0, -12 }, // 0x62 'b' { 809, 7, 8, 8, 0, -7 }, // 0x63 'c' { 816, 9, 13, 9, 0, -12 }, // 0x64 'd' { 831, 8, 8, 8, 0, -7 }, // 0x65 'e' { 839, 7, 13, 7, 1, -12 }, // 0x66 'f' { 851, 10, 12, 8, 0, -7 }, // 0x67 'g' { 866, 9, 13, 9, 0, -12 }, // 0x68 'h' { 881, 4, 11, 5, 1, -10 }, // 0x69 'i' { 887, 5, 15, 6, 0, -10 }, // 0x6A 'j' { 897, 9, 13, 9, 1, -12 }, // 0x6B 'k' { 912, 4, 13, 5, 1, -12 }, // 0x6C 'l' { 919, 14, 8, 14, 0, -7 }, // 0x6D 'm' { 933, 9, 8, 9, 0, -7 }, // 0x6E 'n' { 942, 9, 8, 9, 0, -7 }, // 0x6F 'o' { 951, 9, 12, 9, 0, -7 }, // 0x70 'p' { 965, 9, 12, 9, 0, -7 }, // 0x71 'q' { 979, 6, 8, 6, 0, -7 }, // 0x72 'r' { 985, 6, 8, 7, 1, -7 }, // 0x73 's' { 991, 5, 9, 5, 0, -8 }, // 0x74 't' { 997, 9, 8, 9, 0, -7 }, // 0x75 'u' { 1006, 8, 8, 8, 0, -7 }, // 0x76 'v' { 1014, 12, 8, 12, 0, -7 }, // 0x77 'w' { 1026, 9, 8, 9, 0, -7 }, // 0x78 'x' { 1035, 8, 12, 8, 0, -7 }, // 0x79 'y' { 1047, 7, 8, 7, 1, -7 }, // 0x7A 'z' { 1054, 5, 16, 9, 1, -12 }, // 0x7B '{' { 1064, 1, 12, 4, 1, -11 }, // 0x7C '|' { 1066, 5, 16, 9, 3, -11 }, // 0x7D '}' { 1076, 9, 3, 9, 0, -5 } }; // 0x7E '~' const GFXfont FreeSerif9pt7b PROGMEM = { (uint8_t *)FreeSerif9pt7bBitmaps, (GFXglyph *)FreeSerif9pt7bGlyphs, 0x20, 0x7E, 22 }; // Approx. 1752 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSerifBold12pt7b.h ================================================ const uint8_t FreeSerifBold12pt7bBitmaps[] PROGMEM = { 0x7F, 0xFF, 0x77, 0x66, 0x22, 0x00, 0x6F, 0xF7, 0xE3, 0xF1, 0xF8, 0xFC, 0x7E, 0x3A, 0x09, 0x04, 0x0C, 0x40, 0xCC, 0x0C, 0xC0, 0x8C, 0x18, 0xC7, 0xFF, 0x18, 0xC1, 0x88, 0x19, 0x81, 0x98, 0xFF, 0xE3, 0x18, 0x31, 0x83, 0x18, 0x33, 0x03, 0x30, 0x08, 0x01, 0x00, 0xFC, 0x24, 0xEC, 0x8D, 0x90, 0xBA, 0x07, 0xC0, 0x7E, 0x07, 0xF0, 0x7F, 0x07, 0xF0, 0x9F, 0x11, 0xE2, 0x3E, 0x46, 0xE9, 0xC7, 0xC0, 0x20, 0x04, 0x00, 0x1E, 0x0C, 0x0E, 0x7F, 0x07, 0x10, 0x83, 0xC4, 0x40, 0xE1, 0x30, 0x38, 0x88, 0x0E, 0x26, 0x03, 0x91, 0x1E, 0x78, 0x8E, 0x40, 0x27, 0x10, 0x11, 0xC4, 0x0C, 0xE1, 0x02, 0x38, 0x81, 0x0E, 0x20, 0x43, 0x90, 0x20, 0x78, 0x03, 0xE0, 0x01, 0x9E, 0x00, 0xE3, 0x80, 0x38, 0xE0, 0x0F, 0x30, 0x03, 0xF0, 0x00, 0x78, 0x7C, 0x1F, 0x06, 0x1B, 0xE1, 0x1C, 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0x01, 0xE0, 0x3F, 0xF9, 0xDF, 0xF7, 0xDD, 0xE0, 0x78, 0x1E, 0x07, 0x81, 0xE0, 0x78, 0x1E, 0x0F, 0xC0, 0x3D, 0x43, 0xC3, 0xE0, 0xFC, 0x7E, 0x1F, 0x87, 0x83, 0xC2, 0xBC, 0x08, 0x18, 0x38, 0x78, 0xFC, 0x78, 0x78, 0x78, 0x78, 0x78, 0x78, 0x78, 0x78, 0x79, 0x3E, 0xFB, 0xE7, 0x9E, 0x79, 0xE7, 0x9E, 0x79, 0xE7, 0x9E, 0x79, 0xE7, 0x9E, 0x79, 0xE7, 0x9E, 0x3F, 0xF0, 0xFC, 0xEF, 0x08, 0xE1, 0x1E, 0x41, 0xC8, 0x3D, 0x03, 0xC0, 0x78, 0x0E, 0x00, 0xC0, 0x10, 0x00, 0xFD, 0xF7, 0xBC, 0x71, 0x9E, 0x38, 0x87, 0x1E, 0x43, 0xCF, 0x40, 0xEB, 0xA0, 0x7C, 0xF0, 0x1C, 0x70, 0x0E, 0x38, 0x06, 0x08, 0x01, 0x04, 0x00, 0xFC, 0xF7, 0x84, 0x3C, 0x81, 0xF0, 0x0F, 0x00, 0xF0, 0x0F, 0x80, 0xBC, 0x13, 0xC2, 0x1E, 0xFB, 0xF0, 0xFC, 0xEF, 0x08, 0xE1, 0x1E, 0x43, 0xC8, 0x3A, 0x07, 0xC0, 0x78, 0x0E, 0x01, 0xC0, 0x18, 0x02, 0x00, 0x41, 0xC8, 0x3A, 0x03, 0x80, 0xFF, 0xB1, 0xE8, 0x70, 0x3C, 0x1E, 0x07, 0x83, 0xC1, 0xE0, 0x78, 0xBC, 0x2F, 0xF8, 0x07, 0x0E, 0x1C, 0x1C, 0x1C, 0x1C, 0x1C, 0x1C, 0x1C, 0x1C, 0xE0, 0x18, 0x1C, 0x1C, 0x1C, 0x1C, 0x1C, 0x1C, 0x1C, 0x1E, 0x07, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xE0, 0x70, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x18, 0x07, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x70, 0xE0, 0x70, 0x1F, 0x8B, 0x3F, 0x01, 0xC0 }; const GFXglyph FreeSerifBold12pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 6, 0, 1 }, // 0x20 ' ' { 0, 4, 16, 8, 2, -15 }, // 0x21 '!' { 8, 9, 7, 13, 2, -15 }, // 0x22 '"' { 16, 12, 16, 12, 0, -15 }, // 0x23 '#' { 40, 11, 20, 12, 1, -17 }, // 0x24 '$' { 68, 18, 16, 24, 3, -15 }, // 0x25 '%' { 104, 18, 16, 20, 1, -15 }, // 0x26 '&' { 140, 3, 7, 7, 2, -15 }, // 0x27 ''' { 143, 6, 21, 8, 1, -16 }, // 0x28 '(' { 159, 6, 21, 8, 1, -16 }, // 0x29 ')' { 175, 9, 10, 12, 2, -15 }, // 0x2A '*' { 187, 12, 12, 16, 2, -11 }, // 0x2B '+' { 205, 4, 8, 6, 1, -3 }, // 0x2C ',' { 209, 6, 3, 8, 1, -6 }, // 0x2D '-' { 212, 4, 4, 6, 1, -3 }, // 0x2E '.' { 214, 8, 17, 7, -1, -15 }, // 0x2F '/' { 231, 11, 16, 12, 1, -15 }, // 0x30 '0' { 253, 9, 16, 12, 1, -15 }, // 0x31 '1' { 271, 12, 16, 12, 0, -15 }, // 0x32 '2' { 295, 11, 16, 12, 1, -15 }, // 0x33 '3' { 317, 10, 16, 12, 1, -15 }, // 0x34 '4' { 337, 11, 16, 12, 1, -15 }, // 0x35 '5' { 359, 11, 16, 12, 1, -15 }, // 0x36 '6' { 381, 11, 16, 12, 0, -15 }, // 0x37 '7' { 403, 11, 16, 12, 1, -15 }, // 0x38 '8' { 425, 11, 16, 12, 1, -15 }, // 0x39 '9' { 447, 4, 11, 8, 2, -10 }, // 0x3A ':' { 453, 4, 15, 8, 2, -10 }, // 0x3B ';' { 461, 14, 14, 16, 1, -12 }, // 0x3C '<' { 486, 14, 8, 16, 1, -9 }, // 0x3D '=' { 500, 14, 14, 16, 1, -12 }, // 0x3E '>' { 525, 10, 16, 12, 1, -15 }, // 0x3F '?' { 545, 16, 16, 22, 3, -15 }, // 0x40 '@' { 577, 17, 16, 17, 0, -15 }, // 0x41 'A' { 611, 14, 16, 16, 1, -15 }, // 0x42 'B' { 639, 15, 16, 17, 1, -15 }, // 0x43 'C' { 669, 17, 16, 18, 0, -15 }, // 0x44 'D' { 703, 15, 16, 16, 1, -15 }, // 0x45 'E' { 733, 14, 16, 15, 1, -15 }, // 0x46 'F' { 761, 16, 16, 19, 1, -15 }, // 0x47 'G' { 793, 16, 16, 19, 2, -15 }, // 0x48 'H' { 825, 8, 16, 9, 1, -15 }, // 0x49 'I' { 841, 12, 18, 12, 0, -15 }, // 0x4A 'J' { 868, 17, 16, 19, 2, -15 }, // 0x4B 'K' { 902, 14, 16, 16, 2, -15 }, // 0x4C 'L' { 930, 20, 16, 23, 1, -15 }, // 0x4D 'M' { 970, 15, 16, 17, 1, -15 }, // 0x4E 'N' { 1000, 17, 16, 19, 1, -15 }, // 0x4F 'O' { 1034, 12, 16, 15, 2, -15 }, // 0x50 'P' { 1058, 17, 20, 19, 1, -15 }, // 0x51 'Q' { 1101, 16, 16, 17, 1, -15 }, // 0x52 'R' { 1133, 12, 16, 14, 1, -15 }, // 0x53 'S' { 1157, 15, 16, 15, 0, -15 }, // 0x54 'T' { 1187, 15, 16, 17, 1, -15 }, // 0x55 'U' { 1217, 17, 17, 17, 0, -15 }, // 0x56 'V' { 1254, 23, 16, 24, 0, -15 }, // 0x57 'W' { 1300, 17, 16, 17, 0, -15 }, // 0x58 'X' { 1334, 16, 16, 17, 1, -15 }, // 0x59 'Y' { 1366, 15, 16, 16, 0, -15 }, // 0x5A 'Z' { 1396, 5, 20, 8, 2, -15 }, // 0x5B '[' { 1409, 8, 17, 7, -1, -15 }, // 0x5C '\' { 1426, 5, 20, 8, 2, -15 }, // 0x5D ']' { 1439, 10, 9, 14, 2, -15 }, // 0x5E '^' { 1451, 12, 1, 12, 0, 4 }, // 0x5F '_' { 1453, 5, 4, 8, 0, -16 }, // 0x60 '`' { 1456, 11, 11, 12, 1, -10 }, // 0x61 'a' { 1472, 12, 16, 13, 1, -15 }, // 0x62 'b' { 1496, 9, 11, 10, 1, -10 }, // 0x63 'c' { 1509, 12, 16, 13, 1, -15 }, // 0x64 'd' { 1533, 10, 11, 11, 1, -10 }, // 0x65 'e' { 1547, 8, 16, 9, 1, -15 }, // 0x66 'f' { 1563, 11, 16, 12, 1, -10 }, // 0x67 'g' { 1585, 12, 16, 13, 1, -15 }, // 0x68 'h' { 1609, 6, 16, 7, 1, -15 }, // 0x69 'i' { 1621, 8, 21, 10, 0, -15 }, // 0x6A 'j' { 1642, 13, 16, 13, 1, -15 }, // 0x6B 'k' { 1668, 6, 16, 7, 1, -15 }, // 0x6C 'l' { 1680, 19, 11, 20, 1, -10 }, // 0x6D 'm' { 1707, 12, 11, 13, 1, -10 }, // 0x6E 'n' { 1724, 11, 11, 12, 1, -10 }, // 0x6F 'o' { 1740, 12, 16, 13, 1, -10 }, // 0x70 'p' { 1764, 12, 16, 13, 1, -10 }, // 0x71 'q' { 1788, 10, 11, 10, 1, -10 }, // 0x72 'r' { 1802, 8, 11, 10, 1, -10 }, // 0x73 's' { 1813, 8, 15, 8, 1, -14 }, // 0x74 't' { 1828, 12, 11, 14, 1, -10 }, // 0x75 'u' { 1845, 11, 11, 12, 0, -10 }, // 0x76 'v' { 1861, 17, 11, 17, 0, -10 }, // 0x77 'w' { 1885, 12, 11, 12, 0, -10 }, // 0x78 'x' { 1902, 11, 16, 12, 0, -10 }, // 0x79 'y' { 1924, 10, 11, 11, 1, -10 }, // 0x7A 'z' { 1938, 8, 21, 9, 0, -16 }, // 0x7B '{' { 1959, 2, 17, 5, 2, -15 }, // 0x7C '|' { 1964, 8, 21, 9, 2, -16 }, // 0x7D '}' { 1985, 11, 4, 12, 1, -7 } }; // 0x7E '~' const GFXfont FreeSerifBold12pt7b PROGMEM = { (uint8_t *)FreeSerifBold12pt7bBitmaps, (GFXglyph *)FreeSerifBold12pt7bGlyphs, 0x20, 0x7E, 29 }; // Approx. 2663 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSerifBold18pt7b.h ================================================ const uint8_t FreeSerifBold18pt7bBitmaps[] PROGMEM = { 0x7B, 0xEF, 0xFF, 0xFF, 0xF7, 0x9E, 0x71, 0xC7, 0x0C, 0x20, 0x82, 0x00, 0x00, 0x07, 0x3E, 0xFF, 0xFF, 0xDC, 0x60, 0x37, 0x83, 0xFC, 0x1F, 0xE0, 0xFF, 0x07, 0xB8, 0x3D, 0xC0, 0xCC, 0x06, 0x20, 0x31, 0x01, 0x80, 0x03, 0x8E, 0x00, 0xC3, 0x80, 0x30, 0xE0, 0x1C, 0x38, 0x07, 0x0E, 0x01, 0xC3, 0x87, 0xFF, 0xFD, 0xFF, 0xFF, 0x7F, 0xFF, 0xC1, 0x87, 0x00, 0xE1, 0xC0, 0x38, 0x70, 0x0E, 0x1C, 0x03, 0x86, 0x0F, 0xFF, 0xF3, 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0xE0, 0xF0, 0x0F, 0x80, 0xF0, 0x0F, 0x01, 0xE0, 0x3C, 0x07, 0x80, 0xF0, 0x1E, 0x03, 0xC0, 0x78, 0x0F, 0x01, 0xE0, 0x3C, 0x03, 0xC0, 0x0F, 0x0F, 0x03, 0xC0, 0x78, 0x0F, 0x01, 0xE0, 0x3C, 0x07, 0x80, 0xF0, 0x1E, 0x03, 0xC0, 0x78, 0x0F, 0x03, 0xE0, 0xF8, 0x3C, 0x00, 0x3E, 0x00, 0x7F, 0xC6, 0xFF, 0xFF, 0x61, 0xFE, 0x00, 0x7C }; const GFXglyph FreeSerifBold18pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 9, 0, 1 }, // 0x20 ' ' { 0, 6, 24, 12, 3, -23 }, // 0x21 '!' { 18, 13, 10, 19, 3, -23 }, // 0x22 '"' { 35, 18, 24, 17, 0, -23 }, // 0x23 '#' { 89, 15, 28, 17, 1, -25 }, // 0x24 '$' { 142, 27, 24, 35, 4, -23 }, // 0x25 '%' { 223, 26, 25, 29, 2, -23 }, // 0x26 '&' { 305, 4, 10, 10, 3, -23 }, // 0x27 ''' { 310, 9, 30, 12, 2, -23 }, // 0x28 '(' { 344, 9, 30, 12, 1, -23 }, // 0x29 ')' { 378, 14, 15, 18, 2, -23 }, // 0x2A '*' { 405, 19, 19, 24, 2, -17 }, // 0x2B '+' { 451, 6, 12, 9, 1, -5 }, // 0x2C ',' { 460, 8, 4, 12, 2, -9 }, // 0x2D '-' { 464, 6, 6, 9, 1, -5 }, // 0x2E '.' { 469, 11, 25, 10, -1, -23 }, // 0x2F '/' { 504, 16, 24, 18, 1, -23 }, // 0x30 '0' { 552, 12, 24, 18, 3, -23 }, // 0x31 '1' { 588, 16, 24, 17, 1, -23 }, // 0x32 '2' { 636, 16, 24, 18, 0, -23 }, // 0x33 '3' { 684, 15, 24, 18, 1, -23 }, // 0x34 '4' { 729, 15, 24, 18, 1, -23 }, // 0x35 '5' { 774, 16, 24, 18, 1, -23 }, // 0x36 '6' { 822, 16, 24, 17, 1, -23 }, // 0x37 '7' { 870, 16, 24, 17, 1, -23 }, // 0x38 '8' { 918, 16, 24, 18, 1, -23 }, // 0x39 '9' { 966, 6, 16, 12, 3, -15 }, // 0x3A ':' { 978, 7, 22, 12, 2, -15 }, // 0x3B ';' { 998, 19, 20, 24, 2, -18 }, // 0x3C '<' { 1046, 19, 12, 24, 2, -14 }, // 0x3D '=' { 1075, 19, 20, 24, 3, -18 }, // 0x3E '>' { 1123, 14, 24, 18, 2, -23 }, // 0x3F '?' { 1165, 24, 25, 33, 4, -23 }, // 0x40 '@' { 1240, 24, 24, 25, 1, -23 }, // 0x41 'A' { 1312, 21, 24, 23, 1, -23 }, // 0x42 'B' { 1375, 23, 25, 25, 1, -23 }, // 0x43 'C' { 1447, 23, 24, 26, 1, -23 }, // 0x44 'D' { 1516, 21, 24, 23, 2, -23 }, // 0x45 'E' { 1579, 19, 24, 22, 2, -23 }, // 0x46 'F' { 1636, 25, 25, 27, 1, -23 }, // 0x47 'G' { 1715, 24, 24, 27, 2, -23 }, // 0x48 'H' { 1787, 11, 24, 14, 2, -23 }, // 0x49 'I' { 1820, 16, 27, 18, 0, -23 }, // 0x4A 'J' { 1874, 25, 24, 27, 2, -23 }, // 0x4B 'K' { 1949, 21, 24, 23, 2, -23 }, // 0x4C 'L' { 2012, 31, 24, 33, 1, -23 }, // 0x4D 'M' { 2105, 23, 24, 25, 1, -23 }, // 0x4E 'N' { 2174, 25, 25, 27, 1, -23 }, // 0x4F 'O' { 2253, 19, 24, 22, 2, -23 }, // 0x50 'P' { 2310, 25, 30, 27, 1, -23 }, // 0x51 'Q' { 2404, 23, 24, 25, 2, -23 }, // 0x52 'R' { 2473, 16, 25, 20, 2, -23 }, // 0x53 'S' { 2523, 21, 24, 23, 1, -23 }, // 0x54 'T' { 2586, 22, 25, 25, 2, -23 }, // 0x55 'U' { 2655, 24, 24, 25, 0, -23 }, // 0x56 'V' { 2727, 34, 25, 34, 0, -23 }, // 0x57 'W' { 2834, 24, 24, 25, 1, -23 }, // 0x58 'X' { 2906, 24, 24, 25, 1, -23 }, // 0x59 'Y' { 2978, 21, 24, 23, 1, -23 }, // 0x5A 'Z' { 3041, 8, 29, 12, 2, -23 }, // 0x5B '[' { 3070, 11, 25, 10, -1, -23 }, // 0x5C '\' { 3105, 8, 29, 12, 2, -23 }, // 0x5D ']' { 3134, 15, 13, 20, 3, -23 }, // 0x5E '^' { 3159, 18, 3, 17, 0, 3 }, // 0x5F '_' { 3166, 8, 6, 12, 0, -23 }, // 0x60 '`' { 3172, 16, 16, 18, 1, -15 }, // 0x61 'a' { 3204, 18, 24, 19, 1, -23 }, // 0x62 'b' { 3258, 14, 16, 15, 1, -15 }, // 0x63 'c' { 3286, 18, 24, 19, 1, -23 }, // 0x64 'd' { 3340, 14, 16, 16, 1, -15 }, // 0x65 'e' { 3368, 11, 24, 14, 2, -23 }, // 0x66 'f' { 3401, 17, 23, 17, 1, -15 }, // 0x67 'g' { 3450, 17, 24, 19, 1, -23 }, // 0x68 'h' { 3501, 7, 24, 10, 2, -23 }, // 0x69 'i' { 3522, 11, 31, 14, 0, -23 }, // 0x6A 'j' { 3565, 18, 24, 19, 1, -23 }, // 0x6B 'k' { 3619, 7, 24, 10, 1, -23 }, // 0x6C 'l' { 3640, 27, 16, 29, 1, -15 }, // 0x6D 'm' { 3694, 17, 16, 19, 1, -15 }, // 0x6E 'n' { 3728, 17, 16, 18, 1, -15 }, // 0x6F 'o' { 3762, 19, 23, 19, 0, -15 }, // 0x70 'p' { 3817, 17, 23, 19, 1, -15 }, // 0x71 'q' { 3866, 13, 16, 15, 1, -15 }, // 0x72 'r' { 3892, 12, 16, 14, 1, -15 }, // 0x73 's' { 3916, 10, 21, 12, 1, -20 }, // 0x74 't' { 3943, 18, 16, 20, 1, -15 }, // 0x75 'u' { 3979, 17, 16, 17, 0, -15 }, // 0x76 'v' { 4013, 24, 16, 25, 0, -15 }, // 0x77 'w' { 4061, 16, 16, 18, 1, -15 }, // 0x78 'x' { 4093, 16, 23, 17, 0, -15 }, // 0x79 'y' { 4139, 14, 16, 16, 0, -15 }, // 0x7A 'z' { 4167, 11, 31, 14, 1, -24 }, // 0x7B '{' { 4210, 3, 25, 8, 2, -23 }, // 0x7C '|' { 4220, 11, 31, 14, 3, -24 }, // 0x7D '}' { 4263, 16, 5, 18, 1, -11 } }; // 0x7E '~' const GFXfont FreeSerifBold18pt7b PROGMEM = { (uint8_t *)FreeSerifBold18pt7bBitmaps, (GFXglyph *)FreeSerifBold18pt7bGlyphs, 0x20, 0x7E, 42 }; // Approx. 4945 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSerifBold24pt7b.h ================================================ const uint8_t FreeSerifBold24pt7bBitmaps[] PROGMEM = { 0x3C, 0x7E, 0xFE, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x7E, 0x7E, 0x7C, 0x7C, 0x3C, 0x3C, 0x38, 0x38, 0x38, 0x38, 0x18, 0x10, 0x10, 0x10, 0x00, 0x00, 0x00, 0x00, 0x3C, 0x7E, 0xFF, 0xFF, 0xFF, 0xFF, 0x7E, 0x3C, 0x70, 0x07, 0x7C, 0x07, 0xFE, 0x03, 0xFF, 0x01, 0xFF, 0x80, 0xFF, 0xC0, 0x7F, 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0x07, 0xC0, 0x1F, 0x00, 0x7C, 0x01, 0xF0, 0x07, 0xC0, 0x1F, 0x00, 0xF8, 0x03, 0xC0, 0x3C, 0x01, 0xF0, 0x00, 0xF0, 0x03, 0xE0, 0x07, 0xC0, 0x1F, 0x00, 0x7C, 0x01, 0xF0, 0x07, 0xC0, 0x1F, 0x00, 0x7C, 0x01, 0xF0, 0x07, 0xC0, 0x1F, 0x00, 0x7C, 0x01, 0xF0, 0x07, 0xC0, 0x1F, 0x00, 0x3E, 0x00, 0xF8, 0x01, 0xF8, 0x01, 0xF0, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF0, 0xF8, 0x01, 0xF8, 0x01, 0xF0, 0x07, 0xC0, 0x0F, 0x80, 0x3E, 0x00, 0xF8, 0x03, 0xE0, 0x0F, 0x80, 0x3E, 0x00, 0xF8, 0x03, 0xE0, 0x0F, 0x80, 0x3E, 0x00, 0xF8, 0x03, 0xE0, 0x0F, 0x80, 0x3E, 0x00, 0x7C, 0x00, 0xF0, 0x00, 0xF0, 0x03, 0xE0, 0x3C, 0x01, 0xF0, 0x0F, 0x80, 0x3E, 0x00, 0xF8, 0x03, 0xE0, 0x0F, 0x80, 0x3E, 0x00, 0xF8, 0x03, 0xE0, 0x0F, 0x80, 0x3E, 0x00, 0xF8, 0x03, 0xE0, 0x0F, 0x80, 0x3E, 0x01, 0xF0, 0x07, 0xC0, 0x7E, 0x03, 0xE0, 0x00, 0x0F, 0x80, 0x00, 0xFF, 0xC0, 0x47, 0xFF, 0xC3, 0x9F, 0xFF, 0xFF, 0x70, 0x7F, 0xF8, 0x80, 0x7F, 0xC0, 0x00, 0x3E, 0x00 }; const GFXglyph FreeSerifBold24pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 12, 0, 1 }, // 0x20 ' ' { 0, 8, 34, 16, 4, -32 }, // 0x21 '!' { 34, 17, 13, 26, 4, -32 }, // 0x22 '"' { 62, 23, 33, 23, 0, -32 }, // 0x23 '#' { 157, 21, 39, 24, 1, -34 }, // 0x24 '$' { 260, 35, 34, 47, 6, -32 }, // 0x25 '%' { 409, 34, 34, 39, 3, -32 }, // 0x26 '&' { 554, 5, 13, 13, 4, -32 }, // 0x27 ''' { 563, 12, 41, 16, 2, -32 }, // 0x28 '(' { 625, 12, 41, 16, 1, -32 }, // 0x29 ')' { 687, 18, 21, 24, 3, -32 }, // 0x2A '*' { 735, 26, 25, 32, 3, -24 }, // 0x2B '+' { 817, 8, 15, 12, 2, -6 }, // 0x2C ',' { 832, 11, 5, 16, 2, -12 }, // 0x2D '-' { 839, 8, 8, 12, 2, -6 }, // 0x2E '.' { 847, 15, 33, 13, -1, -32 }, // 0x2F '/' { 909, 22, 34, 23, 1, -32 }, // 0x30 '0' { 1003, 18, 33, 23, 3, -32 }, // 0x31 '1' { 1078, 21, 33, 24, 1, -32 }, // 0x32 '2' { 1165, 21, 34, 24, 1, -32 }, // 0x33 '3' { 1255, 21, 33, 24, 1, -32 }, // 0x34 '4' { 1342, 20, 32, 23, 2, -31 }, // 0x35 '5' { 1422, 21, 34, 24, 1, -32 }, // 0x36 '6' { 1512, 21, 32, 23, 1, -31 }, // 0x37 '7' { 1596, 21, 34, 23, 1, -32 }, // 0x38 '8' { 1686, 22, 34, 23, 1, -32 }, // 0x39 '9' { 1780, 8, 24, 16, 4, -22 }, // 0x3A ':' { 1804, 9, 31, 16, 3, -22 }, // 0x3B ';' { 1839, 26, 26, 32, 3, -24 }, // 0x3C '<' { 1924, 26, 17, 32, 3, -20 }, // 0x3D '=' { 1980, 26, 26, 32, 3, -24 }, // 0x3E '>' { 2065, 18, 34, 24, 3, -32 }, // 0x3F '?' { 2142, 33, 34, 44, 5, -32 }, // 0x40 '@' { 2283, 32, 33, 34, 1, -32 }, // 0x41 'A' { 2415, 28, 32, 31, 1, -31 }, // 0x42 'B' { 2527, 30, 34, 33, 2, -32 }, // 0x43 'C' { 2655, 32, 32, 34, 1, -31 }, // 0x44 'D' { 2783, 28, 32, 32, 2, -31 }, // 0x45 'E' { 2895, 25, 32, 29, 2, -31 }, // 0x46 'F' { 2995, 33, 34, 36, 2, -32 }, // 0x47 'G' { 3136, 33, 32, 37, 2, -31 }, // 0x48 'H' { 3268, 15, 32, 18, 2, -31 }, // 0x49 'I' { 3328, 22, 37, 24, 0, -31 }, // 0x4A 'J' { 3430, 34, 32, 36, 2, -31 }, // 0x4B 'K' { 3566, 28, 32, 31, 2, -31 }, // 0x4C 'L' { 3678, 43, 32, 45, 0, -31 }, // 0x4D 'M' { 3850, 31, 32, 34, 1, -31 }, // 0x4E 'N' { 3974, 33, 34, 37, 2, -32 }, // 0x4F 'O' { 4115, 26, 32, 30, 2, -31 }, // 0x50 'P' { 4219, 33, 41, 37, 2, -32 }, // 0x51 'Q' { 4389, 31, 32, 34, 2, -31 }, // 0x52 'R' { 4513, 21, 34, 27, 3, -32 }, // 0x53 'S' { 4603, 28, 32, 30, 1, -31 }, // 0x54 'T' { 4715, 30, 33, 34, 2, -31 }, // 0x55 'U' { 4839, 33, 32, 33, 0, -31 }, // 0x56 'V' { 4971, 45, 33, 46, 1, -31 }, // 0x57 'W' { 5157, 32, 32, 34, 1, -31 }, // 0x58 'X' { 5285, 32, 32, 33, 1, -31 }, // 0x59 'Y' { 5413, 28, 32, 30, 1, -31 }, // 0x5A 'Z' { 5525, 11, 39, 16, 3, -31 }, // 0x5B '[' { 5579, 15, 33, 13, -1, -32 }, // 0x5C '\' { 5641, 11, 39, 16, 2, -31 }, // 0x5D ']' { 5695, 21, 17, 27, 3, -31 }, // 0x5E '^' { 5740, 24, 3, 23, 0, 5 }, // 0x5F '_' { 5749, 11, 9, 16, 0, -33 }, // 0x60 '`' { 5762, 22, 24, 23, 1, -22 }, // 0x61 'a' { 5828, 25, 33, 26, 0, -31 }, // 0x62 'b' { 5932, 19, 24, 20, 1, -22 }, // 0x63 'c' { 5989, 24, 33, 26, 1, -31 }, // 0x64 'd' { 6088, 18, 24, 21, 1, -22 }, // 0x65 'e' { 6142, 17, 33, 18, 1, -32 }, // 0x66 'f' { 6213, 19, 32, 24, 2, -22 }, // 0x67 'g' { 6289, 24, 32, 26, 0, -31 }, // 0x68 'h' { 6385, 11, 33, 14, 1, -32 }, // 0x69 'i' { 6431, 14, 42, 18, 0, -32 }, // 0x6A 'j' { 6505, 25, 32, 26, 0, -31 }, // 0x6B 'k' { 6605, 11, 32, 13, 0, -31 }, // 0x6C 'l' { 6649, 37, 23, 39, 0, -22 }, // 0x6D 'm' { 6756, 24, 23, 26, 0, -22 }, // 0x6E 'n' { 6825, 21, 24, 24, 1, -22 }, // 0x6F 'o' { 6888, 24, 32, 26, 0, -22 }, // 0x70 'p' { 6984, 24, 32, 26, 1, -22 }, // 0x71 'q' { 7080, 19, 23, 20, 0, -22 }, // 0x72 'r' { 7135, 15, 24, 19, 2, -22 }, // 0x73 's' { 7180, 14, 31, 16, 1, -29 }, // 0x74 't' { 7235, 25, 23, 27, 0, -21 }, // 0x75 'u' { 7307, 22, 23, 23, 0, -21 }, // 0x76 'v' { 7371, 33, 23, 33, 0, -21 }, // 0x77 'w' { 7466, 22, 22, 24, 1, -21 }, // 0x78 'x' { 7527, 21, 31, 23, 0, -21 }, // 0x79 'y' { 7609, 19, 22, 21, 1, -21 }, // 0x7A 'z' { 7662, 14, 42, 19, 1, -33 }, // 0x7B '{' { 7736, 4, 33, 10, 3, -32 }, // 0x7C '|' { 7753, 14, 42, 19, 4, -33 }, // 0x7D '}' { 7827, 22, 7, 24, 1, -14 } }; // 0x7E '~' const GFXfont FreeSerifBold24pt7b PROGMEM = { (uint8_t *)FreeSerifBold24pt7bBitmaps, (GFXglyph *)FreeSerifBold24pt7bGlyphs, 0x20, 0x7E, 56 }; // Approx. 8519 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSerifBold9pt7b.h ================================================ const uint8_t FreeSerifBold9pt7bBitmaps[] PROGMEM = { 0xFF, 0xF4, 0x92, 0x1F, 0xF0, 0xCF, 0x3C, 0xE3, 0x88, 0x13, 0x09, 0x84, 0xC2, 0x47, 0xF9, 0x90, 0xC8, 0x4C, 0xFF, 0x13, 0x09, 0x0C, 0x86, 0x40, 0x10, 0x38, 0xD6, 0x92, 0xD2, 0xF0, 0x7C, 0x3E, 0x17, 0x93, 0x93, 0xD6, 0x7C, 0x10, 0x3C, 0x21, 0xCF, 0x0E, 0x24, 0x30, 0xA0, 0xC5, 0x03, 0x34, 0xE7, 0x26, 0x40, 0xB9, 0x04, 0xC4, 0x23, 0x30, 0x8C, 0x84, 0x1C, 0x0F, 0x00, 0xCC, 0x06, 0x60, 0x3E, 0x00, 0xE7, 0x8F, 0x18, 0x9C, 0x8C, 0xE4, 0xE3, 0xC7, 0x9E, 0x3C, 0x72, 0xFD, 0xE0, 0xFF, 0x80, 0x32, 0x44, 0xCC, 0xCC, 0xCC, 0xC4, 0x62, 0x10, 0x84, 0x22, 0x33, 0x33, 0x33, 0x32, 0x64, 0x80, 0x31, 0x6B, 0xB1, 0x8E, 0xD6, 0x8C, 0x00, 0x08, 0x04, 0x02, 0x01, 0x0F, 0xF8, 0x40, 0x20, 0x10, 0x08, 0x00, 0xDF, 0x95, 0x00, 0xFF, 0xFF, 0x80, 0x0C, 0x21, 0x86, 0x10, 0xC3, 0x08, 0x61, 0x84, 0x30, 0xC0, 0x1C, 0x33, 0x98, 0xDC, 0x7E, 0x3F, 0x1F, 0x8F, 0xC7, 0xE3, 0xB1, 0x98, 0xC3, 0x80, 0x08, 0xE3, 0x8E, 0x38, 0xE3, 0x8E, 0x38, 0xE3, 0xBF, 0x3C, 0x3F, 0x23, 0xC0, 0xE0, 0x70, 0x30, 0x38, 0x18, 0x18, 0x18, 0x5F, 0xDF, 0xE0, 0x7C, 0x8E, 0x0E, 0x0E, 0x0C, 0x1E, 0x07, 0x03, 0x03, 0x02, 0xE6, 0xF8, 0x06, 0x0E, 0x0E, 0x3E, 0x2E, 0x4E, 0x8E, 0x8E, 0xFF, 0xFF, 0x0E, 0x0E, 0x3F, 0x7E, 0x40, 0x40, 0xF8, 0xFC, 0x1E, 0x06, 0x02, 0x02, 0xE4, 0xF8, 0x07, 0x1C, 0x30, 0x70, 0xFC, 0xE6, 0xE7, 0xE7, 0xE7, 0x67, 0x66, 0x3C, 0x7F, 0x3F, 0xA0, 0xD0, 0x40, 0x60, 0x30, 0x10, 0x18, 0x0C, 0x04, 0x06, 0x03, 0x00, 0x3C, 0xC6, 0xC6, 0xC6, 0xFC, 0x7C, 0x3E, 0xCF, 0xC7, 0xC7, 0xC6, 0x7C, 0x3E, 0x33, 0xB8, 0xDC, 0x7E, 0x3F, 0x1D, 0xCE, 0x7F, 0x07, 0x07, 0x0F, 0x1C, 0x00, 0xFF, 0x80, 0x3F, 0xE0, 0xFF, 0x80, 0x37, 0xE5, 0x40, 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0x73, 0xA3, 0x3A, 0x3D, 0xA3, 0xDC, 0x18, 0xC1, 0x88, 0x10, 0x80, 0xFB, 0xB8, 0x8E, 0x83, 0x81, 0xC0, 0xF0, 0x98, 0xCE, 0xEF, 0x80, 0xF7, 0x62, 0x72, 0x34, 0x34, 0x3C, 0x18, 0x18, 0x10, 0x10, 0x10, 0xE0, 0xE0, 0xFF, 0x1C, 0x70, 0xE3, 0x87, 0x1C, 0x71, 0xFE, 0x19, 0x8C, 0x63, 0x18, 0xCC, 0x61, 0x8C, 0x63, 0x18, 0xC3, 0xFF, 0xF8, 0xC3, 0x18, 0xC6, 0x31, 0x86, 0x33, 0x18, 0xC6, 0x31, 0x98, 0xF0, 0x8E }; const GFXglyph FreeSerifBold9pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 5, 0, 1 }, // 0x20 ' ' { 0, 3, 12, 6, 1, -11 }, // 0x21 '!' { 5, 6, 5, 10, 2, -11 }, // 0x22 '"' { 9, 9, 13, 9, 0, -12 }, // 0x23 '#' { 24, 8, 14, 9, 1, -12 }, // 0x24 '$' { 38, 14, 12, 18, 2, -11 }, // 0x25 '%' { 59, 13, 12, 15, 1, -11 }, // 0x26 '&' { 79, 2, 5, 5, 1, -11 }, // 0x27 ''' { 81, 4, 15, 6, 1, -11 }, // 0x28 '(' { 89, 4, 15, 6, 1, -11 }, // 0x29 ')' { 97, 7, 7, 9, 2, -11 }, // 0x2A '*' { 104, 9, 9, 12, 1, -8 }, // 0x2B '+' { 115, 3, 6, 4, 1, -2 }, // 0x2C ',' { 118, 4, 2, 6, 1, -4 }, // 0x2D '-' { 119, 3, 3, 4, 1, -2 }, // 0x2E '.' { 121, 6, 13, 5, 0, -11 }, // 0x2F '/' { 131, 9, 12, 9, 0, -11 }, // 0x30 '0' { 145, 6, 12, 9, 1, -11 }, // 0x31 '1' { 154, 9, 12, 9, 0, -11 }, // 0x32 '2' { 168, 8, 12, 9, 0, -11 }, // 0x33 '3' { 180, 8, 12, 9, 1, -11 }, // 0x34 '4' { 192, 8, 12, 9, 1, -11 }, // 0x35 '5' { 204, 8, 12, 9, 1, -11 }, // 0x36 '6' { 216, 9, 12, 9, 0, -11 }, // 0x37 '7' { 230, 8, 12, 9, 1, -11 }, // 0x38 '8' { 242, 9, 12, 9, 0, -11 }, // 0x39 '9' { 256, 3, 9, 6, 1, -8 }, // 0x3A ':' { 260, 3, 12, 6, 2, -8 }, // 0x3B ';' { 265, 10, 10, 12, 1, -9 }, // 0x3C '<' { 278, 10, 5, 12, 1, -6 }, // 0x3D '=' { 285, 10, 10, 12, 1, -8 }, // 0x3E '>' { 298, 7, 12, 9, 1, -11 }, // 0x3F '?' { 309, 13, 12, 17, 2, -11 }, // 0x40 '@' { 329, 13, 12, 13, 0, -11 }, // 0x41 'A' { 349, 11, 12, 12, 0, -11 }, // 0x42 'B' { 366, 11, 12, 13, 1, -11 }, // 0x43 'C' { 383, 11, 12, 13, 1, -11 }, // 0x44 'D' { 400, 11, 12, 12, 1, -11 }, // 0x45 'E' { 417, 10, 12, 11, 1, -11 }, // 0x46 'F' { 432, 12, 12, 14, 1, -11 }, // 0x47 'G' { 450, 12, 12, 14, 1, -11 }, // 0x48 'H' { 468, 5, 12, 7, 1, -11 }, // 0x49 'I' { 476, 8, 14, 9, 0, -11 }, // 0x4A 'J' { 490, 13, 12, 14, 1, -11 }, // 0x4B 'K' { 510, 11, 12, 12, 1, -11 }, // 0x4C 'L' { 527, 16, 12, 17, 0, -11 }, // 0x4D 'M' { 551, 11, 12, 13, 1, -11 }, // 0x4E 'N' { 568, 12, 12, 14, 1, -11 }, // 0x4F 'O' { 586, 10, 12, 11, 1, -11 }, // 0x50 'P' { 601, 12, 15, 14, 1, -11 }, // 0x51 'Q' { 624, 12, 12, 13, 1, -11 }, // 0x52 'R' { 642, 8, 12, 10, 1, -11 }, // 0x53 'S' { 654, 12, 12, 12, 0, -11 }, // 0x54 'T' { 672, 11, 12, 13, 1, -11 }, // 0x55 'U' { 689, 13, 13, 13, 0, -11 }, // 0x56 'V' { 711, 18, 12, 18, 0, -11 }, // 0x57 'W' { 738, 13, 12, 13, 0, -11 }, // 0x58 'X' { 758, 13, 12, 13, 0, -11 }, // 0x59 'Y' { 778, 11, 12, 12, 1, -11 }, // 0x5A 'Z' { 795, 4, 15, 6, 1, -11 }, // 0x5B '[' { 803, 6, 13, 5, 0, -11 }, // 0x5C '\' { 813, 4, 15, 6, 1, -11 }, // 0x5D ']' { 821, 8, 7, 10, 1, -11 }, // 0x5E '^' { 828, 9, 1, 9, 0, 3 }, // 0x5F '_' { 830, 4, 3, 6, 0, -12 }, // 0x60 '`' { 832, 9, 9, 9, 0, -8 }, // 0x61 'a' { 843, 10, 12, 10, 0, -11 }, // 0x62 'b' { 858, 7, 9, 8, 0, -8 }, // 0x63 'c' { 866, 10, 12, 10, 0, -11 }, // 0x64 'd' { 881, 8, 9, 8, 0, -8 }, // 0x65 'e' { 890, 7, 12, 7, 0, -11 }, // 0x66 'f' { 901, 7, 13, 9, 1, -8 }, // 0x67 'g' { 913, 10, 12, 10, 0, -11 }, // 0x68 'h' { 928, 5, 12, 5, 0, -11 }, // 0x69 'i' { 936, 6, 16, 7, 0, -11 }, // 0x6A 'j' { 948, 10, 12, 10, 0, -11 }, // 0x6B 'k' { 963, 5, 12, 5, 0, -11 }, // 0x6C 'l' { 971, 15, 9, 15, 0, -8 }, // 0x6D 'm' { 988, 10, 9, 10, 0, -8 }, // 0x6E 'n' { 1000, 9, 9, 9, 0, -8 }, // 0x6F 'o' { 1011, 10, 13, 10, 0, -8 }, // 0x70 'p' { 1028, 10, 13, 10, 0, -8 }, // 0x71 'q' { 1045, 8, 9, 8, 0, -8 }, // 0x72 'r' { 1054, 5, 9, 7, 1, -8 }, // 0x73 's' { 1060, 6, 11, 6, 0, -10 }, // 0x74 't' { 1069, 10, 9, 10, 0, -8 }, // 0x75 'u' { 1081, 9, 9, 9, 0, -8 }, // 0x76 'v' { 1092, 12, 9, 13, 0, -8 }, // 0x77 'w' { 1106, 9, 9, 9, 0, -8 }, // 0x78 'x' { 1117, 8, 13, 9, 0, -8 }, // 0x79 'y' { 1130, 7, 9, 8, 1, -8 }, // 0x7A 'z' { 1138, 5, 16, 7, 0, -12 }, // 0x7B '{' { 1148, 1, 13, 4, 1, -11 }, // 0x7C '|' { 1150, 5, 16, 7, 2, -12 }, // 0x7D '}' { 1160, 8, 2, 9, 1, -4 } }; // 0x7E '~' const GFXfont FreeSerifBold9pt7b PROGMEM = { (uint8_t *)FreeSerifBold9pt7bBitmaps, (GFXglyph *)FreeSerifBold9pt7bGlyphs, 0x20, 0x7E, 22 }; // Approx. 1834 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSerifBoldItalic12pt7b.h ================================================ const uint8_t FreeSerifBoldItalic12pt7bBitmaps[] PROGMEM = { 0x07, 0x07, 0x07, 0x0F, 0x0E, 0x0E, 0x0C, 0x0C, 0x08, 0x18, 0x10, 0x00, 0x00, 0x60, 0xF0, 0xF0, 0x60, 0x61, 0xF1, 0xF8, 0xF8, 0x6C, 0x34, 0x12, 0x08, 0x01, 0x8C, 0x06, 0x60, 0x31, 0x80, 0xCC, 0x06, 0x30, 0xFF, 0xF0, 0xC6, 0x03, 0x18, 0x0C, 0xC0, 0x63, 0x0F, 0xFF, 0x0C, 0x60, 0x33, 0x01, 0x8C, 0x06, 0x30, 0x19, 0x80, 0x00, 0x80, 0x08, 0x07, 0xC1, 0x96, 0x31, 0x33, 0x13, 0x3A, 0x23, 0xE0, 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0xE0, 0x30, 0x0C, 0x07, 0x01, 0x80, 0xE0, 0xE0, 0x00, 0x38, 0x0F, 0xCD, 0x1F, 0x80, 0xE0 }; const GFXglyph FreeSerifBoldItalic12pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 6, 0, 1 }, // 0x20 ' ' { 0, 8, 17, 9, 2, -15 }, // 0x21 '!' { 17, 9, 7, 13, 4, -15 }, // 0x22 '"' { 25, 14, 16, 12, -1, -15 }, // 0x23 '#' { 53, 12, 20, 12, 0, -17 }, // 0x24 '$' { 83, 18, 18, 20, 1, -16 }, // 0x25 '%' { 124, 16, 17, 19, 0, -15 }, // 0x26 '&' { 158, 3, 7, 7, 3, -15 }, // 0x27 ''' { 161, 7, 21, 8, 1, -15 }, // 0x28 '(' { 180, 7, 21, 8, -1, -15 }, // 0x29 ')' { 199, 10, 10, 12, 1, -15 }, // 0x2A '*' { 212, 12, 12, 14, 1, -11 }, // 0x2B '+' { 230, 5, 8, 6, -2, -3 }, // 0x2C ',' { 235, 6, 3, 8, 0, -6 }, // 0x2D '-' { 238, 4, 4, 6, 0, -2 }, // 0x2E '.' { 240, 10, 16, 8, 0, -15 }, // 0x2F '/' { 260, 11, 17, 12, 0, -15 }, // 0x30 '0' { 284, 10, 17, 12, 0, -15 }, // 0x31 '1' { 306, 11, 17, 12, 0, -15 }, // 0x32 '2' { 330, 11, 17, 12, 0, -15 }, // 0x33 '3' { 354, 13, 16, 12, 0, -15 }, // 0x34 '4' { 380, 12, 17, 12, 0, -15 }, // 0x35 '5' { 406, 11, 17, 12, 1, -15 }, // 0x36 '6' { 430, 11, 16, 12, 2, -15 }, // 0x37 '7' { 452, 11, 17, 12, 0, -15 }, // 0x38 '8' { 476, 11, 17, 12, 0, -15 }, // 0x39 '9' { 500, 7, 12, 6, 0, -10 }, // 0x3A ':' { 511, 8, 15, 6, -1, -10 }, // 0x3B ';' { 526, 12, 13, 14, 1, -12 }, // 0x3C '<' { 546, 12, 6, 14, 2, -8 }, // 0x3D '=' { 555, 13, 13, 14, 1, -12 }, // 0x3E '>' { 577, 9, 17, 12, 2, -15 }, // 0x3F '?' { 597, 17, 16, 20, 1, -15 }, // 0x40 '@' { 631, 16, 17, 17, 0, -15 }, // 0x41 'A' { 665, 16, 17, 15, 0, -15 }, // 0x42 'B' { 699, 15, 17, 15, 1, -15 }, // 0x43 'C' { 731, 18, 17, 17, 0, -15 }, // 0x44 'D' { 770, 17, 17, 15, 0, -15 }, // 0x45 'E' { 807, 16, 17, 15, 0, -15 }, // 0x46 'F' { 841, 17, 17, 17, 1, -15 }, // 0x47 'G' { 878, 20, 17, 18, 0, -15 }, // 0x48 'H' { 921, 10, 17, 9, 0, -15 }, // 0x49 'I' { 943, 14, 18, 12, 0, -15 }, // 0x4A 'J' { 975, 17, 17, 16, 0, -15 }, // 0x4B 'K' { 1012, 15, 17, 15, 0, -15 }, // 0x4C 'L' { 1044, 23, 17, 21, 0, -15 }, // 0x4D 'M' { 1093, 19, 17, 17, 0, -15 }, // 0x4E 'N' { 1134, 16, 17, 16, 1, -15 }, // 0x4F 'O' { 1168, 16, 17, 14, 0, -15 }, // 0x50 'P' { 1202, 16, 21, 16, 1, -15 }, // 0x51 'Q' { 1244, 16, 17, 16, 0, -15 }, // 0x52 'R' { 1278, 12, 17, 12, 0, -15 }, // 0x53 'S' { 1304, 15, 17, 14, 2, -15 }, // 0x54 'T' { 1336, 16, 17, 17, 3, -15 }, // 0x55 'U' { 1370, 16, 16, 17, 3, -15 }, // 0x56 'V' { 1402, 21, 16, 22, 3, -15 }, // 0x57 'W' { 1444, 17, 17, 17, 0, -15 }, // 0x58 'X' { 1481, 14, 17, 15, 3, -15 }, // 0x59 'Y' { 1511, 15, 17, 13, 0, -15 }, // 0x5A 'Z' { 1543, 10, 20, 8, -1, -15 }, // 0x5B '[' { 1568, 6, 16, 10, 3, -15 }, // 0x5C '\' { 1580, 9, 20, 8, -1, -15 }, // 0x5D ']' { 1603, 10, 9, 14, 2, -15 }, // 0x5E '^' { 1615, 12, 1, 12, 0, 4 }, // 0x5F '_' { 1617, 5, 4, 8, 2, -15 }, // 0x60 '`' { 1620, 12, 12, 12, 0, -10 }, // 0x61 'a' { 1638, 11, 18, 12, 1, -16 }, // 0x62 'b' { 1663, 9, 12, 10, 1, -10 }, // 0x63 'c' { 1677, 14, 18, 12, 0, -16 }, // 0x64 'd' { 1709, 9, 12, 10, 1, -10 }, // 0x65 'e' { 1723, 14, 22, 12, -2, -16 }, // 0x66 'f' { 1762, 13, 16, 12, -1, -10 }, // 0x67 'g' { 1788, 13, 18, 13, 0, -16 }, // 0x68 'h' { 1818, 6, 17, 7, 1, -15 }, // 0x69 'i' { 1831, 11, 21, 8, -2, -15 }, // 0x6A 'j' { 1860, 13, 18, 12, 0, -16 }, // 0x6B 'k' { 1890, 7, 18, 7, 1, -16 }, // 0x6C 'l' { 1906, 18, 12, 18, 0, -10 }, // 0x6D 'm' { 1933, 12, 12, 13, 0, -10 }, // 0x6E 'n' { 1951, 10, 12, 11, 1, -10 }, // 0x6F 'o' { 1966, 14, 16, 12, -2, -10 }, // 0x70 'p' { 1994, 12, 16, 12, 0, -10 }, // 0x71 'q' { 2018, 10, 11, 10, 0, -10 }, // 0x72 'r' { 2032, 9, 12, 9, 0, -10 }, // 0x73 's' { 2046, 7, 15, 7, 1, -13 }, // 0x74 't' { 2060, 12, 12, 13, 1, -10 }, // 0x75 'u' { 2078, 10, 11, 11, 1, -10 }, // 0x76 'v' { 2092, 15, 11, 16, 1, -10 }, // 0x77 'w' { 2113, 13, 12, 11, -1, -10 }, // 0x78 'x' { 2133, 11, 16, 10, -1, -10 }, // 0x79 'y' { 2155, 10, 13, 10, 0, -10 }, // 0x7A 'z' { 2172, 11, 21, 8, 0, -16 }, // 0x7B '{' { 2201, 2, 16, 6, 3, -15 }, // 0x7C '|' { 2205, 10, 21, 8, -3, -16 }, // 0x7D '}' { 2232, 11, 4, 14, 1, -7 } }; // 0x7E '~' const GFXfont FreeSerifBoldItalic12pt7b PROGMEM = { (uint8_t *)FreeSerifBoldItalic12pt7bBitmaps, (GFXglyph *)FreeSerifBoldItalic12pt7bGlyphs, 0x20, 0x7E, 29 }; // Approx. 2910 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSerifBoldItalic18pt7b.h ================================================ const uint8_t FreeSerifBoldItalic18pt7bBitmaps[] PROGMEM = { 0x01, 0xC0, 0x7C, 0x0F, 0x81, 0xF0, 0x3E, 0x07, 0x80, 0xF0, 0x3C, 0x07, 0x80, 0xE0, 0x1C, 0x03, 0x00, 0x60, 0x0C, 0x03, 0x00, 0x60, 0x08, 0x00, 0x00, 0x00, 0x00, 0x07, 0x81, 0xF8, 0x3F, 0x07, 0xE0, 0x78, 0x00, 0x38, 0x1D, 0xE0, 0xF7, 0x83, 0xDC, 0x0E, 0x70, 0x39, 0xC0, 0xE6, 0x03, 0x18, 0x0C, 0x40, 0x23, 0x01, 0x80, 0x00, 0x38, 0x60, 0x07, 0x0E, 0x00, 0x70, 0xC0, 0x06, 0x1C, 0x00, 0xE1, 0xC0, 0x0E, 0x38, 0x01, 0xC3, 0x81, 0xFF, 0xFF, 0x1F, 0xFF, 0xE1, 0xFF, 0xFE, 0x03, 0x86, 0x00, 0x30, 0xE0, 0x07, 0x0E, 0x00, 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0x61, 0xFE, 0x00, 0x7C }; const GFXglyph FreeSerifBoldItalic18pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 9, 0, 1 }, // 0x20 ' ' { 0, 11, 25, 14, 2, -23 }, // 0x21 '!' { 35, 14, 10, 19, 4, -23 }, // 0x22 '"' { 53, 20, 25, 17, -1, -24 }, // 0x23 '#' { 116, 17, 29, 18, 0, -25 }, // 0x24 '$' { 178, 27, 25, 29, 1, -23 }, // 0x25 '%' { 263, 25, 25, 27, 0, -23 }, // 0x26 '&' { 342, 5, 10, 10, 4, -23 }, // 0x27 ''' { 349, 11, 30, 12, 1, -23 }, // 0x28 '(' { 391, 11, 30, 12, -2, -23 }, // 0x29 ')' { 433, 13, 15, 18, 2, -23 }, // 0x2A '*' { 458, 17, 17, 20, 1, -16 }, // 0x2B '+' { 495, 7, 11, 9, -2, -4 }, // 0x2C ',' { 505, 9, 4, 12, 0, -9 }, // 0x2D '-' { 510, 6, 5, 9, 0, -3 }, // 0x2E '.' { 514, 14, 25, 12, 0, -23 }, // 0x2F '/' { 558, 15, 25, 18, 1, -23 }, // 0x30 '0' { 605, 15, 25, 17, 0, -23 }, // 0x31 '1' { 652, 16, 25, 18, 0, -23 }, // 0x32 '2' { 702, 15, 25, 17, 1, -23 }, // 0x33 '3' { 749, 18, 24, 17, 0, -23 }, // 0x34 '4' { 803, 17, 25, 18, 0, -23 }, // 0x35 '5' { 857, 17, 25, 18, 1, -23 }, // 0x36 '6' { 911, 16, 24, 17, 3, -23 }, // 0x37 '7' { 959, 17, 25, 18, 0, -23 }, // 0x38 '8' { 1013, 17, 25, 18, 0, -23 }, // 0x39 '9' { 1067, 10, 17, 9, 0, -15 }, // 0x3A ':' { 1089, 11, 22, 9, -1, -15 }, // 0x3B ';' { 1120, 18, 19, 20, 1, -18 }, // 0x3C '<' { 1163, 18, 10, 20, 2, -13 }, // 0x3D '=' { 1186, 18, 19, 20, 2, -18 }, // 0x3E '>' { 1229, 13, 25, 17, 3, -23 }, // 0x3F '?' { 1270, 25, 25, 29, 2, -23 }, // 0x40 '@' { 1349, 23, 25, 24, 0, -23 }, // 0x41 'A' { 1421, 24, 25, 22, 0, -23 }, // 0x42 'B' { 1496, 23, 25, 22, 1, -23 }, // 0x43 'C' { 1568, 26, 25, 25, 0, -23 }, // 0x44 'D' { 1650, 23, 25, 22, 0, -23 }, // 0x45 'E' { 1722, 23, 25, 21, 0, -23 }, // 0x46 'F' { 1794, 24, 25, 25, 2, -23 }, // 0x47 'G' { 1869, 29, 25, 26, 0, -23 }, // 0x48 'H' { 1960, 15, 25, 13, 0, -23 }, // 0x49 'I' { 2007, 20, 27, 17, 0, -23 }, // 0x4A 'J' { 2075, 25, 25, 23, 0, -23 }, // 0x4B 'K' { 2154, 22, 25, 21, 0, -23 }, // 0x4C 'L' { 2223, 33, 25, 31, 0, -23 }, // 0x4D 'M' { 2327, 27, 25, 25, 0, -23 }, // 0x4E 'N' { 2412, 23, 25, 24, 1, -23 }, // 0x4F 'O' { 2484, 23, 25, 21, 0, -23 }, // 0x50 'P' { 2556, 23, 31, 24, 1, -23 }, // 0x51 'Q' { 2646, 24, 25, 23, 0, -23 }, // 0x52 'R' { 2721, 18, 25, 18, 0, -23 }, // 0x53 'S' { 2778, 21, 25, 21, 3, -23 }, // 0x54 'T' { 2844, 24, 25, 25, 4, -23 }, // 0x55 'U' { 2919, 24, 25, 25, 4, -23 }, // 0x56 'V' { 2994, 31, 25, 32, 4, -23 }, // 0x57 'W' { 3091, 25, 25, 24, 0, -23 }, // 0x58 'X' { 3170, 21, 25, 22, 4, -23 }, // 0x59 'Y' { 3236, 21, 25, 20, 0, -23 }, // 0x5A 'Z' { 3302, 14, 30, 12, -1, -23 }, // 0x5B '[' { 3355, 10, 25, 14, 4, -23 }, // 0x5C '\' { 3387, 14, 30, 12, -2, -23 }, // 0x5D ']' { 3440, 16, 13, 20, 2, -23 }, // 0x5E '^' { 3466, 18, 3, 17, 0, 3 }, // 0x5F '_' { 3473, 7, 6, 12, 3, -23 }, // 0x60 '`' { 3479, 18, 17, 18, 0, -15 }, // 0x61 'a' { 3518, 16, 26, 17, 1, -24 }, // 0x62 'b' { 3570, 13, 17, 15, 1, -15 }, // 0x63 'c' { 3598, 19, 25, 18, 1, -23 }, // 0x64 'd' { 3658, 13, 17, 15, 1, -15 }, // 0x65 'e' { 3686, 21, 32, 17, -3, -24 }, // 0x66 'f' { 3770, 19, 23, 17, -1, -15 }, // 0x67 'g' { 3825, 17, 25, 19, 1, -23 }, // 0x68 'h' { 3879, 9, 25, 10, 1, -23 }, // 0x69 'i' { 3908, 16, 31, 12, -3, -23 }, // 0x6A 'j' { 3970, 17, 25, 18, 1, -23 }, // 0x6B 'k' { 4024, 11, 25, 10, 1, -23 }, // 0x6C 'l' { 4059, 26, 17, 27, 0, -15 }, // 0x6D 'm' { 4115, 18, 17, 18, 0, -15 }, // 0x6E 'n' { 4154, 15, 17, 17, 1, -15 }, // 0x6F 'o' { 4186, 19, 23, 17, -2, -15 }, // 0x70 'p' { 4241, 16, 23, 17, 1, -15 }, // 0x71 'q' { 4287, 15, 16, 14, 0, -15 }, // 0x72 'r' { 4317, 13, 17, 12, 0, -15 }, // 0x73 's' { 4345, 10, 22, 10, 1, -20 }, // 0x74 't' { 4373, 17, 17, 19, 1, -15 }, // 0x75 'u' { 4410, 13, 16, 15, 2, -15 }, // 0x76 'v' { 4436, 19, 16, 23, 3, -15 }, // 0x77 'w' { 4474, 18, 17, 17, -1, -15 }, // 0x78 'x' { 4513, 17, 23, 15, -2, -15 }, // 0x79 'y' { 4562, 15, 19, 14, 0, -15 }, // 0x7A 'z' { 4598, 15, 32, 12, 0, -24 }, // 0x7B '{' { 4658, 3, 25, 9, 4, -23 }, // 0x7C '|' { 4668, 15, 32, 12, -5, -24 }, // 0x7D '}' { 4728, 16, 5, 20, 2, -11 } }; // 0x7E '~' const GFXfont FreeSerifBoldItalic18pt7b PROGMEM = { (uint8_t *)FreeSerifBoldItalic18pt7bBitmaps, (GFXglyph *)FreeSerifBoldItalic18pt7bGlyphs, 0x20, 0x7E, 42 }; // Approx. 5410 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSerifBoldItalic24pt7b.h ================================================ const uint8_t FreeSerifBoldItalic24pt7bBitmaps[] PROGMEM = { 0x00, 0x3C, 0x00, 0xFC, 0x01, 0xF8, 0x07, 0xF0, 0x0F, 0xE0, 0x1F, 0xC0, 0x3F, 0x00, 0x7E, 0x00, 0xF8, 0x01, 0xF0, 0x07, 0xC0, 0x0F, 0x80, 0x1E, 0x00, 0x3C, 0x00, 0x70, 0x00, 0xE0, 0x01, 0xC0, 0x03, 0x00, 0x0E, 0x00, 0x18, 0x00, 0x30, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xF0, 0x03, 0xF0, 0x0F, 0xF0, 0x1F, 0xE0, 0x3F, 0xC0, 0x3F, 0x00, 0x3C, 0x00, 0x1C, 0x01, 0xC7, 0xC0, 0x7D, 0xF8, 0x1F, 0xBF, 0x03, 0xF7, 0xC0, 0x7C, 0xF8, 0x0F, 0x9E, 0x01, 0xE3, 0xC0, 0x3C, 0x70, 0x07, 0x1E, 0x00, 0xE3, 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0x03, 0xF0, 0x00, 0xF8, 0x00, 0x00, 0x1F, 0x00, 0x03, 0xFF, 0x01, 0x3F, 0xFE, 0x1D, 0xFF, 0xFF, 0xFE, 0x0F, 0xFF, 0x00, 0x1F, 0xF0, 0x00, 0x1F, 0x00 }; const GFXglyph FreeSerifBoldItalic24pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 12, 0, 1 }, // 0x20 ' ' { 0, 15, 33, 18, 3, -31 }, // 0x21 '!' { 62, 19, 13, 26, 6, -31 }, // 0x22 '"' { 93, 27, 33, 23, -2, -32 }, // 0x23 '#' { 205, 24, 39, 24, -1, -33 }, // 0x24 '$' { 322, 35, 32, 39, 2, -30 }, // 0x25 '%' { 462, 33, 33, 37, 0, -31 }, // 0x26 '&' { 599, 7, 13, 13, 6, -31 }, // 0x27 ''' { 611, 14, 41, 16, 1, -31 }, // 0x28 '(' { 683, 14, 41, 16, -2, -31 }, // 0x29 ')' { 755, 19, 20, 23, 3, -31 }, // 0x2A '*' { 803, 22, 23, 27, 2, -22 }, // 0x2B '+' { 867, 10, 15, 12, -3, -5 }, // 0x2C ',' { 886, 12, 5, 16, 0, -12 }, // 0x2D '-' { 894, 8, 7, 12, 0, -5 }, // 0x2E '.' { 901, 19, 33, 16, 0, -31 }, // 0x2F '/' { 980, 22, 33, 23, 1, -31 }, // 0x30 '0' { 1071, 20, 32, 23, 0, -31 }, // 0x31 '1' { 1151, 22, 32, 23, 1, -31 }, // 0x32 '2' { 1239, 22, 33, 24, 0, -31 }, // 0x33 '3' { 1330, 25, 32, 23, 0, -31 }, // 0x34 '4' { 1430, 24, 32, 24, 0, -30 }, // 0x35 '5' { 1526, 23, 32, 24, 1, -30 }, // 0x36 '6' { 1618, 23, 31, 23, 3, -30 }, // 0x37 '7' { 1708, 21, 33, 23, 1, -31 }, // 0x38 '8' { 1795, 23, 33, 23, 0, -31 }, // 0x39 '9' { 1890, 13, 22, 12, 0, -20 }, // 0x3A ':' { 1926, 15, 30, 12, -2, -20 }, // 0x3B ';' { 1983, 24, 25, 27, 1, -23 }, // 0x3C '<' { 2058, 24, 14, 27, 3, -18 }, // 0x3D '=' { 2100, 24, 25, 27, 3, -23 }, // 0x3E '>' { 2175, 18, 33, 24, 4, -31 }, // 0x3F '?' { 2250, 33, 33, 39, 3, -31 }, // 0x40 '@' { 2387, 31, 32, 33, 0, -31 }, // 0x41 'A' { 2511, 31, 31, 30, 0, -30 }, // 0x42 'B' { 2632, 29, 33, 29, 2, -31 }, // 0x43 'C' { 2752, 35, 31, 34, 0, -30 }, // 0x44 'D' { 2888, 32, 31, 30, 0, -30 }, // 0x45 'E' { 3012, 31, 31, 29, 0, -30 }, // 0x46 'F' { 3133, 32, 33, 33, 2, -31 }, // 0x47 'G' { 3265, 39, 31, 35, 0, -30 }, // 0x48 'H' { 3417, 21, 31, 18, 0, -30 }, // 0x49 'I' { 3499, 27, 36, 23, 0, -30 }, // 0x4A 'J' { 3621, 34, 31, 31, 0, -30 }, // 0x4B 'K' { 3753, 29, 31, 29, 0, -30 }, // 0x4C 'L' { 3866, 44, 32, 41, 0, -30 }, // 0x4D 'M' { 4042, 37, 32, 33, 0, -30 }, // 0x4E 'N' { 4190, 31, 33, 32, 2, -31 }, // 0x4F 'O' { 4318, 31, 31, 28, 0, -30 }, // 0x50 'P' { 4439, 31, 42, 32, 2, -31 }, // 0x51 'Q' { 4602, 32, 31, 31, 0, -30 }, // 0x52 'R' { 4726, 24, 33, 24, 0, -31 }, // 0x53 'S' { 4825, 27, 31, 28, 4, -30 }, // 0x54 'T' { 4930, 32, 32, 34, 5, -30 }, // 0x55 'U' { 5058, 31, 32, 33, 6, -30 }, // 0x56 'V' { 5182, 41, 32, 44, 6, -30 }, // 0x57 'W' { 5346, 34, 31, 33, 0, -30 }, // 0x58 'X' { 5478, 28, 31, 30, 6, -30 }, // 0x59 'Y' { 5587, 28, 31, 26, 0, -30 }, // 0x5A 'Z' { 5696, 19, 38, 16, -2, -30 }, // 0x5B '[' { 5787, 13, 33, 19, 6, -31 }, // 0x5C '\' { 5841, 19, 38, 16, -3, -30 }, // 0x5D ']' { 5932, 21, 17, 27, 3, -30 }, // 0x5E '^' { 5977, 24, 3, 23, 0, 5 }, // 0x5F '_' { 5986, 10, 9, 16, 4, -32 }, // 0x60 '`' { 5998, 22, 23, 24, 1, -21 }, // 0x61 'a' { 6062, 22, 33, 23, 1, -31 }, // 0x62 'b' { 6153, 18, 23, 20, 1, -21 }, // 0x63 'c' { 6205, 25, 34, 24, 1, -32 }, // 0x64 'd' { 6312, 18, 23, 20, 1, -21 }, // 0x65 'e' { 6364, 28, 41, 23, -4, -31 }, // 0x66 'f' { 6508, 25, 31, 23, -1, -21 }, // 0x67 'g' { 6605, 23, 34, 26, 1, -32 }, // 0x68 'h' { 6703, 12, 33, 14, 2, -31 }, // 0x69 'i' { 6753, 22, 42, 16, -4, -31 }, // 0x6A 'j' { 6869, 24, 34, 24, 1, -32 }, // 0x6B 'k' { 6971, 13, 34, 14, 2, -32 }, // 0x6C 'l' { 7027, 35, 23, 36, 0, -21 }, // 0x6D 'm' { 7128, 23, 23, 25, 0, -21 }, // 0x6E 'n' { 7195, 20, 23, 22, 1, -21 }, // 0x6F 'o' { 7253, 27, 31, 23, -4, -21 }, // 0x70 'p' { 7358, 22, 31, 23, 1, -21 }, // 0x71 'q' { 7444, 20, 22, 19, 0, -21 }, // 0x72 'r' { 7499, 16, 23, 17, 0, -21 }, // 0x73 's' { 7545, 13, 29, 13, 2, -27 }, // 0x74 't' { 7593, 22, 23, 25, 2, -21 }, // 0x75 'u' { 7657, 17, 23, 21, 3, -21 }, // 0x76 'v' { 7706, 27, 23, 31, 3, -21 }, // 0x77 'w' { 7784, 24, 23, 22, -1, -21 }, // 0x78 'x' { 7853, 23, 31, 20, -3, -21 }, // 0x79 'y' { 7943, 19, 25, 19, 0, -20 }, // 0x7A 'z' { 8003, 20, 41, 16, 0, -31 }, // 0x7B '{' { 8106, 4, 33, 13, 5, -31 }, // 0x7C '|' { 8123, 20, 41, 16, -6, -31 }, // 0x7D '}' { 8226, 21, 7, 27, 3, -14 } }; // 0x7E '~' const GFXfont FreeSerifBoldItalic24pt7b PROGMEM = { (uint8_t *)FreeSerifBoldItalic24pt7bBitmaps, (GFXglyph *)FreeSerifBoldItalic24pt7bGlyphs, 0x20, 0x7E, 56 }; // Approx. 8917 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSerifBoldItalic9pt7b.h ================================================ const uint8_t FreeSerifBoldItalic9pt7bBitmaps[] PROGMEM = { 0x0C, 0x31, 0xC6, 0x18, 0x41, 0x08, 0x20, 0x0E, 0x38, 0xE0, 0xCF, 0x38, 0xA2, 0x88, 0x02, 0x40, 0xC8, 0x13, 0x06, 0x43, 0xFC, 0x32, 0x06, 0x40, 0x98, 0x7F, 0x84, 0xC0, 0x90, 0x32, 0x04, 0xC0, 0x01, 0x01, 0xF0, 0x4B, 0x99, 0x33, 0x24, 0x78, 0x07, 0x80, 0x38, 0x0B, 0x89, 0x31, 0x26, 0x64, 0xC7, 0x30, 0x3C, 0x04, 0x00, 0x38, 0x41, 0x9F, 0x06, 0x48, 0x31, 0x60, 0xCD, 0x03, 0x2C, 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0x26, 0x8E, 0x18, 0x20, 0xE4, 0xD9, 0x36, 0xE5, 0xDA, 0x77, 0x19, 0xC6, 0x61, 0x10, 0x39, 0xC7, 0xB0, 0xC0, 0x30, 0x0C, 0x03, 0x00, 0xE1, 0x5A, 0x67, 0x00, 0x39, 0x8C, 0xC3, 0x21, 0xA0, 0xD0, 0x68, 0x38, 0x0C, 0x04, 0x04, 0x14, 0x0C, 0x00, 0x3E, 0x46, 0x0C, 0x08, 0x10, 0x20, 0x70, 0x1A, 0x0E, 0x03, 0x0E, 0x0C, 0x0C, 0x08, 0x18, 0x18, 0x10, 0x60, 0x30, 0x30, 0x30, 0x60, 0x60, 0x60, 0x30, 0xFF, 0xF0, 0x0C, 0x06, 0x06, 0x06, 0x04, 0x0C, 0x0C, 0x0C, 0x06, 0x18, 0x18, 0x18, 0x30, 0x30, 0x30, 0xE0, 0x71, 0x8F }; const GFXglyph FreeSerifBoldItalic9pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 5, 0, 1 }, // 0x20 ' ' { 0, 6, 13, 7, 1, -11 }, // 0x21 '!' { 10, 6, 5, 10, 3, -11 }, // 0x22 '"' { 14, 11, 13, 9, -1, -12 }, // 0x23 '#' { 32, 11, 15, 9, -1, -12 }, // 0x24 '$' { 53, 14, 13, 15, 1, -11 }, // 0x25 '%' { 76, 13, 13, 14, 0, -11 }, // 0x26 '&' { 98, 2, 5, 5, 3, -11 }, // 0x27 ''' { 100, 5, 16, 6, 1, -11 }, // 0x28 '(' { 110, 5, 16, 6, -1, -11 }, // 0x29 ')' { 120, 8, 8, 9, 1, -11 }, // 0x2A '*' { 128, 9, 9, 10, 0, -8 }, // 0x2B '+' { 139, 3, 6, 5, -1, -2 }, // 0x2C ',' { 142, 5, 2, 6, 0, -4 }, // 0x2D '-' { 144, 3, 3, 4, 0, -1 }, // 0x2E '.' { 146, 7, 12, 6, 0, -11 }, // 0x2F '/' { 157, 9, 13, 9, 0, -11 }, // 0x30 '0' { 172, 8, 13, 9, 0, -11 }, // 0x31 '1' { 185, 9, 13, 9, 0, -11 }, // 0x32 '2' { 200, 9, 13, 9, 0, -11 }, // 0x33 '3' { 215, 9, 12, 9, 0, -11 }, // 0x34 '4' { 229, 9, 13, 9, 0, -11 }, // 0x35 '5' { 244, 9, 13, 9, 1, -11 }, // 0x36 '6' { 259, 9, 12, 9, 1, -11 }, // 0x37 '7' { 273, 8, 13, 9, 0, -11 }, // 0x38 '8' { 286, 9, 13, 9, 0, -11 }, // 0x39 '9' { 301, 5, 9, 5, 0, -7 }, // 0x3A ':' { 307, 5, 11, 5, 0, -7 }, // 0x3B ';' { 314, 9, 10, 10, 1, -9 }, // 0x3C '<' { 326, 9, 5, 10, 1, -6 }, // 0x3D '=' { 332, 9, 10, 10, 1, -9 }, // 0x3E '>' { 344, 8, 13, 9, 1, -11 }, // 0x3F '?' { 357, 13, 13, 15, 1, -12 }, // 0x40 '@' { 379, 12, 13, 13, 0, -11 }, // 0x41 'A' { 399, 12, 13, 12, 0, -11 }, // 0x42 'B' { 419, 12, 13, 11, 1, -11 }, // 0x43 'C' { 439, 14, 13, 13, 0, -11 }, // 0x44 'D' { 462, 13, 13, 11, 0, -11 }, // 0x45 'E' { 484, 13, 13, 11, 0, -11 }, // 0x46 'F' { 506, 12, 13, 13, 1, -11 }, // 0x47 'G' { 526, 15, 13, 14, 0, -11 }, // 0x48 'H' { 551, 8, 13, 7, 0, -11 }, // 0x49 'I' { 564, 10, 14, 9, 0, -11 }, // 0x4A 'J' { 582, 13, 13, 12, 0, -11 }, // 0x4B 'K' { 604, 12, 13, 11, 0, -11 }, // 0x4C 'L' { 624, 17, 13, 16, 0, -11 }, // 0x4D 'M' { 652, 14, 13, 13, 0, -11 }, // 0x4E 'N' { 675, 12, 13, 12, 1, -11 }, // 0x4F 'O' { 695, 12, 13, 11, 0, -11 }, // 0x50 'P' { 715, 12, 16, 12, 1, -11 }, // 0x51 'Q' { 739, 12, 13, 12, 0, -11 }, // 0x52 'R' { 759, 9, 13, 9, 0, -11 }, // 0x53 'S' { 774, 11, 13, 11, 2, -11 }, // 0x54 'T' { 792, 12, 13, 13, 2, -11 }, // 0x55 'U' { 812, 12, 12, 13, 2, -11 }, // 0x56 'V' { 830, 16, 12, 17, 2, -11 }, // 0x57 'W' { 854, 13, 13, 13, 0, -11 }, // 0x58 'X' { 876, 11, 13, 11, 2, -11 }, // 0x59 'Y' { 894, 11, 13, 10, 0, -11 }, // 0x5A 'Z' { 912, 8, 15, 6, -1, -11 }, // 0x5B '[' { 927, 5, 12, 7, 2, -11 }, // 0x5C '\' { 935, 7, 15, 6, -1, -11 }, // 0x5D ']' { 949, 8, 7, 10, 1, -11 }, // 0x5E '^' { 956, 9, 1, 9, 0, 3 }, // 0x5F '_' { 958, 4, 3, 6, 2, -11 }, // 0x60 '`' { 960, 9, 9, 9, 0, -7 }, // 0x61 'a' { 971, 8, 14, 9, 0, -12 }, // 0x62 'b' { 985, 8, 9, 8, 0, -7 }, // 0x63 'c' { 994, 10, 14, 9, 0, -12 }, // 0x64 'd' { 1012, 7, 9, 7, 0, -7 }, // 0x65 'e' { 1020, 11, 17, 9, -2, -12 }, // 0x66 'f' { 1044, 9, 12, 9, 0, -7 }, // 0x67 'g' { 1058, 9, 14, 10, 0, -12 }, // 0x68 'h' { 1074, 5, 13, 5, 1, -11 }, // 0x69 'i' { 1083, 9, 16, 6, -1, -11 }, // 0x6A 'j' { 1101, 10, 14, 9, 0, -12 }, // 0x6B 'k' { 1119, 5, 14, 5, 1, -12 }, // 0x6C 'l' { 1128, 13, 9, 14, 0, -7 }, // 0x6D 'm' { 1143, 8, 9, 9, 0, -7 }, // 0x6E 'n' { 1152, 8, 9, 9, 0, -7 }, // 0x6F 'o' { 1161, 10, 12, 9, -2, -7 }, // 0x70 'p' { 1176, 9, 12, 9, 0, -7 }, // 0x71 'q' { 1190, 8, 8, 7, 0, -7 }, // 0x72 'r' { 1198, 6, 9, 6, 0, -7 }, // 0x73 's' { 1205, 5, 12, 5, 1, -10 }, // 0x74 't' { 1213, 8, 9, 10, 1, -7 }, // 0x75 'u' { 1222, 7, 8, 8, 1, -7 }, // 0x76 'v' { 1229, 10, 8, 12, 1, -7 }, // 0x77 'w' { 1239, 10, 9, 9, -1, -7 }, // 0x78 'x' { 1251, 9, 12, 8, -1, -7 }, // 0x79 'y' { 1265, 8, 9, 7, 0, -7 }, // 0x7A 'z' { 1274, 8, 16, 6, 0, -12 }, // 0x7B '{' { 1290, 1, 12, 5, 2, -11 }, // 0x7C '|' { 1292, 8, 16, 6, -2, -12 }, // 0x7D '}' { 1308, 8, 2, 10, 1, -4 } }; // 0x7E '~' const GFXfont FreeSerifBoldItalic9pt7b PROGMEM = { (uint8_t *)FreeSerifBoldItalic9pt7bBitmaps, (GFXglyph *)FreeSerifBoldItalic9pt7bGlyphs, 0x20, 0x7E, 22 }; // Approx. 1982 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSerifItalic12pt7b.h ================================================ const uint8_t FreeSerifItalic12pt7bBitmaps[] PROGMEM = { 0x0C, 0x31, 0xC6, 0x18, 0x43, 0x0C, 0x20, 0x84, 0x10, 0x03, 0x0C, 0x30, 0x66, 0xCD, 0x12, 0x24, 0x51, 0x00, 0x03, 0x10, 0x11, 0x80, 0x8C, 0x0C, 0x40, 0x46, 0x1F, 0xFC, 0x21, 0x01, 0x18, 0x18, 0x80, 0x84, 0x3F, 0xF8, 0x62, 0x02, 0x30, 0x31, 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111, 15, 16, 19, 2, -15 }, // 0x26 '&' { 141, 2, 6, 5, 4, -15 }, // 0x27 ''' { 143, 7, 20, 8, 1, -15 }, // 0x28 '(' { 161, 7, 20, 8, 0, -15 }, // 0x29 ')' { 179, 8, 10, 12, 4, -15 }, // 0x2A '*' { 189, 11, 11, 16, 2, -10 }, // 0x2B '+' { 205, 3, 6, 6, 0, -2 }, // 0x2C ',' { 208, 5, 1, 8, 1, -5 }, // 0x2D '-' { 209, 2, 3, 6, 1, -2 }, // 0x2E '.' { 210, 11, 16, 7, 0, -15 }, // 0x2F '/' { 232, 11, 17, 12, 1, -16 }, // 0x30 '0' { 256, 9, 17, 12, 1, -16 }, // 0x31 '1' { 276, 10, 15, 12, 1, -14 }, // 0x32 '2' { 295, 10, 16, 12, 1, -15 }, // 0x33 '3' { 315, 11, 16, 12, 0, -15 }, // 0x34 '4' { 337, 11, 16, 12, 0, -15 }, // 0x35 '5' { 359, 12, 17, 12, 1, -16 }, // 0x36 '6' { 385, 11, 16, 12, 2, -15 }, // 0x37 '7' { 407, 11, 17, 12, 1, -16 }, // 0x38 '8' { 431, 11, 17, 12, 1, -16 }, // 0x39 '9' { 455, 4, 11, 6, 1, -10 }, // 0x3A ':' { 461, 5, 14, 6, 0, -10 }, // 0x3B ';' { 470, 12, 13, 14, 1, -12 }, // 0x3C '<' { 490, 12, 6, 16, 2, -8 }, // 0x3D '=' { 499, 12, 13, 14, 2, -12 }, // 0x3E '>' { 519, 9, 16, 11, 3, -15 }, // 0x3F '?' { 537, 16, 16, 19, 2, -15 }, // 0x40 '@' { 569, 15, 15, 16, 0, -14 }, // 0x41 'A' { 598, 14, 16, 14, 0, -15 }, // 0x42 'B' { 626, 16, 16, 15, 1, -15 }, // 0x43 'C' { 658, 16, 16, 17, 0, -15 }, // 0x44 'D' { 690, 16, 16, 14, 0, -15 }, // 0x45 'E' { 722, 16, 16, 14, 0, -15 }, // 0x46 'F' { 754, 16, 16, 17, 1, -15 }, // 0x47 'G' { 786, 19, 16, 17, 0, -15 }, // 0x48 'H' { 824, 9, 16, 8, 0, -15 }, // 0x49 'I' { 842, 12, 16, 10, 0, -15 }, // 0x4A 'J' { 866, 17, 16, 15, 0, -15 }, // 0x4B 'K' { 900, 14, 16, 14, 0, -15 }, // 0x4C 'L' { 928, 21, 16, 20, 0, -15 }, // 0x4D 'M' { 970, 18, 16, 16, 0, -15 }, // 0x4E 'N' { 1006, 15, 16, 16, 1, -15 }, // 0x4F 'O' { 1036, 14, 16, 14, 0, -15 }, // 0x50 'P' { 1064, 15, 20, 16, 1, -15 }, // 0x51 'Q' { 1102, 14, 16, 15, 0, -15 }, // 0x52 'R' { 1130, 12, 16, 11, 0, -15 }, // 0x53 'S' { 1154, 15, 16, 14, 2, -15 }, // 0x54 'T' { 1184, 16, 16, 17, 3, -15 }, // 0x55 'U' { 1216, 15, 16, 16, 3, -15 }, // 0x56 'V' { 1246, 20, 16, 21, 3, -15 }, // 0x57 'W' { 1286, 16, 16, 16, 0, -15 }, // 0x58 'X' { 1318, 13, 16, 14, 3, -15 }, // 0x59 'Y' { 1344, 15, 16, 14, 0, -15 }, // 0x5A 'Z' { 1374, 8, 20, 9, 1, -15 }, // 0x5B '[' { 1394, 8, 16, 12, 3, -15 }, // 0x5C '\' { 1410, 7, 20, 9, 1, -15 }, // 0x5D ']' { 1428, 10, 9, 10, 0, -15 }, // 0x5E '^' { 1440, 12, 1, 12, 0, 3 }, // 0x5F '_' { 1442, 4, 4, 6, 3, -15 }, // 0x60 '`' { 1444, 12, 11, 12, 0, -10 }, // 0x61 'a' { 1461, 10, 16, 11, 1, -15 }, // 0x62 'b' { 1481, 9, 11, 10, 1, -10 }, // 0x63 'c' { 1494, 13, 16, 12, 0, -15 }, // 0x64 'd' { 1520, 8, 11, 10, 1, -10 }, // 0x65 'e' { 1531, 14, 22, 10, -2, -16 }, // 0x66 'f' { 1570, 12, 16, 11, -1, -10 }, // 0x67 'g' { 1594, 12, 16, 12, 0, -15 }, // 0x68 'h' { 1618, 5, 16, 6, 1, -15 }, // 0x69 'i' { 1628, 9, 21, 7, -2, -15 }, // 0x6A 'j' { 1652, 11, 16, 11, 0, -15 }, // 0x6B 'k' { 1674, 6, 16, 6, 1, -15 }, // 0x6C 'l' { 1686, 17, 11, 17, 0, -10 }, // 0x6D 'm' { 1710, 12, 11, 12, 0, -10 }, // 0x6E 'n' { 1727, 10, 11, 11, 1, -10 }, // 0x6F 'o' { 1741, 13, 16, 11, -2, -10 }, // 0x70 'p' { 1767, 11, 16, 12, 0, -10 }, // 0x71 'q' { 1789, 9, 11, 9, 0, -10 }, // 0x72 'r' { 1802, 9, 11, 8, 0, -10 }, // 0x73 's' { 1815, 6, 13, 6, 1, -12 }, // 0x74 't' { 1825, 11, 11, 12, 1, -10 }, // 0x75 'u' { 1841, 10, 11, 11, 1, -10 }, // 0x76 'v' { 1855, 14, 11, 16, 2, -10 }, // 0x77 'w' { 1875, 12, 11, 10, -1, -10 }, // 0x78 'x' { 1892, 11, 16, 11, 0, -10 }, // 0x79 'y' { 1914, 9, 13, 9, 0, -10 }, // 0x7A 'z' { 1929, 9, 21, 10, 1, -16 }, // 0x7B '{' { 1953, 1, 16, 7, 3, -15 }, // 0x7C '|' { 1955, 9, 21, 10, 0, -16 }, // 0x7D '}' { 1979, 11, 3, 13, 1, -6 } }; // 0x7E '~' const GFXfont FreeSerifItalic12pt7b PROGMEM = { (uint8_t *)FreeSerifItalic12pt7bBitmaps, (GFXglyph *)FreeSerifItalic12pt7bGlyphs, 0x20, 0x7E, 29 }; // Approx. 2656 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSerifItalic18pt7b.h 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const GFXglyph FreeSerifItalic18pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 9, 0, 1 }, // 0x20 ' ' { 0, 10, 23, 12, 1, -22 }, // 0x21 '!' { 29, 12, 9, 12, 4, -22 }, // 0x22 '"' { 43, 19, 23, 17, 0, -22 }, // 0x23 '#' { 98, 15, 29, 17, 1, -25 }, // 0x24 '$' { 153, 25, 23, 29, 3, -22 }, // 0x25 '%' { 225, 22, 23, 27, 3, -22 }, // 0x26 '&' { 289, 5, 9, 7, 4, -22 }, // 0x27 ''' { 295, 9, 29, 12, 1, -22 }, // 0x28 '(' { 328, 9, 29, 12, 1, -22 }, // 0x29 ')' { 361, 12, 14, 18, 5, -22 }, // 0x2A '*' { 382, 16, 18, 24, 4, -17 }, // 0x2B '+' { 418, 5, 8, 9, -1, -2 }, // 0x2C ',' { 423, 8, 2, 12, 2, -8 }, // 0x2D '-' { 425, 4, 4, 9, 1, -3 }, // 0x2E '.' { 427, 16, 23, 10, 0, -22 }, // 0x2F '/' { 473, 17, 24, 17, 1, -23 }, // 0x30 '0' { 524, 12, 24, 17, 2, -23 }, // 0x31 '1' { 560, 16, 23, 17, 1, -22 }, // 0x32 '2' { 606, 17, 24, 18, 0, -23 }, // 0x33 '3' { 657, 17, 24, 17, 0, -23 }, // 0x34 '4' { 708, 16, 23, 18, 0, -22 }, // 0x35 '5' { 754, 17, 24, 18, 1, -23 }, // 0x36 '6' { 805, 16, 23, 17, 3, -22 }, // 0x37 '7' { 851, 16, 24, 18, 1, -23 }, // 0x38 '8' { 899, 16, 24, 17, 1, -23 }, // 0x39 '9' { 947, 7, 15, 9, 2, -14 }, // 0x3A ':' { 961, 9, 20, 9, 1, -14 }, // 0x3B ';' { 984, 18, 18, 20, 2, -17 }, // 0x3C '<' { 1025, 18, 9, 23, 3, -12 }, // 0x3D '=' { 1046, 18, 18, 20, 2, -17 }, // 0x3E '>' { 1087, 12, 23, 16, 4, -22 }, // 0x3F '?' { 1122, 24, 23, 27, 2, -22 }, // 0x40 '@' { 1191, 21, 23, 23, 0, -22 }, // 0x41 'A' { 1252, 21, 23, 21, 0, -22 }, // 0x42 'B' { 1313, 21, 23, 21, 2, -22 }, // 0x43 'C' { 1374, 25, 23, 25, 0, -22 }, // 0x44 'D' { 1446, 22, 23, 20, 0, -22 }, // 0x45 'E' { 1510, 22, 23, 20, 0, -22 }, // 0x46 'F' { 1574, 23, 23, 24, 2, -22 }, // 0x47 'G' { 1641, 27, 23, 25, 0, -22 }, // 0x48 'H' { 1719, 14, 23, 11, 0, -22 }, // 0x49 'I' { 1760, 17, 23, 15, 0, -22 }, // 0x4A 'J' { 1809, 25, 23, 22, 0, -22 }, // 0x4B 'K' { 1881, 20, 23, 20, 0, -22 }, // 0x4C 'L' { 1939, 31, 23, 29, 0, -22 }, // 0x4D 'M' { 2029, 26, 23, 24, 0, -22 }, // 0x4E 'N' { 2104, 23, 23, 23, 1, -22 }, // 0x4F 'O' { 2171, 22, 23, 20, 0, -22 }, // 0x50 'P' { 2235, 23, 29, 23, 1, -22 }, // 0x51 'Q' { 2319, 21, 23, 22, 0, -22 }, // 0x52 'R' { 2380, 17, 23, 16, 0, -22 }, // 0x53 'S' { 2429, 20, 23, 21, 3, -22 }, // 0x54 'T' { 2487, 23, 23, 25, 4, -22 }, // 0x55 'U' { 2554, 21, 23, 23, 5, -22 }, // 0x56 'V' { 2615, 29, 23, 31, 5, -22 }, // 0x57 'W' { 2699, 24, 23, 23, 0, -22 }, // 0x58 'X' { 2768, 19, 23, 21, 4, -22 }, // 0x59 'Y' { 2823, 22, 23, 20, 0, -22 }, // 0x5A 'Z' { 2887, 13, 28, 14, 1, -22 }, // 0x5B '[' { 2933, 12, 23, 17, 4, -22 }, // 0x5C '\' { 2968, 12, 28, 14, 1, -22 }, // 0x5D ']' { 3010, 15, 13, 15, 0, -22 }, // 0x5E '^' { 3035, 18, 2, 17, 0, 3 }, // 0x5F '_' { 3040, 6, 6, 9, 5, -22 }, // 0x60 '`' { 3045, 15, 15, 17, 1, -14 }, // 0x61 'a' { 3074, 16, 24, 17, 1, -23 }, // 0x62 'b' { 3122, 13, 15, 14, 1, -14 }, // 0x63 'c' { 3147, 17, 24, 18, 1, -23 }, // 0x64 'd' { 3198, 13, 15, 14, 1, -14 }, // 0x65 'e' { 3223, 20, 31, 15, -3, -23 }, // 0x66 'f' { 3301, 16, 22, 15, -1, -14 }, // 0x67 'g' { 3345, 16, 24, 17, 1, -23 }, // 0x68 'h' { 3393, 9, 23, 9, 1, -22 }, // 0x69 'i' { 3419, 15, 30, 10, -3, -22 }, // 0x6A 'j' { 3476, 15, 24, 16, 1, -23 }, // 0x6B 'k' { 3521, 8, 25, 9, 1, -23 }, // 0x6C 'l' { 3546, 24, 15, 25, 0, -14 }, // 0x6D 'm' { 3591, 17, 15, 17, 0, -14 }, // 0x6E 'n' { 3623, 15, 15, 17, 1, -14 }, // 0x6F 'o' { 3652, 20, 22, 16, -3, -14 }, // 0x70 'p' { 3707, 16, 22, 17, 1, -14 }, // 0x71 'q' { 3751, 13, 15, 13, 1, -14 }, // 0x72 'r' { 3776, 13, 15, 12, 0, -14 }, // 0x73 's' { 3801, 9, 18, 8, 1, -17 }, // 0x74 't' { 3822, 15, 15, 17, 1, -14 }, // 0x75 'u' { 3851, 14, 15, 16, 2, -14 }, // 0x76 'v' { 3878, 22, 15, 24, 1, -14 }, // 0x77 'w' { 3920, 16, 15, 15, -1, -14 }, // 0x78 'x' { 3950, 16, 22, 16, 0, -14 }, // 0x79 'y' { 3994, 14, 18, 14, 0, -14 }, // 0x7A 'z' { 4026, 12, 30, 14, 2, -23 }, // 0x7B '{' { 4071, 2, 23, 10, 4, -22 }, // 0x7C '|' { 4077, 12, 31, 14, 0, -24 }, // 0x7D '}' { 4124, 17, 4, 19, 1, -10 } }; // 0x7E '~' const GFXfont FreeSerifItalic18pt7b PROGMEM = { (uint8_t *)FreeSerifItalic18pt7bBitmaps, (GFXglyph *)FreeSerifItalic18pt7bGlyphs, 0x20, 0x7E, 42 }; // Approx. 4805 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSerifItalic24pt7b.h ================================================ const uint8_t FreeSerifItalic24pt7bBitmaps[] PROGMEM = { 0x00, 0xF0, 0x0F, 0x00, 0xF0, 0x0F, 0x01, 0xF0, 0x1E, 0x01, 0xE0, 0x1C, 0x01, 0xC0, 0x3C, 0x03, 0x80, 0x38, 0x03, 0x80, 0x30, 0x07, 0x00, 0x60, 0x06, 0x00, 0x60, 0x04, 0x00, 0x40, 0x0C, 0x00, 0x80, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0x00, 0xF8, 0x0F, 0x80, 0xF8, 0x07, 0x00, 0x38, 0x1D, 0xE0, 0x77, 0x83, 0xDC, 0x0E, 0x70, 0x39, 0xC1, 0xEE, 0x07, 0x38, 0x1C, 0xC0, 0x63, 0x01, 0x8C, 0x06, 0x20, 0x10, 0x00, 0x06, 0x03, 0x00, 0x07, 0x03, 0x80, 0x03, 0x81, 0xC0, 0x03, 0x81, 0xC0, 0x01, 0xC0, 0xE0, 0x00, 0xE0, 0x70, 0x00, 0xE0, 0x70, 0x00, 0x70, 0x38, 0x00, 0x30, 0x18, 0x00, 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0xFF, 0x87, 0xBC, 0x3F, 0xFE, 0x60, 0x3F, 0xF0, 0x00, 0x1F, 0x00 }; const GFXglyph FreeSerifItalic24pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 12, 0, 1 }, // 0x20 ' ' { 0, 12, 32, 16, 2, -30 }, // 0x21 '!' { 48, 14, 12, 16, 6, -31 }, // 0x22 '"' { 69, 25, 31, 23, 0, -30 }, // 0x23 '#' { 166, 21, 38, 24, 2, -33 }, // 0x24 '$' { 266, 33, 32, 39, 4, -30 }, // 0x25 '%' { 398, 30, 33, 37, 4, -31 }, // 0x26 '&' { 522, 5, 12, 9, 6, -31 }, // 0x27 ''' { 530, 13, 39, 16, 2, -30 }, // 0x28 '(' { 594, 13, 39, 16, 0, -30 }, // 0x29 ')' { 658, 16, 20, 23, 7, -31 }, // 0x2A '*' { 698, 23, 23, 32, 4, -22 }, // 0x2B '+' { 765, 7, 11, 12, -1, -4 }, // 0x2C ',' { 775, 11, 3, 16, 2, -11 }, // 0x2D '-' { 780, 5, 5, 12, 1, -3 }, // 0x2E '.' { 784, 21, 33, 14, 0, -31 }, // 0x2F '/' { 871, 21, 31, 23, 2, -30 }, // 0x30 '0' { 953, 17, 32, 23, 2, -31 }, // 0x31 '1' { 1021, 21, 31, 24, 0, -30 }, // 0x32 '2' { 1103, 22, 32, 23, 0, -31 }, // 0x33 '3' { 1191, 22, 32, 23, 0, -31 }, // 0x34 '4' { 1279, 22, 32, 24, 0, -31 }, // 0x35 '5' { 1367, 23, 32, 23, 1, -31 }, // 0x36 '6' { 1459, 21, 32, 23, 4, -31 }, // 0x37 '7' { 1543, 22, 32, 23, 1, -31 }, // 0x38 '8' { 1631, 22, 33, 23, 1, -31 }, // 0x39 '9' { 1722, 9, 22, 12, 2, -20 }, // 0x3A ':' { 1747, 11, 27, 12, 1, -20 }, // 0x3B ';' { 1785, 23, 25, 27, 3, -24 }, // 0x3C '<' { 1857, 24, 12, 31, 4, -17 }, // 0x3D '=' { 1893, 24, 25, 27, 3, -24 }, // 0x3E '>' { 1968, 16, 33, 21, 6, -31 }, // 0x3F '?' { 2034, 33, 33, 37, 3, -31 }, // 0x40 '@' { 2171, 29, 31, 31, 0, -30 }, // 0x41 'A' { 2284, 28, 31, 28, 0, -30 }, // 0x42 'B' { 2393, 30, 33, 29, 2, -31 }, // 0x43 'C' { 2517, 33, 31, 33, 0, -30 }, // 0x44 'D' { 2645, 29, 31, 27, 0, -30 }, // 0x45 'E' { 2758, 29, 31, 27, 0, -30 }, // 0x46 'F' { 2871, 31, 33, 32, 2, -31 }, // 0x47 'G' { 2999, 36, 31, 33, 0, -30 }, // 0x48 'H' { 3139, 18, 31, 15, 0, -30 }, // 0x49 'I' { 3209, 23, 32, 20, 0, -30 }, // 0x4A 'J' { 3301, 33, 31, 30, 0, -30 }, // 0x4B 'K' { 3429, 27, 31, 27, 0, -30 }, // 0x4C 'L' { 3534, 42, 31, 39, 0, -30 }, // 0x4D 'M' { 3697, 35, 32, 32, 0, -30 }, // 0x4E 'N' { 3837, 30, 33, 31, 2, -31 }, // 0x4F 'O' { 3961, 29, 31, 27, 0, -30 }, // 0x50 'P' { 4074, 30, 41, 31, 2, -31 }, // 0x51 'Q' { 4228, 28, 31, 29, 0, -30 }, // 0x52 'R' { 4337, 23, 33, 21, 0, -31 }, // 0x53 'S' { 4432, 27, 31, 28, 4, -30 }, // 0x54 'T' { 4537, 31, 32, 33, 5, -30 }, // 0x55 'U' { 4661, 29, 32, 31, 6, -30 }, // 0x56 'V' { 4777, 39, 32, 42, 6, -30 }, // 0x57 'W' { 4933, 32, 31, 31, 0, -30 }, // 0x58 'X' { 5057, 26, 31, 28, 5, -30 }, // 0x59 'Y' { 5158, 29, 31, 26, 0, -30 }, // 0x5A 'Z' { 5271, 17, 39, 18, 1, -31 }, // 0x5B '[' { 5354, 17, 33, 23, 5, -31 }, // 0x5C '\' { 5425, 17, 39, 18, 1, -31 }, // 0x5D ']' { 5508, 20, 17, 20, 0, -31 }, // 0x5E '^' { 5551, 24, 2, 23, 0, 5 }, // 0x5F '_' { 5557, 8, 8, 12, 6, -31 }, // 0x60 '`' { 5565, 21, 21, 23, 1, -20 }, // 0x61 'a' { 5621, 21, 33, 22, 1, -31 }, // 0x62 'b' { 5708, 18, 22, 19, 1, -20 }, // 0x63 'c' { 5758, 24, 33, 23, 1, -31 }, // 0x64 'd' { 5857, 18, 22, 19, 1, -20 }, // 0x65 'e' { 5907, 27, 42, 20, -4, -31 }, // 0x66 'f' { 6049, 21, 31, 21, -1, -20 }, // 0x67 'g' { 6131, 21, 32, 23, 1, -31 }, // 0x68 'h' { 6215, 10, 32, 12, 2, -30 }, // 0x69 'i' { 6255, 19, 41, 13, -3, -30 }, // 0x6A 'j' { 6353, 21, 33, 21, 1, -31 }, // 0x6B 'k' { 6440, 11, 33, 12, 2, -31 }, // 0x6C 'l' { 6486, 31, 21, 34, 1, -20 }, // 0x6D 'm' { 6568, 21, 21, 23, 1, -20 }, // 0x6E 'n' { 6624, 21, 22, 22, 1, -20 }, // 0x6F 'o' { 6682, 27, 31, 22, -4, -20 }, // 0x70 'p' { 6787, 21, 31, 23, 1, -20 }, // 0x71 'q' { 6869, 17, 21, 17, 1, -20 }, // 0x72 'r' { 6914, 17, 22, 16, 0, -20 }, // 0x73 's' { 6961, 12, 26, 11, 1, -24 }, // 0x74 't' { 7000, 20, 22, 23, 1, -20 }, // 0x75 'u' { 7055, 18, 22, 21, 3, -20 }, // 0x76 'v' { 7105, 30, 22, 32, 2, -20 }, // 0x77 'w' { 7188, 22, 22, 20, -1, -20 }, // 0x78 'x' { 7249, 21, 31, 22, 1, -20 }, // 0x79 'y' { 7331, 17, 24, 18, 0, -19 }, // 0x7A 'z' { 7382, 17, 40, 19, 2, -31 }, // 0x7B '{' { 7467, 3, 33, 13, 5, -31 }, // 0x7C '|' { 7480, 16, 41, 19, 0, -32 }, // 0x7D '}' { 7562, 22, 6, 25, 2, -14 } }; // 0x7E '~' const GFXfont FreeSerifItalic24pt7b PROGMEM = { (uint8_t *)FreeSerifItalic24pt7bBitmaps, (GFXglyph *)FreeSerifItalic24pt7bGlyphs, 0x20, 0x7E, 56 }; // Approx. 8251 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/FreeSerifItalic9pt7b.h ================================================ const uint8_t FreeSerifItalic9pt7bBitmaps[] PROGMEM = { 0x11, 0x12, 0x22, 0x24, 0x40, 0x0C, 0xDE, 0xE5, 0x40, 0x04, 0x82, 0x20, 0x98, 0x24, 0x7F, 0xC4, 0x82, 0x23, 0xFC, 0x24, 0x11, 0x04, 0x83, 0x20, 0x1C, 0x1B, 0x99, 0x4D, 0x26, 0x81, 0xC0, 0x70, 0x1C, 0x13, 0x49, 0xA4, 0xDA, 0xC7, 0xC1, 0x00, 0x80, 0x1C, 0x61, 0xCF, 0x0E, 0x28, 0x30, 0xA0, 0xC5, 0x03, 0x34, 0xE7, 0xAE, 0x40, 0xB1, 0x05, 0x84, 0x26, 0x20, 0x99, 0x84, 0x3C, 0x03, 0x80, 0x6C, 0x06, 0xC0, 0x78, 0x06, 0x01, 0xEF, 0x66, 0x24, 0x24, 0xC3, 0x8C, 0x10, 0xE3, 0x87, 0xCE, 0xFA, 0x08, 0x21, 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0x8C, 0x9D, 0xEE, 0x62, 0xC4, 0x89, 0xA3, 0x47, 0x0C, 0x10, 0xE2, 0x2C, 0x44, 0xD8, 0x9D, 0x23, 0xA4, 0x65, 0x0C, 0xC1, 0x10, 0x19, 0x95, 0x43, 0x01, 0x80, 0xC0, 0xA0, 0x91, 0x8E, 0x70, 0x88, 0x46, 0x23, 0x20, 0x90, 0x50, 0x28, 0x18, 0x08, 0x08, 0x08, 0x18, 0x00, 0x3F, 0x42, 0x04, 0x08, 0x10, 0x20, 0x40, 0x72, 0x0E, 0x08, 0x61, 0x04, 0x30, 0x86, 0x08, 0x61, 0x04, 0x30, 0xC3, 0x8F, 0x00, 0xFF, 0xF0, 0x1E, 0x0C, 0x10, 0x20, 0xC1, 0x82, 0x04, 0x1C, 0x30, 0x40, 0x83, 0x04, 0x08, 0x20, 0x60, 0x99, 0x8E }; const GFXglyph FreeSerifItalic9pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 5, 0, 1 }, // 0x20 ' ' { 0, 4, 12, 6, 1, -11 }, // 0x21 '!' { 6, 5, 4, 6, 3, -11 }, // 0x22 '"' { 9, 10, 12, 9, 0, -11 }, // 0x23 '#' { 24, 9, 15, 9, 1, -12 }, // 0x24 '$' { 41, 14, 12, 15, 1, -11 }, // 0x25 '%' { 62, 12, 12, 14, 1, -11 }, // 0x26 '&' { 80, 2, 4, 4, 3, -11 }, // 0x27 ''' { 81, 6, 15, 6, 1, -11 }, // 0x28 '(' { 93, 6, 15, 6, 0, -11 }, // 0x29 ')' { 105, 6, 8, 9, 3, -11 }, // 0x2A '*' { 111, 9, 9, 12, 1, -8 }, // 0x2B '+' { 122, 2, 4, 5, 0, -1 }, // 0x2C ',' { 123, 4, 1, 6, 1, -3 }, // 0x2D '-' { 124, 2, 2, 5, 0, -1 }, // 0x2E '.' { 125, 8, 12, 5, 0, -11 }, // 0x2F '/' { 137, 9, 13, 9, 1, -12 }, // 0x30 '0' { 152, 6, 13, 9, 1, -12 }, // 0x31 '1' { 162, 8, 12, 9, 1, -11 }, // 0x32 '2' { 174, 9, 12, 9, 0, -11 }, // 0x33 '3' { 188, 9, 12, 9, 0, -11 }, // 0x34 '4' { 202, 9, 12, 9, 0, -11 }, // 0x35 '5' { 216, 9, 13, 9, 1, -12 }, // 0x36 '6' { 231, 9, 12, 9, 1, -11 }, // 0x37 '7' { 245, 9, 13, 9, 1, -12 }, // 0x38 '8' { 260, 9, 13, 9, 0, -12 }, // 0x39 '9' { 275, 4, 8, 4, 1, -7 }, // 0x3A ':' { 279, 4, 10, 4, 1, -7 }, // 0x3B ';' { 284, 9, 9, 10, 1, -8 }, // 0x3C '<' { 295, 9, 5, 12, 2, -6 }, // 0x3D '=' { 301, 9, 9, 10, 1, -8 }, // 0x3E '>' { 312, 7, 12, 8, 2, -11 }, // 0x3F '?' { 323, 13, 12, 14, 1, -11 }, // 0x40 '@' { 343, 11, 11, 12, 0, -10 }, // 0x41 'A' { 359, 11, 12, 11, 0, -11 }, // 0x42 'B' { 376, 12, 12, 11, 1, -11 }, // 0x43 'C' { 394, 13, 12, 13, 0, -11 }, // 0x44 'D' { 414, 12, 12, 10, 0, -11 }, // 0x45 'E' { 432, 12, 12, 10, 0, -11 }, // 0x46 'F' { 450, 12, 12, 12, 1, -11 }, // 0x47 'G' { 468, 14, 12, 13, 0, -11 }, // 0x48 'H' { 489, 7, 12, 6, 0, -11 }, // 0x49 'I' { 500, 9, 12, 8, 0, -11 }, // 0x4A 'J' { 514, 13, 12, 12, 0, -11 }, // 0x4B 'K' { 534, 11, 12, 10, 0, -11 }, // 0x4C 'L' { 551, 16, 12, 15, 0, -11 }, // 0x4D 'M' { 575, 13, 12, 12, 0, -11 }, // 0x4E 'N' { 595, 11, 12, 12, 1, -11 }, // 0x4F 'O' { 612, 11, 12, 10, 0, -11 }, // 0x50 'P' { 629, 11, 15, 12, 1, -11 }, // 0x51 'Q' { 650, 11, 12, 11, 0, -11 }, // 0x52 'R' { 667, 10, 12, 8, 0, -11 }, // 0x53 'S' { 682, 11, 12, 11, 2, -11 }, // 0x54 'T' { 699, 12, 12, 13, 2, -11 }, // 0x55 'U' { 717, 11, 12, 12, 2, -11 }, // 0x56 'V' { 734, 15, 12, 16, 2, -11 }, // 0x57 'W' { 757, 12, 12, 12, 0, -11 }, // 0x58 'X' { 775, 10, 12, 11, 2, -11 }, // 0x59 'Y' { 790, 11, 12, 10, 0, -11 }, // 0x5A 'Z' { 807, 7, 15, 7, 0, -11 }, // 0x5B '[' { 821, 6, 12, 9, 2, -11 }, // 0x5C '\' { 830, 6, 15, 7, 1, -11 }, // 0x5D ']' { 842, 8, 7, 8, 0, -11 }, // 0x5E '^' { 849, 9, 1, 9, 0, 2 }, // 0x5F '_' { 851, 3, 3, 5, 2, -11 }, // 0x60 '`' { 853, 9, 8, 9, 0, -7 }, // 0x61 'a' { 862, 9, 12, 9, 0, -11 }, // 0x62 'b' { 876, 8, 8, 7, 0, -7 }, // 0x63 'c' { 884, 9, 12, 9, 0, -11 }, // 0x64 'd' { 898, 7, 8, 7, 0, -7 }, // 0x65 'e' { 905, 11, 17, 8, -1, -12 }, // 0x66 'f' { 929, 9, 12, 8, 0, -7 }, // 0x67 'g' { 943, 9, 12, 9, 0, -11 }, // 0x68 'h' { 957, 4, 12, 4, 1, -11 }, // 0x69 'i' { 963, 7, 16, 5, -1, -11 }, // 0x6A 'j' { 977, 8, 12, 8, 0, -11 }, // 0x6B 'k' { 989, 4, 12, 5, 1, -11 }, // 0x6C 'l' { 995, 13, 8, 13, 0, -7 }, // 0x6D 'm' { 1008, 8, 8, 9, 0, -7 }, // 0x6E 'n' { 1016, 9, 8, 9, 0, -7 }, // 0x6F 'o' { 1025, 10, 12, 8, -1, -7 }, // 0x70 'p' { 1040, 9, 12, 9, 0, -7 }, // 0x71 'q' { 1054, 7, 8, 7, 0, -7 }, // 0x72 'r' { 1061, 7, 8, 6, 0, -7 }, // 0x73 's' { 1068, 5, 9, 4, 0, -8 }, // 0x74 't' { 1074, 8, 8, 9, 1, -7 }, // 0x75 'u' { 1082, 7, 8, 8, 1, -7 }, // 0x76 'v' { 1089, 11, 8, 12, 1, -7 }, // 0x77 'w' { 1100, 9, 8, 8, -1, -7 }, // 0x78 'x' { 1109, 9, 12, 9, 0, -7 }, // 0x79 'y' { 1123, 8, 9, 7, 0, -7 }, // 0x7A 'z' { 1132, 6, 15, 7, 1, -11 }, // 0x7B '{' { 1144, 1, 12, 5, 2, -11 }, // 0x7C '|' { 1146, 7, 16, 7, 0, -12 }, // 0x7D '}' { 1160, 8, 3, 10, 1, -5 } }; // 0x7E '~' const GFXfont FreeSerifItalic9pt7b PROGMEM = { (uint8_t *)FreeSerifItalic9pt7bBitmaps, (GFXglyph *)FreeSerifItalic9pt7bGlyphs, 0x20, 0x7E, 22 }; // Approx. 1835 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/Org_01.h ================================================ // Org_v01 by Orgdot (www.orgdot.com/aliasfonts). A tiny, // stylized font with all characters within a 6 pixel height. const uint8_t Org_01Bitmaps[] PROGMEM = { 0xE8, 0xA0, 0x57, 0xD5, 0xF5, 0x00, 0xFD, 0x3E, 0x5F, 0x80, 0x88, 0x88, 0x88, 0x80, 0xF4, 0xBF, 0x2E, 0x80, 0x80, 0x6A, 0x40, 0x95, 0x80, 0xAA, 0x80, 0x5D, 0x00, 0xC0, 0xF0, 0x80, 0x08, 0x88, 0x88, 0x00, 0xFC, 0x63, 0x1F, 0x80, 0xF8, 0xF8, 0x7F, 0x0F, 0x80, 0xF8, 0x7E, 0x1F, 0x80, 0x8C, 0x7E, 0x10, 0x80, 0xFC, 0x3E, 0x1F, 0x80, 0xFC, 0x3F, 0x1F, 0x80, 0xF8, 0x42, 0x10, 0x80, 0xFC, 0x7F, 0x1F, 0x80, 0xFC, 0x7E, 0x1F, 0x80, 0x90, 0xB0, 0x2A, 0x22, 0xF0, 0xF0, 0x88, 0xA8, 0xF8, 0x4E, 0x02, 0x00, 0xFD, 0x6F, 0x0F, 0x80, 0xFC, 0x7F, 0x18, 0x80, 0xF4, 0x7D, 0x1F, 0x00, 0xFC, 0x21, 0x0F, 0x80, 0xF4, 0x63, 0x1F, 0x00, 0xFC, 0x3F, 0x0F, 0x80, 0xFC, 0x3F, 0x08, 0x00, 0xFC, 0x2F, 0x1F, 0x80, 0x8C, 0x7F, 0x18, 0x80, 0xF9, 0x08, 0x4F, 0x80, 0x78, 0x85, 0x2F, 0x80, 0x8D, 0xB1, 0x68, 0x80, 0x84, 0x21, 0x0F, 0x80, 0xFD, 0x6B, 0x5A, 0x80, 0xFC, 0x63, 0x18, 0x80, 0xFC, 0x63, 0x1F, 0x80, 0xFC, 0x7F, 0x08, 0x00, 0xFC, 0x63, 0x3F, 0x80, 0xFC, 0x7F, 0x29, 0x00, 0xFC, 0x3E, 0x1F, 0x80, 0xF9, 0x08, 0x42, 0x00, 0x8C, 0x63, 0x1F, 0x80, 0x8C, 0x62, 0xA2, 0x00, 0xAD, 0x6B, 0x5F, 0x80, 0x8A, 0x88, 0xA8, 0x80, 0x8C, 0x54, 0x42, 0x00, 0xF8, 0x7F, 0x0F, 0x80, 0xEA, 0xC0, 0x82, 0x08, 0x20, 0x80, 0xD5, 0xC0, 0x54, 0xF8, 0x80, 0xF1, 0xFF, 0x8F, 0x99, 0xF0, 0xF8, 0x8F, 0x1F, 0x99, 0xF0, 0xFF, 0x8F, 0x6B, 0xA4, 0xF9, 0x9F, 0x10, 0x8F, 0x99, 0x90, 0xF0, 0x55, 0xC0, 0x8A, 0xF9, 0x90, 0xF8, 0xFD, 0x63, 0x10, 0xF9, 0x99, 0xF9, 0x9F, 0xF9, 0x9F, 0x80, 0xF9, 0x9F, 0x20, 0xF8, 0x88, 0x47, 0x1F, 0x27, 0xC8, 0x42, 0x00, 0x99, 0x9F, 0x99, 0x97, 0x8C, 0x6B, 0xF0, 0x96, 0x69, 0x99, 0x9F, 0x10, 0x2E, 0x8F, 0x2B, 0x22, 0xF8, 0x89, 0xA8, 0x0F, 0xE0 }; const GFXglyph Org_01Glyphs[] PROGMEM = { { 0, 0, 0, 6, 0, 1 }, // 0x20 ' ' { 0, 1, 5, 2, 0, -4 }, // 0x21 '!' { 1, 3, 1, 4, 0, -4 }, // 0x22 '"' { 2, 5, 5, 6, 0, -4 }, // 0x23 '#' { 6, 5, 5, 6, 0, -4 }, // 0x24 '$' { 10, 5, 5, 6, 0, -4 }, // 0x25 '%' { 14, 5, 5, 6, 0, -4 }, // 0x26 '&' { 18, 1, 1, 2, 0, -4 }, // 0x27 ''' { 19, 2, 5, 3, 0, -4 }, // 0x28 '(' { 21, 2, 5, 3, 0, -4 }, // 0x29 ')' { 23, 3, 3, 4, 0, -3 }, // 0x2A '*' { 25, 3, 3, 4, 0, -3 }, // 0x2B '+' { 27, 1, 2, 2, 0, 0 }, // 0x2C ',' { 28, 4, 1, 5, 0, -2 }, // 0x2D '-' { 29, 1, 1, 2, 0, 0 }, // 0x2E '.' { 30, 5, 5, 6, 0, -4 }, // 0x2F '/' { 34, 5, 5, 6, 0, -4 }, // 0x30 '0' { 38, 1, 5, 2, 0, -4 }, // 0x31 '1' { 39, 5, 5, 6, 0, -4 }, // 0x32 '2' { 43, 5, 5, 6, 0, -4 }, // 0x33 '3' { 47, 5, 5, 6, 0, -4 }, // 0x34 '4' { 51, 5, 5, 6, 0, -4 }, // 0x35 '5' { 55, 5, 5, 6, 0, -4 }, // 0x36 '6' { 59, 5, 5, 6, 0, -4 }, // 0x37 '7' { 63, 5, 5, 6, 0, -4 }, // 0x38 '8' { 67, 5, 5, 6, 0, -4 }, // 0x39 '9' { 71, 1, 4, 2, 0, -3 }, // 0x3A ':' { 72, 1, 4, 2, 0, -3 }, // 0x3B ';' { 73, 3, 5, 4, 0, -4 }, // 0x3C '<' { 75, 4, 3, 5, 0, -3 }, // 0x3D '=' { 77, 3, 5, 4, 0, -4 }, // 0x3E '>' { 79, 5, 5, 6, 0, -4 }, // 0x3F '?' { 83, 5, 5, 6, 0, -4 }, // 0x40 '@' { 87, 5, 5, 6, 0, -4 }, // 0x41 'A' { 91, 5, 5, 6, 0, -4 }, // 0x42 'B' { 95, 5, 5, 6, 0, -4 }, // 0x43 'C' { 99, 5, 5, 6, 0, -4 }, // 0x44 'D' { 103, 5, 5, 6, 0, -4 }, // 0x45 'E' { 107, 5, 5, 6, 0, -4 }, // 0x46 'F' { 111, 5, 5, 6, 0, -4 }, // 0x47 'G' { 115, 5, 5, 6, 0, -4 }, // 0x48 'H' { 119, 5, 5, 6, 0, -4 }, // 0x49 'I' { 123, 5, 5, 6, 0, -4 }, // 0x4A 'J' { 127, 5, 5, 6, 0, -4 }, // 0x4B 'K' { 131, 5, 5, 6, 0, -4 }, // 0x4C 'L' { 135, 5, 5, 6, 0, -4 }, // 0x4D 'M' { 139, 5, 5, 6, 0, -4 }, // 0x4E 'N' { 143, 5, 5, 6, 0, -4 }, // 0x4F 'O' { 147, 5, 5, 6, 0, -4 }, // 0x50 'P' { 151, 5, 5, 6, 0, -4 }, // 0x51 'Q' { 155, 5, 5, 6, 0, -4 }, // 0x52 'R' { 159, 5, 5, 6, 0, -4 }, // 0x53 'S' { 163, 5, 5, 6, 0, -4 }, // 0x54 'T' { 167, 5, 5, 6, 0, -4 }, // 0x55 'U' { 171, 5, 5, 6, 0, -4 }, // 0x56 'V' { 175, 5, 5, 6, 0, -4 }, // 0x57 'W' { 179, 5, 5, 6, 0, -4 }, // 0x58 'X' { 183, 5, 5, 6, 0, -4 }, // 0x59 'Y' { 187, 5, 5, 6, 0, -4 }, // 0x5A 'Z' { 191, 2, 5, 3, 0, -4 }, // 0x5B '[' { 193, 5, 5, 6, 0, -4 }, // 0x5C '\' { 197, 2, 5, 3, 0, -4 }, // 0x5D ']' { 199, 3, 2, 4, 0, -4 }, // 0x5E '^' { 200, 5, 1, 6, 0, 1 }, // 0x5F '_' { 201, 1, 1, 2, 0, -4 }, // 0x60 '`' { 202, 4, 4, 5, 0, -3 }, // 0x61 'a' { 204, 4, 5, 5, 0, -4 }, // 0x62 'b' { 207, 4, 4, 5, 0, -3 }, // 0x63 'c' { 209, 4, 5, 5, 0, -4 }, // 0x64 'd' { 212, 4, 4, 5, 0, -3 }, // 0x65 'e' { 214, 3, 5, 4, 0, -4 }, // 0x66 'f' { 216, 4, 5, 5, 0, -3 }, // 0x67 'g' { 219, 4, 5, 5, 0, -4 }, // 0x68 'h' { 222, 1, 4, 2, 0, -3 }, // 0x69 'i' { 223, 2, 5, 3, 0, -3 }, // 0x6A 'j' { 225, 4, 5, 5, 0, -4 }, // 0x6B 'k' { 228, 1, 5, 2, 0, -4 }, // 0x6C 'l' { 229, 5, 4, 6, 0, -3 }, // 0x6D 'm' { 232, 4, 4, 5, 0, -3 }, // 0x6E 'n' { 234, 4, 4, 5, 0, -3 }, // 0x6F 'o' { 236, 4, 5, 5, 0, -3 }, // 0x70 'p' { 239, 4, 5, 5, 0, -3 }, // 0x71 'q' { 242, 4, 4, 5, 0, -3 }, // 0x72 'r' { 244, 4, 4, 5, 0, -3 }, // 0x73 's' { 246, 5, 5, 6, 0, -4 }, // 0x74 't' { 250, 4, 4, 5, 0, -3 }, // 0x75 'u' { 252, 4, 4, 5, 0, -3 }, // 0x76 'v' { 254, 5, 4, 6, 0, -3 }, // 0x77 'w' { 257, 4, 4, 5, 0, -3 }, // 0x78 'x' { 259, 4, 5, 5, 0, -3 }, // 0x79 'y' { 262, 4, 4, 5, 0, -3 }, // 0x7A 'z' { 264, 3, 5, 4, 0, -4 }, // 0x7B '{' { 266, 1, 5, 2, 0, -4 }, // 0x7C '|' { 267, 3, 5, 4, 0, -4 }, // 0x7D '}' { 269, 5, 3, 6, 0, -3 } }; // 0x7E '~' const GFXfont Org_01 PROGMEM = { (uint8_t *)Org_01Bitmaps, (GFXglyph *)Org_01Glyphs, 0x20, 0x7E, 7 }; // Approx. 943 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/Picopixel.h ================================================ // Picopixel by Sebastian Weber. A tiny font // with all characters within a 6 pixel height. const uint8_t PicopixelBitmaps[] PROGMEM = { 0xE8, 0xB4, 0x57, 0xD5, 0xF5, 0x00, 0x4E, 0x3E, 0x80, 0xA5, 0x4A, 0x4A, 0x5A, 0x50, 0xC0, 0x6A, 0x40, 0x95, 0x80, 0xAA, 0x80, 0x5D, 0x00, 0x60, 0xE0, 0x80, 0x25, 0x48, 0x56, 0xD4, 0x75, 0x40, 0xC5, 0x4E, 0xC5, 0x1C, 0x97, 0x92, 0xF3, 0x1C, 0x53, 0x54, 0xE5, 0x48, 0x55, 0x54, 0x55, 0x94, 0xA0, 0x46, 0x64, 0xE3, 0x80, 0x98, 0xC5, 0x04, 0x56, 0xC6, 0x57, 0xDA, 0xD7, 0x5C, 0x72, 0x46, 0xD6, 0xDC, 0xF3, 0xCE, 0xF3, 0x48, 0x72, 0xD4, 0xB7, 0xDA, 0xF8, 0x24, 0xD4, 0xBB, 0x5A, 0x92, 0x4E, 0x8E, 0xEB, 0x58, 0x80, 0x9D, 0xB9, 0x90, 0x56, 0xD4, 0xD7, 0x48, 0x56, 0xD4, 0x40, 0xD7, 0x5A, 0x71, 0x1C, 0xE9, 0x24, 0xB6, 0xD4, 0xB6, 0xA4, 0x8C, 0x6B, 0x55, 0x00, 0xB5, 0x5A, 0xB5, 0x24, 0xE5, 0x4E, 0xEA, 0xC0, 0x91, 0x12, 0xD5, 0xC0, 0x54, 0xF0, 0x90, 0xC7, 0xF0, 0x93, 0x5E, 0x71, 0x80, 0x25, 0xDE, 0x5E, 0x30, 0x6E, 0x80, 0x77, 0x9C, 0x93, 0x5A, 0xB8, 0x45, 0x60, 0x92, 0xEA, 0xAA, 0x40, 0xD5, 0x6A, 0xD6, 0x80, 0x55, 0x00, 0xD7, 0x40, 0x75, 0x90, 0xE8, 0x71, 0xE0, 0xBA, 0x40, 0xB5, 0x80, 0xB5, 0x00, 0x8D, 0x54, 0xAA, 0x80, 0xAC, 0xE0, 0xE5, 0x70, 0x6A, 0x26, 0xFC, 0xC8, 0xAC, 0x5A }; const GFXglyph PicopixelGlyphs[] PROGMEM = { { 0, 0, 0, 2, 0, 1 }, // 0x20 ' ' { 0, 1, 5, 2, 0, -4 }, // 0x21 '!' { 1, 3, 2, 4, 0, -4 }, // 0x22 '"' { 2, 5, 5, 6, 0, -4 }, // 0x23 '#' { 6, 3, 6, 4, 0, -4 }, // 0x24 '$' { 9, 3, 5, 4, 0, -4 }, // 0x25 '%' { 11, 4, 5, 5, 0, -4 }, // 0x26 '&' { 14, 1, 2, 2, 0, -4 }, // 0x27 ''' { 15, 2, 5, 3, 0, -4 }, // 0x28 '(' { 17, 2, 5, 3, 0, -4 }, // 0x29 ')' { 19, 3, 3, 4, 0, -3 }, // 0x2A '*' { 21, 3, 3, 4, 0, -3 }, // 0x2B '+' { 23, 2, 2, 3, 0, 0 }, // 0x2C ',' { 24, 3, 1, 4, 0, -2 }, // 0x2D '-' { 25, 1, 1, 2, 0, 0 }, // 0x2E '.' { 26, 3, 5, 4, 0, -4 }, // 0x2F '/' { 28, 3, 5, 4, 0, -4 }, // 0x30 '0' { 30, 2, 5, 3, 0, -4 }, // 0x31 '1' { 32, 3, 5, 4, 0, -4 }, // 0x32 '2' { 34, 3, 5, 4, 0, -4 }, // 0x33 '3' { 36, 3, 5, 4, 0, -4 }, // 0x34 '4' { 38, 3, 5, 4, 0, -4 }, // 0x35 '5' { 40, 3, 5, 4, 0, -4 }, // 0x36 '6' { 42, 3, 5, 4, 0, -4 }, // 0x37 '7' { 44, 3, 5, 4, 0, -4 }, // 0x38 '8' { 46, 3, 5, 4, 0, -4 }, // 0x39 '9' { 48, 1, 3, 2, 0, -3 }, // 0x3A ':' { 49, 2, 4, 3, 0, -3 }, // 0x3B ';' { 50, 2, 3, 3, 0, -3 }, // 0x3C '<' { 51, 3, 3, 4, 0, -3 }, // 0x3D '=' { 53, 2, 3, 3, 0, -3 }, // 0x3E '>' { 54, 3, 5, 4, 0, -4 }, // 0x3F '?' { 56, 3, 5, 4, 0, -4 }, // 0x40 '@' { 58, 3, 5, 4, 0, -4 }, // 0x41 'A' { 60, 3, 5, 4, 0, -4 }, // 0x42 'B' { 62, 3, 5, 4, 0, -4 }, // 0x43 'C' { 64, 3, 5, 4, 0, -4 }, // 0x44 'D' { 66, 3, 5, 4, 0, -4 }, // 0x45 'E' { 68, 3, 5, 4, 0, -4 }, // 0x46 'F' { 70, 3, 5, 4, 0, -4 }, // 0x47 'G' { 72, 3, 5, 4, 0, -4 }, // 0x48 'H' { 74, 1, 5, 2, 0, -4 }, // 0x49 'I' { 75, 3, 5, 4, 0, -4 }, // 0x4A 'J' { 77, 3, 5, 4, 0, -4 }, // 0x4B 'K' { 79, 3, 5, 4, 0, -4 }, // 0x4C 'L' { 81, 5, 5, 6, 0, -4 }, // 0x4D 'M' { 85, 4, 5, 5, 0, -4 }, // 0x4E 'N' { 88, 3, 5, 4, 0, -4 }, // 0x4F 'O' { 90, 3, 5, 4, 0, -4 }, // 0x50 'P' { 92, 3, 6, 4, 0, -4 }, // 0x51 'Q' { 95, 3, 5, 4, 0, -4 }, // 0x52 'R' { 97, 3, 5, 4, 0, -4 }, // 0x53 'S' { 99, 3, 5, 4, 0, -4 }, // 0x54 'T' { 101, 3, 5, 4, 0, -4 }, // 0x55 'U' { 103, 3, 5, 4, 0, -4 }, // 0x56 'V' { 105, 5, 5, 6, 0, -4 }, // 0x57 'W' { 109, 3, 5, 4, 0, -4 }, // 0x58 'X' { 111, 3, 5, 4, 0, -4 }, // 0x59 'Y' { 113, 3, 5, 4, 0, -4 }, // 0x5A 'Z' { 115, 2, 5, 3, 0, -4 }, // 0x5B '[' { 117, 3, 5, 4, 0, -4 }, // 0x5C '\' { 119, 2, 5, 3, 0, -4 }, // 0x5D ']' { 121, 3, 2, 4, 0, -4 }, // 0x5E '^' { 122, 4, 1, 4, 0, 1 }, // 0x5F '_' { 123, 2, 2, 3, 0, -4 }, // 0x60 '`' { 124, 3, 4, 4, 0, -3 }, // 0x61 'a' { 126, 3, 5, 4, 0, -4 }, // 0x62 'b' { 128, 3, 3, 4, 0, -2 }, // 0x63 'c' { 130, 3, 5, 4, 0, -4 }, // 0x64 'd' { 132, 3, 4, 4, 0, -3 }, // 0x65 'e' { 134, 2, 5, 3, 0, -4 }, // 0x66 'f' { 136, 3, 5, 4, 0, -3 }, // 0x67 'g' { 138, 3, 5, 4, 0, -4 }, // 0x68 'h' { 140, 1, 5, 2, 0, -4 }, // 0x69 'i' { 141, 2, 6, 3, 0, -4 }, // 0x6A 'j' { 143, 3, 5, 4, 0, -4 }, // 0x6B 'k' { 145, 2, 5, 3, 0, -4 }, // 0x6C 'l' { 147, 5, 3, 6, 0, -2 }, // 0x6D 'm' { 149, 3, 3, 4, 0, -2 }, // 0x6E 'n' { 151, 3, 3, 4, 0, -2 }, // 0x6F 'o' { 153, 3, 4, 4, 0, -2 }, // 0x70 'p' { 155, 3, 4, 4, 0, -2 }, // 0x71 'q' { 157, 2, 3, 3, 0, -2 }, // 0x72 'r' { 158, 3, 4, 4, 0, -3 }, // 0x73 's' { 160, 2, 5, 3, 0, -4 }, // 0x74 't' { 162, 3, 3, 4, 0, -2 }, // 0x75 'u' { 164, 3, 3, 4, 0, -2 }, // 0x76 'v' { 166, 5, 3, 6, 0, -2 }, // 0x77 'w' { 168, 3, 3, 4, 0, -2 }, // 0x78 'x' { 170, 3, 4, 4, 0, -2 }, // 0x79 'y' { 172, 3, 4, 4, 0, -3 }, // 0x7A 'z' { 174, 3, 5, 4, 0, -4 }, // 0x7B '{' { 176, 1, 6, 2, 0, -4 }, // 0x7C '|' { 177, 3, 5, 4, 0, -4 }, // 0x7D '}' { 179, 4, 2, 5, 0, -3 } }; // 0x7E '~' const GFXfont Picopixel PROGMEM = { (uint8_t *)PicopixelBitmaps, (GFXglyph *)PicopixelGlyphs, 0x20, 0x7E, 7 }; // Approx. 852 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/Tiny3x3a2pt7b ================================================ /** ** The FontStruction “Tiny3x3a” ** (https://fontstruct.com/fontstructions/show/670512) by “Michaelangel007” is ** licensed under a Creative Commons Attribution Non-commercial Share Alike license ** (http://creativecommons.org/licenses/by-nc-sa/3.0/). ** “Tiny3x3a” was originally cloned (copied) from the FontStruction ** “CHECKER” (https://fontstruct.com/fontstructions/show/2391) by Wolf grant ** Grant, which is licensed under a Creative Commons Attribution Non-commercial ** Share Alike license (http://creativecommons.org/licenses/by-nc-sa/3.0/). * * Converted by eadmaster with fontconvert **/ const uint8_t Tiny3x3a2pt7bBitmaps[] PROGMEM = { 0xC0, 0xB4, 0xBF, 0x80, 0x6B, 0x00, 0xDD, 0x80, 0x59, 0x80, 0x80, 0x64, 0x98, 0xF0, 0x5D, 0x00, 0xC0, 0xE0, 0x80, 0x2A, 0x00, 0x55, 0x00, 0x94, 0xC9, 0x80, 0xEF, 0x80, 0xBC, 0x80, 0x6B, 0x00, 0x9F, 0x80, 0xE4, 0x80, 0x7F, 0x00, 0xFC, 0x80, 0xA0, 0x58, 0x64, 0xE3, 0x80, 0x98, 0xD8, 0xD8, 0x80, 0x5E, 0x80, 0xDF, 0x80, 0x71, 0x80, 0xD7, 0x00, 0xFB, 0x80, 0xFA, 0x00, 0xD7, 0x80, 0xBE, 0x80, 0xE0, 0x27, 0x00, 0xBA, 0x80, 0x93, 0x80, 0xFE, 0x80, 0xF6, 0x80, 0xF7, 0x80, 0xFE, 0x00, 0xF7, 0x00, 0xDE, 0x80, 0x6B, 0x00, 0xE9, 0x00, 0xB7, 0x80, 0xB5, 0x00, 0xBF, 0x80, 0xAA, 0x80, 0xA9, 0x00, 0xEB, 0x80, 0xEC, 0x88, 0x80, 0xDC, 0x54, 0xE0, 0x90, 0x70, 0xBC, 0xF0, 0x7C, 0xB0, 0x68, 0xFC, 0xBC, 0xC0, 0x58, 0x9A, 0x80, 0xA4, 0xDC, 0xD4, 0xF0, 0xF8, 0xF4, 0xE0, 0x60, 0x59, 0x80, 0xBC, 0xA8, 0xEC, 0xF0, 0xAC, 0x80, 0x90, 0x79, 0x80, 0xF0, 0xCF, 0x00, 0x78 }; const GFXglyph Tiny3x3a2pt7bGlyphs[] PROGMEM = { { 0, 0, 0, 4, 0, 1 }, // 0x20 ' ' { 0, 1, 2, 3, 1, -2 }, // 0x21 '!' { 1, 3, 2, 4, 0, -2 }, // 0x22 '"' { 2, 3, 3, 4, 0, -2 }, // 0x23 '#' { 4, 3, 3, 4, 0, -2 }, // 0x24 '$' { 6, 3, 3, 4, 0, -2 }, // 0x25 '%' { 8, 3, 3, 4, 0, -2 }, // 0x26 '&' { 10, 1, 1, 3, 1, -2 }, // 0x27 ''' { 11, 2, 3, 3, 0, -2 }, // 0x28 '(' { 12, 2, 3, 4, 1, -2 }, // 0x29 ')' { 13, 2, 2, 4, 1, -2 }, // 0x2A '*' { 14, 3, 3, 4, 0, -2 }, // 0x2B '+' { 16, 1, 2, 2, 0, 0 }, // 0x2C ',' { 17, 3, 1, 4, 0, -1 }, // 0x2D '-' { 18, 1, 1, 2, 0, 0 }, // 0x2E '.' { 19, 3, 3, 4, 0, -2 }, // 0x2F '/' { 21, 3, 3, 4, 0, -2 }, // 0x30 '0' { 23, 2, 3, 3, 0, -2 }, // 0x31 '1' { 24, 3, 3, 4, 0, -2 }, // 0x32 '2' { 26, 3, 3, 4, 0, -2 }, // 0x33 '3' { 28, 3, 3, 4, 0, -2 }, // 0x34 '4' { 30, 3, 3, 4, 0, -2 }, // 0x35 '5' { 32, 3, 3, 4, 0, -2 }, // 0x36 '6' { 34, 3, 3, 4, 0, -2 }, // 0x37 '7' { 36, 3, 3, 4, 0, -2 }, // 0x38 '8' { 38, 3, 3, 4, 0, -2 }, // 0x39 '9' { 40, 1, 3, 3, 1, -2 }, // 0x3A ':' { 41, 2, 3, 3, 0, -1 }, // 0x3B ';' { 42, 2, 3, 3, 0, -2 }, // 0x3C '<' { 43, 3, 3, 4, 0, -2 }, // 0x3D '=' { 45, 2, 3, 4, 1, -2 }, // 0x3E '>' { 46, 2, 3, 4, 1, -2 }, // 0x3F '?' { 47, 3, 3, 4, 0, -2 }, // 0x40 '@' { 49, 3, 3, 4, 0, -2 }, // 0x41 'A' { 51, 3, 3, 4, 0, -2 }, // 0x42 'B' { 53, 3, 3, 4, 0, -2 }, // 0x43 'C' { 55, 3, 3, 4, 0, -2 }, // 0x44 'D' { 57, 3, 3, 4, 0, -2 }, // 0x45 'E' { 59, 3, 3, 4, 0, -2 }, // 0x46 'F' { 61, 3, 3, 4, 0, -2 }, // 0x47 'G' { 63, 3, 3, 4, 0, -2 }, // 0x48 'H' { 65, 1, 3, 3, 1, -2 }, // 0x49 'I' { 66, 3, 3, 4, 0, -2 }, // 0x4A 'J' { 68, 3, 3, 4, 0, -2 }, // 0x4B 'K' { 70, 3, 3, 4, 0, -2 }, // 0x4C 'L' { 72, 3, 3, 4, 0, -2 }, // 0x4D 'M' { 74, 3, 3, 4, 0, -2 }, // 0x4E 'N' { 76, 3, 3, 4, 0, -2 }, // 0x4F 'O' { 78, 3, 3, 4, 0, -2 }, // 0x50 'P' { 80, 3, 3, 4, 0, -2 }, // 0x51 'Q' { 82, 3, 3, 4, 0, -2 }, // 0x52 'R' { 84, 3, 3, 4, 0, -2 }, // 0x53 'S' { 86, 3, 3, 4, 0, -2 }, // 0x54 'T' { 88, 3, 3, 4, 0, -2 }, // 0x55 'U' { 90, 3, 3, 4, 0, -2 }, // 0x56 'V' { 92, 3, 3, 4, 0, -2 }, // 0x57 'W' { 94, 3, 3, 4, 0, -2 }, // 0x58 'X' { 96, 3, 3, 4, 0, -2 }, // 0x59 'Y' { 98, 3, 3, 4, 0, -2 }, // 0x5A 'Z' { 100, 2, 3, 3, 0, -2 }, // 0x5B '[' { 101, 3, 3, 4, 0, -2 }, // 0x5C '\' { 103, 2, 3, 4, 1, -2 }, // 0x5D ']' { 104, 3, 2, 4, 0, -2 }, // 0x5E '^' { 105, 3, 1, 4, 0, 0 }, // 0x5F '_' { 106, 2, 2, 3, 0, -2 }, // 0x60 '`' { 107, 2, 2, 3, 0, -1 }, // 0x61 'a' { 108, 2, 3, 3, 0, -2 }, // 0x62 'b' { 109, 2, 2, 3, 0, -1 }, // 0x63 'c' { 110, 2, 3, 3, 0, -2 }, // 0x64 'd' { 111, 2, 2, 3, 0, -1 }, // 0x65 'e' { 112, 2, 3, 3, 0, -2 }, // 0x66 'f' { 113, 2, 3, 3, 0, -1 }, // 0x67 'g' { 114, 2, 3, 3, 0, -2 }, // 0x68 'h' { 115, 1, 2, 2, 0, -1 }, // 0x69 'i' { 116, 2, 3, 3, 0, -1 }, // 0x6A 'j' { 117, 3, 3, 4, 0, -2 }, // 0x6B 'k' { 119, 2, 3, 3, 0, -2 }, // 0x6C 'l' { 120, 3, 2, 4, 0, -1 }, // 0x6D 'm' { 121, 3, 2, 4, 0, -1 }, // 0x6E 'n' { 122, 2, 2, 3, 0, -1 }, // 0x6F 'o' { 123, 2, 3, 3, 0, -1 }, // 0x70 'p' { 124, 2, 3, 3, 0, -1 }, // 0x71 'q' { 125, 2, 2, 3, 0, -1 }, // 0x72 'r' { 126, 2, 2, 3, 0, -1 }, // 0x73 's' { 127, 3, 3, 4, 0, -2 }, // 0x74 't' { 129, 3, 2, 4, 0, -1 }, // 0x75 'u' { 130, 3, 2, 4, 0, -1 }, // 0x76 'v' { 131, 3, 2, 4, 0, -1 }, // 0x77 'w' { 132, 2, 2, 3, 0, -1 }, // 0x78 'x' { 133, 3, 3, 4, 0, -1 }, // 0x79 'y' { 135, 2, 2, 3, 0, -1 }, // 0x7A 'z' { 136, 3, 3, 4, 0, -2 }, // 0x7B '{' { 138, 1, 4, 3, 1, -2 }, // 0x7C '|' { 139, 3, 3, 4, 0, -2 }, // 0x7D '}' { 141, 3, 2, 4, 0, -2 } }; // 0x7E '~' const GFXfont Tiny3x3a2pt7b PROGMEM = { (uint8_t *)Tiny3x3a2pt7bBitmaps, (GFXglyph *)Tiny3x3a2pt7bGlyphs, 0x20, 0x7E, 4 }; // Approx. 814 bytes ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/Fonts/TomThumb.h ================================================ /** ** The original 3x5 font is licensed under the 3-clause BSD license: ** ** Copyright 1999 Brian J. Swetland ** Copyright 1999 Vassilii Khachaturov ** Portions (of vt100.c/vt100.h) copyright Dan Marks ** ** All rights reserved. ** ** Redistribution and use in source and binary forms, with or without ** modification, are permitted provided that the following conditions ** are met: ** 1. Redistributions of source code must retain the above copyright ** notice, this list of conditions, and the following disclaimer. ** 2. Redistributions in binary form must reproduce the above copyright ** notice, this list of conditions, and the following disclaimer in the ** documentation and/or other materials provided with the distribution. ** 3. The name of the authors may not be used to endorse or promote products ** derived from this software without specific prior written permission. ** ** THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR ** IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES ** OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. ** IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, ** INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT ** NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, ** DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY ** THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT ** (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF ** THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ** ** Modifications to Tom Thumb for improved readability are from Robey Pointer, ** see: ** http://robey.lag.net/2010/01/23/tiny-monospace-font.html ** ** The original author does not have any objection to relicensing of Robey ** Pointer's modifications (in this file) in a more permissive license. See ** the discussion at the above blog, and also here: ** http://opengameart.org/forumtopic/how-to-submit-art-using-the-3-clause-bsd-license ** ** Feb 21, 2016: Conversion from Linux BDF --> Adafruit GFX font, ** with the help of this Python script: ** https://gist.github.com/skelliam/322d421f028545f16f6d ** William Skellenger (williamj@skellenger.net) ** Twitter: @skelliam ** */ #define TOMTHUMB_USE_EXTENDED 0 const uint8_t TomThumbBitmaps[] PROGMEM = { 0x00, /* 0x20 space */ 0x80, 0x80, 0x80, 0x00, 0x80, /* 0x21 exclam */ 0xA0, 0xA0, /* 0x22 quotedbl */ 0xA0, 0xE0, 0xA0, 0xE0, 0xA0, /* 0x23 numbersign */ 0x60, 0xC0, 0x60, 0xC0, 0x40, /* 0x24 dollar */ 0x80, 0x20, 0x40, 0x80, 0x20, /* 0x25 percent */ 0xC0, 0xC0, 0xE0, 0xA0, 0x60, /* 0x26 ampersand */ 0x80, 0x80, /* 0x27 quotesingle */ 0x40, 0x80, 0x80, 0x80, 0x40, /* 0x28 parenleft */ 0x80, 0x40, 0x40, 0x40, 0x80, /* 0x29 parenright */ 0xA0, 0x40, 0xA0, /* 0x2A asterisk */ 0x40, 0xE0, 0x40, /* 0x2B plus */ 0x40, 0x80, /* 0x2C comma */ 0xE0, /* 0x2D hyphen */ 0x80, /* 0x2E period */ 0x20, 0x20, 0x40, 0x80, 0x80, /* 0x2F slash */ 0x60, 0xA0, 0xA0, 0xA0, 0xC0, /* 0x30 zero */ 0x40, 0xC0, 0x40, 0x40, 0x40, /* 0x31 one */ 0xC0, 0x20, 0x40, 0x80, 0xE0, /* 0x32 two */ 0xC0, 0x20, 0x40, 0x20, 0xC0, /* 0x33 three */ 0xA0, 0xA0, 0xE0, 0x20, 0x20, /* 0x34 four */ 0xE0, 0x80, 0xC0, 0x20, 0xC0, /* 0x35 five */ 0x60, 0x80, 0xE0, 0xA0, 0xE0, /* 0x36 six */ 0xE0, 0x20, 0x40, 0x80, 0x80, /* 0x37 seven */ 0xE0, 0xA0, 0xE0, 0xA0, 0xE0, /* 0x38 eight */ 0xE0, 0xA0, 0xE0, 0x20, 0xC0, /* 0x39 nine */ 0x80, 0x00, 0x80, /* 0x3A colon */ 0x40, 0x00, 0x40, 0x80, /* 0x3B semicolon */ 0x20, 0x40, 0x80, 0x40, 0x20, /* 0x3C less */ 0xE0, 0x00, 0xE0, /* 0x3D equal */ 0x80, 0x40, 0x20, 0x40, 0x80, /* 0x3E greater */ 0xE0, 0x20, 0x40, 0x00, 0x40, /* 0x3F question */ 0x40, 0xA0, 0xE0, 0x80, 0x60, /* 0x40 at */ 0x40, 0xA0, 0xE0, 0xA0, 0xA0, /* 0x41 A */ 0xC0, 0xA0, 0xC0, 0xA0, 0xC0, /* 0x42 B */ 0x60, 0x80, 0x80, 0x80, 0x60, /* 0x43 C */ 0xC0, 0xA0, 0xA0, 0xA0, 0xC0, /* 0x44 D */ 0xE0, 0x80, 0xE0, 0x80, 0xE0, /* 0x45 E */ 0xE0, 0x80, 0xE0, 0x80, 0x80, /* 0x46 F */ 0x60, 0x80, 0xE0, 0xA0, 0x60, /* 0x47 G */ 0xA0, 0xA0, 0xE0, 0xA0, 0xA0, /* 0x48 H */ 0xE0, 0x40, 0x40, 0x40, 0xE0, /* 0x49 I */ 0x20, 0x20, 0x20, 0xA0, 0x40, /* 0x4A J */ 0xA0, 0xA0, 0xC0, 0xA0, 0xA0, /* 0x4B K */ 0x80, 0x80, 0x80, 0x80, 0xE0, /* 0x4C L */ 0xA0, 0xE0, 0xE0, 0xA0, 0xA0, /* 0x4D M */ 0xA0, 0xE0, 0xE0, 0xE0, 0xA0, /* 0x4E N */ 0x40, 0xA0, 0xA0, 0xA0, 0x40, /* 0x4F O */ 0xC0, 0xA0, 0xC0, 0x80, 0x80, /* 0x50 P */ 0x40, 0xA0, 0xA0, 0xE0, 0x60, /* 0x51 Q */ 0xC0, 0xA0, 0xE0, 0xC0, 0xA0, /* 0x52 R */ 0x60, 0x80, 0x40, 0x20, 0xC0, /* 0x53 S */ 0xE0, 0x40, 0x40, 0x40, 0x40, /* 0x54 T */ 0xA0, 0xA0, 0xA0, 0xA0, 0x60, /* 0x55 U */ 0xA0, 0xA0, 0xA0, 0x40, 0x40, /* 0x56 V */ 0xA0, 0xA0, 0xE0, 0xE0, 0xA0, /* 0x57 W */ 0xA0, 0xA0, 0x40, 0xA0, 0xA0, /* 0x58 X */ 0xA0, 0xA0, 0x40, 0x40, 0x40, /* 0x59 Y */ 0xE0, 0x20, 0x40, 0x80, 0xE0, /* 0x5A Z */ 0xE0, 0x80, 0x80, 0x80, 0xE0, /* 0x5B bracketleft */ 0x80, 0x40, 0x20, /* 0x5C backslash */ 0xE0, 0x20, 0x20, 0x20, 0xE0, /* 0x5D bracketright */ 0x40, 0xA0, /* 0x5E asciicircum */ 0xE0, /* 0x5F underscore */ 0x80, 0x40, /* 0x60 grave */ 0xC0, 0x60, 0xA0, 0xE0, /* 0x61 a */ 0x80, 0xC0, 0xA0, 0xA0, 0xC0, /* 0x62 b */ 0x60, 0x80, 0x80, 0x60, /* 0x63 c */ 0x20, 0x60, 0xA0, 0xA0, 0x60, /* 0x64 d */ 0x60, 0xA0, 0xC0, 0x60, /* 0x65 e */ 0x20, 0x40, 0xE0, 0x40, 0x40, /* 0x66 f */ 0x60, 0xA0, 0xE0, 0x20, 0x40, /* 0x67 g */ 0x80, 0xC0, 0xA0, 0xA0, 0xA0, /* 0x68 h */ 0x80, 0x00, 0x80, 0x80, 0x80, /* 0x69 i */ 0x20, 0x00, 0x20, 0x20, 0xA0, 0x40, /* 0x6A j */ 0x80, 0xA0, 0xC0, 0xC0, 0xA0, /* 0x6B k */ 0xC0, 0x40, 0x40, 0x40, 0xE0, /* 0x6C l */ 0xE0, 0xE0, 0xE0, 0xA0, /* 0x6D m */ 0xC0, 0xA0, 0xA0, 0xA0, /* 0x6E n */ 0x40, 0xA0, 0xA0, 0x40, /* 0x6F o */ 0xC0, 0xA0, 0xA0, 0xC0, 0x80, /* 0x70 p */ 0x60, 0xA0, 0xA0, 0x60, 0x20, /* 0x71 q */ 0x60, 0x80, 0x80, 0x80, /* 0x72 r */ 0x60, 0xC0, 0x60, 0xC0, /* 0x73 s */ 0x40, 0xE0, 0x40, 0x40, 0x60, /* 0x74 t */ 0xA0, 0xA0, 0xA0, 0x60, /* 0x75 u */ 0xA0, 0xA0, 0xE0, 0x40, /* 0x76 v */ 0xA0, 0xE0, 0xE0, 0xE0, /* 0x77 w */ 0xA0, 0x40, 0x40, 0xA0, /* 0x78 x */ 0xA0, 0xA0, 0x60, 0x20, 0x40, /* 0x79 y */ 0xE0, 0x60, 0xC0, 0xE0, /* 0x7A z */ 0x60, 0x40, 0x80, 0x40, 0x60, /* 0x7B braceleft */ 0x80, 0x80, 0x00, 0x80, 0x80, /* 0x7C bar */ 0xC0, 0x40, 0x20, 0x40, 0xC0, /* 0x7D braceright */ 0x60, 0xC0, /* 0x7E asciitilde */ #if (TOMTHUMB_USE_EXTENDED) 0x80, 0x00, 0x80, 0x80, 0x80, /* 0xA1 exclamdown */ 0x40, 0xE0, 0x80, 0xE0, 0x40, /* 0xA2 cent */ 0x60, 0x40, 0xE0, 0x40, 0xE0, /* 0xA3 sterling */ 0xA0, 0x40, 0xE0, 0x40, 0xA0, /* 0xA4 currency */ 0xA0, 0xA0, 0x40, 0xE0, 0x40, /* 0xA5 yen */ 0x80, 0x80, 0x00, 0x80, 0x80, /* 0xA6 brokenbar */ 0x60, 0x40, 0xA0, 0x40, 0xC0, /* 0xA7 section */ 0xA0, /* 0xA8 dieresis */ 0x60, 0x80, 0x60, /* 0xA9 copyright */ 0x60, 0xA0, 0xE0, 0x00, 0xE0, /* 0xAA ordfeminine */ 0x40, 0x80, 0x40, /* 0xAB guillemotleft */ 0xE0, 0x20, /* 0xAC logicalnot */ 0xC0, /* 0xAD softhyphen */ 0xC0, 0xC0, 0xA0, /* 0xAE registered */ 0xE0, /* 0xAF macron */ 0x40, 0xA0, 0x40, /* 0xB0 degree */ 0x40, 0xE0, 0x40, 0x00, 0xE0, /* 0xB1 plusminus */ 0xC0, 0x40, 0x60, /* 0xB2 twosuperior */ 0xE0, 0x60, 0xE0, /* 0xB3 threesuperior */ 0x40, 0x80, /* 0xB4 acute */ 0xA0, 0xA0, 0xA0, 0xC0, 0x80, /* 0xB5 mu */ 0x60, 0xA0, 0x60, 0x60, 0x60, /* 0xB6 paragraph */ 0xE0, 0xE0, 0xE0, /* 0xB7 periodcentered */ 0x40, 0x20, 0xC0, /* 0xB8 cedilla */ 0x80, 0x80, 0x80, /* 0xB9 onesuperior */ 0x40, 0xA0, 0x40, 0x00, 0xE0, /* 0xBA ordmasculine */ 0x80, 0x40, 0x80, /* 0xBB guillemotright */ 0x80, 0x80, 0x00, 0x60, 0x20, /* 0xBC onequarter */ 0x80, 0x80, 0x00, 0xC0, 0x60, /* 0xBD onehalf */ 0xC0, 0xC0, 0x00, 0x60, 0x20, /* 0xBE threequarters */ 0x40, 0x00, 0x40, 0x80, 0xE0, /* 0xBF questiondown */ 0x40, 0x20, 0x40, 0xE0, 0xA0, /* 0xC0 Agrave */ 0x40, 0x80, 0x40, 0xE0, 0xA0, /* 0xC1 Aacute */ 0xE0, 0x00, 0x40, 0xE0, 0xA0, /* 0xC2 Acircumflex */ 0x60, 0xC0, 0x40, 0xE0, 0xA0, /* 0xC3 Atilde */ 0xA0, 0x40, 0xA0, 0xE0, 0xA0, /* 0xC4 Adieresis */ 0xC0, 0xC0, 0xA0, 0xE0, 0xA0, /* 0xC5 Aring */ 0x60, 0xC0, 0xE0, 0xC0, 0xE0, /* 0xC6 AE */ 0x60, 0x80, 0x80, 0x60, 0x20, 0x40, /* 0xC7 Ccedilla */ 0x40, 0x20, 0xE0, 0xC0, 0xE0, /* 0xC8 Egrave */ 0x40, 0x80, 0xE0, 0xC0, 0xE0, /* 0xC9 Eacute */ 0xE0, 0x00, 0xE0, 0xC0, 0xE0, /* 0xCA Ecircumflex */ 0xA0, 0x00, 0xE0, 0xC0, 0xE0, /* 0xCB Edieresis */ 0x40, 0x20, 0xE0, 0x40, 0xE0, /* 0xCC Igrave */ 0x40, 0x80, 0xE0, 0x40, 0xE0, /* 0xCD Iacute */ 0xE0, 0x00, 0xE0, 0x40, 0xE0, /* 0xCE Icircumflex */ 0xA0, 0x00, 0xE0, 0x40, 0xE0, /* 0xCF Idieresis */ 0xC0, 0xA0, 0xE0, 0xA0, 0xC0, /* 0xD0 Eth */ 0xC0, 0x60, 0xA0, 0xE0, 0xA0, /* 0xD1 Ntilde */ 0x40, 0x20, 0xE0, 0xA0, 0xE0, /* 0xD2 Ograve */ 0x40, 0x80, 0xE0, 0xA0, 0xE0, /* 0xD3 Oacute */ 0xE0, 0x00, 0xE0, 0xA0, 0xE0, /* 0xD4 Ocircumflex */ 0xC0, 0x60, 0xE0, 0xA0, 0xE0, /* 0xD5 Otilde */ 0xA0, 0x00, 0xE0, 0xA0, 0xE0, /* 0xD6 Odieresis */ 0xA0, 0x40, 0xA0, /* 0xD7 multiply */ 0x60, 0xA0, 0xE0, 0xA0, 0xC0, /* 0xD8 Oslash */ 0x80, 0x40, 0xA0, 0xA0, 0xE0, /* 0xD9 Ugrave */ 0x20, 0x40, 0xA0, 0xA0, 0xE0, /* 0xDA Uacute */ 0xE0, 0x00, 0xA0, 0xA0, 0xE0, /* 0xDB Ucircumflex */ 0xA0, 0x00, 0xA0, 0xA0, 0xE0, /* 0xDC Udieresis */ 0x20, 0x40, 0xA0, 0xE0, 0x40, /* 0xDD Yacute */ 0x80, 0xE0, 0xA0, 0xE0, 0x80, /* 0xDE Thorn */ 0x60, 0xA0, 0xC0, 0xA0, 0xC0, 0x80, /* 0xDF germandbls */ 0x40, 0x20, 0x60, 0xA0, 0xE0, /* 0xE0 agrave */ 0x40, 0x80, 0x60, 0xA0, 0xE0, /* 0xE1 aacute */ 0xE0, 0x00, 0x60, 0xA0, 0xE0, /* 0xE2 acircumflex */ 0x60, 0xC0, 0x60, 0xA0, 0xE0, /* 0xE3 atilde */ 0xA0, 0x00, 0x60, 0xA0, 0xE0, /* 0xE4 adieresis */ 0x60, 0x60, 0x60, 0xA0, 0xE0, /* 0xE5 aring */ 0x60, 0xE0, 0xE0, 0xC0, /* 0xE6 ae */ 0x60, 0x80, 0x60, 0x20, 0x40, /* 0xE7 ccedilla */ 0x40, 0x20, 0x60, 0xE0, 0x60, /* 0xE8 egrave */ 0x40, 0x80, 0x60, 0xE0, 0x60, /* 0xE9 eacute */ 0xE0, 0x00, 0x60, 0xE0, 0x60, /* 0xEA ecircumflex */ 0xA0, 0x00, 0x60, 0xE0, 0x60, /* 0xEB edieresis */ 0x80, 0x40, 0x80, 0x80, 0x80, /* 0xEC igrave */ 0x40, 0x80, 0x40, 0x40, 0x40, /* 0xED iacute */ 0xE0, 0x00, 0x40, 0x40, 0x40, /* 0xEE icircumflex */ 0xA0, 0x00, 0x40, 0x40, 0x40, /* 0xEF idieresis */ 0x60, 0xC0, 0x60, 0xA0, 0x60, /* 0xF0 eth */ 0xC0, 0x60, 0xC0, 0xA0, 0xA0, /* 0xF1 ntilde */ 0x40, 0x20, 0x40, 0xA0, 0x40, /* 0xF2 ograve */ 0x40, 0x80, 0x40, 0xA0, 0x40, /* 0xF3 oacute */ 0xE0, 0x00, 0x40, 0xA0, 0x40, /* 0xF4 ocircumflex */ 0xC0, 0x60, 0x40, 0xA0, 0x40, /* 0xF5 otilde */ 0xA0, 0x00, 0x40, 0xA0, 0x40, /* 0xF6 odieresis */ 0x40, 0x00, 0xE0, 0x00, 0x40, /* 0xF7 divide */ 0x60, 0xE0, 0xA0, 0xC0, /* 0xF8 oslash */ 0x80, 0x40, 0xA0, 0xA0, 0x60, /* 0xF9 ugrave */ 0x20, 0x40, 0xA0, 0xA0, 0x60, /* 0xFA uacute */ 0xE0, 0x00, 0xA0, 0xA0, 0x60, /* 0xFB ucircumflex */ 0xA0, 0x00, 0xA0, 0xA0, 0x60, /* 0xFC udieresis */ 0x20, 0x40, 0xA0, 0x60, 0x20, 0x40, /* 0xFD yacute */ 0x80, 0xC0, 0xA0, 0xC0, 0x80, /* 0xFE thorn */ 0xA0, 0x00, 0xA0, 0x60, 0x20, 0x40, /* 0xFF ydieresis */ 0x00, /* 0x11D gcircumflex */ 0x60, 0xC0, 0xE0, 0xC0, 0x60, /* 0x152 OE */ 0x60, 0xE0, 0xC0, 0xE0, /* 0x153 oe */ 0xA0, 0x60, 0xC0, 0x60, 0xC0, /* 0x160 Scaron */ 0xA0, 0x60, 0xC0, 0x60, 0xC0, /* 0x161 scaron */ 0xA0, 0x00, 0xA0, 0x40, 0x40, /* 0x178 Ydieresis */ 0xA0, 0xE0, 0x60, 0xC0, 0xE0, /* 0x17D Zcaron */ 0xA0, 0xE0, 0x60, 0xC0, 0xE0, /* 0x17E zcaron */ 0x00, /* 0xEA4 uni0EA4 */ 0x00, /* 0x13A0 uni13A0 */ 0x80, /* 0x2022 bullet */ 0xA0, /* 0x2026 ellipsis */ 0x60, 0xE0, 0xE0, 0xC0, 0x60, /* 0x20AC Euro */ 0xE0, 0xA0, 0xA0, 0xA0, 0xE0, /* 0xFFFD uniFFFD */ #endif /* (TOMTHUMB_USE_EXTENDED) */ }; /* {offset, width, height, advance cursor, x offset, y offset} */ const GFXglyph TomThumbGlyphs[] PROGMEM = { { 0, 8, 1, 2, 0, -5 }, /* 0x20 space */ { 1, 8, 5, 2, 0, -5 }, /* 0x21 exclam */ { 6, 8, 2, 4, 0, -5 }, /* 0x22 quotedbl */ { 8, 8, 5, 4, 0, -5 }, /* 0x23 numbersign */ { 13, 8, 5, 4, 0, -5 }, /* 0x24 dollar */ { 18, 8, 5, 4, 0, -5 }, /* 0x25 percent */ { 23, 8, 5, 4, 0, -5 }, /* 0x26 ampersand */ { 28, 8, 2, 2, 0, -5 }, /* 0x27 quotesingle */ { 30, 8, 5, 3, 0, -5 }, /* 0x28 parenleft */ { 35, 8, 5, 3, 0, -5 }, /* 0x29 parenright */ { 40, 8, 3, 4, 0, -5 }, /* 0x2A asterisk */ { 43, 8, 3, 4, 0, -4 }, /* 0x2B plus */ { 46, 8, 2, 3, 0, -2 }, /* 0x2C comma */ { 48, 8, 1, 4, 0, -3 }, /* 0x2D hyphen */ { 49, 8, 1, 2, 0, -1 }, /* 0x2E period */ { 50, 8, 5, 4, 0, -5 }, /* 0x2F slash */ { 55, 8, 5, 4, 0, -5 }, /* 0x30 zero */ { 60, 8, 5, 3, 0, -5 }, /* 0x31 one */ { 65, 8, 5, 4, 0, -5 }, /* 0x32 two */ { 70, 8, 5, 4, 0, -5 }, /* 0x33 three */ { 75, 8, 5, 4, 0, -5 }, /* 0x34 four */ { 80, 8, 5, 4, 0, -5 }, /* 0x35 five */ { 85, 8, 5, 4, 0, -5 }, /* 0x36 six */ { 90, 8, 5, 4, 0, -5 }, /* 0x37 seven */ { 95, 8, 5, 4, 0, -5 }, /* 0x38 eight */ { 100, 8, 5, 4, 0, -5 }, /* 0x39 nine */ { 105, 8, 3, 2, 0, -4 }, /* 0x3A colon */ { 108, 8, 4, 3, 0, -4 }, /* 0x3B semicolon */ { 112, 8, 5, 4, 0, -5 }, /* 0x3C less */ { 117, 8, 3, 4, 0, -4 }, /* 0x3D equal */ { 120, 8, 5, 4, 0, -5 }, /* 0x3E greater */ { 125, 8, 5, 4, 0, -5 }, /* 0x3F question */ { 130, 8, 5, 4, 0, -5 }, /* 0x40 at */ { 135, 8, 5, 4, 0, -5 }, /* 0x41 A */ { 140, 8, 5, 4, 0, -5 }, /* 0x42 B */ { 145, 8, 5, 4, 0, -5 }, /* 0x43 C */ { 150, 8, 5, 4, 0, -5 }, /* 0x44 D */ { 155, 8, 5, 4, 0, -5 }, /* 0x45 E */ { 160, 8, 5, 4, 0, -5 }, /* 0x46 F */ { 165, 8, 5, 4, 0, -5 }, /* 0x47 G */ { 170, 8, 5, 4, 0, -5 }, /* 0x48 H */ { 175, 8, 5, 4, 0, -5 }, /* 0x49 I */ { 180, 8, 5, 4, 0, -5 }, /* 0x4A J */ { 185, 8, 5, 4, 0, -5 }, /* 0x4B K */ { 190, 8, 5, 4, 0, -5 }, /* 0x4C L */ { 195, 8, 5, 4, 0, -5 }, /* 0x4D M */ { 200, 8, 5, 4, 0, -5 }, /* 0x4E N */ { 205, 8, 5, 4, 0, -5 }, /* 0x4F O */ { 210, 8, 5, 4, 0, -5 }, /* 0x50 P */ { 215, 8, 5, 4, 0, -5 }, /* 0x51 Q */ { 220, 8, 5, 4, 0, -5 }, /* 0x52 R */ { 225, 8, 5, 4, 0, -5 }, /* 0x53 S */ { 230, 8, 5, 4, 0, -5 }, /* 0x54 T */ { 235, 8, 5, 4, 0, -5 }, /* 0x55 U */ { 240, 8, 5, 4, 0, -5 }, /* 0x56 V */ { 245, 8, 5, 4, 0, -5 }, /* 0x57 W */ { 250, 8, 5, 4, 0, -5 }, /* 0x58 X */ { 255, 8, 5, 4, 0, -5 }, /* 0x59 Y */ { 260, 8, 5, 4, 0, -5 }, /* 0x5A Z */ { 265, 8, 5, 4, 0, -5 }, /* 0x5B bracketleft */ { 270, 8, 3, 4, 0, -4 }, /* 0x5C backslash */ { 273, 8, 5, 4, 0, -5 }, /* 0x5D bracketright */ { 278, 8, 2, 4, 0, -5 }, /* 0x5E asciicircum */ { 280, 8, 1, 4, 0, -1 }, /* 0x5F underscore */ { 281, 8, 2, 3, 0, -5 }, /* 0x60 grave */ { 283, 8, 4, 4, 0, -4 }, /* 0x61 a */ { 287, 8, 5, 4, 0, -5 }, /* 0x62 b */ { 292, 8, 4, 4, 0, -4 }, /* 0x63 c */ { 296, 8, 5, 4, 0, -5 }, /* 0x64 d */ { 301, 8, 4, 4, 0, -4 }, /* 0x65 e */ { 305, 8, 5, 4, 0, -5 }, /* 0x66 f */ { 310, 8, 5, 4, 0, -4 }, /* 0x67 g */ { 315, 8, 5, 4, 0, -5 }, /* 0x68 h */ { 320, 8, 5, 2, 0, -5 }, /* 0x69 i */ { 325, 8, 6, 4, 0, -5 }, /* 0x6A j */ { 331, 8, 5, 4, 0, -5 }, /* 0x6B k */ { 336, 8, 5, 4, 0, -5 }, /* 0x6C l */ { 341, 8, 4, 4, 0, -4 }, /* 0x6D m */ { 345, 8, 4, 4, 0, -4 }, /* 0x6E n */ { 349, 8, 4, 4, 0, -4 }, /* 0x6F o */ { 353, 8, 5, 4, 0, -4 }, /* 0x70 p */ { 358, 8, 5, 4, 0, -4 }, /* 0x71 q */ { 363, 8, 4, 4, 0, -4 }, /* 0x72 r */ { 367, 8, 4, 4, 0, -4 }, /* 0x73 s */ { 371, 8, 5, 4, 0, -5 }, /* 0x74 t */ { 376, 8, 4, 4, 0, -4 }, /* 0x75 u */ { 380, 8, 4, 4, 0, -4 }, /* 0x76 v */ { 384, 8, 4, 4, 0, -4 }, /* 0x77 w */ { 388, 8, 4, 4, 0, -4 }, /* 0x78 x */ { 392, 8, 5, 4, 0, -4 }, /* 0x79 y */ { 397, 8, 4, 4, 0, -4 }, /* 0x7A z */ { 401, 8, 5, 4, 0, -5 }, /* 0x7B braceleft */ { 406, 8, 5, 2, 0, -5 }, /* 0x7C bar */ { 411, 8, 5, 4, 0, -5 }, /* 0x7D braceright */ { 416, 8, 2, 4, 0, -5 }, /* 0x7E asciitilde */ #if (TOMTHUMB_USE_EXTENDED) { 418, 8, 5, 2, 0, -5 }, /* 0xA1 exclamdown */ { 423, 8, 5, 4, 0, -5 }, /* 0xA2 cent */ { 428, 8, 5, 4, 0, -5 }, /* 0xA3 sterling */ { 433, 8, 5, 4, 0, -5 }, /* 0xA4 currency */ { 438, 8, 5, 4, 0, -5 }, /* 0xA5 yen */ { 443, 8, 5, 2, 0, -5 }, /* 0xA6 brokenbar */ { 448, 8, 5, 4, 0, -5 }, /* 0xA7 section */ { 453, 8, 1, 4, 0, -5 }, /* 0xA8 dieresis */ { 454, 8, 3, 4, 0, -5 }, /* 0xA9 copyright */ { 457, 8, 5, 4, 0, -5 }, /* 0xAA ordfeminine */ { 462, 8, 3, 3, 0, -5 }, /* 0xAB guillemotleft */ { 465, 8, 2, 4, 0, -4 }, /* 0xAC logicalnot */ { 467, 8, 1, 3, 0, -3 }, /* 0xAD softhyphen */ { 468, 8, 3, 4, 0, -5 }, /* 0xAE registered */ { 471, 8, 1, 4, 0, -5 }, /* 0xAF macron */ { 472, 8, 3, 4, 0, -5 }, /* 0xB0 degree */ { 475, 8, 5, 4, 0, -5 }, /* 0xB1 plusminus */ { 480, 8, 3, 4, 0, -5 }, /* 0xB2 twosuperior */ { 483, 8, 3, 4, 0, -5 }, /* 0xB3 threesuperior */ { 486, 8, 2, 3, 0, -5 }, /* 0xB4 acute */ { 488, 8, 5, 4, 0, -5 }, /* 0xB5 mu */ { 493, 8, 5, 4, 0, -5 }, /* 0xB6 paragraph */ { 498, 8, 3, 4, 0, -4 }, /* 0xB7 periodcentered */ { 501, 8, 3, 4, 0, -3 }, /* 0xB8 cedilla */ { 504, 8, 3, 2, 0, -5 }, /* 0xB9 onesuperior */ { 507, 8, 5, 4, 0, -5 }, /* 0xBA ordmasculine */ { 512, 8, 3, 3, 0, -5 }, /* 0xBB guillemotright */ { 515, 8, 5, 4, 0, -5 }, /* 0xBC onequarter */ { 520, 8, 5, 4, 0, -5 }, /* 0xBD onehalf */ { 525, 8, 5, 4, 0, -5 }, /* 0xBE threequarters */ { 530, 8, 5, 4, 0, -5 }, /* 0xBF questiondown */ { 535, 8, 5, 4, 0, -5 }, /* 0xC0 Agrave */ { 540, 8, 5, 4, 0, -5 }, /* 0xC1 Aacute */ { 545, 8, 5, 4, 0, -5 }, /* 0xC2 Acircumflex */ { 550, 8, 5, 4, 0, -5 }, /* 0xC3 Atilde */ { 555, 8, 5, 4, 0, -5 }, /* 0xC4 Adieresis */ { 560, 8, 5, 4, 0, -5 }, /* 0xC5 Aring */ { 565, 8, 5, 4, 0, -5 }, /* 0xC6 AE */ { 570, 8, 6, 4, 0, -5 }, /* 0xC7 Ccedilla */ { 576, 8, 5, 4, 0, -5 }, /* 0xC8 Egrave */ { 581, 8, 5, 4, 0, -5 }, /* 0xC9 Eacute */ { 586, 8, 5, 4, 0, -5 }, /* 0xCA Ecircumflex */ { 591, 8, 5, 4, 0, -5 }, /* 0xCB Edieresis */ { 596, 8, 5, 4, 0, -5 }, /* 0xCC Igrave */ { 601, 8, 5, 4, 0, -5 }, /* 0xCD Iacute */ { 606, 8, 5, 4, 0, -5 }, /* 0xCE Icircumflex */ { 611, 8, 5, 4, 0, -5 }, /* 0xCF Idieresis */ { 616, 8, 5, 4, 0, -5 }, /* 0xD0 Eth */ { 621, 8, 5, 4, 0, -5 }, /* 0xD1 Ntilde */ { 626, 8, 5, 4, 0, -5 }, /* 0xD2 Ograve */ { 631, 8, 5, 4, 0, -5 }, /* 0xD3 Oacute */ { 636, 8, 5, 4, 0, -5 }, /* 0xD4 Ocircumflex */ { 641, 8, 5, 4, 0, -5 }, /* 0xD5 Otilde */ { 646, 8, 5, 4, 0, -5 }, /* 0xD6 Odieresis */ { 651, 8, 3, 4, 0, -4 }, /* 0xD7 multiply */ { 654, 8, 5, 4, 0, -5 }, /* 0xD8 Oslash */ { 659, 8, 5, 4, 0, -5 }, /* 0xD9 Ugrave */ { 664, 8, 5, 4, 0, -5 }, /* 0xDA Uacute */ { 669, 8, 5, 4, 0, -5 }, /* 0xDB Ucircumflex */ { 674, 8, 5, 4, 0, -5 }, /* 0xDC Udieresis */ { 679, 8, 5, 4, 0, -5 }, /* 0xDD Yacute */ { 684, 8, 5, 4, 0, -5 }, /* 0xDE Thorn */ { 689, 8, 6, 4, 0, -5 }, /* 0xDF germandbls */ { 695, 8, 5, 4, 0, -5 }, /* 0xE0 agrave */ { 700, 8, 5, 4, 0, -5 }, /* 0xE1 aacute */ { 705, 8, 5, 4, 0, -5 }, /* 0xE2 acircumflex */ { 710, 8, 5, 4, 0, -5 }, /* 0xE3 atilde */ { 715, 8, 5, 4, 0, -5 }, /* 0xE4 adieresis */ { 720, 8, 5, 4, 0, -5 }, /* 0xE5 aring */ { 725, 8, 4, 4, 0, -4 }, /* 0xE6 ae */ { 729, 8, 5, 4, 0, -4 }, /* 0xE7 ccedilla */ { 734, 8, 5, 4, 0, -5 }, /* 0xE8 egrave */ { 739, 8, 5, 4, 0, -5 }, /* 0xE9 eacute */ { 744, 8, 5, 4, 0, -5 }, /* 0xEA ecircumflex */ { 749, 8, 5, 4, 0, -5 }, /* 0xEB edieresis */ { 754, 8, 5, 3, 0, -5 }, /* 0xEC igrave */ { 759, 8, 5, 3, 0, -5 }, /* 0xED iacute */ { 764, 8, 5, 4, 0, -5 }, /* 0xEE icircumflex */ { 769, 8, 5, 4, 0, -5 }, /* 0xEF idieresis */ { 774, 8, 5, 4, 0, -5 }, /* 0xF0 eth */ { 779, 8, 5, 4, 0, -5 }, /* 0xF1 ntilde */ { 784, 8, 5, 4, 0, -5 }, /* 0xF2 ograve */ { 789, 8, 5, 4, 0, -5 }, /* 0xF3 oacute */ { 794, 8, 5, 4, 0, -5 }, /* 0xF4 ocircumflex */ { 799, 8, 5, 4, 0, -5 }, /* 0xF5 otilde */ { 804, 8, 5, 4, 0, -5 }, /* 0xF6 odieresis */ { 809, 8, 5, 4, 0, -5 }, /* 0xF7 divide */ { 814, 8, 4, 4, 0, -4 }, /* 0xF8 oslash */ { 818, 8, 5, 4, 0, -5 }, /* 0xF9 ugrave */ { 823, 8, 5, 4, 0, -5 }, /* 0xFA uacute */ { 828, 8, 5, 4, 0, -5 }, /* 0xFB ucircumflex */ { 833, 8, 5, 4, 0, -5 }, /* 0xFC udieresis */ { 838, 8, 6, 4, 0, -5 }, /* 0xFD yacute */ { 844, 8, 5, 4, 0, -4 }, /* 0xFE thorn */ { 849, 8, 6, 4, 0, -5 }, /* 0xFF ydieresis */ { 855, 8, 1, 2, 0, -1 }, /* 0x11D gcircumflex */ { 856, 8, 5, 4, 0, -5 }, /* 0x152 OE */ { 861, 8, 4, 4, 0, -4 }, /* 0x153 oe */ { 865, 8, 5, 4, 0, -5 }, /* 0x160 Scaron */ { 870, 8, 5, 4, 0, -5 }, /* 0x161 scaron */ { 875, 8, 5, 4, 0, -5 }, /* 0x178 Ydieresis */ { 880, 8, 5, 4, 0, -5 }, /* 0x17D Zcaron */ { 885, 8, 5, 4, 0, -5 }, /* 0x17E zcaron */ { 890, 8, 1, 2, 0, -1 }, /* 0xEA4 uni0EA4 */ { 891, 8, 1, 2, 0, -1 }, /* 0x13A0 uni13A0 */ { 892, 8, 1, 2, 0, -3 }, /* 0x2022 bullet */ { 893, 8, 1, 4, 0, -1 }, /* 0x2026 ellipsis */ { 894, 8, 5, 4, 0, -5 }, /* 0x20AC Euro */ { 899, 8, 5, 4, 0, -5 }, /* 0xFFFD uniFFFD */ #endif /* (TOMTHUMB_USE_EXTENDED) */ }; const GFXfont TomThumb PROGMEM = { (uint8_t *)TomThumbBitmaps, (GFXglyph *)TomThumbGlyphs, 0x20, 0x7E, 6 }; ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/README.md ================================================ # Adafruit GFX Library This is the core graphics library for all our displays, providing a common set of graphics primitives (points, lines, circles, etc.). It needs to be paired with a hardware-specific library for each display device we carry (to handle the lower-level functions). Adafruit invests time and resources providing this open source code, please support Adafruit and open-source hardware by purchasing products from Adafruit! Written by Limor Fried/Ladyada for Adafruit Industries. BSD license, check license.txt for more information. All text above must be included in any redistribution. Recent Arduino IDE releases include the Library Manager for easy installation. Otherwise, to download, click the DOWNLOAD ZIP button, uncompress and rename the uncompressed folder Adafruit_GFX. Confirm that the Adafruit_GFX folder contains Adafruit_GFX.cpp and Adafruit_GFX.h. Place the Adafruit_GFX library folder your /Libraries/ folder. You may need to create the Libraries subfolder if its your first library. Restart the IDE. # Useful Resources - Image2Code: This is a handy Java GUI utility to convert a BMP file into the array code necessary to display the image with the drawBitmap function. Check out the code at ehubin's GitHub repository: https://github.com/ehubin/Adafruit-GFX-Library/tree/master/Img2Code - drawXBitmap function: You can use the GIMP photo editor to save a .xbm file and use the array saved in the file to draw a bitmap with the drawXBitmap function. See the pull request here for more details: https://github.com/adafruit/Adafruit-GFX-Library/pull/31 - 'Fonts' folder contains bitmap fonts for use with recent (1.1 and later) Adafruit_GFX. To use a font in your Arduino sketch, #include the corresponding .h file and pass address of GFXfont struct to setFont(). Pass NULL to revert to 'classic' fixed-space bitmap font. - 'fontconvert' folder contains a command-line tool for converting TTF fonts to Adafruit_GFX .h format. --- ### Roadmap The PRIME DIRECTIVE is to maintain backward compatibility with existing Arduino sketches -- many are hosted elsewhere and don't track changes here, some are in print and can never be changed! This "little" library has grown organically over time and sometimes we paint ourselves into a design corner and just have to live with it or add ungainly workarounds. Highly unlikely to merge any changes for additional or incompatible font formats (see Prime Directive above). There are already two formats and the code is quite bloaty there as it is (this also creates liabilities for tools and documentation). If you *must* have a more sophisticated font format, consider creating a fork with the features required for your project. For similar reasons, also unlikely to add any more bitmap formats, it's getting messy. Please don't reformat code for the sake of reformatting code. The resulting large "visual diff" makes it impossible to untangle actual bug fixes from merely rearranged lines. ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/fontconvert/Makefile ================================================ all: fontconvert CC = gcc CFLAGS = -Wall -I/usr/local/include/freetype2 -I/usr/include/freetype2 -I/usr/include LIBS = -lfreetype fontconvert: fontconvert.c $(CC) $(CFLAGS) $< $(LIBS) -o $@ strip $@ clean: rm -f fontconvert ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/fontconvert/fontconvert.c ================================================ /* TrueType to Adafruit_GFX font converter. Derived from Peter Jakobs' Adafruit_ftGFX fork & makefont tool, and Paul Kourany's Adafruit_mfGFX. NOT AN ARDUINO SKETCH. This is a command-line tool for preprocessing fonts to be used with the Adafruit_GFX Arduino library. For UNIX-like systems. Outputs to stdout; redirect to header file, e.g.: ./fontconvert ~/Library/Fonts/FreeSans.ttf 18 > FreeSans18pt7b.h REQUIRES FREETYPE LIBRARY. www.freetype.org Currently this only extracts the printable 7-bit ASCII chars of a font. Will eventually extend with some int'l chars a la ftGFX, not there yet. Keep 7-bit fonts around as an option in that case, more compact. See notes at end for glyph nomenclature & other tidbits. */ #include #include #include #include #include FT_GLYPH_H #include "../gfxfont.h" // Adafruit_GFX font structures #define DPI 141 // Approximate res. of Adafruit 2.8" TFT // Accumulate bits for output, with periodic hexadecimal byte write void enbit(uint8_t value) { static uint8_t row = 0, sum = 0, bit = 0x80, firstCall = 1; if(value) sum |= bit; // Set bit if needed if(!(bit >>= 1)) { // Advance to next bit, end of byte reached? if(!firstCall) { // Format output table nicely if(++row >= 12) { // Last entry on line? printf(",\n "); // Newline format output row = 0; // Reset row counter } else { // Not end of line printf(", "); // Simple comma delim } } printf("0x%02X", sum); // Write byte value sum = 0; // Clear for next byte bit = 0x80; // Reset bit counter firstCall = 0; // Formatting flag } } int main(int argc, char *argv[]) { int i, j, err, size, first=' ', last='~', bitmapOffset = 0, x, y, byte; char *fontName, c, *ptr; FT_Library library; FT_Face face; FT_Glyph glyph; FT_Bitmap *bitmap; FT_BitmapGlyphRec *g; GFXglyph *table; uint8_t bit; // Parse command line. Valid syntaxes are: // fontconvert [filename] [size] // fontconvert [filename] [size] [last char] // fontconvert [filename] [size] [first char] [last char] // Unless overridden, default first and last chars are // ' ' (space) and '~', respectively if(argc < 3) { fprintf(stderr, "Usage: %s fontfile size [first] [last]\n", argv[0]); return 1; } size = atoi(argv[2]); if(argc == 4) { last = atoi(argv[3]); } else if(argc == 5) { first = atoi(argv[3]); last = atoi(argv[4]); } if(last < first) { i = first; first = last; last = i; } ptr = strrchr(argv[1], '/'); // Find last slash in filename if(ptr) ptr++; // First character of filename (path stripped) else ptr = argv[1]; // No path; font in local dir. // Allocate space for font name and glyph table if((!(fontName = malloc(strlen(ptr) + 20))) || (!(table = (GFXglyph *)malloc((last - first + 1) * sizeof(GFXglyph))))) { fprintf(stderr, "Malloc error\n"); return 1; } // Derive font table names from filename. Period (filename // extension) is truncated and replaced with the font size & bits. strcpy(fontName, ptr); ptr = strrchr(fontName, '.'); // Find last period (file ext) if(!ptr) ptr = &fontName[strlen(fontName)]; // If none, append // Insert font size and 7/8 bit. fontName was alloc'd w/extra // space to allow this, we're not sprintfing into Forbidden Zone. sprintf(ptr, "%dpt%db", size, (last > 127) ? 8 : 7); // Space and punctuation chars in name replaced w/ underscores. for(i=0; (c=fontName[i]); i++) { if(isspace(c) || ispunct(c)) fontName[i] = '_'; } // Init FreeType lib, load font if((err = FT_Init_FreeType(&library))) { fprintf(stderr, "FreeType init error: %d", err); return err; } if((err = FT_New_Face(library, argv[1], 0, &face))) { fprintf(stderr, "Font load error: %d", err); FT_Done_FreeType(library); return err; } // << 6 because '26dot6' fixed-point format FT_Set_Char_Size(face, size << 6, 0, DPI, 0); // Currently all symbols from 'first' to 'last' are processed. // Fonts may contain WAY more glyphs than that, but this code // will need to handle encoding stuff to deal with extracting // the right symbols, and that's not done yet. // fprintf(stderr, "%ld glyphs\n", face->num_glyphs); printf("const uint8_t %sBitmaps[] PROGMEM = {\n ", fontName); // Process glyphs and output huge bitmap data array for(i=first, j=0; i<=last; i++, j++) { // MONO renderer provides clean image with perfect crop // (no wasted pixels) via bitmap struct. if((err = FT_Load_Char(face, i, FT_LOAD_TARGET_MONO))) { fprintf(stderr, "Error %d loading char '%c'\n", err, i); continue; } if((err = FT_Render_Glyph(face->glyph, FT_RENDER_MODE_MONO))) { fprintf(stderr, "Error %d rendering char '%c'\n", err, i); continue; } if((err = FT_Get_Glyph(face->glyph, &glyph))) { fprintf(stderr, "Error %d getting glyph '%c'\n", err, i); continue; } bitmap = &face->glyph->bitmap; g = (FT_BitmapGlyphRec *)glyph; // Minimal font and per-glyph information is stored to // reduce flash space requirements. Glyph bitmaps are // fully bit-packed; no per-scanline pad, though end of // each character may be padded to next byte boundary // when needed. 16-bit offset means 64K max for bitmaps, // code currently doesn't check for overflow. (Doesn't // check that size & offsets are within bounds either for // that matter...please convert fonts responsibly.) table[j].bitmapOffset = bitmapOffset; table[j].width = bitmap->width; table[j].height = bitmap->rows; table[j].xAdvance = face->glyph->advance.x >> 6; table[j].xOffset = g->left; table[j].yOffset = 1 - g->top; for(y=0; y < bitmap->rows; y++) { for(x=0;x < bitmap->width; x++) { byte = x / 8; bit = 0x80 >> (x & 7); enbit(bitmap->buffer[ y * bitmap->pitch + byte] & bit); } } // Pad end of char bitmap to next byte boundary if needed int n = (bitmap->width * bitmap->rows) & 7; if(n) { // Pixel count not an even multiple of 8? n = 8 - n; // # bits to next multiple while(n--) enbit(0); } bitmapOffset += (bitmap->width * bitmap->rows + 7) / 8; FT_Done_Glyph(glyph); } printf(" };\n\n"); // End bitmap array // Output glyph attributes table (one per character) printf("const GFXglyph %sGlyphs[] PROGMEM = {\n", fontName); for(i=first, j=0; i<=last; i++, j++) { printf(" { %5d, %3d, %3d, %3d, %4d, %4d }", table[j].bitmapOffset, table[j].width, table[j].height, table[j].xAdvance, table[j].xOffset, table[j].yOffset); if(i < last) { printf(", // 0x%02X", i); if((i >= ' ') && (i <= '~')) { printf(" '%c'", i); } putchar('\n'); } } printf(" }; // 0x%02X", last); if((last >= ' ') && (last <= '~')) printf(" '%c'", last); printf("\n\n"); // Output font structure printf("const GFXfont %s PROGMEM = {\n", fontName); printf(" (uint8_t *)%sBitmaps,\n", fontName); printf(" (GFXglyph *)%sGlyphs,\n", fontName); if (face->size->metrics.height == 0) { // No face height info, assume fixed width and get from a glyph. printf(" 0x%02X, 0x%02X, %d };\n\n", first, last, table[0].height); } else { printf(" 0x%02X, 0x%02X, %ld };\n\n", first, last, face->size->metrics.height >> 6); } printf("// Approx. %d bytes\n", bitmapOffset + (last - first + 1) * 7 + 7); // Size estimate is based on AVR struct and pointer sizes; // actual size may vary. FT_Done_FreeType(library); return 0; } /* ------------------------------------------------------------------------- Character metrics are slightly different from classic GFX & ftGFX. In classic GFX: cursor position is the upper-left pixel of each 5x7 character; lower extent of most glyphs (except those w/descenders) is +6 pixels in Y direction. W/new GFX fonts: cursor position is on baseline, where baseline is 'inclusive' (containing the bottom-most row of pixels in most symbols, except those with descenders; ftGFX is one pixel lower). Cursor Y will be moved automatically when switching between classic and new fonts. If you switch fonts, any print() calls will continue along the same baseline. ...........#####.. -- yOffset ..........######.. ..........######.. .........#######.. ........#########. * = Cursor pos. ........#########. .......##########. ......#####..####. ......#####..####. *.#.. .....#####...####. .#.#. ....############## #...# ...############### #...# ...############### ##### ..#####......##### #...# .#####.......##### ====== #...# ====== #*###.........#### ======= Baseline || xOffset glyph->xOffset and yOffset are pixel offsets, in GFX coordinate space (+Y is down), from the cursor position to the top-left pixel of the glyph bitmap. i.e. yOffset is typically negative, xOffset is typically zero but a few glyphs will have other values (even negative xOffsets sometimes, totally normal). glyph->xAdvance is the distance to move the cursor on the X axis after drawing the corresponding symbol. There's also some changes with regard to 'background' color and new GFX fonts (classic fonts unchanged). See Adafruit_GFX.cpp for explanation. */ ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/fontconvert/fontconvert_win.md ================================================ ### A short guide to use fontconvert.c to create your own fonts using MinGW. #### STEP 1: INSTALL MinGW Install MinGW (Minimalist GNU for Windows) from [MinGW.org](http://www.mingw.org/). Please read carefully the instructions found on [Getting started page](http://www.mingw.org/wiki/Getting_Started). I suggest installing with the "Graphical User Interface Installer". To complete your initial installation you should further install some "packages". For our purpose you should only install the "Basic Setup" packages. To do that: 1. Open the MinGW Installation Manager 2. From the left panel click "Basic Setup". 3. On the right panel choose "mingw32-base", "mingw-gcc-g++", "mingw-gcc-objc" and "msys-base" and click "Mark for installation" 4. From the Menu click "Installation" and then "Apply changes". In the pop-up window select "Apply". #### STEP 2: INSTALL Freetype Library To read about the freetype project visit [freetype.org](https://www.freetype.org/). To Download the latest version of freetype go to [download page](http://download.savannah.gnu.org/releases/freetype/) and choose "freetype-2.7.tar.gz" file (or a newer version if available). To avoid long cd commands later in the command prompt, I suggest you unzip the file in the C:\ directory. (I also renamed the folder to "ft27") Before you build the library it's good to read these articles: * [Using MSYS with MinGW](http://www.mingw.org/wiki/MSYS) * [Installation and Use of Supplementary Libraries with MinGW](http://www.mingw.org/wiki/LibraryPathHOWTO) * [Include Path](http://www.mingw.org/wiki/IncludePathHOWTO) Inside the unzipped folder there is another folder named "docs". Open it and read the INSTALL.UNIX (using notepad). Pay attention to paragraph 3 (Build and Install the Library). So, let's begin the installation. To give the appropriate commands we will use the MSYS command prompt (not cmd.exe of windows) which is UNIX like. Follow the path C:\MinGW\msys\1.0 and double click "msys.bat". The command prompt environment appears. Enter "ft27" directory using the cd commands: ``` cd /c cd ft27 ``` and then type one by one the commands: ``` ./configure --prefix=/mingw make make install ``` Once you're finished, go inside "C:\MinGW\include" and there should be a new folder named "freetype2". That, hopefully, means that you have installed the library correctly !! #### STEP 3: Build fontconvert.c Before proceeding I suggest you make a copy of Adafruit_GFX_library folder in C:\ directory. Then, inside "fontconvert" folder open the "makefile" with an editor ( I used notepad++). Change the commands so in the end the program looks like : ``` all: fontconvert CC = gcc CFLAGS = -Wall -I c:/mingw/include/freetype2 LIBS = -lfreetype fontconvert: fontconvert.c $(CC) $(CFLAGS) $< $(LIBS) -o $@ clean: rm -f fontconvert ``` Go back in the command prompt and with a cd command enter the fontconvert directory. ``` cd /c/adafruit_gfx_library\fontconvert ``` Give the command: ``` make ``` This command will, eventually, create a "fontconvert.exe" file inside fontconvert directory. #### STEP 4: Create your own font header files Now that you have an executable file, you can use it to create your own fonts to work with Adafruit GFX lib. So, if we suppose that you already have a .ttf file with your favorite fonts, jump to the command prompt and type: ``` ./fontconvert yourfonts.ttf 9 > yourfonts9pt7b.h ``` You can read more details at: [learn.adafruit](https://learn.adafruit.com/adafruit-gfx-graphics-library/using-fonts). Taraaaaaammm !! you've just created your new font header file. Put it inside the "Fonts" folder, grab a cup of coffee and start playing with your Arduino (or whatever else ....)+ display module project. ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/fontconvert/makefonts.sh ================================================ #!/bin/bash # Ugly little Bash script, generates a set of .h files for GFX using # GNU FreeFont sources. There are three fonts: 'Mono' (Courier-like), # 'Sans' (Helvetica-like) and 'Serif' (Times-like); four styles: regular, # bold, oblique or italic, and bold+oblique or bold+italic; and four # sizes: 9, 12, 18 and 24 point. No real error checking or anything, # this just powers through all the combinations, calling the fontconvert # utility and redirecting the output to a .h file for each combo. # Adafruit_GFX repository does not include the source outline fonts # (huge zipfile, different license) but they're easily acquired: # http://savannah.gnu.org/projects/freefont/ convert=./fontconvert inpath=~/Desktop/freefont/ outpath=../Fonts/ fonts=(FreeMono FreeSans FreeSerif) styles=("" Bold Italic BoldItalic Oblique BoldOblique) sizes=(9 12 18 24) for f in ${fonts[*]} do for index in ${!styles[*]} do st=${styles[$index]} for si in ${sizes[*]} do infile=$inpath$f$st".ttf" if [ -f $infile ] # Does source combination exist? then outfile=$outpath$f$st$si"pt7b.h" # printf "%s %s %s > %s\n" $convert $infile $si $outfile $convert $infile $si > $outfile fi done done done ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/gfxfont.h ================================================ // Font structures for newer Adafruit_GFX (1.1 and later). // Example fonts are included in 'Fonts' directory. // To use a font in your Arduino sketch, #include the corresponding .h // file and pass address of GFXfont struct to setFont(). Pass NULL to // revert to 'classic' fixed-space bitmap font. #ifndef _GFXFONT_H_ #define _GFXFONT_H_ typedef struct { // Data stored PER GLYPH uint16_t bitmapOffset; // Pointer into GFXfont->bitmap uint8_t width, height; // Bitmap dimensions in pixels uint8_t xAdvance; // Distance to advance cursor (x axis) int8_t xOffset, yOffset; // Dist from cursor pos to UL corner } GFXglyph; typedef struct { // Data stored for FONT AS A WHOLE: uint8_t *bitmap; // Glyph bitmaps, concatenated GFXglyph *glyph; // Glyph array uint8_t first, last; // ASCII extents uint8_t yAdvance; // Newline distance (y axis) } GFXfont; #endif // _GFXFONT_H_ ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/glcdfont.c ================================================ // This is the 'classic' fixed-space bitmap font for Adafruit_GFX since 1.0. // See gfxfont.h for newer custom bitmap font info. #ifndef FONT5X7_H #define FONT5X7_H #ifdef __AVR__ #include #include #elif defined(ESP8266) #include #else #define PROGMEM #endif // Standard ASCII 5x7 font static const unsigned char font[] PROGMEM = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x3E, 0x5B, 0x4F, 0x5B, 0x3E, 0x3E, 0x6B, 0x4F, 0x6B, 0x3E, 0x1C, 0x3E, 0x7C, 0x3E, 0x1C, 0x18, 0x3C, 0x7E, 0x3C, 0x18, 0x1C, 0x57, 0x7D, 0x57, 0x1C, 0x1C, 0x5E, 0x7F, 0x5E, 0x1C, 0x00, 0x18, 0x3C, 0x18, 0x00, 0xFF, 0xE7, 0xC3, 0xE7, 0xFF, 0x00, 0x18, 0x24, 0x18, 0x00, 0xFF, 0xE7, 0xDB, 0xE7, 0xFF, 0x30, 0x48, 0x3A, 0x06, 0x0E, 0x26, 0x29, 0x79, 0x29, 0x26, 0x40, 0x7F, 0x05, 0x05, 0x07, 0x40, 0x7F, 0x05, 0x25, 0x3F, 0x5A, 0x3C, 0xE7, 0x3C, 0x5A, 0x7F, 0x3E, 0x1C, 0x1C, 0x08, 0x08, 0x1C, 0x1C, 0x3E, 0x7F, 0x14, 0x22, 0x7F, 0x22, 0x14, 0x5F, 0x5F, 0x00, 0x5F, 0x5F, 0x06, 0x09, 0x7F, 0x01, 0x7F, 0x00, 0x66, 0x89, 0x95, 0x6A, 0x60, 0x60, 0x60, 0x60, 0x60, 0x94, 0xA2, 0xFF, 0xA2, 0x94, 0x08, 0x04, 0x7E, 0x04, 0x08, 0x10, 0x20, 0x7E, 0x20, 0x10, 0x08, 0x08, 0x2A, 0x1C, 0x08, 0x08, 0x1C, 0x2A, 0x08, 0x08, 0x1E, 0x10, 0x10, 0x10, 0x10, 0x0C, 0x1E, 0x0C, 0x1E, 0x0C, 0x30, 0x38, 0x3E, 0x38, 0x30, 0x06, 0x0E, 0x3E, 0x0E, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x5F, 0x00, 0x00, 0x00, 0x07, 0x00, 0x07, 0x00, 0x14, 0x7F, 0x14, 0x7F, 0x14, 0x24, 0x2A, 0x7F, 0x2A, 0x12, 0x23, 0x13, 0x08, 0x64, 0x62, 0x36, 0x49, 0x56, 0x20, 0x50, 0x00, 0x08, 0x07, 0x03, 0x00, 0x00, 0x1C, 0x22, 0x41, 0x00, 0x00, 0x41, 0x22, 0x1C, 0x00, 0x2A, 0x1C, 0x7F, 0x1C, 0x2A, 0x08, 0x08, 0x3E, 0x08, 0x08, 0x00, 0x80, 0x70, 0x30, 0x00, 0x08, 0x08, 0x08, 0x08, 0x08, 0x00, 0x00, 0x60, 0x60, 0x00, 0x20, 0x10, 0x08, 0x04, 0x02, 0x3E, 0x51, 0x49, 0x45, 0x3E, 0x00, 0x42, 0x7F, 0x40, 0x00, 0x72, 0x49, 0x49, 0x49, 0x46, 0x21, 0x41, 0x49, 0x4D, 0x33, 0x18, 0x14, 0x12, 0x7F, 0x10, 0x27, 0x45, 0x45, 0x45, 0x39, 0x3C, 0x4A, 0x49, 0x49, 0x31, 0x41, 0x21, 0x11, 0x09, 0x07, 0x36, 0x49, 0x49, 0x49, 0x36, 0x46, 0x49, 0x49, 0x29, 0x1E, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x40, 0x34, 0x00, 0x00, 0x00, 0x08, 0x14, 0x22, 0x41, 0x14, 0x14, 0x14, 0x14, 0x14, 0x00, 0x41, 0x22, 0x14, 0x08, 0x02, 0x01, 0x59, 0x09, 0x06, 0x3E, 0x41, 0x5D, 0x59, 0x4E, 0x7C, 0x12, 0x11, 0x12, 0x7C, 0x7F, 0x49, 0x49, 0x49, 0x36, 0x3E, 0x41, 0x41, 0x41, 0x22, 0x7F, 0x41, 0x41, 0x41, 0x3E, 0x7F, 0x49, 0x49, 0x49, 0x41, 0x7F, 0x09, 0x09, 0x09, 0x01, 0x3E, 0x41, 0x41, 0x51, 0x73, 0x7F, 0x08, 0x08, 0x08, 0x7F, 0x00, 0x41, 0x7F, 0x41, 0x00, 0x20, 0x40, 0x41, 0x3F, 0x01, 0x7F, 0x08, 0x14, 0x22, 0x41, 0x7F, 0x40, 0x40, 0x40, 0x40, 0x7F, 0x02, 0x1C, 0x02, 0x7F, 0x7F, 0x04, 0x08, 0x10, 0x7F, 0x3E, 0x41, 0x41, 0x41, 0x3E, 0x7F, 0x09, 0x09, 0x09, 0x06, 0x3E, 0x41, 0x51, 0x21, 0x5E, 0x7F, 0x09, 0x19, 0x29, 0x46, 0x26, 0x49, 0x49, 0x49, 0x32, 0x03, 0x01, 0x7F, 0x01, 0x03, 0x3F, 0x40, 0x40, 0x40, 0x3F, 0x1F, 0x20, 0x40, 0x20, 0x1F, 0x3F, 0x40, 0x38, 0x40, 0x3F, 0x63, 0x14, 0x08, 0x14, 0x63, 0x03, 0x04, 0x78, 0x04, 0x03, 0x61, 0x59, 0x49, 0x4D, 0x43, 0x00, 0x7F, 0x41, 0x41, 0x41, 0x02, 0x04, 0x08, 0x10, 0x20, 0x00, 0x41, 0x41, 0x41, 0x7F, 0x04, 0x02, 0x01, 0x02, 0x04, 0x40, 0x40, 0x40, 0x40, 0x40, 0x00, 0x03, 0x07, 0x08, 0x00, 0x20, 0x54, 0x54, 0x78, 0x40, 0x7F, 0x28, 0x44, 0x44, 0x38, 0x38, 0x44, 0x44, 0x44, 0x28, 0x38, 0x44, 0x44, 0x28, 0x7F, 0x38, 0x54, 0x54, 0x54, 0x18, 0x00, 0x08, 0x7E, 0x09, 0x02, 0x18, 0xA4, 0xA4, 0x9C, 0x78, 0x7F, 0x08, 0x04, 0x04, 0x78, 0x00, 0x44, 0x7D, 0x40, 0x00, 0x20, 0x40, 0x40, 0x3D, 0x00, 0x7F, 0x10, 0x28, 0x44, 0x00, 0x00, 0x41, 0x7F, 0x40, 0x00, 0x7C, 0x04, 0x78, 0x04, 0x78, 0x7C, 0x08, 0x04, 0x04, 0x78, 0x38, 0x44, 0x44, 0x44, 0x38, 0xFC, 0x18, 0x24, 0x24, 0x18, 0x18, 0x24, 0x24, 0x18, 0xFC, 0x7C, 0x08, 0x04, 0x04, 0x08, 0x48, 0x54, 0x54, 0x54, 0x24, 0x04, 0x04, 0x3F, 0x44, 0x24, 0x3C, 0x40, 0x40, 0x20, 0x7C, 0x1C, 0x20, 0x40, 0x20, 0x1C, 0x3C, 0x40, 0x30, 0x40, 0x3C, 0x44, 0x28, 0x10, 0x28, 0x44, 0x4C, 0x90, 0x90, 0x90, 0x7C, 0x44, 0x64, 0x54, 0x4C, 0x44, 0x00, 0x08, 0x36, 0x41, 0x00, 0x00, 0x00, 0x77, 0x00, 0x00, 0x00, 0x41, 0x36, 0x08, 0x00, 0x02, 0x01, 0x02, 0x04, 0x02, 0x3C, 0x26, 0x23, 0x26, 0x3C, 0x1E, 0xA1, 0xA1, 0x61, 0x12, 0x3A, 0x40, 0x40, 0x20, 0x7A, 0x38, 0x54, 0x54, 0x55, 0x59, 0x21, 0x55, 0x55, 0x79, 0x41, 0x22, 0x54, 0x54, 0x78, 0x42, // a-umlaut 0x21, 0x55, 0x54, 0x78, 0x40, 0x20, 0x54, 0x55, 0x79, 0x40, 0x0C, 0x1E, 0x52, 0x72, 0x12, 0x39, 0x55, 0x55, 0x55, 0x59, 0x39, 0x54, 0x54, 0x54, 0x59, 0x39, 0x55, 0x54, 0x54, 0x58, 0x00, 0x00, 0x45, 0x7C, 0x41, 0x00, 0x02, 0x45, 0x7D, 0x42, 0x00, 0x01, 0x45, 0x7C, 0x40, 0x7D, 0x12, 0x11, 0x12, 0x7D, // A-umlaut 0xF0, 0x28, 0x25, 0x28, 0xF0, 0x7C, 0x54, 0x55, 0x45, 0x00, 0x20, 0x54, 0x54, 0x7C, 0x54, 0x7C, 0x0A, 0x09, 0x7F, 0x49, 0x32, 0x49, 0x49, 0x49, 0x32, 0x3A, 0x44, 0x44, 0x44, 0x3A, // o-umlaut 0x32, 0x4A, 0x48, 0x48, 0x30, 0x3A, 0x41, 0x41, 0x21, 0x7A, 0x3A, 0x42, 0x40, 0x20, 0x78, 0x00, 0x9D, 0xA0, 0xA0, 0x7D, 0x3D, 0x42, 0x42, 0x42, 0x3D, // O-umlaut 0x3D, 0x40, 0x40, 0x40, 0x3D, 0x3C, 0x24, 0xFF, 0x24, 0x24, 0x48, 0x7E, 0x49, 0x43, 0x66, 0x2B, 0x2F, 0xFC, 0x2F, 0x2B, 0xFF, 0x09, 0x29, 0xF6, 0x20, 0xC0, 0x88, 0x7E, 0x09, 0x03, 0x20, 0x54, 0x54, 0x79, 0x41, 0x00, 0x00, 0x44, 0x7D, 0x41, 0x30, 0x48, 0x48, 0x4A, 0x32, 0x38, 0x40, 0x40, 0x22, 0x7A, 0x00, 0x7A, 0x0A, 0x0A, 0x72, 0x7D, 0x0D, 0x19, 0x31, 0x7D, 0x26, 0x29, 0x29, 0x2F, 0x28, 0x26, 0x29, 0x29, 0x29, 0x26, 0x30, 0x48, 0x4D, 0x40, 0x20, 0x38, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x38, 0x2F, 0x10, 0xC8, 0xAC, 0xBA, 0x2F, 0x10, 0x28, 0x34, 0xFA, 0x00, 0x00, 0x7B, 0x00, 0x00, 0x08, 0x14, 0x2A, 0x14, 0x22, 0x22, 0x14, 0x2A, 0x14, 0x08, 0x55, 0x00, 0x55, 0x00, 0x55, // #176 (25% block) missing in old code 0xAA, 0x55, 0xAA, 0x55, 0xAA, // 50% block 0xFF, 0x55, 0xFF, 0x55, 0xFF, // 75% block 0x00, 0x00, 0x00, 0xFF, 0x00, 0x10, 0x10, 0x10, 0xFF, 0x00, 0x14, 0x14, 0x14, 0xFF, 0x00, 0x10, 0x10, 0xFF, 0x00, 0xFF, 0x10, 0x10, 0xF0, 0x10, 0xF0, 0x14, 0x14, 0x14, 0xFC, 0x00, 0x14, 0x14, 0xF7, 0x00, 0xFF, 0x00, 0x00, 0xFF, 0x00, 0xFF, 0x14, 0x14, 0xF4, 0x04, 0xFC, 0x14, 0x14, 0x17, 0x10, 0x1F, 0x10, 0x10, 0x1F, 0x10, 0x1F, 0x14, 0x14, 0x14, 0x1F, 0x00, 0x10, 0x10, 0x10, 0xF0, 0x00, 0x00, 0x00, 0x00, 0x1F, 0x10, 0x10, 0x10, 0x10, 0x1F, 0x10, 0x10, 0x10, 0x10, 0xF0, 0x10, 0x00, 0x00, 0x00, 0xFF, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0xFF, 0x10, 0x00, 0x00, 0x00, 0xFF, 0x14, 0x00, 0x00, 0xFF, 0x00, 0xFF, 0x00, 0x00, 0x1F, 0x10, 0x17, 0x00, 0x00, 0xFC, 0x04, 0xF4, 0x14, 0x14, 0x17, 0x10, 0x17, 0x14, 0x14, 0xF4, 0x04, 0xF4, 0x00, 0x00, 0xFF, 0x00, 0xF7, 0x14, 0x14, 0x14, 0x14, 0x14, 0x14, 0x14, 0xF7, 0x00, 0xF7, 0x14, 0x14, 0x14, 0x17, 0x14, 0x10, 0x10, 0x1F, 0x10, 0x1F, 0x14, 0x14, 0x14, 0xF4, 0x14, 0x10, 0x10, 0xF0, 0x10, 0xF0, 0x00, 0x00, 0x1F, 0x10, 0x1F, 0x00, 0x00, 0x00, 0x1F, 0x14, 0x00, 0x00, 0x00, 0xFC, 0x14, 0x00, 0x00, 0xF0, 0x10, 0xF0, 0x10, 0x10, 0xFF, 0x10, 0xFF, 0x14, 0x14, 0x14, 0xFF, 0x14, 0x10, 0x10, 0x10, 0x1F, 0x00, 0x00, 0x00, 0x00, 0xF0, 0x10, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x38, 0x44, 0x44, 0x38, 0x44, 0xFC, 0x4A, 0x4A, 0x4A, 0x34, // sharp-s or beta 0x7E, 0x02, 0x02, 0x06, 0x06, 0x02, 0x7E, 0x02, 0x7E, 0x02, 0x63, 0x55, 0x49, 0x41, 0x63, 0x38, 0x44, 0x44, 0x3C, 0x04, 0x40, 0x7E, 0x20, 0x1E, 0x20, 0x06, 0x02, 0x7E, 0x02, 0x02, 0x99, 0xA5, 0xE7, 0xA5, 0x99, 0x1C, 0x2A, 0x49, 0x2A, 0x1C, 0x4C, 0x72, 0x01, 0x72, 0x4C, 0x30, 0x4A, 0x4D, 0x4D, 0x30, 0x30, 0x48, 0x78, 0x48, 0x30, 0xBC, 0x62, 0x5A, 0x46, 0x3D, 0x3E, 0x49, 0x49, 0x49, 0x00, 0x7E, 0x01, 0x01, 0x01, 0x7E, 0x2A, 0x2A, 0x2A, 0x2A, 0x2A, 0x44, 0x44, 0x5F, 0x44, 0x44, 0x40, 0x51, 0x4A, 0x44, 0x40, 0x40, 0x44, 0x4A, 0x51, 0x40, 0x00, 0x00, 0xFF, 0x01, 0x03, 0xE0, 0x80, 0xFF, 0x00, 0x00, 0x08, 0x08, 0x6B, 0x6B, 0x08, 0x36, 0x12, 0x36, 0x24, 0x36, 0x06, 0x0F, 0x09, 0x0F, 0x06, 0x00, 0x00, 0x18, 0x18, 0x00, 0x00, 0x00, 0x10, 0x10, 0x00, 0x30, 0x40, 0xFF, 0x01, 0x01, 0x00, 0x1F, 0x01, 0x01, 0x1E, 0x00, 0x19, 0x1D, 0x17, 0x12, 0x00, 0x3C, 0x3C, 0x3C, 0x3C, 0x00, 0x00, 0x00, 0x00, 0x00 // #255 NBSP }; #endif // FONT5X7_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/library.properties ================================================ name=Adafruit GFX Library version=1.2.3 author=Adafruit maintainer=Adafruit sentence=Adafruit GFX graphics core library, this is the 'core' class that all our other graphics libraries derive from. paragraph=Install this library in addition to the display library for your hardware. category=Display url=https://github.com/adafruit/Adafruit-GFX-Library architectures=* ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Adafruit_GFX_Library/license.txt ================================================ Software License Agreement (BSD License) Copyright (c) 2012 Adafruit Industries. All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: - Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. - Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ================================================ FILE: arduino/opencr_arduino/opencr/libraries/CAN/CAN.cpp ================================================ #include "CAN.h" #include "drv_can.h" CANClass CanBus; #define OPENCR_CAN_CHANNEL 0 //CAN2 CANClass::CANClass() { format_ = CAN_STD_FORMAT; } bool CANClass::begin() { return drvCanOpen(OPENCR_CAN_CHANNEL, CAN_BAUD_125K, format_); } bool CANClass::begin(uint32_t baudrate) { return drvCanOpen(OPENCR_CAN_CHANNEL, baudrate, format_); } bool CANClass::begin(uint32_t baudrate, uint8_t format) { return drvCanOpen(OPENCR_CAN_CHANNEL, baudrate, format); } void CANClass::end(void) { drvCanClose(OPENCR_CAN_CHANNEL); } bool CANClass::configFilter(uint32_t id, uint32_t mask) { return drvCanConfigFilter(0, id, mask, format_); } bool CANClass::configFilter(uint32_t id, uint32_t mask, uint8_t format) { return drvCanConfigFilter(0, id, mask, format); } uint32_t CANClass::write(uint32_t id, uint8_t *p_data, uint32_t length) { return drvCanWrite(OPENCR_CAN_CHANNEL, id, p_data, length, format_); } uint32_t CANClass::write(uint32_t id, uint8_t *p_data, uint32_t length, uint8_t format) { return drvCanWrite(OPENCR_CAN_CHANNEL, id, p_data, length, format); } uint8_t CANClass::read(void) //read one byte { return drvCanRead(OPENCR_CAN_CHANNEL); } uint32_t CANClass::available(void) { return drvCanAvailable(OPENCR_CAN_CHANNEL); } uint32_t CANClass::writeMessage(can_message_t *p_msg) { drv_can_msg_t msg; msg.id = p_msg->id; msg.format = p_msg->format; msg.length = p_msg->length; memcpy(msg.data, p_msg->data, 8); return drvCanWriteMsg(OPENCR_CAN_CHANNEL, &msg); } bool CANClass::readMessage(can_message_t *p_msg) { bool ret = false; drv_can_msg_t *rx_msg; rx_msg = drvCanReadMsg(OPENCR_CAN_CHANNEL); if(rx_msg != NULL) { p_msg->id = rx_msg->id; p_msg->format = rx_msg->format; p_msg->length = rx_msg->length; memcpy(p_msg->data, rx_msg->data, p_msg->length); ret = true; } return ret; } uint32_t CANClass::availableMessage(void) { return drvCanAvailableMsg(OPENCR_CAN_CHANNEL); } uint8_t CANClass::getErrCount(void) { return drvCanGetErrCount(OPENCR_CAN_CHANNEL); } uint32_t CANClass::getError(void) { return drvCanGetError(OPENCR_CAN_CHANNEL); } uint32_t CANClass::getState(void) { return drvCanGetState(OPENCR_CAN_CHANNEL); } void CANClass::attachRxInterrupt(void (*handler)(can_message_t *arg)) { drvCanAttachRxInterrupt(OPENCR_CAN_CHANNEL, (void(*)(void *arg)) handler); } void CANClass::detachRxInterrupt(void) { drvCanDetachRxInterrupt(OPENCR_CAN_CHANNEL); } ================================================ FILE: arduino/opencr_arduino/opencr/libraries/CAN/CAN.h ================================================ #ifndef _BSP_CAN_H_ #define _BSP_CAN_H_ #include #include "variant.h" #include "drv_can.h" #include "def.h" #define CAN_STD_FORMAT _DEF_CAN_STD #define CAN_EXT_FORMAT _DEF_CAN_EXT #define CAN_BAUD_125K _DEF_CAN_BAUD_125K #define CAN_BAUD_250K _DEF_CAN_BAUD_250K #define CAN_BAUD_500K _DEF_CAN_BAUD_500K #define CAN_BAUD_1000K _DEF_CAN_BAUD_1000K typedef struct can_message { uint32_t id; uint32_t length; uint8_t data[8]; uint8_t format; }can_message_t; class CANClass { public: CANClass(); bool begin(); bool begin(uint32_t baudrate); bool begin(uint32_t baudrate, uint8_t format); void end(void); bool configFilter(uint32_t id, uint32_t mask); bool configFilter(uint32_t id, uint32_t mask, uint8_t format); uint32_t write(uint32_t id, uint8_t *p_data, uint32_t length); //write data uint32_t write(uint32_t id, uint8_t *p_data, uint32_t length, uint8_t format); uint8_t read(void); //read one byte uint32_t available(void); uint32_t writeMessage(can_message_t *p_msg); bool readMessage(can_message_t *p_msg); uint32_t availableMessage(void); uint8_t getErrCount(void); uint32_t getError(void); uint32_t getState(void); void attachRxInterrupt(void (*handler)(can_message_t *arg)); void detachRxInterrupt(void); private: uint8_t format_; }; extern CANClass CanBus; #endif ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/README.md ================================================ ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/include/dynamixel_sdk/dynamixel_sdk.h ================================================ /******************************************************************************* * Copyright 2017 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ //////////////////////////////////////////////////////////////////////////////// /// @file The file that includes whole Dynamixel SDK libraries /// @author Zerom, Leon (RyuWoon Jung) //////////////////////////////////////////////////////////////////////////////// #ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_DYNAMIXELSDK_H_ #define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_DYNAMIXELSDK_H_ #include "group_bulk_read.h" #include "group_bulk_write.h" #include "group_sync_read.h" #include "group_sync_write.h" #include "packet_handler.h" #include "port_handler.h" #endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_DYNAMIXELSDK_H_ */ ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/include/dynamixel_sdk/group_bulk_read.h ================================================ /******************************************************************************* * Copyright 2017 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ //////////////////////////////////////////////////////////////////////////////// /// @file The file for Dynamixel Bulk Read /// @author Zerom, Leon (RyuWoon Jung) //////////////////////////////////////////////////////////////////////////////// #ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKREAD_H_ #define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKREAD_H_ #include #include #include "port_handler.h" #include "packet_handler.h" namespace dynamixel { //////////////////////////////////////////////////////////////////////////////// /// @brief The class for reading multiple Dynamixel data from different addresses with different lengths at once //////////////////////////////////////////////////////////////////////////////// class WINDECLSPEC GroupBulkRead { private: PortHandler *port_; PacketHandler *ph_; std::vector id_list_; std::map address_list_; // std::map length_list_; // std::map data_list_; // std::map error_list_; // bool last_result_; bool is_param_changed_; uint8_t *param_; void makeParam(); public: //////////////////////////////////////////////////////////////////////////////// /// @brief The function that Initializes instance for Bulk Read /// @param port PortHandler instance /// @param ph PacketHandler instance //////////////////////////////////////////////////////////////////////////////// GroupBulkRead(PortHandler *port, PacketHandler *ph); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls clearParam function to clear the parameter list for Bulk Read //////////////////////////////////////////////////////////////////////////////// ~GroupBulkRead() { clearParam(); } //////////////////////////////////////////////////////////////////////////////// /// @brief The function that returns PortHandler instance /// @return PortHandler instance //////////////////////////////////////////////////////////////////////////////// PortHandler *getPortHandler() { return port_; } //////////////////////////////////////////////////////////////////////////////// /// @brief The function that returns PacketHandler instance /// @return PacketHandler instance //////////////////////////////////////////////////////////////////////////////// PacketHandler *getPacketHandler() { return ph_; } //////////////////////////////////////////////////////////////////////////////// /// @brief The function that adds id, start_address, data_length to the Bulk Read list /// @param id Dynamixel ID /// @param start_address Address of the data for read /// @data_length Length of the data for read /// @return false /// @return when the ID exists already in the list /// @return or true //////////////////////////////////////////////////////////////////////////////// bool addParam (uint8_t id, uint16_t start_address, uint16_t data_length); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that removes id from the Bulk Read list /// @param id Dynamixel ID //////////////////////////////////////////////////////////////////////////////// void removeParam (uint8_t id); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that clears the Bulk Read list //////////////////////////////////////////////////////////////////////////////// void clearParam (); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits the Bulk Read instruction packet which might be constructed by GroupBulkRead::addParam function /// @return COMM_NOT_AVAILABLE /// @return when the list for Bulk Read is empty /// @return or the other communication results which come from PacketHandler::bulkReadTx //////////////////////////////////////////////////////////////////////////////// int txPacket(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that receives the packet which might be come from the Dynamixel /// @return COMM_NOT_AVAILABLE /// @return when the list for Bulk Read is empty /// @return COMM_RX_FAIL /// @return when there is no packet recieved /// @return COMM_SUCCESS /// @return when there is packet recieved /// @return or the other communication results //////////////////////////////////////////////////////////////////////////////// int rxPacket(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits and receives the packet which might be come from the Dynamixel /// @return COMM_RX_FAIL /// @return when there is no packet recieved /// @return COMM_SUCCESS /// @return when there is packet recieved /// @return or the other communication results which come from GroupBulkRead::txPacket or GroupBulkRead::rxPacket //////////////////////////////////////////////////////////////////////////////// int txRxPacket(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that checks whether there are available data which might be received by GroupBulkRead::rxPacket or GroupBulkRead::txRxPacket /// @param id Dynamixel ID /// @param address Address of the data for read /// @param data_length Length of the data for read /// @return false /// @return when there are no data available /// @return or true //////////////////////////////////////////////////////////////////////////////// bool isAvailable (uint8_t id, uint16_t address, uint16_t data_length); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that gets the data which might be received by GroupBulkRead::rxPacket or GroupBulkRead::txRxPacket /// @param id Dynamixel ID /// @param address Address of the data for read /// @data_length Length of the data for read /// @return data value //////////////////////////////////////////////////////////////////////////////// uint32_t getData (uint8_t id, uint16_t address, uint16_t data_length); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that gets the error which might be received by GroupBulkRead::rxPacket or GroupBulkRead::txRxPacket /// @param id Dynamixel ID /// @error error of Dynamixel /// @return true /// @return when Dynamixel returned specific error byte /// @return or false //////////////////////////////////////////////////////////////////////////////// bool getError (uint8_t id, uint8_t* error); }; } #endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKREAD_H_ */ ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/include/dynamixel_sdk/group_bulk_write.h ================================================ /******************************************************************************* * Copyright 2017 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ //////////////////////////////////////////////////////////////////////////////// /// @file The file for Dynamixel Bulk Write /// @author Zerom, Leon (RyuWoon Jung) //////////////////////////////////////////////////////////////////////////////// #ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKWRITE_H_ #define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKWRITE_H_ #include #include #include "port_handler.h" #include "packet_handler.h" namespace dynamixel { //////////////////////////////////////////////////////////////////////////////// /// @brief The class for writing multiple Dynamixel data from different addresses with different lengths at once //////////////////////////////////////////////////////////////////////////////// class WINDECLSPEC GroupBulkWrite { private: PortHandler *port_; PacketHandler *ph_; std::vector id_list_; std::map address_list_; // std::map length_list_; // std::map data_list_; // bool is_param_changed_; uint8_t *param_; uint16_t param_length_; void makeParam(); public: //////////////////////////////////////////////////////////////////////////////// /// @brief The function that Initializes instance for Bulk Write /// @param port PortHandler instance /// @param ph PacketHandler instance //////////////////////////////////////////////////////////////////////////////// GroupBulkWrite(PortHandler *port, PacketHandler *ph); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls clearParam function to clear the parameter list for Bulk Write //////////////////////////////////////////////////////////////////////////////// ~GroupBulkWrite() { clearParam(); } //////////////////////////////////////////////////////////////////////////////// /// @brief The function that returns PortHandler instance /// @return PortHandler instance //////////////////////////////////////////////////////////////////////////////// PortHandler *getPortHandler() { return port_; } //////////////////////////////////////////////////////////////////////////////// /// @brief The function that returns PacketHandler instance /// @return PacketHandler instance //////////////////////////////////////////////////////////////////////////////// PacketHandler *getPacketHandler() { return ph_; } //////////////////////////////////////////////////////////////////////////////// /// @brief The function that adds id, start_address, data_length to the Bulk Write list /// @param id Dynamixel ID /// @param start_address Address of the data for write /// @param data_length Length of the data for write /// @return false /// @return when the ID exists already in the list /// @return or true //////////////////////////////////////////////////////////////////////////////// bool addParam (uint8_t id, uint16_t start_address, uint16_t data_length, uint8_t *data); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that removes id from the Bulk Write list /// @param id Dynamixel ID //////////////////////////////////////////////////////////////////////////////// void removeParam (uint8_t id); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that changes the data for write in id -> start_address -> data_length to the Bulk Write list /// @param id Dynamixel ID /// @param start_address Address of the data for write /// @param data_length Length of the data for write /// @param data for replacement /// @return false /// @return when the ID doesn't exist in the list /// @return or true //////////////////////////////////////////////////////////////////////////////// bool changeParam (uint8_t id, uint16_t start_address, uint16_t data_length, uint8_t *data); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that clears the Bulk Write list //////////////////////////////////////////////////////////////////////////////// void clearParam (); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits the Bulk Write instruction packet which might be constructed by GroupBulkWrite::addParam function /// @return COMM_NOT_AVAILABLE /// @return when the list for Bulk Write is empty /// @return when Protocol1.0 has been used /// @return or the other communication results which come from PacketHandler::bulkWriteTxOnly //////////////////////////////////////////////////////////////////////////////// int txPacket(); }; } #endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKWRITE_H_ */ ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/include/dynamixel_sdk/group_sync_read.h ================================================ /******************************************************************************* * Copyright 2017 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ //////////////////////////////////////////////////////////////////////////////// /// @file The file for Dynamixel Sync Read /// @author Zerom, Leon (RyuWoon Jung) //////////////////////////////////////////////////////////////////////////////// #ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCREAD_H_ #define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCREAD_H_ #include #include #include "port_handler.h" #include "packet_handler.h" namespace dynamixel { //////////////////////////////////////////////////////////////////////////////// /// @brief The class for reading multiple Dynamixel data from same address with same length at once //////////////////////////////////////////////////////////////////////////////// class WINDECLSPEC GroupSyncRead { private: PortHandler *port_; PacketHandler *ph_; std::vector id_list_; std::map data_list_; // std::map error_list_; // bool last_result_; bool is_param_changed_; uint8_t *param_; uint16_t start_address_; uint16_t data_length_; void makeParam(); public: //////////////////////////////////////////////////////////////////////////////// /// @brief The function that Initializes instance for Sync Read /// @param port PortHandler instance /// @param ph PacketHandler instance /// @param start_address Address of the data for read /// @param data_length Length of the data for read //////////////////////////////////////////////////////////////////////////////// GroupSyncRead(PortHandler *port, PacketHandler *ph, uint16_t start_address, uint16_t data_length); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls clearParam function to clear the parameter list for Sync Read //////////////////////////////////////////////////////////////////////////////// ~GroupSyncRead() { clearParam(); } //////////////////////////////////////////////////////////////////////////////// /// @brief The function that returns PortHandler instance /// @return PortHandler instance //////////////////////////////////////////////////////////////////////////////// PortHandler *getPortHandler() { return port_; } //////////////////////////////////////////////////////////////////////////////// /// @brief The function that returns PacketHandler instance /// @return PacketHandler instance //////////////////////////////////////////////////////////////////////////////// PacketHandler *getPacketHandler() { return ph_; } //////////////////////////////////////////////////////////////////////////////// /// @brief The function that adds id, start_address, data_length to the Sync Read list /// @param id Dynamixel ID /// @return false /// @return when the ID exists already in the list /// @return when the protocol1.0 has been used /// @return or true //////////////////////////////////////////////////////////////////////////////// bool addParam (uint8_t id); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that removes id from the Sync Read list /// @param id Dynamixel ID //////////////////////////////////////////////////////////////////////////////// void removeParam (uint8_t id); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that clears the Sync Read list //////////////////////////////////////////////////////////////////////////////// void clearParam (); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits the Sync Read instruction packet which might be constructed by GroupSyncRead::addParam function /// @return COMM_NOT_AVAILABLE /// @return when the list for Sync Read is empty /// @return when the protocol1.0 has been used /// @return or the other communication results which come from PacketHandler::syncReadTx //////////////////////////////////////////////////////////////////////////////// int txPacket(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that receives the packet which might be come from the Dynamixel /// @return COMM_NOT_AVAILABLE /// @return when the list for Sync Read is empty /// @return when the protocol1.0 has been used /// @return COMM_SUCCESS /// @return when there is packet recieved /// @return or the other communication results //////////////////////////////////////////////////////////////////////////////// int rxPacket(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits and receives the packet which might be come from the Dynamixel /// @return COMM_NOT_AVAILABLE /// @return when the protocol1.0 has been used /// @return COMM_RX_FAIL /// @return when there is no packet recieved /// @return COMM_SUCCESS /// @return when there is packet recieved /// @return or the other communication results which come from GroupBulkRead::txPacket or GroupBulkRead::rxPacket //////////////////////////////////////////////////////////////////////////////// int txRxPacket(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that checks whether there are available data which might be received by GroupSyncRead::rxPacket or GroupSyncRead::txRxPacket /// @param id Dynamixel ID /// @param address Address of the data for read /// @param data_length Length of the data for read /// @return false /// @return when there are no data available /// @return when the protocol1.0 has been used /// @return or true //////////////////////////////////////////////////////////////////////////////// bool isAvailable (uint8_t id, uint16_t address, uint16_t data_length); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that gets the data which might be received by GroupSyncRead::rxPacket or GroupSyncRead::txRxPacket /// @param id Dynamixel ID /// @param address Address of the data for read /// @data_length Length of the data for read /// @return data value //////////////////////////////////////////////////////////////////////////////// uint32_t getData (uint8_t id, uint16_t address, uint16_t data_length); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that gets the error which might be received by GroupSyncRead::rxPacket or GroupSyncRead::txRxPacket /// @param id Dynamixel ID /// @error error of Dynamixel /// @return true /// @return when Dynamixel returned specific error byte /// @return or false //////////////////////////////////////////////////////////////////////////////// bool getError (uint8_t id, uint8_t* error); }; } #endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCREAD_H_ */ ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/include/dynamixel_sdk/group_sync_write.h ================================================ /******************************************************************************* * Copyright 2017 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ //////////////////////////////////////////////////////////////////////////////// /// @file The file for Dynamixel Sync Write /// @author Zerom, Leon (RyuWoon Jung) //////////////////////////////////////////////////////////////////////////////// #ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCWRITE_H_ #define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCWRITE_H_ #include #include #include "port_handler.h" #include "packet_handler.h" namespace dynamixel { //////////////////////////////////////////////////////////////////////////////// /// @brief The class for writing multiple Dynamixel data from same address with same length at once //////////////////////////////////////////////////////////////////////////////// class WINDECLSPEC GroupSyncWrite { private: PortHandler *port_; PacketHandler *ph_; std::vector id_list_; std::map data_list_; // bool is_param_changed_; uint8_t *param_; uint16_t start_address_; uint16_t data_length_; void makeParam(); public: //////////////////////////////////////////////////////////////////////////////// /// @brief The function that Initializes instance for Sync Write /// @param port PortHandler instance /// @param ph PacketHandler instance /// @param start_address Address of the data for write /// @param data_length Length of the data for write //////////////////////////////////////////////////////////////////////////////// GroupSyncWrite(PortHandler *port, PacketHandler *ph, uint16_t start_address, uint16_t data_length); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls clearParam function to clear the parameter list for Sync Write //////////////////////////////////////////////////////////////////////////////// ~GroupSyncWrite() { clearParam(); } //////////////////////////////////////////////////////////////////////////////// /// @brief The function that returns PortHandler instance /// @return PortHandler instance //////////////////////////////////////////////////////////////////////////////// PortHandler *getPortHandler() { return port_; } //////////////////////////////////////////////////////////////////////////////// /// @brief The function that returns PacketHandler instance /// @return PacketHandler instance //////////////////////////////////////////////////////////////////////////////// PacketHandler *getPacketHandler() { return ph_; } //////////////////////////////////////////////////////////////////////////////// /// @brief The function that adds id, start_address, data_length to the Sync Write list /// @param id Dynamixel ID /// @param data Data for write /// @return false /// @return when the ID exists already in the list /// @return or true //////////////////////////////////////////////////////////////////////////////// bool addParam (uint8_t id, uint8_t *data); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that removes id from the Sync Write list /// @param id Dynamixel ID //////////////////////////////////////////////////////////////////////////////// void removeParam (uint8_t id); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that changes the data for write in id -> start_address -> data_length to the Sync Write list /// @param id Dynamixel ID /// @param data for replacement /// @return false /// @return when the ID doesn't exist in the list /// @return or true //////////////////////////////////////////////////////////////////////////////// bool changeParam (uint8_t id, uint8_t *data); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that clears the Sync Write list //////////////////////////////////////////////////////////////////////////////// void clearParam (); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits the Sync Write instruction packet which might be constructed by GroupSyncWrite::addParam function /// @return COMM_NOT_AVAILABLE /// @return when the list for Sync Write is empty /// @return or the other communication results which come from PacketHandler::syncWriteTxOnly //////////////////////////////////////////////////////////////////////////////// int txPacket(); }; } #endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCWRITE_H_ */ ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/include/dynamixel_sdk/packet_handler.h ================================================ /******************************************************************************* * Copyright 2017 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ //////////////////////////////////////////////////////////////////////////////// /// @file The file for Dynamixel packet control /// @author Zerom, Leon (RyuWoon Jung) //////////////////////////////////////////////////////////////////////////////// #ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PACKETHANDLER_H_ #define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PACKETHANDLER_H_ #if defined(ARDUINO) || defined(__OPENCR__) || defined(__OPENCM904__) #include #define ERROR_PRINT SerialBT2.print #else #define ERROR_PRINT printf #endif #include #include #include "port_handler.h" #define BROADCAST_ID 0xFE // 254 #define MAX_ID 0xFC // 252 /* Macro for Control Table Value */ #define DXL_MAKEWORD(a, b) ((uint16_t)(((uint8_t)(((uint64_t)(a)) & 0xff)) | ((uint16_t)((uint8_t)(((uint64_t)(b)) & 0xff))) << 8)) #define DXL_MAKEDWORD(a, b) ((uint32_t)(((uint16_t)(((uint64_t)(a)) & 0xffff)) | ((uint32_t)((uint16_t)(((uint64_t)(b)) & 0xffff))) << 16)) #define DXL_LOWORD(l) ((uint16_t)(((uint64_t)(l)) & 0xffff)) #define DXL_HIWORD(l) ((uint16_t)((((uint64_t)(l)) >> 16) & 0xffff)) #define DXL_LOBYTE(w) ((uint8_t)(((uint64_t)(w)) & 0xff)) #define DXL_HIBYTE(w) ((uint8_t)((((uint64_t)(w)) >> 8) & 0xff)) /* Instruction for DXL Protocol */ #define INST_PING 1 #define INST_READ 2 #define INST_WRITE 3 #define INST_REG_WRITE 4 #define INST_ACTION 5 #define INST_FACTORY_RESET 6 #define INST_SYNC_WRITE 131 // 0x83 #define INST_BULK_READ 146 // 0x92 // --- Only for 2.0 --- // #define INST_REBOOT 8 #define INST_CLEAR 16 // 0x10 #define INST_STATUS 85 // 0x55 #define INST_SYNC_READ 130 // 0x82 #define INST_BULK_WRITE 147 // 0x93 // Communication Result #define COMM_SUCCESS 0 // tx or rx packet communication success #define COMM_PORT_BUSY -1000 // Port is busy (in use) #define COMM_TX_FAIL -1001 // Failed transmit instruction packet #define COMM_RX_FAIL -1002 // Failed get status packet #define COMM_TX_ERROR -2000 // Incorrect instruction packet #define COMM_RX_WAITING -3000 // Now recieving status packet #define COMM_RX_TIMEOUT -3001 // There is no status packet #define COMM_RX_CORRUPT -3002 // Incorrect status packet #define COMM_NOT_AVAILABLE -9000 // namespace dynamixel { //////////////////////////////////////////////////////////////////////////////// /// @brief The class that inherits Protocol1PacketHandler class or Protocol2PacketHandler class //////////////////////////////////////////////////////////////////////////////// class WINDECLSPEC PacketHandler { protected: PacketHandler() { } public: //////////////////////////////////////////////////////////////////////////////// /// @brief The function that returns PacketHandler instance /// @return PacketHandler instance //////////////////////////////////////////////////////////////////////////////// static PacketHandler *getPacketHandler(float protocol_version = 2.0); virtual ~PacketHandler() { } //////////////////////////////////////////////////////////////////////////////// /// @brief The function that returns Protocol version /// @return protocol version //////////////////////////////////////////////////////////////////////////////// virtual float getProtocolVersion() = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that gets description of communication result /// @param result Communication result which might be gotten by the tx rx functions /// @return description of communication result in const char* (string) //////////////////////////////////////////////////////////////////////////////// virtual const char *getTxRxResult (int result) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that gets description of hardware error /// @param error Dynamixel hardware error which might be gotten by the tx rx functions /// @return description of hardware error in const char* (string) //////////////////////////////////////////////////////////////////////////////// virtual const char *getRxPacketError (uint8_t error) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits the instruction packet txpacket via PortHandler port. /// @description The function clears the port buffer by PortHandler::clearPort() function, /// @description then transmits txpacket by PortHandler::writePort() function. /// @description The function activates only when the port is not busy and when the packet is already written on the port buffer /// @param port PortHandler instance /// @param txpacket packet for transmission /// @return COMM_PORT_BUSY /// @return when the port is already in use /// @return COMM_TX_ERROR /// @return when txpacket is out of range described by TXPACKET_MAX_LEN /// @return COMM_TX_FAIL /// @return when written packet is shorter than expected /// @return or COMM_SUCCESS //////////////////////////////////////////////////////////////////////////////// virtual int txPacket (PortHandler *port, uint8_t *txpacket) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that receives packet (rxpacket) during designated time via PortHandler port /// @description The function repeatedly tries to receive rxpacket by PortHandler::readPort() function. /// @description It breaks out /// @description when PortHandler::isPacketTimeout() shows the timeout, /// @description when rxpacket seemed as corrupted, or /// @description when nothing received /// @param port PortHandler instance /// @param rxpacket received packet /// @return COMM_RX_CORRUPT /// @return when it received the packet but it couldn't find header in the packet /// @return when it found header in the packet but the id, length or error value is out of range /// @return when it received the packet but it is shorted than expected /// @return COMM_RX_TIMEOUT /// @return when there is no rxpacket received until PortHandler::isPacketTimeout() shows the timeout /// @return COMM_SUCCESS /// @return when rxpacket passes checksum test /// @return or COMM_RX_FAIL //////////////////////////////////////////////////////////////////////////////// virtual int rxPacket (PortHandler *port, uint8_t *rxpacket) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits packet (txpacket) and receives packet (rxpacket) during designated time via PortHandler port /// @description The function calls PacketHandler::txPacket(), /// @description and calls PacketHandler::rxPacket() if it succeeds PacketHandler::txPacket(). /// @description It breaks out /// @description when it fails PacketHandler::txPacket(), /// @description when txpacket is called by PacketHandler::broadcastPing() / PacketHandler::syncWriteTxOnly() / PacketHandler::regWriteTxOnly / PacketHandler::action /// @param port PortHandler instance /// @param txpacket packet for transmission /// @param rxpacket received packet /// @return COMM_SUCCESS /// @return when it succeeds PacketHandler::txPacket() and PacketHandler::rxPacket() /// @return or the other communication results which come from PacketHandler::txPacket() and PacketHandler::rxPacket() //////////////////////////////////////////////////////////////////////////////// virtual int txRxPacket (PortHandler *port, uint8_t *txpacket, uint8_t *rxpacket, uint8_t *error = 0) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that pings Dynamixel but doesn't take its model number /// @description The function calls PacketHandler::ping() which gets Dynamixel model number, /// @description but doesn't carry the model number /// @param port PortHandler instance /// @param id Dynamixel ID /// @param error Dynamixel hardware error /// @return communication results which come from PacketHandler::ping() //////////////////////////////////////////////////////////////////////////////// virtual int ping (PortHandler *port, uint8_t id, uint8_t *error = 0) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that pings Dynamixel and takes its model number /// @description The function makes an instruction packet with INST_PING, /// @description transmits the packet with PacketHandler::txRxPacket(), /// @description and call PacketHandler::readTxRx to read model_number in the rx buffer. /// @description It breaks out /// @description when it tries to transmit to BROADCAST_ID /// @param port PortHandler instance /// @param id Dynamixel ID /// @param error Dynamixel hardware error /// @return COMM_NOT_AVAILABLE /// @return when it tries to transmit to BROADCAST_ID /// @return COMM_SUCCESS /// @return when it succeeds to ping Dynamixel and get model_number from it /// @return or the other communication results which come from PacketHandler::txRxPacket() and PacketHandler::readTxRx() //////////////////////////////////////////////////////////////////////////////// virtual int ping (PortHandler *port, uint8_t id, uint16_t *model_number, uint8_t *error = 0) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief (Available only in Protocol 2.0) The function that pings all connected Dynamixel /// @param port PortHandler instance /// @param id_list ID list of Dynamixels which are found by broadcast ping /// @return COMM_NOT_AVAILABLE //////////////////////////////////////////////////////////////////////////////// virtual int broadcastPing (PortHandler *port, std::vector &id_list) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that makes Dynamixels run as written in the Dynamixel register /// @description The function makes an instruction packet with INST_ACTION, /// @description transmits the packet with PacketHandler::txRxPacket(). /// @description To use this function, Dynamixel register should be set by PacketHandler::regWriteTxOnly() or PacketHandler::regWriteTxRx() /// @param port PortHandler instance /// @param id Dynamixel ID /// @return communication results which come from PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// virtual int action (PortHandler *port, uint8_t id) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that makes Dynamixel reboot /// @description The function makes an instruction packet with INST_REBOOT, /// @description transmits the packet with PacketHandler::txRxPacket(), /// @description then Dynamixel reboots. /// @description During reboot, its LED will blink. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param error Dynamixel hardware error /// @return COMM_NOT_AVAILABLE //////////////////////////////////////////////////////////////////////////////// virtual int reboot (PortHandler *port, uint8_t id, uint8_t *error = 0) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that reset multi-turn revolution information of Dynamixel /// @description The function makes an instruction packet with INST_CLEAR, /// @description transmits the packet with PacketHandler::txRxPacket(). /// @description Applied Products : MX with Protocol 2.0 (Firmware v42 or above), /// @description Dynamixel X-series (Firmware v42 or above). /// @param port PortHandler instance /// @param id Dynamixel ID /// @param error Dynamixel hardware error /// @return communication results which come from PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// virtual int clearMultiTurn (PortHandler *port, uint8_t id, uint8_t *error = 0) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that makes Dynamixel reset as it was produced in the factory /// @description The function makes an instruction packet with INST_FACTORY_RESET, /// @description transmits the packet with PacketHandler::txRxPacket(). /// @description Be careful of the use. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param option Reset option /// @param error Dynamixel hardware error /// @return communication results which come from PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// virtual int factoryReset (PortHandler *port, uint8_t id, uint8_t option = 0, uint8_t *error = 0) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits INST_READ instruction packet /// @description The function makes an instruction packet with INST_READ, /// @description transmits the packet with PacketHandler::txPacket(). /// @description It breaks out /// @description when it tries to transmit to BROADCAST_ID /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for read /// @param length Length of the data for read /// @return COMM_NOT_AVAILABLE /// @return when it tries to transmit to BROADCAST_ID /// @return or the other communication results which come from PacketHandler::txPacket() //////////////////////////////////////////////////////////////////////////////// virtual int readTx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that receives the packet and reads the data in the packet /// @description The function receives the packet which might be come by previous INST_READ instruction packet transmission, /// @description gets the data from the packet. /// @param port PortHandler instance /// @param length Length of the data for read /// @param data Data extracted from the packet /// @param error Dynamixel hardware error /// @return communication results which come from PacketHandler::rxPacket() //////////////////////////////////////////////////////////////////////////////// virtual int readRx (PortHandler *port, uint8_t id, uint16_t length, uint8_t *data, uint8_t *error = 0) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits INST_READ instruction packet, and read data from received packet /// @description The function makes an instruction packet with INST_READ, /// @description transmits and receives the packet with PacketHandler::txRxPacket(), /// @description gets the data from the packet. /// @description It breaks out /// @description when it tries to transmit to BROADCAST_ID /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for read /// @param length Length of the data for read /// @param data Data extracted from the packet /// @param error Dynamixel hardware error /// @return COMM_NOT_AVAILABLE /// @return when it tries to transmit to BROADCAST_ID /// @return or the other communication results which come from PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// virtual int readTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls PacketHandler::readTx() function for reading 1 byte data /// @description The function calls PacketHandler::readTx() function for reading 1 byte data /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for read /// @return communication results which come from PacketHandler::readTx() //////////////////////////////////////////////////////////////////////////////// virtual int read1ByteTx (PortHandler *port, uint8_t id, uint16_t address) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls PacketHandler::readRx() function and reads 1 byte data on the packet /// @description The function calls PacketHandler::readRx() function, /// @description gets 1 byte data from the packet. /// @param port PortHandler instance /// @param data Data extracted from the packet /// @param error Dynamixel hardware error /// @return communication results which come from PacketHandler::readRx() //////////////////////////////////////////////////////////////////////////////// virtual int read1ByteRx (PortHandler *port, uint8_t id, uint8_t *data, uint8_t *error = 0) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls PacketHandler::readTxRx() function for reading 1 byte data /// @description The function calls PacketHandler::readTxRx(), /// @description gets 1 byte data from the packet. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for read /// @param length Length of the data for read /// @param data Data extracted from the packet /// @param error Dynamixel hardware error /// @return communication results which come from PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// virtual int read1ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint8_t *data, uint8_t *error = 0) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls PacketHandler::readTx() function for reading 2 byte data /// @description The function calls PacketHandler::readTx() function for reading 2 byte data /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for read /// @return communication results which come from PacketHandler::readTx() //////////////////////////////////////////////////////////////////////////////// virtual int read2ByteTx (PortHandler *port, uint8_t id, uint16_t address) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls PacketHandler::readRx() function and reads 2 byte data on the packet /// @description The function calls PacketHandler::readRx() function, /// @description gets 2 byte data from the packet. /// @param port PortHandler instance /// @param data Data extracted from the packet /// @param error Dynamixel hardware error /// @return communication results which come from PacketHandler::readRx() //////////////////////////////////////////////////////////////////////////////// virtual int read2ByteRx (PortHandler *port, uint8_t id, uint16_t *data, uint8_t *error = 0) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls PacketHandler::readTxRx() function for reading 2 byte data /// @description The function calls PacketHandler::readTxRx(), /// @description gets 2 byte data from the packet. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for read /// @param length Length of the data for read /// @param data Data extracted from the packet /// @param error Dynamixel hardware error /// @return communication results which come from PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// virtual int read2ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t *data, uint8_t *error = 0) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls PacketHandler::readTx() function for reading 4 byte data /// @description The function calls PacketHandler::readTx() function for reading 4 byte data /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for read /// @return communication results which come from PacketHandler::readTx() //////////////////////////////////////////////////////////////////////////////// virtual int read4ByteTx (PortHandler *port, uint8_t id, uint16_t address) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls PacketHandler::readRx() function and reads 4 byte data on the packet /// @description The function calls PacketHandler::readRx() function, /// @description gets 4 byte data from the packet. /// @param port PortHandler instance /// @param data Data extracted from the packet /// @param error Dynamixel hardware error /// @return communication results which come from PacketHandler::readRx() //////////////////////////////////////////////////////////////////////////////// virtual int read4ByteRx (PortHandler *port, uint8_t id, uint32_t *data, uint8_t *error = 0) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls PacketHandler::readTxRx() function for reading 4 byte data /// @description The function calls PacketHandler::readTxRx(), /// @description gets 4 byte data from the packet. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for read /// @param length Length of the data for read /// @param data Data extracted from the packet /// @param error Dynamixel hardware error /// @return communication results which come from PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// virtual int read4ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint32_t *data, uint8_t *error = 0) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits INST_WRITE instruction packet with the data for write /// @description The function makes an instruction packet with INST_WRITE and the data for write, /// @description transmits the packet with PacketHandler::txPacket(). /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param length Length of the data for write /// @param data Data for write /// @return communication results which come from PacketHandler::txPacket() //////////////////////////////////////////////////////////////////////////////// virtual int writeTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits INST_WRITE instruction packet with the data for write, and receives the packet /// @description The function makes an instruction packet with INST_WRITE and the data for write, /// @description transmits and receives the packet with PacketHandler::txRxPacket(), /// @description gets the error from the packet. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param length Length of the data for write /// @param data Data for write /// @param error Dynamixel hardware error /// @return communication results which come from PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// virtual int writeTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls PacketHandler::writeTxOnly() for writing 1 byte data /// @description The function calls PacketHandler::writeTxOnly() for writing 1 byte data. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param data Data for write /// @return communication results which come from PacketHandler::writeTxOnly() //////////////////////////////////////////////////////////////////////////////// virtual int write1ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint8_t data) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls PacketHandler::writeTxRx() for writing 1 byte data and receives the packet /// @description The function calls PacketHandler::writeTxRx() for writing 1 byte data and receves the packet, /// @description gets the error from the packet. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param data Data for write /// @param error Dynamixel hardware error /// @return communication results which come from PacketHandler::writeTxRx() //////////////////////////////////////////////////////////////////////////////// virtual int write1ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint8_t data, uint8_t *error = 0) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls PacketHandler::writeTxOnly() for writing 2 byte data /// @description The function calls PacketHandler::writeTxOnly() for writing 2 byte data. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param data Data for write /// @return communication results which come from PacketHandler::writeTxOnly() //////////////////////////////////////////////////////////////////////////////// virtual int write2ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t data) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls PacketHandler::writeTxRx() for writing 2 byte data and receives the packet /// @description The function calls PacketHandler::writeTxRx() for writing 2 byte data and receves the packet, /// @description gets the error from the packet. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param data Data for write /// @param error Dynamixel hardware error /// @return communication results which come from PacketHandler::writeTxRx() //////////////////////////////////////////////////////////////////////////////// virtual int write2ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t data, uint8_t *error = 0) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls PacketHandler::writeTxOnly() for writing 4 byte data /// @description The function calls PacketHandler::writeTxOnly() for writing 4 byte data. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param data Data for write /// @return communication results which come from PacketHandler::writeTxOnly() //////////////////////////////////////////////////////////////////////////////// virtual int write4ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint32_t data) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls PacketHandler::writeTxRx() for writing 4 byte data and receives the packet /// @description The function calls PacketHandler::writeTxRx() for writing 4 byte data and receves the packet, /// @description gets the error from the packet. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param data Data for write /// @param error Dynamixel hardware error /// @return communication results which come from PacketHandler::writeTxRx() //////////////////////////////////////////////////////////////////////////////// virtual int write4ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint32_t data, uint8_t *error = 0) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits INST_REG_WRITE instruction packet with the data for writing on the Dynamixel register /// @description The function makes an instruction packet with INST_REG_WRITE and the data for writing on the Dynamixel register, /// @description transmits the packet with PacketHandler::txPacket(). /// @description The data written in the register will act when INST_ACTION instruction packet is transmitted to the Dynamxel. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param length Length of the data for write /// @param data Data for write /// @return communication results which come from PacketHandler::txPacket() //////////////////////////////////////////////////////////////////////////////// virtual int regWriteTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits INST_REG_WRITE instruction packet with the data for writing on the Dynamixel register, and receives the packet /// @description The function makes an instruction packet with INST_REG_WRITE and the data for writing on the Dynamixel register, /// @description transmits and receives the packet with PacketHandler::txRxPacket(), /// @description gets the error from the packet. /// @description The data written in the register will act when INST_ACTION instruction packet is transmitted to the Dynamxel. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param length Length of the data for write /// @param data Data for write /// @param error Dynamixel hardware error /// @return communication results which come from PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// virtual int regWriteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits INST_SYNC_READ instruction packet /// @description The function makes an instruction packet with INST_SYNC_READ, /// @description transmits the packet with PacketHandler::txPacket(). /// @param port PortHandler instance /// @param start_address Address of the data for Sync Read /// @param data_length Length of the data for Sync Read /// @param param Parameter for Sync Read /// @param param_length Length of the data for Sync Read /// @return communication results which come from PacketHandler::txPacket() //////////////////////////////////////////////////////////////////////////////// virtual int syncReadTx (PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length) = 0; // SyncReadRx -> GroupSyncRead class // SyncReadTxRx -> GroupSyncRead class //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits INST_SYNC_WRITE instruction packet /// @description The function makes an instruction packet with INST_SYNC_WRITE, /// @description transmits the packet with PacketHandler::txRxPacket(). /// @param port PortHandler instance /// @param start_address Address of the data for Sync Write /// @param data_length Length of the data for Sync Write /// @param param Parameter for Sync Write /// @param param_length Length of the data for Sync Write /// @return communication results which come from PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// virtual int syncWriteTxOnly (PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits INST_BULK_READ instruction packet /// @description The function makes an instruction packet with INST_BULK_READ, /// @description transmits the packet with PacketHandler::txPacket(). /// @param port PortHandler instance /// @param param Parameter for Bulk Read /// @param param_length Length of the data for Bulk Read /// @return communication results which come from PacketHandler::txPacket() //////////////////////////////////////////////////////////////////////////////// virtual int bulkReadTx (PortHandler *port, uint8_t *param, uint16_t param_length) = 0; // BulkReadRx -> GroupBulkRead class // BulkReadTxRx -> GroupBulkRead class //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits INST_BULK_WRITE instruction packet /// @description The function makes an instruction packet with INST_BULK_WRITE, /// @description transmits the packet with PacketHandler::txRxPacket(). /// @param port PortHandler instance /// @param param Parameter for Bulk Write /// @param param_length Length of the data for Bulk Write /// @return communication results which come from PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// virtual int bulkWriteTxOnly (PortHandler *port, uint8_t *param, uint16_t param_length) = 0; }; } #endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PACKETHANDLER_H_ */ ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/include/dynamixel_sdk/port_handler.h ================================================ /******************************************************************************* * Copyright 2017 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ //////////////////////////////////////////////////////////////////////////////// /// @file The file for port control /// @author Zerom, Leon (RyuWoon Jung) //////////////////////////////////////////////////////////////////////////////// #ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PORTHANDLER_H_ #define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PORTHANDLER_H_ #if defined(__linux__) #define WINDECLSPEC #elif defined(__APPLE__) #define WINDECLSPEC #elif defined(_WIN32) || defined(_WIN64) #ifdef WINDLLEXPORT #define WINDECLSPEC __declspec(dllexport) #else #define WINDECLSPEC __declspec(dllimport) #endif #elif defined(ARDUINO) || defined(__OPENCR__) || defined(__OPENCM904__) #define WINDECLSPEC #endif #ifdef __GNUC__ #define DEPRECATED __attribute__((deprecated)) #elif defined(_MSC_VER) #define DEPRECATED __declspec(deprecated) #else #pragma message("WARNING: You need to implement DEPRECATED for this compiler") #define DEPRECATED #endif #include namespace dynamixel { //////////////////////////////////////////////////////////////////////////////// /// @brief The class for port control that inherits PortHandlerLinux, PortHandlerWindows, PortHandlerMac, or PortHandlerArduino //////////////////////////////////////////////////////////////////////////////// class WINDECLSPEC PortHandler { public: static const int DEFAULT_BAUDRATE_ = 57600; ///< Default Baudrate //////////////////////////////////////////////////////////////////////////////// /// @brief The function that gets PortHandler class inheritance /// @description The function gets class inheritance (PortHandlerLinux / PortHandlerWindows / PortHandlerMac / PortHandlerArduino. //////////////////////////////////////////////////////////////////////////////// static PortHandler *getPortHandler(const char *port_name); bool is_using_; ///< shows whether the port is in use virtual ~PortHandler() { } //////////////////////////////////////////////////////////////////////////////// /// @brief The function that opens the port /// @description The function calls PortHandlerLinux::setBaudRate() to open the port. /// @return communication results which come from PortHandlerLinux::setBaudRate() //////////////////////////////////////////////////////////////////////////////// virtual bool openPort() = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that closes the port /// @description The function closes the port. //////////////////////////////////////////////////////////////////////////////// virtual void closePort() = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that clears the port /// @description The function clears the port. //////////////////////////////////////////////////////////////////////////////// virtual void clearPort() = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that sets port name into the port handler /// @description The function sets port name into the port handler. /// @param port_name Port name //////////////////////////////////////////////////////////////////////////////// virtual void setPortName(const char* port_name) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that returns port name set into the port handler /// @description The function returns current port name set into the port handler. /// @return Port name //////////////////////////////////////////////////////////////////////////////// virtual char *getPortName() = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that sets baudrate into the port handler /// @description The function sets baudrate into the port handler. /// @param baudrate Baudrate /// @return false /// @return when error was occurred during port opening /// @return or true //////////////////////////////////////////////////////////////////////////////// virtual bool setBaudRate(const int baudrate) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that returns current baudrate set into the port handler /// @description The function returns current baudrate set into the port handler. /// @return Baudrate //////////////////////////////////////////////////////////////////////////////// virtual int getBaudRate() = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that checks how much bytes are able to be read from the port buffer /// @description The function checks how much bytes are able to be read from the port buffer /// @description and returns the number. /// @return Length of read-able bytes in the port buffer //////////////////////////////////////////////////////////////////////////////// virtual int getBytesAvailable() = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that reads bytes from the port buffer /// @description The function gets bytes from the port buffer, /// @description and returns a number of bytes read. /// @param packet Buffer for the packet received /// @param length Length of the buffer for read /// @return -1 /// @return when error was occurred /// @return or Length of bytes read //////////////////////////////////////////////////////////////////////////////// virtual int readPort(uint8_t *packet, int length) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that writes bytes on the port buffer /// @description The function writes bytes on the port buffer, /// @description and returns a number of bytes which are successfully written. /// @param packet Buffer which would be written on the port buffer /// @param length Length of the buffer for write /// @return -1 /// @return when error was occurred /// @return or Length of bytes written //////////////////////////////////////////////////////////////////////////////// virtual int writePort(uint8_t *packet, int length) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that sets and starts stopwatch for watching packet timeout /// @description The function sets the stopwatch by getting current time and the time of packet timeout with packet_length. /// @param packet_length Length of the packet expected to be received //////////////////////////////////////////////////////////////////////////////// virtual void setPacketTimeout(uint16_t packet_length) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that sets and starts stopwatch for watching packet timeout /// @description The function sets the stopwatch by getting current time and the time of packet timeout with msec. /// @param packet_length Length of the packet expected to be received //////////////////////////////////////////////////////////////////////////////// virtual void setPacketTimeout(double msec) = 0; //////////////////////////////////////////////////////////////////////////////// /// @brief The function that checks whether packet timeout is occurred /// @description The function checks whether current time is passed by the time of packet timeout from the time set by PortHandlerLinux::setPacketTimeout(). //////////////////////////////////////////////////////////////////////////////// virtual bool isPacketTimeout() = 0; }; } #endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PORTHANDLER_H_ */ ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/include/dynamixel_sdk/port_handler_arduino.h ================================================ /******************************************************************************* * Copyright 2017 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ //////////////////////////////////////////////////////////////////////////////// /// @file The file for port control in Arduino /// @author Cho (Hancheol Cho), Leon (RyuWoon Jung) //////////////////////////////////////////////////////////////////////////////// #ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_ARDUINO_PORTHANDLERARDUINO_H_ #define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_ARDUINO_PORTHANDLERARDUINO_H_ #if defined(ARDUINO) || defined(__OPENCR__) || defined (__OPENCM904__) #include #endif #include "port_handler.h" namespace dynamixel { //////////////////////////////////////////////////////////////////////////////// /// @brief The class for control port in Arduino //////////////////////////////////////////////////////////////////////////////// class PortHandlerArduino : public PortHandler { private: int socket_fd_; int baudrate_; char port_name_[100]; double packet_start_time_; double packet_timeout_; double tx_time_per_byte; #if defined(__OPENCM904__) UARTClass *p_dxl_serial; #endif bool setupPort(const int cflag_baud); double getCurrentTime(); double getTimeSinceStart(); int checkBaudrateAvailable(int baudrate); void setPowerOn(); void setPowerOff(); void setTxEnable(); void setTxDisable(); public: //////////////////////////////////////////////////////////////////////////////// /// @brief The function that initializes instance of PortHandler and gets port_name /// @description The function initializes instance of PortHandler and gets port_name. //////////////////////////////////////////////////////////////////////////////// PortHandlerArduino(const char *port_name); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that closes the port /// @description The function calls PortHandlerArduino::closePort() to close the port. //////////////////////////////////////////////////////////////////////////////// virtual ~PortHandlerArduino() { closePort(); } //////////////////////////////////////////////////////////////////////////////// /// @brief The function that opens the port /// @description The function calls PortHandlerArduino::setBaudRate() to open the port. /// @return communication results which come from PortHandlerArduino::setBaudRate() //////////////////////////////////////////////////////////////////////////////// bool openPort(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that closes the port /// @description The function closes the port. //////////////////////////////////////////////////////////////////////////////// void closePort(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that clears the port /// @description The function clears the port. //////////////////////////////////////////////////////////////////////////////// void clearPort(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that sets port name into the port handler /// @description The function sets port name into the port handler. /// @param port_name Port name //////////////////////////////////////////////////////////////////////////////// void setPortName(const char *port_name); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that returns port name set into the port handler /// @description The function returns current port name set into the port handler. /// @return Port name //////////////////////////////////////////////////////////////////////////////// char *getPortName(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that sets baudrate into the port handler /// @description The function sets baudrate into the port handler. /// @param baudrate Baudrate /// @return false /// @return when error was occurred during port opening /// @return or true //////////////////////////////////////////////////////////////////////////////// bool setBaudRate(const int baudrate); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that returns current baudrate set into the port handler /// @description The function returns current baudrate set into the port handler. /// @return Baudrate //////////////////////////////////////////////////////////////////////////////// int getBaudRate(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that checks how much bytes are able to be read from the port buffer /// @description The function checks how much bytes are able to be read from the port buffer /// @description and returns the number. /// @return Length of read-able bytes in the port buffer //////////////////////////////////////////////////////////////////////////////// int getBytesAvailable(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that reads bytes from the port buffer /// @description The function gets bytes from the port buffer, /// @description and returns a number of bytes read. /// @param packet Buffer for the packet received /// @param length Length of the buffer for read /// @return -1 /// @return when error was occurred /// @return or Length of bytes read //////////////////////////////////////////////////////////////////////////////// int readPort(uint8_t *packet, int length); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that writes bytes on the port buffer /// @description The function writes bytes on the port buffer, /// @description and returns a number of bytes which are successfully written. /// @param packet Buffer which would be written on the port buffer /// @param length Length of the buffer for write /// @return -1 /// @return when error was occurred /// @return or Length of bytes written //////////////////////////////////////////////////////////////////////////////// int writePort(uint8_t *packet, int length); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that sets and starts stopwatch for watching packet timeout /// @description The function sets the stopwatch by getting current time and the time of packet timeout with packet_length. /// @param packet_length Length of the packet expected to be received //////////////////////////////////////////////////////////////////////////////// void setPacketTimeout(uint16_t packet_length); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that sets and starts stopwatch for watching packet timeout /// @description The function sets the stopwatch by getting current time and the time of packet timeout with msec. /// @param packet_length Length of the packet expected to be received //////////////////////////////////////////////////////////////////////////////// void setPacketTimeout(double msec); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that checks whether packet timeout is occurred /// @description The function checks whether current time is passed by the time of packet timeout from the time set by PortHandlerArduino::setPacketTimeout(). //////////////////////////////////////////////////////////////////////////////// bool isPacketTimeout(); }; } #endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_ARDUINO_PORTHANDLERARDUINO_H_ */ ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/include/dynamixel_sdk/port_handler_linux.h ================================================ /******************************************************************************* * Copyright 2017 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ //////////////////////////////////////////////////////////////////////////////// /// @file The file for port control in Linux /// @author Zerom, Leon (RyuWoon Jung) //////////////////////////////////////////////////////////////////////////////// #ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_LINUX_PORTHANDLERLINUX_H_ #define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_LINUX_PORTHANDLERLINUX_H_ #include "port_handler.h" namespace dynamixel { //////////////////////////////////////////////////////////////////////////////// /// @brief The class for control port in Linux //////////////////////////////////////////////////////////////////////////////// class PortHandlerLinux : public PortHandler { private: int socket_fd_; int baudrate_; char port_name_[100]; double packet_start_time_; double packet_timeout_; double tx_time_per_byte; bool setupPort(const int cflag_baud); bool setCustomBaudrate(int speed); int getCFlagBaud(const int baudrate); double getCurrentTime(); double getTimeSinceStart(); public: //////////////////////////////////////////////////////////////////////////////// /// @brief The function that initializes instance of PortHandler and gets port_name /// @description The function initializes instance of PortHandler and gets port_name. //////////////////////////////////////////////////////////////////////////////// PortHandlerLinux(const char *port_name); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that closes the port /// @description The function calls PortHandlerLinux::closePort() to close the port. //////////////////////////////////////////////////////////////////////////////// virtual ~PortHandlerLinux() { closePort(); } //////////////////////////////////////////////////////////////////////////////// /// @brief The function that opens the port /// @description The function calls PortHandlerLinux::setBaudRate() to open the port. /// @return communication results which come from PortHandlerLinux::setBaudRate() //////////////////////////////////////////////////////////////////////////////// bool openPort(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that closes the port /// @description The function closes the port. //////////////////////////////////////////////////////////////////////////////// void closePort(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that clears the port /// @description The function clears the port. //////////////////////////////////////////////////////////////////////////////// void clearPort(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that sets port name into the port handler /// @description The function sets port name into the port handler. /// @param port_name Port name //////////////////////////////////////////////////////////////////////////////// void setPortName(const char *port_name); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that returns port name set into the port handler /// @description The function returns current port name set into the port handler. /// @return Port name //////////////////////////////////////////////////////////////////////////////// char *getPortName(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that sets baudrate into the port handler /// @description The function sets baudrate into the port handler. /// @param baudrate Baudrate /// @return false /// @return when error was occurred during port opening /// @return or true //////////////////////////////////////////////////////////////////////////////// bool setBaudRate(const int baudrate); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that returns current baudrate set into the port handler /// @description The function returns current baudrate set into the port handler. /// @return Baudrate //////////////////////////////////////////////////////////////////////////////// int getBaudRate(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that checks how much bytes are able to be read from the port buffer /// @description The function checks how much bytes are able to be read from the port buffer /// @description and returns the number. /// @return Length of read-able bytes in the port buffer //////////////////////////////////////////////////////////////////////////////// int getBytesAvailable(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that reads bytes from the port buffer /// @description The function gets bytes from the port buffer, /// @description and returns a number of bytes read. /// @param packet Buffer for the packet received /// @param length Length of the buffer for read /// @return -1 /// @return when error was occurred /// @return or Length of bytes read //////////////////////////////////////////////////////////////////////////////// int readPort(uint8_t *packet, int length); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that writes bytes on the port buffer /// @description The function writes bytes on the port buffer, /// @description and returns a number of bytes which are successfully written. /// @param packet Buffer which would be written on the port buffer /// @param length Length of the buffer for write /// @return -1 /// @return when error was occurred /// @return or Length of bytes written //////////////////////////////////////////////////////////////////////////////// int writePort(uint8_t *packet, int length); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that sets and starts stopwatch for watching packet timeout /// @description The function sets the stopwatch by getting current time and the time of packet timeout with packet_length. /// @param packet_length Length of the packet expected to be received //////////////////////////////////////////////////////////////////////////////// void setPacketTimeout(uint16_t packet_length); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that sets and starts stopwatch for watching packet timeout /// @description The function sets the stopwatch by getting current time and the time of packet timeout with msec. /// @param packet_length Length of the packet expected to be received //////////////////////////////////////////////////////////////////////////////// void setPacketTimeout(double msec); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that checks whether packet timeout is occurred /// @description The function checks whether current time is passed by the time of packet timeout from the time set by PortHandlerLinux::setPacketTimeout(). //////////////////////////////////////////////////////////////////////////////// bool isPacketTimeout(); }; } #endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_LINUX_PORTHANDLERLINUX_H_ */ ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/include/dynamixel_sdk/port_handler_mac.h ================================================ /******************************************************************************* * Copyright 2017 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ //////////////////////////////////////////////////////////////////////////////// /// @file The file for port control in Mac OS /// @author Leon (RyuWoon Jung) //////////////////////////////////////////////////////////////////////////////// #ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_MAC_PORTHANDLERMAC_H_ #define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_MAC_PORTHANDLERMAC_H_ #include "port_handler.h" namespace dynamixel { //////////////////////////////////////////////////////////////////////////////// /// @brief The class for control port in Mac OS //////////////////////////////////////////////////////////////////////////////// class PortHandlerMac : public PortHandler { private: int socket_fd_; int baudrate_; char port_name_[100]; double packet_start_time_; double packet_timeout_; double tx_time_per_byte; bool setupPort(const int cflag_baud); bool setCustomBaudrate(int speed); int getCFlagBaud(const int baudrate); double getCurrentTime(); double getTimeSinceStart(); public: //////////////////////////////////////////////////////////////////////////////// /// @brief The function that initializes instance of PortHandler and gets port_name /// @description The function initializes instance of PortHandler and gets port_name. //////////////////////////////////////////////////////////////////////////////// PortHandlerMac(const char *port_name); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that closes the port /// @description The function calls PortHandlerMac::closePort() to close the port. //////////////////////////////////////////////////////////////////////////////// virtual ~PortHandlerMac() { closePort(); } //////////////////////////////////////////////////////////////////////////////// /// @brief The function that opens the port /// @description The function calls PortHandlerMac::setBaudRate() to open the port. /// @return communication results which come from PortHandlerMac::setBaudRate() //////////////////////////////////////////////////////////////////////////////// bool openPort(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that closes the port /// @description The function closes the port. //////////////////////////////////////////////////////////////////////////////// void closePort(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that clears the port /// @description The function clears the port. //////////////////////////////////////////////////////////////////////////////// void clearPort(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that sets port name into the port handler /// @description The function sets port name into the port handler. /// @param port_name Port name //////////////////////////////////////////////////////////////////////////////// void setPortName(const char *port_name); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that returns port name set into the port handler /// @description The function returns current port name set into the port handler. /// @return Port name //////////////////////////////////////////////////////////////////////////////// char *getPortName(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that sets baudrate into the port handler /// @description The function sets baudrate into the port handler. /// @param baudrate Baudrate /// @return false /// @return when error was occurred during port opening /// @return or true //////////////////////////////////////////////////////////////////////////////// bool setBaudRate(const int baudrate); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that returns current baudrate set into the port handler /// @description The function returns current baudrate set into the port handler. /// @warning Mac OS doesn't support over 230400 bps /// @return Baudrate //////////////////////////////////////////////////////////////////////////////// int getBaudRate(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that checks how much bytes are able to be read from the port buffer /// @description The function checks how much bytes are able to be read from the port buffer /// @description and returns the number. /// @return Length of read-able bytes in the port buffer //////////////////////////////////////////////////////////////////////////////// int getBytesAvailable(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that reads bytes from the port buffer /// @description The function gets bytes from the port buffer, /// @description and returns a number of bytes read. /// @param packet Buffer for the packet received /// @param length Length of the buffer for read /// @return -1 /// @return when error was occurred /// @return or Length of bytes read //////////////////////////////////////////////////////////////////////////////// int readPort(uint8_t *packet, int length); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that writes bytes on the port buffer /// @description The function writes bytes on the port buffer, /// @description and returns a number of bytes which are successfully written. /// @param packet Buffer which would be written on the port buffer /// @param length Length of the buffer for write /// @return -1 /// @return when error was occurred /// @return or Length of bytes written //////////////////////////////////////////////////////////////////////////////// int writePort(uint8_t *packet, int length); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that sets and starts stopwatch for watching packet timeout /// @description The function sets the stopwatch by getting current time and the time of packet timeout with packet_length. /// @param packet_length Length of the packet expected to be received //////////////////////////////////////////////////////////////////////////////// void setPacketTimeout(uint16_t packet_length); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that sets and starts stopwatch for watching packet timeout /// @description The function sets the stopwatch by getting current time and the time of packet timeout with msec. /// @param packet_length Length of the packet expected to be received //////////////////////////////////////////////////////////////////////////////// void setPacketTimeout(double msec); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that checks whether packet timeout is occurred /// @description The function checks whether current time is passed by the time of packet timeout from the time set by PortHandlerMac::setPacketTimeout(). //////////////////////////////////////////////////////////////////////////////// bool isPacketTimeout(); }; } #endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_MAC_PORTHANDLERMAC_H_ */ ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/include/dynamixel_sdk/port_handler_windows.h ================================================ /******************************************************************************* * Copyright 2017 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ //////////////////////////////////////////////////////////////////////////////// /// @file The file for port control in Windows /// @author Leon (RyuWoon Jung) //////////////////////////////////////////////////////////////////////////////// #ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_WINDOWS_PORTHANDLERWINDOWS_H_ #define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_WINDOWS_PORTHANDLERWINDOWS_H_ #include #include "port_handler.h" namespace dynamixel { //////////////////////////////////////////////////////////////////////////////// /// @brief The class for control port in Windows //////////////////////////////////////////////////////////////////////////////// class WINDECLSPEC PortHandlerWindows : public PortHandler { private: HANDLE serial_handle_; LARGE_INTEGER freq_, counter_; int baudrate_; char port_name_[100]; double packet_start_time_; double packet_timeout_; double tx_time_per_byte_; bool setupPort(const int baudrate); double getCurrentTime(); double getTimeSinceStart(); public: //////////////////////////////////////////////////////////////////////////////// /// @brief The function that initializes instance of PortHandler and gets port_name /// @description The function initializes instance of PortHandler and gets port_name. //////////////////////////////////////////////////////////////////////////////// PortHandlerWindows(const char *port_name); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that closes the port /// @description The function calls PortHandlerWindows::closePort() to close the port. //////////////////////////////////////////////////////////////////////////////// virtual ~PortHandlerWindows() { closePort(); } //////////////////////////////////////////////////////////////////////////////// /// @brief The function that opens the port /// @description The function calls PortHandlerWindows::setBaudRate() to open the port. /// @return communication results which come from PortHandlerWindows::setBaudRate() //////////////////////////////////////////////////////////////////////////////// bool openPort(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that closes the port /// @description The function closes the port. //////////////////////////////////////////////////////////////////////////////// void closePort(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that clears the port /// @description The function clears the port. //////////////////////////////////////////////////////////////////////////////// void clearPort(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that sets port name into the port handler /// @description The function sets port name into the port handler. /// @param port_name Port name //////////////////////////////////////////////////////////////////////////////// void setPortName(const char *port_name); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that returns port name set into the port handler /// @description The function returns current port name set into the port handler. /// @return Port name //////////////////////////////////////////////////////////////////////////////// char *getPortName(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that sets baudrate into the port handler /// @description The function sets baudrate into the port handler. /// @param baudrate Baudrate /// @return false /// @return when error was occurred during port opening /// @return or true //////////////////////////////////////////////////////////////////////////////// bool setBaudRate(const int baudrate); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that returns current baudrate set into the port handler /// @description The function returns current baudrate set into the port handler. /// @return Baudrate //////////////////////////////////////////////////////////////////////////////// int getBaudRate(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that checks how much bytes are able to be read from the port buffer /// @description The function checks how much bytes are able to be read from the port buffer /// @description and returns the number. /// @return Length of read-able bytes in the port buffer //////////////////////////////////////////////////////////////////////////////// int getBytesAvailable(); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that reads bytes from the port buffer /// @description The function gets bytes from the port buffer, /// @description and returns a number of bytes read. /// @param packet Buffer for the packet received /// @param length Length of the buffer for read /// @return -1 /// @return when error was occurred /// @return or Length of bytes read //////////////////////////////////////////////////////////////////////////////// int readPort(uint8_t *packet, int length); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that writes bytes on the port buffer /// @description The function writes bytes on the port buffer, /// @description and returns a number of bytes which are successfully written. /// @param packet Buffer which would be written on the port buffer /// @param length Length of the buffer for write /// @return -1 /// @return when error was occurred /// @return or Length of bytes written //////////////////////////////////////////////////////////////////////////////// int writePort(uint8_t *packet, int length); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that sets and starts stopwatch for watching packet timeout /// @description The function sets the stopwatch by getting current time and the time of packet timeout with packet_length. /// @param packet_length Length of the packet expected to be received //////////////////////////////////////////////////////////////////////////////// void setPacketTimeout(uint16_t packet_length); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that sets and starts stopwatch for watching packet timeout /// @description The function sets the stopwatch by getting current time and the time of packet timeout with msec. /// @param packet_length Length of the packet expected to be received //////////////////////////////////////////////////////////////////////////////// void setPacketTimeout(double msec); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that checks whether packet timeout is occurred /// @description The function checks whether current time is passed by the time of packet timeout from the time set by PortHandlerWindows::setPacketTimeout(). //////////////////////////////////////////////////////////////////////////////// bool isPacketTimeout(); }; } #endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_WINDOWS_PORTHANDLERWINDOWS_H_ */ ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/include/dynamixel_sdk/protocol1_packet_handler.h ================================================ /******************************************************************************* * Copyright 2017 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ //////////////////////////////////////////////////////////////////////////////// /// @file The file for Protocol 1.0 Dynamixel packet control /// @author Zerom, Leon (RyuWoon Jung) //////////////////////////////////////////////////////////////////////////////// #ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL1PACKETHANDLER_H_ #define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL1PACKETHANDLER_H_ #include "packet_handler.h" namespace dynamixel { //////////////////////////////////////////////////////////////////////////////// /// @brief The class for control Dynamixel by using Protocol1.0 //////////////////////////////////////////////////////////////////////////////// class WINDECLSPEC Protocol1PacketHandler : public PacketHandler { private: static Protocol1PacketHandler *unique_instance_; Protocol1PacketHandler(); public: //////////////////////////////////////////////////////////////////////////////// /// @brief The function that returns Protocol1PacketHandler instance /// @return Protocol1PacketHandler instance //////////////////////////////////////////////////////////////////////////////// static Protocol1PacketHandler *getInstance() { return unique_instance_; } virtual ~Protocol1PacketHandler() { } //////////////////////////////////////////////////////////////////////////////// /// @brief The function that returns Protocol version used in Protocol1PacketHandler (1.0) /// @return 1.0 //////////////////////////////////////////////////////////////////////////////// float getProtocolVersion() { return 1.0; } //////////////////////////////////////////////////////////////////////////////// /// @brief The function that gets description of communication result /// @param result Communication result which might be gotten by the tx rx functions /// @return description of communication result in const char* (string) //////////////////////////////////////////////////////////////////////////////// const char *getTxRxResult (int result); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that gets description of hardware error /// @param error Dynamixel hardware error which might be gotten by the tx rx functions /// @return description of hardware error in const char* (string) //////////////////////////////////////////////////////////////////////////////// const char *getRxPacketError (uint8_t error); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits the instruction packet txpacket via PortHandler port. /// @description The function clears the port buffer by PortHandler::clearPort() function, /// @description then transmits txpacket by PortHandler::writePort() function. /// @description The function activates only when the port is not busy and when the packet is already written on the port buffer /// @param port PortHandler instance /// @param txpacket packet for transmission /// @return COMM_PORT_BUSY /// @return when the port is already in use /// @return COMM_TX_ERROR /// @return when txpacket is out of range described by TXPACKET_MAX_LEN /// @return COMM_TX_FAIL /// @return when written packet is shorter than expected /// @return or COMM_SUCCESS //////////////////////////////////////////////////////////////////////////////// int txPacket (PortHandler *port, uint8_t *txpacket); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that receives packet (rxpacket) during designated time via PortHandler port /// @description The function repeatedly tries to receive rxpacket by PortHandler::readPort() function. /// @description It breaks out /// @description when PortHandler::isPacketTimeout() shows the timeout, /// @description when rxpacket seemed as corrupted, or /// @description when nothing received /// @param port PortHandler instance /// @param rxpacket received packet /// @return COMM_RX_CORRUPT /// @return when it received the packet but it couldn't find header in the packet /// @return when it found header in the packet but the id, length or error value is out of range /// @return when it received the packet but it is shorted than expected /// @return COMM_RX_TIMEOUT /// @return when there is no rxpacket received until PortHandler::isPacketTimeout() shows the timeout /// @return COMM_SUCCESS /// @return when rxpacket passes checksum test /// @return or COMM_RX_FAIL //////////////////////////////////////////////////////////////////////////////// int rxPacket (PortHandler *port, uint8_t *rxpacket); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits packet (txpacket) and receives packet (rxpacket) during designated time via PortHandler port /// @description The function calls Protocol1PacketHandler::txPacket(), /// @description and calls Protocol1PacketHandler::rxPacket() if it succeeds Protocol1PacketHandler::txPacket(). /// @description It breaks out /// @description when it fails Protocol1PacketHandler::txPacket(), /// @description when txpacket is called by Protocol1PacketHandler::broadcastPing() / Protocol1PacketHandler::syncWriteTxOnly() / Protocol1PacketHandler::regWriteTxOnly / Protocol1PacketHandler::action /// @param port PortHandler instance /// @param txpacket packet for transmission /// @param rxpacket received packet /// @return COMM_SUCCESS /// @return when it succeeds Protocol1PacketHandler::txPacket() and Protocol1PacketHandler::rxPacket() /// @return or the other communication results which come from Protocol1PacketHandler::txPacket() and Protocol1PacketHandler::rxPacket() //////////////////////////////////////////////////////////////////////////////// int txRxPacket (PortHandler *port, uint8_t *txpacket, uint8_t *rxpacket, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that pings Dynamixel but doesn't take its model number /// @description The function calls Protocol1PacketHandler::ping() which gets Dynamixel model number, /// @description but doesn't carry the model number /// @param port PortHandler instance /// @param id Dynamixel ID /// @param error Dynamixel hardware error /// @return communication results which come from Protocol1PacketHandler::ping() //////////////////////////////////////////////////////////////////////////////// int ping (PortHandler *port, uint8_t id, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that pings Dynamixel and takes its model number /// @description The function makes an instruction packet with INST_PING, /// @description transmits the packet with Protocol1PacketHandler::txRxPacket(), /// @description and call Protocol1PacketHandler::readTxRx to read model_number in the rx buffer. /// @description It breaks out /// @description when it tries to transmit to BROADCAST_ID /// @param port PortHandler instance /// @param id Dynamixel ID /// @param error Dynamixel hardware error /// @return COMM_NOT_AVAILABLE /// @return when it tries to transmit to BROADCAST_ID /// @return COMM_SUCCESS /// @return when it succeeds to ping Dynamixel and get model_number from it /// @return or the other communication results which come from Protocol1PacketHandler::txRxPacket() and Protocol1PacketHandler::readTxRx() //////////////////////////////////////////////////////////////////////////////// int ping (PortHandler *port, uint8_t id, uint16_t *model_number, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief (Available only in Protocol 2.0) The function that pings all connected Dynamixel /// @param port PortHandler instance /// @param id_list ID list of Dynamixels which are found by broadcast ping /// @return COMM_NOT_AVAILABLE //////////////////////////////////////////////////////////////////////////////// int broadcastPing (PortHandler *port, std::vector &id_list); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that makes Dynamixels run as written in the Dynamixel register /// @description The function makes an instruction packet with INST_ACTION, /// @description transmits the packet with Protocol1PacketHandler::txRxPacket(). /// @description To use this function, Dynamixel register should be set by Protocol1PacketHandler::regWriteTxOnly() or Protocol1PacketHandler::regWriteTxRx() /// @param port PortHandler instance /// @param id Dynamixel ID /// @return communication results which come from Protocol1PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// int action (PortHandler *port, uint8_t id); //////////////////////////////////////////////////////////////////////////////// /// @brief (Available only in Protocol 2.0) The function that makes Dynamixel reboot /// @param port PortHandler instance /// @param id Dynamixel ID /// @param error Dynamixel hardware error /// @return COMM_NOT_AVAILABLE //////////////////////////////////////////////////////////////////////////////// int reboot (PortHandler *port, uint8_t id, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief (Available only in Protocol 2.0) The function that reset multi-turn revolution information of Dynamixel /// @param port PortHandler instance /// @param id Dynamixel ID /// @param error Dynamixel hardware error /// @return COMM_NOT_AVAILABLE //////////////////////////////////////////////////////////////////////////////// int clearMultiTurn (PortHandler *port, uint8_t id, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that makes Dynamixel reset as it was produced in the factory /// @description The function makes an instruction packet with INST_FACTORY_RESET, /// @description transmits the packet with Protocol1PacketHandler::txRxPacket(). /// @description Be careful of the use. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param option (Not available in Protocol 1.0) Reset option /// @param error Dynamixel hardware error /// @return communication results which come from Protocol1PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// int factoryReset (PortHandler *port, uint8_t id, uint8_t option, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits INST_READ instruction packet /// @description The function makes an instruction packet with INST_READ, /// @description transmits the packet with Protocol1PacketHandler::txPacket(). /// @description It breaks out /// @description when it tries to transmit to BROADCAST_ID /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for read /// @param length Length of the data for read /// @return COMM_NOT_AVAILABLE /// @return when it tries to transmit to BROADCAST_ID /// @return or the other communication results which come from Protocol1PacketHandler::txPacket() //////////////////////////////////////////////////////////////////////////////// int readTx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that receives the packet and reads the data in the packet /// @description The function receives the packet which might be come by previous INST_READ instruction packet transmission, /// @description gets the data from the packet. /// @param port PortHandler instance /// @param length Length of the data for read /// @param data Data extracted from the packet /// @param error Dynamixel hardware error /// @return communication results which come from Protocol1PacketHandler::rxPacket() //////////////////////////////////////////////////////////////////////////////// int readRx (PortHandler *port, uint8_t id, uint16_t length, uint8_t *data, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits INST_READ instruction packet, and read data from received packet /// @description The function makes an instruction packet with INST_READ, /// @description transmits and receives the packet with Protocol1PacketHandler::txRxPacket(), /// @description gets the data from the packet. /// @description It breaks out /// @description when it tries to transmit to BROADCAST_ID /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for read /// @param length Length of the data for read /// @param data Data extracted from the packet /// @param error Dynamixel hardware error /// @return COMM_NOT_AVAILABLE /// @return when it tries to transmit to BROADCAST_ID /// @return or the other communication results which come from Protocol1PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// int readTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol1PacketHandler::readTx() function for reading 1 byte data /// @description The function calls Protocol1PacketHandler::readTx() function for reading 1 byte data /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for read /// @return communication results which come from Protocol1PacketHandler::readTx() //////////////////////////////////////////////////////////////////////////////// int read1ByteTx (PortHandler *port, uint8_t id, uint16_t address); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol1PacketHandler::readRx() function and reads 1 byte data on the packet /// @description The function calls Protocol1PacketHandler::readRx() function, /// @description gets 1 byte data from the packet. /// @param port PortHandler instance /// @param data Data extracted from the packet /// @param error Dynamixel hardware error /// @return communication results which come from Protocol1PacketHandler::readRx() //////////////////////////////////////////////////////////////////////////////// int read1ByteRx (PortHandler *port, uint8_t id, uint8_t *data, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol1PacketHandler::readTxRx() function for reading 1 byte data /// @description The function calls Protocol1PacketHandler::readTxRx(), /// @description gets 1 byte data from the packet. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for read /// @param length Length of the data for read /// @param data Data extracted from the packet /// @param error Dynamixel hardware error /// @return communication results which come from Protocol1PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// int read1ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint8_t *data, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol1PacketHandler::readTx() function for reading 2 byte data /// @description The function calls Protocol1PacketHandler::readTx() function for reading 2 byte data /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for read /// @return communication results which come from Protocol1PacketHandler::readTx() //////////////////////////////////////////////////////////////////////////////// int read2ByteTx (PortHandler *port, uint8_t id, uint16_t address); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol1PacketHandler::readRx() function and reads 2 byte data on the packet /// @description The function calls Protocol1PacketHandler::readRx() function, /// @description gets 2 byte data from the packet. /// @param port PortHandler instance /// @param data Data extracted from the packet /// @param error Dynamixel hardware error /// @return communication results which come from Protocol1PacketHandler::readRx() //////////////////////////////////////////////////////////////////////////////// int read2ByteRx (PortHandler *port, uint8_t id, uint16_t *data, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol1PacketHandler::readTxRx() function for reading 2 byte data /// @description The function calls Protocol1PacketHandler::readTxRx(), /// @description gets 2 byte data from the packet. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for read /// @param length Length of the data for read /// @param data Data extracted from the packet /// @param error Dynamixel hardware error /// @return communication results which come from Protocol1PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// int read2ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t *data, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol1PacketHandler::readTx() function for reading 4 byte data /// @description The function calls Protocol1PacketHandler::readTx() function for reading 4 byte data /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for read /// @return communication results which come from Protocol1PacketHandler::readTx() //////////////////////////////////////////////////////////////////////////////// int read4ByteTx (PortHandler *port, uint8_t id, uint16_t address); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol1PacketHandler::readRx() function and reads 4 byte data on the packet /// @description The function calls Protocol1PacketHandler::readRx() function, /// @description gets 4 byte data from the packet. /// @param port PortHandler instance /// @param data Data extracted from the packet /// @param error Dynamixel hardware error /// @return communication results which come from Protocol1PacketHandler::readRx() //////////////////////////////////////////////////////////////////////////////// int read4ByteRx (PortHandler *port, uint8_t id, uint32_t *data, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol1PacketHandler::readTxRx() function for reading 4 byte data /// @description The function calls Protocol1PacketHandler::readTxRx(), /// @description gets 4 byte data from the packet. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for read /// @param length Length of the data for read /// @param data Data extracted from the packet /// @param error Dynamixel hardware error /// @return communication results which come from Protocol1PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// int read4ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint32_t *data, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits INST_WRITE instruction packet with the data for write /// @description The function makes an instruction packet with INST_WRITE and the data for write, /// @description transmits the packet with Protocol1PacketHandler::txPacket(). /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param length Length of the data for write /// @param data Data for write /// @return communication results which come from Protocol1PacketHandler::txPacket() //////////////////////////////////////////////////////////////////////////////// int writeTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits INST_WRITE instruction packet with the data for write, and receives the packet /// @description The function makes an instruction packet with INST_WRITE and the data for write, /// @description transmits and receives the packet with Protocol1PacketHandler::txRxPacket(), /// @description gets the error from the packet. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param length Length of the data for write /// @param data Data for write /// @param error Dynamixel hardware error /// @return communication results which come from Protocol1PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// int writeTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol1PacketHandler::writeTxOnly() for writing 1 byte data /// @description The function calls Protocol1PacketHandler::writeTxOnly() for writing 1 byte data. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param data Data for write /// @return communication results which come from Protocol1PacketHandler::writeTxOnly() //////////////////////////////////////////////////////////////////////////////// int write1ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint8_t data); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol1PacketHandler::writeTxRx() for writing 1 byte data and receives the packet /// @description The function calls Protocol1PacketHandler::writeTxRx() for writing 1 byte data and receves the packet, /// @description gets the error from the packet. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param data Data for write /// @param error Dynamixel hardware error /// @return communication results which come from Protocol1PacketHandler::writeTxRx() //////////////////////////////////////////////////////////////////////////////// int write1ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint8_t data, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol1PacketHandler::writeTxOnly() for writing 2 byte data /// @description The function calls Protocol1PacketHandler::writeTxOnly() for writing 2 byte data. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param data Data for write /// @return communication results which come from Protocol1PacketHandler::writeTxOnly() //////////////////////////////////////////////////////////////////////////////// int write2ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t data); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol1PacketHandler::writeTxRx() for writing 2 byte data and receives the packet /// @description The function calls Protocol1PacketHandler::writeTxRx() for writing 2 byte data and receves the packet, /// @description gets the error from the packet. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param data Data for write /// @param error Dynamixel hardware error /// @return communication results which come from Protocol1PacketHandler::writeTxRx() //////////////////////////////////////////////////////////////////////////////// int write2ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t data, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol1PacketHandler::writeTxOnly() for writing 4 byte data /// @description The function calls Protocol1PacketHandler::writeTxOnly() for writing 4 byte data. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param data Data for write /// @return communication results which come from Protocol1PacketHandler::writeTxOnly() //////////////////////////////////////////////////////////////////////////////// int write4ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint32_t data); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol1PacketHandler::writeTxRx() for writing 4 byte data and receives the packet /// @description The function calls Protocol1PacketHandler::writeTxRx() for writing 4 byte data and receves the packet, /// @description gets the error from the packet. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param data Data for write /// @param error Dynamixel hardware error /// @return communication results which come from Protocol1PacketHandler::writeTxRx() //////////////////////////////////////////////////////////////////////////////// int write4ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint32_t data, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits INST_REG_WRITE instruction packet with the data for writing on the Dynamixel register /// @description The function makes an instruction packet with INST_REG_WRITE and the data for writing on the Dynamixel register, /// @description transmits the packet with Protocol1PacketHandler::txPacket(). /// @description The data written in the register will act when INST_ACTION instruction packet is transmitted to the Dynamxel. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param length Length of the data for write /// @param data Data for write /// @return communication results which come from Protocol1PacketHandler::txPacket() //////////////////////////////////////////////////////////////////////////////// int regWriteTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits INST_REG_WRITE instruction packet with the data for writing on the Dynamixel register, and receives the packet /// @description The function makes an instruction packet with INST_REG_WRITE and the data for writing on the Dynamixel register, /// @description transmits and receives the packet with Protocol1PacketHandler::txRxPacket(), /// @description gets the error from the packet. /// @description The data written in the register will act when INST_ACTION instruction packet is transmitted to the Dynamxel. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param length Length of the data for write /// @param data Data for write /// @param error Dynamixel hardware error /// @return communication results which come from Protocol1PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// int regWriteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief (Available only in Protocol 2.0) The function that transmits Sync Read instruction packet /// @param port PortHandler instance /// @param start_address Address of the data for Sync Read /// @param data_length Length of the data for Sync Read /// @param param Parameter for Sync Read /// @param param_length Length of the data for Sync Read /// @return COMM_NOT_AVAILABLE //////////////////////////////////////////////////////////////////////////////// int syncReadTx (PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length); // SyncReadRx -> GroupSyncRead class // SyncReadTxRx -> GroupSyncRead class //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits Sync Write instruction packet /// @description The function makes an instruction packet with INST_SYNC_WRITE, /// @description transmits the packet with Protocol1PacketHandler::txRxPacket(). /// @param port PortHandler instance /// @param start_address Address of the data for Sync Write /// @param data_length Length of the data for Sync Write /// @param param Parameter for Sync Write {ID1, DATA0, DATA1, ..., DATAn, ID2, DATA0, DATA1, ..., DATAn, ID3, DATA0, DATA1, ..., DATAn} /// @param param_length Length of the data for Sync Write /// @return communication results which come from Protocol1PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// int syncWriteTxOnly (PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length); //////////////////////////////////////////////////////////////////////////////// /// @brief (Available only on Dynamixel MX / X series) The function that transmits Bulk Read instruction packet /// @description The function makes an instruction packet with INST_BULK_READ, /// @description transmits the packet with Protocol1PacketHandler::txPacket(). /// @param port PortHandler instance /// @param param Parameter for Bulk Read {LEN1, ID1, ADDR1, LEN2, ID2, ADDR2, ...} /// @param param_length Length of the data for Bulk Read /// @return communication results which come from Protocol1PacketHandler::txPacket() //////////////////////////////////////////////////////////////////////////////// int bulkReadTx (PortHandler *port, uint8_t *param, uint16_t param_length); // BulkReadRx -> GroupBulkRead class // BulkReadTxRx -> GroupBulkRead class //////////////////////////////////////////////////////////////////////////////// /// @brief (Available only in Protocol 2.0) The function that transmits Bulk Write instruction packet /// @param port PortHandler instance /// @param param Parameter for Bulk Write /// @param param_length Length of the data for Bulk Write /// @return COMM_NOT_AVAILABLE //////////////////////////////////////////////////////////////////////////////// int bulkWriteTxOnly (PortHandler *port, uint8_t *param, uint16_t param_length); }; } #endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL1PACKETHANDLER_H_ */ ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/include/dynamixel_sdk/protocol2_packet_handler.h ================================================ /******************************************************************************* * Copyright 2017 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ //////////////////////////////////////////////////////////////////////////////// /// @file The file for Protocol 2.0 Dynamixel packet control /// @author Zerom, Leon (RyuWoon Jung) //////////////////////////////////////////////////////////////////////////////// #ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL2PACKETHANDLER_H_ #define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL2PACKETHANDLER_H_ #include "packet_handler.h" namespace dynamixel { //////////////////////////////////////////////////////////////////////////////// /// @brief The class for control Dynamixel by using Protocol2.0 //////////////////////////////////////////////////////////////////////////////// class WINDECLSPEC Protocol2PacketHandler : public PacketHandler { private: static Protocol2PacketHandler *unique_instance_; Protocol2PacketHandler(); uint16_t updateCRC(uint16_t crc_accum, uint8_t *data_blk_ptr, uint16_t data_blk_size); void addStuffing(uint8_t *packet); void removeStuffing(uint8_t *packet); public: //////////////////////////////////////////////////////////////////////////////// /// @brief The function that returns Protocol2PacketHandler instance /// @return Protocol2PacketHandler instance //////////////////////////////////////////////////////////////////////////////// static Protocol2PacketHandler *getInstance() { return unique_instance_; } virtual ~Protocol2PacketHandler() { } //////////////////////////////////////////////////////////////////////////////// /// @brief The function that returns Protocol version used in Protocol2PacketHandler (2.0) /// @return 2.0 //////////////////////////////////////////////////////////////////////////////// float getProtocolVersion() { return 2.0; } //////////////////////////////////////////////////////////////////////////////// /// @brief The function that gets description of communication result /// @param result Communication result which might be gotten by the tx rx functions /// @return description of communication result in const char* (string) //////////////////////////////////////////////////////////////////////////////// const char *getTxRxResult (int result); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that gets description of hardware error /// @param error Dynamixel hardware error which might be gotten by the tx rx functions /// @return description of hardware error in const char* (string) //////////////////////////////////////////////////////////////////////////////// const char *getRxPacketError (uint8_t error); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits the instruction packet txpacket via PortHandler port. /// @description The function clears the port buffer by PortHandler::clearPort() function, /// @description then transmits txpacket by PortHandler::writePort() function. /// @description The function activates only when the port is not busy and when the packet is already written on the port buffer /// @param port PortHandler instance /// @param txpacket packet for transmission /// @return COMM_PORT_BUSY /// @return when the port is already in use /// @return COMM_TX_ERROR /// @return when txpacket is out of range described by TXPACKET_MAX_LEN /// @return COMM_TX_FAIL /// @return when written packet is shorter than expected /// @return or COMM_SUCCESS //////////////////////////////////////////////////////////////////////////////// int txPacket (PortHandler *port, uint8_t *txpacket); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that receives packet (rxpacket) during designated time via PortHandler port /// @description The function repeatedly tries to receive rxpacket by PortHandler::readPort() function. /// @description It breaks out /// @description when PortHandler::isPacketTimeout() shows the timeout, /// @description when rxpacket seemed as corrupted, or /// @description when nothing received /// @param port PortHandler instance /// @param rxpacket received packet /// @return COMM_RX_CORRUPT /// @return when it received the packet but it couldn't find header in the packet /// @return when it found header in the packet but the id, length or error value is out of range /// @return when it received the packet but it is shorted than expected /// @return COMM_RX_TIMEOUT /// @return when there is no rxpacket received until PortHandler::isPacketTimeout() shows the timeout /// @return COMM_SUCCESS /// @return when rxpacket passes checksum test /// @return or COMM_RX_FAIL //////////////////////////////////////////////////////////////////////////////// int rxPacket (PortHandler *port, uint8_t *rxpacket); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits packet (txpacket) and receives packet (rxpacket) during designated time via PortHandler port /// @description The function calls Protocol2PacketHandler::txPacket(), /// @description and calls Protocol2PacketHandler::rxPacket() if it succeeds Protocol2PacketHandler::txPacket(). /// @description It breaks out /// @description when it fails Protocol2PacketHandler::txPacket(), /// @description when txpacket is called by Protocol2PacketHandler::broadcastPing() / Protocol2PacketHandler::syncWriteTxOnly() / Protocol2PacketHandler::regWriteTxOnly / Protocol2PacketHandler::action /// @param port PortHandler instance /// @param txpacket packet for transmission /// @param rxpacket received packet /// @return COMM_SUCCESS /// @return when it succeeds Protocol2PacketHandler::txPacket() and Protocol2PacketHandler::rxPacket() /// @return or the other communication results which come from Protocol2PacketHandler::txPacket() and Protocol2PacketHandler::rxPacket() //////////////////////////////////////////////////////////////////////////////// int txRxPacket (PortHandler *port, uint8_t *txpacket, uint8_t *rxpacket, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that pings Dynamixel but doesn't take its model number /// @description The function calls Protocol2PacketHandler::ping() which gets Dynamixel model number, /// @description but doesn't carry the model number /// @param port PortHandler instance /// @param id Dynamixel ID /// @param error Dynamixel hardware error /// @return communication results which come from Protocol2PacketHandler::ping() //////////////////////////////////////////////////////////////////////////////// int ping (PortHandler *port, uint8_t id, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that pings Dynamixel and takes its model number /// @description The function makes an instruction packet with INST_PING, /// @description transmits the packet with Protocol2PacketHandler::txRxPacket(), /// @description and call Protocol2PacketHandler::readTxRx to read model_number in the rx buffer. /// @description It breaks out /// @description when it tries to transmit to BROADCAST_ID /// @param port PortHandler instance /// @param id Dynamixel ID /// @param error Dynamixel hardware error /// @return COMM_NOT_AVAILABLE /// @return when it tries to transmit to BROADCAST_ID /// @return COMM_SUCCESS /// @return when it succeeds to ping Dynamixel and get model_number from it /// @return or the other communication results which come from Protocol2PacketHandler::txRxPacket() and Protocol2PacketHandler::readTxRx() //////////////////////////////////////////////////////////////////////////////// int ping (PortHandler *port, uint8_t id, uint16_t *model_number, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief (Available only in Protocol 2.0) The function that pings all connected Dynamixel /// @param port PortHandler instance /// @param id_list ID list of Dynamixels which are found by broadcast ping /// @return COMM_NOT_AVAILABLE //////////////////////////////////////////////////////////////////////////////// int broadcastPing (PortHandler *port, std::vector &id_list); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that makes Dynamixels run as written in the Dynamixel register /// @description The function makes an instruction packet with INST_ACTION, /// @description transmits the packet with Protocol2PacketHandler::txRxPacket(). /// @description To use this function, Dynamixel register should be set by Protocol2PacketHandler::regWriteTxOnly() or Protocol2PacketHandler::regWriteTxRx() /// @param port PortHandler instance /// @param id Dynamixel ID /// @return communication results which come from Protocol2PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// int action (PortHandler *port, uint8_t id); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that makes Dynamixel reboot /// @description The function makes an instruction packet with INST_REBOOT, /// @description transmits the packet with Protocol2PacketHandler::txRxPacket(), /// @description then Dynamixel reboots. /// @description During reboot, its LED will blink. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param error Dynamixel hardware error /// @return COMM_NOT_AVAILABLE //////////////////////////////////////////////////////////////////////////////// int reboot (PortHandler *port, uint8_t id, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that reset multi-turn revolution information of Dynamixel /// @description The function makes an instruction packet with INST_CLEAR, /// @description transmits the packet with Protocol2PacketHandler::txRxPacket(). /// @description Applied Products : MX with Protocol 2.0 (Firmware v42 or above), /// @description Dynamixel X-series (Firmware v42 or above). /// @param port PortHandler instance /// @param id Dynamixel ID /// @param error Dynamixel hardware error /// @return communication results which come from Protocol2PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// int clearMultiTurn (PortHandler *port, uint8_t id, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that makes Dynamixel reset as it was produced in the factory /// @description The function makes an instruction packet with INST_FACTORY_RESET, /// @description transmits the packet with Protocol2PacketHandler::txRxPacket(). /// @description Be careful of the use. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param option Reset option (0xFF for reset all values / 0x01 for reset all values except ID / 0x02 for reset all values except ID and Baudrate) /// @param error Dynamixel hardware error /// @return communication results which come from Protocol2PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// int factoryReset (PortHandler *port, uint8_t id, uint8_t option, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits INST_READ instruction packet /// @description The function makes an instruction packet with INST_READ, /// @description transmits the packet with Protocol2PacketHandler::txPacket(). /// @description It breaks out /// @description when it tries to transmit to BROADCAST_ID /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for read /// @param length Length of the data for read /// @return COMM_NOT_AVAILABLE /// @return when it tries to transmit to BROADCAST_ID /// @return or the other communication results which come from Protocol2PacketHandler::txPacket() //////////////////////////////////////////////////////////////////////////////// int readTx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that receives the packet and reads the data in the packet /// @description The function receives the packet which might be come by previous INST_READ instruction packet transmission, /// @description gets the data from the packet. /// @param port PortHandler instance /// @param length Length of the data for read /// @param data Data extracted from the packet /// @param error Dynamixel hardware error /// @return communication results which come from Protocol2PacketHandler::rxPacket() //////////////////////////////////////////////////////////////////////////////// int readRx (PortHandler *port, uint8_t id, uint16_t length, uint8_t *data, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits INST_READ instruction packet, and read data from received packet /// @description The function makes an instruction packet with INST_READ, /// @description transmits and receives the packet with Protocol2PacketHandler::txRxPacket(), /// @description gets the data from the packet. /// @description It breaks out /// @description when it tries to transmit to BROADCAST_ID /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for read /// @param length Length of the data for read /// @param data Data extracted from the packet /// @param error Dynamixel hardware error /// @return COMM_NOT_AVAILABLE /// @return when it tries to transmit to BROADCAST_ID /// @return or the other communication results which come from Protocol2PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// int readTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol2PacketHandler::readTx() function for reading 1 byte data /// @description The function calls Protocol2PacketHandler::readTx() function for reading 1 byte data /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for read /// @return communication results which come from Protocol2PacketHandler::readTx() //////////////////////////////////////////////////////////////////////////////// int read1ByteTx (PortHandler *port, uint8_t id, uint16_t address); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol2PacketHandler::readRx() function and reads 1 byte data on the packet /// @description The function calls Protocol2PacketHandler::readRx() function, /// @description gets 1 byte data from the packet. /// @param port PortHandler instance /// @param data Data extracted from the packet /// @param error Dynamixel hardware error /// @return communication results which come from Protocol2PacketHandler::readRx() //////////////////////////////////////////////////////////////////////////////// int read1ByteRx (PortHandler *port, uint8_t id, uint8_t *data, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol2PacketHandler::readTxRx() function for reading 1 byte data /// @description The function calls Protocol2PacketHandler::readTxRx(), /// @description gets 1 byte data from the packet. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for read /// @param length Length of the data for read /// @param data Data extracted from the packet /// @param error Dynamixel hardware error /// @return communication results which come from Protocol2PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// int read1ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint8_t *data, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol2PacketHandler::readTx() function for reading 2 byte data /// @description The function calls Protocol2PacketHandler::readTx() function for reading 2 byte data /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for read /// @return communication results which come from Protocol2PacketHandler::readTx() //////////////////////////////////////////////////////////////////////////////// int read2ByteTx (PortHandler *port, uint8_t id, uint16_t address); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol2PacketHandler::readRx() function and reads 2 byte data on the packet /// @description The function calls Protocol2PacketHandler::readRx() function, /// @description gets 2 byte data from the packet. /// @param port PortHandler instance /// @param data Data extracted from the packet /// @param error Dynamixel hardware error /// @return communication results which come from Protocol2PacketHandler::readRx() //////////////////////////////////////////////////////////////////////////////// int read2ByteRx (PortHandler *port, uint8_t id, uint16_t *data, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol2PacketHandler::readTxRx() function for reading 2 byte data /// @description The function calls Protocol2PacketHandler::readTxRx(), /// @description gets 2 byte data from the packet. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for read /// @param length Length of the data for read /// @param data Data extracted from the packet /// @param error Dynamixel hardware error /// @return communication results which come from Protocol2PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// int read2ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t *data, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol2PacketHandler::readTx() function for reading 4 byte data /// @description The function calls Protocol2PacketHandler::readTx() function for reading 4 byte data /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for read /// @return communication results which come from Protocol2PacketHandler::readTx() //////////////////////////////////////////////////////////////////////////////// int read4ByteTx (PortHandler *port, uint8_t id, uint16_t address); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol2PacketHandler::readRx() function and reads 4 byte data on the packet /// @description The function calls Protocol2PacketHandler::readRx() function, /// @description gets 4 byte data from the packet. /// @param port PortHandler instance /// @param data Data extracted from the packet /// @param error Dynamixel hardware error /// @return communication results which come from Protocol2PacketHandler::readRx() //////////////////////////////////////////////////////////////////////////////// int read4ByteRx (PortHandler *port, uint8_t id, uint32_t *data, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol2PacketHandler::readTxRx() function for reading 4 byte data /// @description The function calls Protocol2PacketHandler::readTxRx(), /// @description gets 4 byte data from the packet. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for read /// @param length Length of the data for read /// @param data Data extracted from the packet /// @param error Dynamixel hardware error /// @return communication results which come from Protocol2PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// int read4ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint32_t *data, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits INST_WRITE instruction packet with the data for write /// @description The function makes an instruction packet with INST_WRITE and the data for write, /// @description transmits the packet with Protocol2PacketHandler::txPacket(). /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param length Length of the data for write /// @param data Data for write /// @return communication results which come from Protocol2PacketHandler::txPacket() //////////////////////////////////////////////////////////////////////////////// int writeTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits INST_WRITE instruction packet with the data for write, and receives the packet /// @description The function makes an instruction packet with INST_WRITE and the data for write, /// @description transmits and receives the packet with Protocol2PacketHandler::txRxPacket(), /// @description gets the error from the packet. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param length Length of the data for write /// @param data Data for write /// @param error Dynamixel hardware error /// @return communication results which come from Protocol2PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// int writeTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol2PacketHandler::writeTxOnly() for writing 1 byte data /// @description The function calls Protocol2PacketHandler::writeTxOnly() for writing 1 byte data. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param data Data for write /// @return communication results which come from Protocol2PacketHandler::writeTxOnly() //////////////////////////////////////////////////////////////////////////////// int write1ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint8_t data); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol2PacketHandler::writeTxRx() for writing 1 byte data and receives the packet /// @description The function calls Protocol2PacketHandler::writeTxRx() for writing 1 byte data and receves the packet, /// @description gets the error from the packet. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param data Data for write /// @param error Dynamixel hardware error /// @return communication results which come from Protocol2PacketHandler::writeTxRx() //////////////////////////////////////////////////////////////////////////////// int write1ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint8_t data, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol2PacketHandler::writeTxOnly() for writing 2 byte data /// @description The function calls Protocol2PacketHandler::writeTxOnly() for writing 2 byte data. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param data Data for write /// @return communication results which come from Protocol2PacketHandler::writeTxOnly() //////////////////////////////////////////////////////////////////////////////// int write2ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t data); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol2PacketHandler::writeTxRx() for writing 2 byte data and receives the packet /// @description The function calls Protocol2PacketHandler::writeTxRx() for writing 2 byte data and receves the packet, /// @description gets the error from the packet. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param data Data for write /// @param error Dynamixel hardware error /// @return communication results which come from Protocol2PacketHandler::writeTxRx() //////////////////////////////////////////////////////////////////////////////// int write2ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t data, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol2PacketHandler::writeTxOnly() for writing 4 byte data /// @description The function calls Protocol2PacketHandler::writeTxOnly() for writing 4 byte data. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param data Data for write /// @return communication results which come from Protocol2PacketHandler::writeTxOnly() //////////////////////////////////////////////////////////////////////////////// int write4ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint32_t data); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that calls Protocol2PacketHandler::writeTxRx() for writing 4 byte data and receives the packet /// @description The function calls Protocol2PacketHandler::writeTxRx() for writing 4 byte data and receves the packet, /// @description gets the error from the packet. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param data Data for write /// @param error Dynamixel hardware error /// @return communication results which come from Protocol2PacketHandler::writeTxRx() //////////////////////////////////////////////////////////////////////////////// int write4ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint32_t data, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits INST_REG_WRITE instruction packet with the data for writing on the Dynamixel register /// @description The function makes an instruction packet with INST_REG_WRITE and the data for writing on the Dynamixel register, /// @description transmits the packet with Protocol2PacketHandler::txPacket(). /// @description The data written in the register will act when INST_ACTION instruction packet is transmitted to the Dynamxel. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param length Length of the data for write /// @param data Data for write /// @return communication results which come from Protocol2PacketHandler::txPacket() //////////////////////////////////////////////////////////////////////////////// int regWriteTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits INST_REG_WRITE instruction packet with the data for writing on the Dynamixel register, and receives the packet /// @description The function makes an instruction packet with INST_REG_WRITE and the data for writing on the Dynamixel register, /// @description transmits and receives the packet with Protocol2PacketHandler::txRxPacket(), /// @description gets the error from the packet. /// @description The data written in the register will act when INST_ACTION instruction packet is transmitted to the Dynamxel. /// @param port PortHandler instance /// @param id Dynamixel ID /// @param address Address of the data for write /// @param length Length of the data for write /// @param data Data for write /// @param error Dynamixel hardware error /// @return communication results which come from Protocol2PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// int regWriteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits INST_SYNC_READ instruction packet /// @description The function makes an instruction packet with INST_SYNC_READ, /// @description transmits the packet with Protocol2PacketHandler::txPacket(). /// @param port PortHandler instance /// @param start_address Address of the data for Sync Read /// @param data_length Length of the data for Sync Read /// @param param Parameter for Sync Read /// @param param_length Length of the data for Sync Read /// @return communication results which come from Protocol2PacketHandler::txPacket() //////////////////////////////////////////////////////////////////////////////// int syncReadTx (PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length); // SyncReadRx -> GroupSyncRead class // SyncReadTxRx -> GroupSyncRead class //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits INST_SYNC_WRITE instruction packet /// @description The function makes an instruction packet with INST_SYNC_WRITE, /// @description transmits the packet with Protocol2PacketHandler::txRxPacket(). /// @param port PortHandler instance /// @param start_address Address of the data for Sync Write /// @param data_length Length of the data for Sync Write /// @param param Parameter for Sync Write {ID1, DATA0, DATA1, ..., DATAn, ID2, DATA0, DATA1, ..., DATAn, ID3, DATA0, DATA1, ..., DATAn} /// @param param_length Length of the data for Sync Write /// @return communication results which come from Protocol2PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// int syncWriteTxOnly (PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length); //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits INST_BULK_READ instruction packet /// @description The function makes an instruction packet with INST_BULK_READ, /// @description transmits the packet with Protocol2PacketHandler::txPacket(). /// @param port PortHandler instance /// @param param Parameter for Bulk Read {ID1, ADDR_L1, ADDR_H1, LEN_L1, LEN_H1, ID2, ADDR_L2, ADDR_H2, LEN_L2, LEN_H2, ...} /// @param param_length Length of the data for Bulk Read /// @return communication results which come from Protocol2PacketHandler::txPacket() //////////////////////////////////////////////////////////////////////////////// int bulkReadTx (PortHandler *port, uint8_t *param, uint16_t param_length); // BulkReadRx -> GroupBulkRead class // BulkReadTxRx -> GroupBulkRead class //////////////////////////////////////////////////////////////////////////////// /// @brief The function that transmits INST_BULK_WRITE instruction packet /// @description The function makes an instruction packet with INST_BULK_WRITE, /// @description transmits the packet with Protocol2PacketHandler::txRxPacket(). /// @param port PortHandler instance /// @param param Parameter for Bulk Write {ID1, START_ADDR_L, START_ADDR_H, DATA_LEN_L, DATA_LEN_H, DATA0, DATA1, ..., DATAn, ID2, START_ADDR_L, START_ADDR_H, DATA_LEN_L, DATA_LEN_H, DATA0, DATA1, ..., DATAn} /// @param param_length Length of the data for Bulk Write /// @return communication results which come from Protocol2PacketHandler::txRxPacket() //////////////////////////////////////////////////////////////////////////////// int bulkWriteTxOnly (PortHandler *port, uint8_t *param, uint16_t param_length); }; } #endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL2PACKETHANDLER_H_ */ ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/keywords.txt ================================================ ####################################### # Syntax Coloring Map LatchClcd ####################################### ####################################### # Datatypes (KEYWORD1) ####################################### DynamixelSDK KEYWORD1 ####################################### # Methods and Functions (KEYWORD2) ####################################### #port handler getPortHandler KEYWORD2 openPort KEYWORD2 closePort KEYWORD2 clearPort KEYWORD2 setPortName KEYWORD2 getPortName KEYWORD2 setBaudRate KEYWORD2 getBaudRate KEYWORD2 getBytesAvailable KEYWORD2 readPort KEYWORD2 writePort KEYWORD2 setPacketTimeout KEYWORD2 setPacketTimeout KEYWORD2 isPacketTimeout KEYWORD2 #PORTHANDLER getPacketHandler KEYWORD2 getProtocolVersion KEYWORD2 getTxRxResult KEYWORD2 getRxPacketError KEYWORD2 txPacket KEYWORD2 rxPacket KEYWORD2 txRxPacket KEYWORD2 ping KEYWORD2 broadcastPing KEYWORD2 action KEYWORD2 reboot KEYWORD2 factoryReset KEYWORD2 readTx KEYWORD2 readRx KEYWORD2 readTxRx KEYWORD2read1ByteTx KEYWORD2 read1ByteRx KEYWORD2 read1ByteTxRx KEYWORD2 read2ByteTx KEYWORD2 read2ByteRx KEYWORD2 read2ByteTxRx KEYWORD2 read4ByteTx KEYWORD2 read4ByteRx KEYWORD2 read4ByteTxRx KEYWORD2 writeTxOnly KEYWORD2 writeTxRx KEYWORD2write1ByteTxOnly KEYWORD2 write1ByteTxRx KEYWORD2 write2ByteTxOnly KEYWORD2 write2ByteTxRx KEYWORD2 write4ByteTxOnly KEYWORD2 write4ByteTxRx KEYWORD2 regWriteTxOnly KEYWORD2 regWriteTxRx KEYWORD2 syncReadTx KEYWORD2 syncWriteTxOnly KEYWORD2 bulkReadTx KEYWORD2 bulkWriteTxOnly KEYWORD2 ####################################### # Constants (LITERAL1) ####################################### INST_PING LITERAL1 INST_READ LITERAL1 INST_WRITE LITERAL1 INST_REG_WRITE LITERAL1 INST_ACTION LITERAL1 INST_FACTORY_RESET LITERAL1 INST_SYNC_WRITE LITERAL1 INST_BULK_READ LITERAL1 INST_REBOOT LITERAL1 INST_STATUS LITERAL1 INST_SYNC_READ LITERAL1 INST_BULK_WRITE LITERAL1 COMM_SUCCESS LITERAL1 COMM_PORT_BUSY LITERAL1 COMM_TX_FAIL LITERAL1 COMM_RX_FAIL LITERAL1 COMM_TX_ERROR LITERAL1 COMM_RX_WAITING LITERAL1 COMM_RX_TIMEOUT LITERAL1 COMM_RX_CORRUPT LITERAL1 COMM_NOT_AVAILABLE LITERAL1 ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/library.properties ================================================ name=DynamixelSDK version=0.0.1 author=ROBOTIS maintainer=RoBOTIS sentence=DynamixelSDK for OpenCR paragraph=https://github.com/ROBOTIS-GIT/DynamixelSDK category=Device Control url=https://github.com/ROBOTIS-GIT/DynamixelSDK architectures=OpenCR ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/DynamixelSDK.h ================================================ #include "../include/dynamixel_sdk/dynamixel_sdk.h" ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/group_bulk_read.cpp ================================================ /******************************************************************************* * Copyright 2017 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ /* Author: zerom, Ryu Woon Jung (Leon) */ #include #include #if defined(__linux__) #include "group_bulk_read.h" #elif defined(__APPLE__) #include "group_bulk_read.h" #elif defined(_WIN32) || defined(_WIN64) #define WINDLLEXPORT #include "group_bulk_read.h" #elif defined(ARDUINO) || defined(__OPENCR__) || defined(__OPENCM904__) #include "../../include/dynamixel_sdk/group_bulk_read.h" #endif using namespace dynamixel; GroupBulkRead::GroupBulkRead(PortHandler *port, PacketHandler *ph) : port_(port), ph_(ph), last_result_(false), is_param_changed_(false), param_(0) { clearParam(); } void GroupBulkRead::makeParam() { if (id_list_.size() == 0) return; if (param_ != 0) delete[] param_; param_ = 0; if (ph_->getProtocolVersion() == 1.0) { param_ = new uint8_t[id_list_.size() * 3]; // ID(1) + ADDR(1) + LENGTH(1) } else // 2.0 { param_ = new uint8_t[id_list_.size() * 5]; // ID(1) + ADDR(2) + LENGTH(2) } int idx = 0; for (unsigned int i = 0; i < id_list_.size(); i++) { uint8_t id = id_list_[i]; if (ph_->getProtocolVersion() == 1.0) { param_[idx++] = (uint8_t)length_list_[id]; // LEN param_[idx++] = id; // ID param_[idx++] = (uint8_t)address_list_[id]; // ADDR } else // 2.0 { param_[idx++] = id; // ID param_[idx++] = DXL_LOBYTE(address_list_[id]); // ADDR_L param_[idx++] = DXL_HIBYTE(address_list_[id]); // ADDR_H param_[idx++] = DXL_LOBYTE(length_list_[id]); // LEN_L param_[idx++] = DXL_HIBYTE(length_list_[id]); // LEN_H } } } bool GroupBulkRead::addParam(uint8_t id, uint16_t start_address, uint16_t data_length) { if (std::find(id_list_.begin(), id_list_.end(), id) != id_list_.end()) // id already exist return false; id_list_.push_back(id); length_list_[id] = data_length; address_list_[id] = start_address; data_list_[id] = new uint8_t[data_length]; error_list_[id] = new uint8_t[1]; is_param_changed_ = true; return true; } void GroupBulkRead::removeParam(uint8_t id) { std::vector::iterator it = std::find(id_list_.begin(), id_list_.end(), id); if (it == id_list_.end()) // NOT exist return; id_list_.erase(it); address_list_.erase(id); length_list_.erase(id); delete[] data_list_[id]; delete[] error_list_[id]; data_list_.erase(id); error_list_.erase(id); is_param_changed_ = true; } void GroupBulkRead::clearParam() { if (id_list_.size() == 0) return; for (unsigned int i = 0; i < id_list_.size(); i++) { delete[] data_list_[id_list_[i]]; delete[] error_list_[id_list_[i]]; } id_list_.clear(); address_list_.clear(); length_list_.clear(); data_list_.clear(); error_list_.clear(); if (param_ != 0) delete[] param_; param_ = 0; } int GroupBulkRead::txPacket() { if (id_list_.size() == 0) return COMM_NOT_AVAILABLE; if (is_param_changed_ == true || param_ == 0) makeParam(); if (ph_->getProtocolVersion() == 1.0) { return ph_->bulkReadTx(port_, param_, id_list_.size() * 3); } else // 2.0 { return ph_->bulkReadTx(port_, param_, id_list_.size() * 5); } } int GroupBulkRead::rxPacket() { int cnt = id_list_.size(); int result = COMM_RX_FAIL; last_result_ = false; if (cnt == 0) return COMM_NOT_AVAILABLE; for (int i = 0; i < cnt; i++) { uint8_t id = id_list_[i]; result = ph_->readRx(port_, id, length_list_[id], data_list_[id], error_list_[id]); if (result != COMM_SUCCESS) return result; } if (result == COMM_SUCCESS) last_result_ = true; return result; } int GroupBulkRead::txRxPacket() { int result = COMM_TX_FAIL; result = txPacket(); if (result != COMM_SUCCESS) return result; return rxPacket(); } bool GroupBulkRead::isAvailable(uint8_t id, uint16_t address, uint16_t data_length) { uint16_t start_addr; if (last_result_ == false || data_list_.find(id) == data_list_.end()) return false; start_addr = address_list_[id]; if (address < start_addr || start_addr + length_list_[id] - data_length < address) return false; return true; } uint32_t GroupBulkRead::getData(uint8_t id, uint16_t address, uint16_t data_length) { if (isAvailable(id, address, data_length) == false) return 0; uint16_t start_addr = address_list_[id]; switch(data_length) { case 1: return data_list_[id][address - start_addr]; case 2: return DXL_MAKEWORD(data_list_[id][address - start_addr], data_list_[id][address - start_addr + 1]); case 4: return DXL_MAKEDWORD(DXL_MAKEWORD(data_list_[id][address - start_addr + 0], data_list_[id][address - start_addr + 1]), DXL_MAKEWORD(data_list_[id][address - start_addr + 2], data_list_[id][address - start_addr + 3])); default: return 0; } } bool GroupBulkRead::getError(uint8_t id, uint8_t* error) { // TODO : check protocol version, last_result_, data_list // if (last_result_ == false || error_list_.find(id) == error_list_.end()) error[0] = error_list_[id][0]; if (error[0] != 0) { return true; } else { return false; } } ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/group_bulk_write.cpp ================================================ /******************************************************************************* * Copyright 2017 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ /* Author: zerom, Ryu Woon Jung (Leon) */ #include #if defined(__linux__) #include "group_bulk_write.h" #elif defined(__APPLE__) #include "group_bulk_write.h" #elif defined(_WIN32) || defined(_WIN64) #define WINDLLEXPORT #include "group_bulk_write.h" #elif defined(ARDUINO) || defined(__OPENCR__) || defined(__OPENCM904__) #include "../../include/dynamixel_sdk/group_bulk_write.h" #endif using namespace dynamixel; GroupBulkWrite::GroupBulkWrite(PortHandler *port, PacketHandler *ph) : port_(port), ph_(ph), is_param_changed_(false), param_(0), param_length_(0) { clearParam(); } void GroupBulkWrite::makeParam() { if (ph_->getProtocolVersion() == 1.0 || id_list_.size() == 0) return; if (param_ != 0) delete[] param_; param_ = 0; param_length_ = 0; for (unsigned int i = 0; i < id_list_.size(); i++) param_length_ += 1 + 2 + 2 + length_list_[id_list_[i]]; param_ = new uint8_t[param_length_]; int idx = 0; for (unsigned int i = 0; i < id_list_.size(); i++) { uint8_t id = id_list_[i]; if (data_list_[id] == 0) return; param_[idx++] = id; param_[idx++] = DXL_LOBYTE(address_list_[id]); param_[idx++] = DXL_HIBYTE(address_list_[id]); param_[idx++] = DXL_LOBYTE(length_list_[id]); param_[idx++] = DXL_HIBYTE(length_list_[id]); for (int c = 0; c < length_list_[id]; c++) param_[idx++] = (data_list_[id])[c]; } } bool GroupBulkWrite::addParam(uint8_t id, uint16_t start_address, uint16_t data_length, uint8_t *data) { if (ph_->getProtocolVersion() == 1.0) return false; if (std::find(id_list_.begin(), id_list_.end(), id) != id_list_.end()) // id already exist return false; id_list_.push_back(id); address_list_[id] = start_address; length_list_[id] = data_length; data_list_[id] = new uint8_t[data_length]; for (int c = 0; c < data_length; c++) data_list_[id][c] = data[c]; is_param_changed_ = true; return true; } void GroupBulkWrite::removeParam(uint8_t id) { if (ph_->getProtocolVersion() == 1.0) return; std::vector::iterator it = std::find(id_list_.begin(), id_list_.end(), id); if (it == id_list_.end()) // NOT exist return; id_list_.erase(it); address_list_.erase(id); length_list_.erase(id); delete[] data_list_[id]; data_list_.erase(id); is_param_changed_ = true; } bool GroupBulkWrite::changeParam(uint8_t id, uint16_t start_address, uint16_t data_length, uint8_t *data) { if (ph_->getProtocolVersion() == 1.0) return false; std::vector::iterator it = std::find(id_list_.begin(), id_list_.end(), id); if (it == id_list_.end()) // NOT exist return false; address_list_[id] = start_address; length_list_[id] = data_length; delete[] data_list_[id]; data_list_[id] = new uint8_t[data_length]; for (int c = 0; c < data_length; c++) data_list_[id][c] = data[c]; is_param_changed_ = true; return true; } void GroupBulkWrite::clearParam() { if (ph_->getProtocolVersion() == 1.0 || id_list_.size() == 0) return; for (unsigned int i = 0; i < id_list_.size(); i++) delete[] data_list_[id_list_[i]]; id_list_.clear(); address_list_.clear(); length_list_.clear(); data_list_.clear(); if (param_ != 0) delete[] param_; param_ = 0; } int GroupBulkWrite::txPacket() { if (ph_->getProtocolVersion() == 1.0 || id_list_.size() == 0) return COMM_NOT_AVAILABLE; if (is_param_changed_ == true || param_ == 0) makeParam(); return ph_->bulkWriteTxOnly(port_, param_, param_length_); } ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/group_sync_read.cpp ================================================ /******************************************************************************* * Copyright 2017 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ /* Author: zerom, Ryu Woon Jung (Leon) */ #include #if defined(__linux__) #include "group_sync_read.h" #elif defined(__APPLE__) #include "group_sync_read.h" #elif defined(_WIN32) || defined(_WIN64) #define WINDLLEXPORT #include "group_sync_read.h" #elif defined(ARDUINO) || defined(__OPENCR__) || defined(__OPENCM904__) #include "../../include/dynamixel_sdk/group_sync_read.h" #endif using namespace dynamixel; GroupSyncRead::GroupSyncRead(PortHandler *port, PacketHandler *ph, uint16_t start_address, uint16_t data_length) : port_(port), ph_(ph), last_result_(false), is_param_changed_(false), param_(0), start_address_(start_address), data_length_(data_length) { clearParam(); } void GroupSyncRead::makeParam() { if (ph_->getProtocolVersion() == 1.0 || id_list_.size() == 0) return; if (param_ != 0) delete[] param_; param_ = 0; param_ = new uint8_t[id_list_.size() * 1]; // ID(1) int idx = 0; for (unsigned int i = 0; i < id_list_.size(); i++) param_[idx++] = id_list_[i]; } bool GroupSyncRead::addParam(uint8_t id) { if (ph_->getProtocolVersion() == 1.0) return false; if (std::find(id_list_.begin(), id_list_.end(), id) != id_list_.end()) // id already exist return false; id_list_.push_back(id); data_list_[id] = new uint8_t[data_length_]; error_list_[id] = new uint8_t[1]; is_param_changed_ = true; return true; } void GroupSyncRead::removeParam(uint8_t id) { if (ph_->getProtocolVersion() == 1.0) return; std::vector::iterator it = std::find(id_list_.begin(), id_list_.end(), id); if (it == id_list_.end()) // NOT exist return; id_list_.erase(it); delete[] data_list_[id]; delete[] error_list_[id]; data_list_.erase(id); error_list_.erase(id); is_param_changed_ = true; } void GroupSyncRead::clearParam() { if (ph_->getProtocolVersion() == 1.0 || id_list_.size() == 0) return; for (unsigned int i = 0; i < id_list_.size(); i++) { delete[] data_list_[id_list_[i]]; delete[] error_list_[id_list_[i]]; } id_list_.clear(); data_list_.clear(); error_list_.clear(); if (param_ != 0) delete[] param_; param_ = 0; } int GroupSyncRead::txPacket() { if (ph_->getProtocolVersion() == 1.0 || id_list_.size() == 0) return COMM_NOT_AVAILABLE; if (is_param_changed_ == true || param_ == 0) makeParam(); return ph_->syncReadTx(port_, start_address_, data_length_, param_, (uint16_t)id_list_.size() * 1); } int GroupSyncRead::rxPacket() { last_result_ = false; if (ph_->getProtocolVersion() == 1.0) return COMM_NOT_AVAILABLE; int cnt = id_list_.size(); int result = COMM_RX_FAIL; if (cnt == 0) return COMM_NOT_AVAILABLE; for (int i = 0; i < cnt; i++) { uint8_t id = id_list_[i]; result = ph_->readRx(port_, id, data_length_, data_list_[id], error_list_[id]); if (result != COMM_SUCCESS) return result; } if (result == COMM_SUCCESS) last_result_ = true; return result; } int GroupSyncRead::txRxPacket() { if (ph_->getProtocolVersion() == 1.0) return COMM_NOT_AVAILABLE; int result = COMM_TX_FAIL; result = txPacket(); if (result != COMM_SUCCESS) return result; return rxPacket(); } bool GroupSyncRead::isAvailable(uint8_t id, uint16_t address, uint16_t data_length) { if (ph_->getProtocolVersion() == 1.0 || last_result_ == false || data_list_.find(id) == data_list_.end()) return false; if (address < start_address_ || start_address_ + data_length_ - data_length < address) return false; return true; } uint32_t GroupSyncRead::getData(uint8_t id, uint16_t address, uint16_t data_length) { if (isAvailable(id, address, data_length) == false) return 0; switch(data_length) { case 1: return data_list_[id][address - start_address_]; case 2: return DXL_MAKEWORD(data_list_[id][address - start_address_], data_list_[id][address - start_address_ + 1]); case 4: return DXL_MAKEDWORD(DXL_MAKEWORD(data_list_[id][address - start_address_ + 0], data_list_[id][address - start_address_ + 1]), DXL_MAKEWORD(data_list_[id][address - start_address_ + 2], data_list_[id][address - start_address_ + 3])); default: return 0; } } bool GroupSyncRead::getError(uint8_t id, uint8_t* error) { // TODO : check protocol version, last_result_, data_list // if (ph_->getProtocolVersion() == 1.0 || last_result_ == false || error_list_.find(id) == error_list_.end()) error[0] = error_list_[id][0]; if (error[0] != 0) { return true; } else { return false; } } ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/group_sync_write.cpp ================================================ /******************************************************************************* * Copyright 2017 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ /* Author: zerom, Ryu Woon Jung (Leon) */ #include #if defined(__linux__) #include "group_sync_write.h" #elif defined(__APPLE__) #include "group_sync_write.h" #elif defined(_WIN32) || defined(_WIN64) #define WINDLLEXPORT #include "group_sync_write.h" #elif defined(ARDUINO) || defined(__OPENCR__) || defined(__OPENCM904__) #include "../../include/dynamixel_sdk/group_sync_write.h" #endif using namespace dynamixel; GroupSyncWrite::GroupSyncWrite(PortHandler *port, PacketHandler *ph, uint16_t start_address, uint16_t data_length) : port_(port), ph_(ph), is_param_changed_(false), param_(0), start_address_(start_address), data_length_(data_length) { clearParam(); } void GroupSyncWrite::makeParam() { if (id_list_.size() == 0) return; if (param_ != 0) delete[] param_; param_ = 0; param_ = new uint8_t[id_list_.size() * (1 + data_length_)]; // ID(1) + DATA(data_length) int idx = 0; for (unsigned int i = 0; i < id_list_.size(); i++) { uint8_t id = id_list_[i]; if (data_list_[id] == 0) return; param_[idx++] = id; for (int c = 0; c < data_length_; c++) param_[idx++] = (data_list_[id])[c]; } } bool GroupSyncWrite::addParam(uint8_t id, uint8_t *data) { if (std::find(id_list_.begin(), id_list_.end(), id) != id_list_.end()) // id already exist return false; id_list_.push_back(id); data_list_[id] = new uint8_t[data_length_]; for (int c = 0; c < data_length_; c++) data_list_[id][c] = data[c]; is_param_changed_ = true; return true; } void GroupSyncWrite::removeParam(uint8_t id) { std::vector::iterator it = std::find(id_list_.begin(), id_list_.end(), id); if (it == id_list_.end()) // NOT exist return; id_list_.erase(it); delete[] data_list_[id]; data_list_.erase(id); is_param_changed_ = true; } bool GroupSyncWrite::changeParam(uint8_t id, uint8_t *data) { std::vector::iterator it = std::find(id_list_.begin(), id_list_.end(), id); if (it == id_list_.end()) // NOT exist return false; delete[] data_list_[id]; data_list_[id] = new uint8_t[data_length_]; for (int c = 0; c < data_length_; c++) data_list_[id][c] = data[c]; is_param_changed_ = true; return true; } void GroupSyncWrite::clearParam() { if (id_list_.size() == 0) return; for (unsigned int i = 0; i < id_list_.size(); i++) delete[] data_list_[id_list_[i]]; id_list_.clear(); data_list_.clear(); if (param_ != 0) delete[] param_; param_ = 0; } int GroupSyncWrite::txPacket() { if (id_list_.size() == 0) return COMM_NOT_AVAILABLE; if (is_param_changed_ == true || param_ == 0) makeParam(); return ph_->syncWriteTxOnly(port_, start_address_, data_length_, param_, id_list_.size() * (1 + data_length_)); } ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/packet_handler.cpp ================================================ /******************************************************************************* * Copyright 2017 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ /* Author: zerom, Ryu Woon Jung (Leon) */ #if defined(__linux__) #include "packet_handler.h" #include "protocol1_packet_handler.h" #include "protocol2_packet_handler.h" #elif defined(__APPLE__) #include "packet_handler.h" #include "protocol1_packet_handler.h" #include "protocol2_packet_handler.h" #elif defined(_WIN32) || defined(_WIN64) #define WINDLLEXPORT #include "packet_handler.h" #include "protocol1_packet_handler.h" #include "protocol2_packet_handler.h" #elif defined(ARDUINO) || defined(__OPENCR__) || defined(__OPENCM904__) #include "../../include/dynamixel_sdk/packet_handler.h" #include "../../include/dynamixel_sdk/protocol1_packet_handler.h" #include "../../include/dynamixel_sdk/protocol2_packet_handler.h" #endif using namespace dynamixel; PacketHandler *PacketHandler::getPacketHandler(float protocol_version) { if (protocol_version == 1.0) { return (PacketHandler *)(Protocol1PacketHandler::getInstance()); } else if (protocol_version == 2.0) { return (PacketHandler *)(Protocol2PacketHandler::getInstance()); } return (PacketHandler *)(Protocol2PacketHandler::getInstance()); } ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler.cpp ================================================ /******************************************************************************* * Copyright 2017 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ /* Author: zerom, Ryu Woon Jung (Leon) */ #if defined(__linux__) #include "port_handler.h" #include "port_handler_linux.h" #elif defined(__APPLE__) #include "port_handler.h" #include "port_handler_mac.h" #elif defined(_WIN32) || defined(_WIN64) #define WINDLLEXPORT #include "port_handler.h" #include "port_handler_windows.h" #elif defined(ARDUINO) || defined(__OPENCR__) || defined(__OPENCM904__) #include "../../include/dynamixel_sdk/port_handler.h" #include "../../include/dynamixel_sdk/port_handler_arduino.h" #endif using namespace dynamixel; PortHandler *PortHandler::getPortHandler(const char *port_name) { #if defined(__linux__) return (PortHandler *)(new PortHandlerLinux(port_name)); #elif defined(__APPLE__) return (PortHandler *)(new PortHandlerMac(port_name)); #elif defined(_WIN32) || defined(_WIN64) return (PortHandler *)(new PortHandlerWindows(port_name)); #elif defined(ARDUINO) || defined(__OPENCR__) || defined(__OPENCM904__) return (PortHandler *)(new PortHandlerArduino(port_name)); #endif } ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp ================================================ /******************************************************************************* * Copyright 2017 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ /* Author: Ryu Woon Jung (Leon) */ #if defined(ARDUINO) || defined(__OPENCR__) || defined(__OPENCM904__) #include #include "../../include/dynamixel_sdk/port_handler_arduino.h" #if defined (__OPENCR__) #define DYNAMIXEL_SERIAL Serial3 #endif #define LATENCY_TIMER 4 // msec (USB latency timer) using namespace dynamixel; PortHandlerArduino::PortHandlerArduino(const char *port_name) : baudrate_(DEFAULT_BAUDRATE_), packet_start_time_(0.0), packet_timeout_(0.0), tx_time_per_byte(0.0) { is_using_ = false; setPortName(port_name); #if defined(__OPENCR__) pinMode(BDPIN_DXL_PWR_EN, OUTPUT); setPowerOff(); #elif defined(__OPENCM904__) if (port_name[0] == '1') { socket_fd_ = 0; p_dxl_serial = &Serial1; } else if (port_name[0] == '2') { socket_fd_ = 1; p_dxl_serial = &Serial2; } else if (port_name[0] == '3') { socket_fd_ = 2; p_dxl_serial = &Serial3; } else { socket_fd_ = 0; p_dxl_serial = &Serial1; } drv_dxl_begin(socket_fd_); #endif setTxDisable(); } bool PortHandlerArduino::openPort() { #if defined(__OPENCR__) pinMode(BDPIN_DXL_PWR_EN, OUTPUT); setPowerOn(); delay(1000); #endif return setBaudRate(baudrate_); } void PortHandlerArduino::closePort() { setPowerOff(); } void PortHandlerArduino::clearPort() { #if defined(__OPENCR__) DYNAMIXEL_SERIAL.flush(); // Clear out all data from the input queue. while (DYNAMIXEL_SERIAL.available()) { DYNAMIXEL_SERIAL.read(); } #elif defined(__OPENCM904__) p_dxl_serial->flush(); while (p_dxl_serial->available()) { p_dxl_serial->read(); } #endif } void PortHandlerArduino::setPortName(const char *port_name) { strcpy(port_name_, port_name); } char *PortHandlerArduino::getPortName() { return port_name_; } bool PortHandlerArduino::setBaudRate(const int baudrate) { baudrate_ = checkBaudrateAvailable(baudrate); if (baudrate_ == -1) return false; setupPort(baudrate_); return true; } int PortHandlerArduino::getBaudRate() { return baudrate_; } int PortHandlerArduino::getBytesAvailable() { int bytes_available; #if defined(__OPENCR__) bytes_available = DYNAMIXEL_SERIAL.available(); #elif defined(__OPENCM904__) bytes_available = p_dxl_serial->available(); #endif return bytes_available; } int PortHandlerArduino::readPort(uint8_t *packet, int length) { int rx_length; #if defined(__OPENCR__) rx_length = DYNAMIXEL_SERIAL.available(); #elif defined(__OPENCM904__) rx_length = p_dxl_serial->available(); #endif if (rx_length > length) rx_length = length; for (int i = 0; i < rx_length; i++) { #if defined(__OPENCR__) packet[i] = DYNAMIXEL_SERIAL.read(); #elif defined(__OPENCM904__) packet[i] = p_dxl_serial->read(); #endif } return rx_length; } int PortHandlerArduino::writePort(uint8_t *packet, int length) { int length_written; setTxEnable(); #if defined(__OPENCR__) length_written = DYNAMIXEL_SERIAL.write(packet, length); #elif defined(__OPENCM904__) length_written = p_dxl_serial->write(packet, length); #endif setTxDisable(); return length_written; } void PortHandlerArduino::setPacketTimeout(uint16_t packet_length) { packet_start_time_ = getCurrentTime(); packet_timeout_ = (tx_time_per_byte * (double)packet_length) + (LATENCY_TIMER * 2.0) + 2.0; } void PortHandlerArduino::setPacketTimeout(double msec) { packet_start_time_ = getCurrentTime(); packet_timeout_ = msec; } bool PortHandlerArduino::isPacketTimeout() { if (getTimeSinceStart() > packet_timeout_) { packet_timeout_ = 0; return true; } return false; } double PortHandlerArduino::getCurrentTime() { return (double)millis(); } double PortHandlerArduino::getTimeSinceStart() { double elapsed_time; elapsed_time = getCurrentTime() - packet_start_time_; if (elapsed_time < 0.0) packet_start_time_ = getCurrentTime(); return elapsed_time; } bool PortHandlerArduino::setupPort(int baudrate) { #if defined(__OPENCR__) DYNAMIXEL_SERIAL.begin(baudrate); #elif defined(__OPENCM904__) p_dxl_serial->setDxlMode(true); p_dxl_serial->begin(baudrate); #endif delay(100); tx_time_per_byte = (1000.0 / (double)baudrate) * 10.0; return true; } int PortHandlerArduino::checkBaudrateAvailable(int baudrate) { switch(baudrate) { case 9600: return 9600; case 57600: return 57600; case 115200: return 115200; case 1000000: return 1000000; case 2000000: return 2000000; case 3000000: return 3000000; case 4000000: return 4000000; case 4500000: return 4500000; default: return -1; } } void PortHandlerArduino::setPowerOn() { #if defined(__OPENCR__) digitalWrite(BDPIN_DXL_PWR_EN, HIGH); #endif } void PortHandlerArduino::setPowerOff() { #if defined(__OPENCR__) digitalWrite(BDPIN_DXL_PWR_EN, LOW); #endif } void PortHandlerArduino::setTxEnable() { #if defined(__OPENCR__) drv_dxl_tx_enable(TRUE); #elif defined(__OPENCM904__) drv_dxl_tx_enable(socket_fd_, TRUE); #endif } void PortHandlerArduino::setTxDisable() { #if defined(__OPENCR__) #ifdef SERIAL_WRITES_NON_BLOCKING DYNAMIXEL_SERIAL.flush(); // make sure it completes before we disable... #endif drv_dxl_tx_enable(FALSE); #elif defined(__OPENCM904__) #ifdef SERIAL_WRITES_NON_BLOCKING p_dxl_serial->flush(); #endif drv_dxl_tx_enable(socket_fd_, FALSE); #endif } #endif ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_linux.cpp ================================================ /******************************************************************************* * Copyright 2017 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ /* Author: zerom, Ryu Woon Jung (Leon) */ #if defined(__linux__) #include #include #include #include #include #include #include #include #include #include "port_handler_linux.h" #define LATENCY_TIMER 16 // msec (USB latency timer) // You should adjust the latency timer value. From the version Ubuntu 16.04.2, the default latency timer of the usb serial is '16 msec'. // When you are going to use sync / bulk read, the latency timer should be loosen. // the lower latency timer value, the faster communication speed. // Note: // You can check its value by: // $ cat /sys/bus/usb-serial/devices/ttyUSB0/latency_timer // // If you think that the communication is too slow, type following after plugging the usb in to change the latency timer // // Method 1. Type following (you should do this everytime when the usb once was plugged out or the connection was dropped) // $ echo 1 | sudo tee /sys/bus/usb-serial/devices/ttyUSB0/latency_timer // $ cat /sys/bus/usb-serial/devices/ttyUSB0/latency_timer // // Method 2. If you want to set it as be done automatically, and don't want to do above everytime, make rules file in /etc/udev/rules.d/. For example, // $ echo ACTION==\"add\", SUBSYSTEM==\"usb-serial\", DRIVER==\"ftdi_sio\", ATTR{latency_timer}=\"1\" > 99-dynamixelsdk-usb.rules // $ sudo cp ./99-dynamixelsdk-usb.rules /etc/udev/rules.d/ // $ sudo udevadm control --reload-rules // $ sudo udevadm trigger --action=add // $ cat /sys/bus/usb-serial/devices/ttyUSB0/latency_timer // // or if you have another good idea that can be an alternatives, // please give us advice via github issue https://github.com/ROBOTIS-GIT/DynamixelSDK/issues using namespace dynamixel; PortHandlerLinux::PortHandlerLinux(const char *port_name) : socket_fd_(-1), baudrate_(DEFAULT_BAUDRATE_), packet_start_time_(0.0), packet_timeout_(0.0), tx_time_per_byte(0.0) { is_using_ = false; setPortName(port_name); } bool PortHandlerLinux::openPort() { return setBaudRate(baudrate_); } void PortHandlerLinux::closePort() { if(socket_fd_ != -1) close(socket_fd_); socket_fd_ = -1; } void PortHandlerLinux::clearPort() { tcflush(socket_fd_, TCIFLUSH); } void PortHandlerLinux::setPortName(const char *port_name) { strcpy(port_name_, port_name); } char *PortHandlerLinux::getPortName() { return port_name_; } // TODO: baud number ?? bool PortHandlerLinux::setBaudRate(const int baudrate) { int baud = getCFlagBaud(baudrate); closePort(); if(baud <= 0) // custom baudrate { setupPort(B38400); baudrate_ = baudrate; return setCustomBaudrate(baudrate); } else { baudrate_ = baudrate; return setupPort(baud); } } int PortHandlerLinux::getBaudRate() { return baudrate_; } int PortHandlerLinux::getBytesAvailable() { int bytes_available; ioctl(socket_fd_, FIONREAD, &bytes_available); return bytes_available; } int PortHandlerLinux::readPort(uint8_t *packet, int length) { return read(socket_fd_, packet, length); } int PortHandlerLinux::writePort(uint8_t *packet, int length) { return write(socket_fd_, packet, length); } void PortHandlerLinux::setPacketTimeout(uint16_t packet_length) { packet_start_time_ = getCurrentTime(); packet_timeout_ = (tx_time_per_byte * (double)packet_length) + (LATENCY_TIMER * 2.0) + 2.0; } void PortHandlerLinux::setPacketTimeout(double msec) { packet_start_time_ = getCurrentTime(); packet_timeout_ = msec; } bool PortHandlerLinux::isPacketTimeout() { if(getTimeSinceStart() > packet_timeout_) { packet_timeout_ = 0; return true; } return false; } double PortHandlerLinux::getCurrentTime() { struct timespec tv; clock_gettime(CLOCK_REALTIME, &tv); return ((double)tv.tv_sec * 1000.0 + (double)tv.tv_nsec * 0.001 * 0.001); } double PortHandlerLinux::getTimeSinceStart() { double time; time = getCurrentTime() - packet_start_time_; if(time < 0.0) packet_start_time_ = getCurrentTime(); return time; } bool PortHandlerLinux::setupPort(int cflag_baud) { struct termios newtio; socket_fd_ = open(port_name_, O_RDWR|O_NOCTTY|O_NONBLOCK); if(socket_fd_ < 0) { printf("[PortHandlerLinux::SetupPort] Error opening serial port!\n"); return false; } bzero(&newtio, sizeof(newtio)); // clear struct for new port settings newtio.c_cflag = cflag_baud | CS8 | CLOCAL | CREAD; newtio.c_iflag = IGNPAR; newtio.c_oflag = 0; newtio.c_lflag = 0; newtio.c_cc[VTIME] = 0; newtio.c_cc[VMIN] = 0; // clean the buffer and activate the settings for the port tcflush(socket_fd_, TCIFLUSH); tcsetattr(socket_fd_, TCSANOW, &newtio); tx_time_per_byte = (1000.0 / (double)baudrate_) * 10.0; return true; } bool PortHandlerLinux::setCustomBaudrate(int speed) { // try to set a custom divisor struct serial_struct ss; if(ioctl(socket_fd_, TIOCGSERIAL, &ss) != 0) { printf("[PortHandlerLinux::SetCustomBaudrate] TIOCGSERIAL failed!\n"); return false; } ss.flags = (ss.flags & ~ASYNC_SPD_MASK) | ASYNC_SPD_CUST; ss.custom_divisor = (ss.baud_base + (speed / 2)) / speed; int closest_speed = ss.baud_base / ss.custom_divisor; if(closest_speed < speed * 98 / 100 || closest_speed > speed * 102 / 100) { printf("[PortHandlerLinux::SetCustomBaudrate] Cannot set speed to %d, closest is %d \n", speed, closest_speed); return false; } if(ioctl(socket_fd_, TIOCSSERIAL, &ss) < 0) { printf("[PortHandlerLinux::SetCustomBaudrate] TIOCSSERIAL failed!\n"); return false; } tx_time_per_byte = (1000.0 / (double)speed) * 10.0; return true; } int PortHandlerLinux::getCFlagBaud(int baudrate) { switch(baudrate) { case 9600: return B9600; case 19200: return B19200; case 38400: return B38400; case 57600: return B57600; case 115200: return B115200; case 230400: return B230400; case 460800: return B460800; case 500000: return B500000; case 576000: return B576000; case 921600: return B921600; case 1000000: return B1000000; case 1152000: return B1152000; case 1500000: return B1500000; case 2000000: return B2000000; case 2500000: return B2500000; case 3000000: return B3000000; case 3500000: return B3500000; case 4000000: return B4000000; default: return -1; } } #endif ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_mac.cpp ================================================ /******************************************************************************* * Copyright 2017 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ /* Author: Ryu Woon Jung (Leon) */ #if defined(__APPLE__) #include #include #include #include #include #include #include #include #ifdef __MACH__ #include #include #endif #include "port_handler_mac.h" #define LATENCY_TIMER 16 // msec (USB latency timer) // You should adjust the latency timer value. // When you are going to use sync / bulk read, the latency timer should be loosen. // the lower latency timer value, the faster communication speed. // Note: // You can either change its value by following: // http://www.ftdichip.com/Support/Documents/TechnicalNotes/TN_105%20Adding%20Support%20for%20New%20FTDI%20Devices%20to%20Mac%20Driver.pdf using namespace dynamixel; PortHandlerMac::PortHandlerMac(const char *port_name) : socket_fd_(-1), baudrate_(DEFAULT_BAUDRATE_), packet_start_time_(0.0), packet_timeout_(0.0), tx_time_per_byte(0.0) { is_using_ = false; setPortName(port_name); } bool PortHandlerMac::openPort() { return setBaudRate(baudrate_); } void PortHandlerMac::closePort() { if(socket_fd_ != -1) close(socket_fd_); socket_fd_ = -1; } void PortHandlerMac::clearPort() { tcflush(socket_fd_, TCIFLUSH); } void PortHandlerMac::setPortName(const char *port_name) { strcpy(port_name_, port_name); } char *PortHandlerMac::getPortName() { return port_name_; } // TODO: baud number ?? bool PortHandlerMac::setBaudRate(const int baudrate) { int baud = getCFlagBaud(baudrate); closePort(); if(baud <= 0) // custom baudrate { setupPort(B38400); baudrate_ = baudrate; return setCustomBaudrate(baudrate); } else { baudrate_ = baudrate; return setupPort(baud); } } int PortHandlerMac::getBaudRate() { return baudrate_; } int PortHandlerMac::getBytesAvailable() { int bytes_available; ioctl(socket_fd_, FIONREAD, &bytes_available); return bytes_available; } int PortHandlerMac::readPort(uint8_t *packet, int length) { return read(socket_fd_, packet, length); } int PortHandlerMac::writePort(uint8_t *packet, int length) { return write(socket_fd_, packet, length); } void PortHandlerMac::setPacketTimeout(uint16_t packet_length) { packet_start_time_ = getCurrentTime(); packet_timeout_ = (tx_time_per_byte * (double)packet_length) + (LATENCY_TIMER * 2.0) + 2.0; } void PortHandlerMac::setPacketTimeout(double msec) { packet_start_time_ = getCurrentTime(); packet_timeout_ = msec; } bool PortHandlerMac::isPacketTimeout() { if(getTimeSinceStart() > packet_timeout_) { packet_timeout_ = 0; return true; } return false; } double PortHandlerMac::getCurrentTime() { struct timespec tv; #ifdef __MACH__ // OS X does not have clock_gettime, so here uses clock_get_time clock_serv_t cclock; mach_timespec_t mts; host_get_clock_service(mach_host_self(), CALENDAR_CLOCK, &cclock); clock_get_time(cclock, &mts); mach_port_deallocate(mach_task_self(), cclock); tv.tv_sec = mts.tv_sec; tv.tv_nsec = mts.tv_nsec; #else clock_gettime(CLOCK_REALTIME, &tv); #endif return ((double)tv.tv_sec * 1000.0 + (double)tv.tv_nsec * 0.001 * 0.001); } double PortHandlerMac::getTimeSinceStart() { double time; time = getCurrentTime() - packet_start_time_; if(time < 0.0) packet_start_time_ = getCurrentTime(); return time; } bool PortHandlerMac::setupPort(int cflag_baud) { struct termios newtio; socket_fd_ = open(port_name_, O_RDWR|O_NOCTTY|O_NONBLOCK); if(socket_fd_ < 0) { printf("[PortHandlerMac::SetupPort] Error opening serial port!\n"); return false; } bzero(&newtio, sizeof(newtio)); // clear struct for new port settings newtio.c_cflag = CS8 | CLOCAL | CREAD; newtio.c_iflag = IGNPAR; newtio.c_oflag = 0; newtio.c_lflag = 0; newtio.c_cc[VTIME] = 0; newtio.c_cc[VMIN] = 0; cfsetispeed(&newtio, cflag_baud); cfsetospeed(&newtio, cflag_baud); // clean the buffer and activate the settings for the port tcflush(socket_fd_, TCIFLUSH); tcsetattr(socket_fd_, TCSANOW, &newtio); tx_time_per_byte = (1000.0 / (double)baudrate_) * 10.0; return true; } bool PortHandlerMac::setCustomBaudrate(int speed) { printf("[PortHandlerMac::SetCustomBaudrate] Not supported on Mac!\n"); return false; } int PortHandlerMac::getCFlagBaud(int baudrate) { switch(baudrate) { case 9600: return B9600; case 19200: return B19200; case 38400: return B38400; case 57600: return B57600; case 115200: return B115200; case 230400: return B230400; // Mac OS doesn't support over B230400 // case 460800: // return B460800; // case 500000: // return B500000; // case 576000: // return B576000; // case 921600: // return B921600; // case 1000000: // return B1000000; // case 1152000: // return B1152000; // case 1500000: // return B1500000; // case 2000000: // return B2000000; // case 2500000: // return B2500000; // case 3000000: // return B3000000; // case 3500000: // return B3500000; // case 4000000: // return B4000000; default: return -1; } } #endif ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_windows.cpp ================================================ /******************************************************************************* * Copyright 2017 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ /* Author: Ryu Woon Jung (Leon) */ #if defined(_WIN32) || defined(_WIN64) #define WINDLLEXPORT #include "port_handler_windows.h" #include #include #include #define LATENCY_TIMER 16 // msec (USB latency timer) // You should adjust the latency timer value. In Windows, the default latency timer of the usb serial is '16 msec'. // When you are going to use sync / bulk read, the latency timer should be loosen. // the lower latency timer value, the faster communication speed. // Note: // You can either checking or changing its value by: // [Device Manager] -> [Port (COM & LPT)] -> the port you use but starts with COMx-> mouse right click -> properties // -> [port settings] -> [details] -> change response time from 16 to the value you need using namespace dynamixel; PortHandlerWindows::PortHandlerWindows(const char *port_name) : serial_handle_(INVALID_HANDLE_VALUE), baudrate_(DEFAULT_BAUDRATE_), packet_start_time_(0.0), packet_timeout_(0.0), tx_time_per_byte_(0.0) { is_using_ = false; char buffer[15]; sprintf_s(buffer, sizeof(buffer), "\\\\.\\%s", port_name); setPortName(buffer); } bool PortHandlerWindows::openPort() { return setBaudRate(baudrate_); } void PortHandlerWindows::closePort() { if (serial_handle_ != INVALID_HANDLE_VALUE) { CloseHandle(serial_handle_); serial_handle_ = INVALID_HANDLE_VALUE; } } void PortHandlerWindows::clearPort() { PurgeComm(serial_handle_, PURGE_RXABORT | PURGE_RXCLEAR); } void PortHandlerWindows::setPortName(const char *port_name) { strcpy_s(port_name_, sizeof(port_name_), port_name); } char *PortHandlerWindows::getPortName() { return port_name_; } bool PortHandlerWindows::setBaudRate(const int baudrate) { closePort(); baudrate_ = baudrate; return setupPort(baudrate); } int PortHandlerWindows::getBaudRate() { return baudrate_; } int PortHandlerWindows::getBytesAvailable() { DWORD retbyte = 2; BOOL res = DeviceIoControl(serial_handle_, GENERIC_READ | GENERIC_WRITE, NULL, 0, 0, 0, &retbyte, (LPOVERLAPPED)NULL); printf("%d", (int)res); return (int)retbyte; } int PortHandlerWindows::readPort(uint8_t *packet, int length) { DWORD dwRead = 0; if (ReadFile(serial_handle_, packet, (DWORD)length, &dwRead, NULL) == FALSE) return -1; return (int)dwRead; } int PortHandlerWindows::writePort(uint8_t *packet, int length) { DWORD dwWrite = 0; if (WriteFile(serial_handle_, packet, (DWORD)length, &dwWrite, NULL) == FALSE) return -1; return (int)dwWrite; } void PortHandlerWindows::setPacketTimeout(uint16_t packet_length) { packet_start_time_ = getCurrentTime(); packet_timeout_ = (tx_time_per_byte_ * (double)packet_length) + (LATENCY_TIMER * 2.0) + 2.0; } void PortHandlerWindows::setPacketTimeout(double msec) { packet_start_time_ = getCurrentTime(); packet_timeout_ = msec; } bool PortHandlerWindows::isPacketTimeout() { if (getTimeSinceStart() > packet_timeout_) { packet_timeout_ = 0; return true; } return false; } double PortHandlerWindows::getCurrentTime() { QueryPerformanceCounter(&counter_); QueryPerformanceFrequency(&freq_); return (double)counter_.QuadPart / (double)freq_.QuadPart * 1000.0; } double PortHandlerWindows::getTimeSinceStart() { double time; time = getCurrentTime() - packet_start_time_; if (time < 0.0) packet_start_time_ = getCurrentTime(); return time; } bool PortHandlerWindows::setupPort(int baudrate) { DCB dcb; COMMTIMEOUTS timeouts; DWORD dwError; closePort(); serial_handle_ = CreateFileA(port_name_, GENERIC_READ | GENERIC_WRITE, 0, NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, NULL); if (serial_handle_ == INVALID_HANDLE_VALUE) { printf("[PortHandlerWindows::SetupPort] Error opening serial port!\n"); return false; } dcb.DCBlength = sizeof(DCB); if (GetCommState(serial_handle_, &dcb) == FALSE) goto DXL_HAL_OPEN_ERROR; // Set baudrate dcb.BaudRate = (DWORD)baudrate; dcb.ByteSize = 8; // Data bit = 8bit dcb.Parity = NOPARITY; // No parity dcb.StopBits = ONESTOPBIT; // Stop bit = 1 dcb.fParity = NOPARITY; // No Parity check dcb.fBinary = 1; // Binary mode dcb.fNull = 0; // Get Null byte dcb.fAbortOnError = 0; dcb.fErrorChar = 0; // Not using XOn/XOff dcb.fOutX = 0; dcb.fInX = 0; // Not using H/W flow control dcb.fDtrControl = DTR_CONTROL_DISABLE; dcb.fRtsControl = RTS_CONTROL_DISABLE; dcb.fDsrSensitivity = 0; dcb.fOutxDsrFlow = 0; dcb.fOutxCtsFlow = 0; if (SetCommState(serial_handle_, &dcb) == FALSE) goto DXL_HAL_OPEN_ERROR; if (SetCommMask(serial_handle_, 0) == FALSE) // Not using Comm event goto DXL_HAL_OPEN_ERROR; if (SetupComm(serial_handle_, 4096, 4096) == FALSE) // Buffer size (Rx,Tx) goto DXL_HAL_OPEN_ERROR; if (PurgeComm(serial_handle_, PURGE_TXABORT | PURGE_TXCLEAR | PURGE_RXABORT | PURGE_RXCLEAR) == FALSE) // Clear buffer goto DXL_HAL_OPEN_ERROR; if (ClearCommError(serial_handle_, &dwError, NULL) == FALSE) goto DXL_HAL_OPEN_ERROR; if (GetCommTimeouts(serial_handle_, &timeouts) == FALSE) goto DXL_HAL_OPEN_ERROR; // Timeout (Not using timeout) // Immediatly return timeouts.ReadIntervalTimeout = 0; timeouts.ReadTotalTimeoutMultiplier = 0; timeouts.ReadTotalTimeoutConstant = 1; // must not be zero. timeouts.WriteTotalTimeoutMultiplier = 0; timeouts.WriteTotalTimeoutConstant = 0; if (SetCommTimeouts(serial_handle_, &timeouts) == FALSE) goto DXL_HAL_OPEN_ERROR; tx_time_per_byte_ = (1000.0 / (double)baudrate_) * 10.0; return true; DXL_HAL_OPEN_ERROR: closePort(); return false; } #endif ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/protocol1_packet_handler.cpp ================================================ /******************************************************************************* * Copyright 2017 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ /* Author: zerom, Ryu Woon Jung (Leon) */ #if defined(__linux__) #include "protocol1_packet_handler.h" #elif defined(__APPLE__) #include "protocol1_packet_handler.h" #elif defined(_WIN32) || defined(_WIN64) #define WINDLLEXPORT #include "protocol1_packet_handler.h" #elif defined(ARDUINO) || defined(__OPENCR__) || defined(__OPENCM904__) #include "../../include/dynamixel_sdk/protocol1_packet_handler.h" #endif #include #include #define TXPACKET_MAX_LEN (250) #define RXPACKET_MAX_LEN (250) ///////////////// for Protocol 1.0 Packet ///////////////// #define PKT_HEADER0 0 #define PKT_HEADER1 1 #define PKT_ID 2 #define PKT_LENGTH 3 #define PKT_INSTRUCTION 4 #define PKT_ERROR 4 #define PKT_PARAMETER0 5 ///////////////// Protocol 1.0 Error bit ///////////////// #define ERRBIT_VOLTAGE 1 // Supplied voltage is out of the range (operating volatage set in the control table) #define ERRBIT_ANGLE 2 // Goal position is written out of the range (from CW angle limit to CCW angle limit) #define ERRBIT_OVERHEAT 4 // Temperature is out of the range (operating temperature set in the control table) #define ERRBIT_RANGE 8 // Command(setting value) is out of the range for use. #define ERRBIT_CHECKSUM 16 // Instruction packet checksum is incorrect. #define ERRBIT_OVERLOAD 32 // The current load cannot be controlled by the set torque. #define ERRBIT_INSTRUCTION 64 // Undefined instruction or delivering the action command without the reg_write command. using namespace dynamixel; Protocol1PacketHandler *Protocol1PacketHandler::unique_instance_ = new Protocol1PacketHandler(); Protocol1PacketHandler::Protocol1PacketHandler() { } const char *Protocol1PacketHandler::getTxRxResult(int result) { switch(result) { case COMM_SUCCESS: return "[TxRxResult] Communication success."; case COMM_PORT_BUSY: return "[TxRxResult] Port is in use!"; case COMM_TX_FAIL: return "[TxRxResult] Failed transmit instruction packet!"; case COMM_RX_FAIL: return "[TxRxResult] Failed get status packet from device!"; case COMM_TX_ERROR: return "[TxRxResult] Incorrect instruction packet!"; case COMM_RX_WAITING: return "[TxRxResult] Now recieving status packet!"; case COMM_RX_TIMEOUT: return "[TxRxResult] There is no status packet!"; case COMM_RX_CORRUPT: return "[TxRxResult] Incorrect status packet!"; case COMM_NOT_AVAILABLE: return "[TxRxResult] Protocol does not support This function!"; default: return ""; } } const char *Protocol1PacketHandler::getRxPacketError(uint8_t error) { if (error & ERRBIT_VOLTAGE) return "[RxPacketError] Input voltage error!"; if (error & ERRBIT_ANGLE) return "[RxPacketError] Angle limit error!"; if (error & ERRBIT_OVERHEAT) return "[RxPacketError] Overheat error!"; if (error & ERRBIT_RANGE) return "[RxPacketError] Out of range error!"; if (error & ERRBIT_CHECKSUM) return "[RxPacketError] Checksum error!"; if (error & ERRBIT_OVERLOAD) return "[RxPacketError] Overload error!"; if (error & ERRBIT_INSTRUCTION) return "[RxPacketError] Instruction code error!"; return ""; } int Protocol1PacketHandler::txPacket(PortHandler *port, uint8_t *txpacket) { uint8_t checksum = 0; uint8_t total_packet_length = txpacket[PKT_LENGTH] + 4; // 4: HEADER0 HEADER1 ID LENGTH uint8_t written_packet_length = 0; if (port->is_using_) return COMM_PORT_BUSY; port->is_using_ = true; // check max packet length if (total_packet_length > TXPACKET_MAX_LEN) { port->is_using_ = false; return COMM_TX_ERROR; } // make packet header txpacket[PKT_HEADER0] = 0xFF; txpacket[PKT_HEADER1] = 0xFF; // add a checksum to the packet for (uint16_t idx = 2; idx < total_packet_length - 1; idx++) // except header, checksum checksum += txpacket[idx]; txpacket[total_packet_length - 1] = ~checksum; // tx packet port->clearPort(); written_packet_length = port->writePort(txpacket, total_packet_length); if (total_packet_length != written_packet_length) { port->is_using_ = false; return COMM_TX_FAIL; } return COMM_SUCCESS; } int Protocol1PacketHandler::rxPacket(PortHandler *port, uint8_t *rxpacket) { int result = COMM_TX_FAIL; uint8_t checksum = 0; uint8_t rx_length = 0; uint8_t wait_length = 6; // minimum length (HEADER0 HEADER1 ID LENGTH ERROR CHKSUM) while(true) { rx_length += port->readPort(&rxpacket[rx_length], wait_length - rx_length); if (rx_length >= wait_length) { uint8_t idx = 0; // find packet header for (idx = 0; idx < (rx_length - 1); idx++) { if (rxpacket[idx] == 0xFF && rxpacket[idx+1] == 0xFF) break; } if (idx == 0) // found at the beginning of the packet { if (rxpacket[PKT_ID] > 0xFD || // unavailable ID rxpacket[PKT_LENGTH] > RXPACKET_MAX_LEN || // unavailable Length rxpacket[PKT_ERROR] > 0x7F) // unavailable Error { // remove the first byte in the packet for (uint16_t s = 0; s < rx_length - 1; s++) rxpacket[s] = rxpacket[1 + s]; //memcpy(&rxpacket[0], &rxpacket[idx], rx_length - idx); rx_length -= 1; continue; } // re-calculate the exact length of the rx packet if (wait_length != rxpacket[PKT_LENGTH] + PKT_LENGTH + 1) { wait_length = rxpacket[PKT_LENGTH] + PKT_LENGTH + 1; continue; } if (rx_length < wait_length) { // check timeout if (port->isPacketTimeout() == true) { if (rx_length == 0) { result = COMM_RX_TIMEOUT; } else { result = COMM_RX_CORRUPT; } break; } else { continue; } } // calculate checksum for (uint16_t i = 2; i < wait_length - 1; i++) // except header, checksum checksum += rxpacket[i]; checksum = ~checksum; // verify checksum if (rxpacket[wait_length - 1] == checksum) { result = COMM_SUCCESS; } else { result = COMM_RX_CORRUPT; } break; } else { // remove unnecessary packets for (uint16_t s = 0; s < rx_length - idx; s++) rxpacket[s] = rxpacket[idx + s]; //memcpy(&rxpacket[0], &rxpacket[idx], rx_length - idx); rx_length -= idx; } } else { // check timeout if (port->isPacketTimeout() == true) { if (rx_length == 0) { result = COMM_RX_TIMEOUT; } else { result = COMM_RX_CORRUPT; } break; } } } port->is_using_ = false; return result; } // NOT for BulkRead instruction int Protocol1PacketHandler::txRxPacket(PortHandler *port, uint8_t *txpacket, uint8_t *rxpacket, uint8_t *error) { int result = COMM_TX_FAIL; // tx packet result = txPacket(port, txpacket); if (result != COMM_SUCCESS) return result; // (Instruction == BulkRead) == this function is not available. if(txpacket[PKT_INSTRUCTION] == INST_BULK_READ) result = COMM_NOT_AVAILABLE; // (ID == Broadcast ID) == no need to wait for status packet or not available // (Instruction == action) == no need to wait for status packet if (txpacket[PKT_ID] == BROADCAST_ID || txpacket[PKT_INSTRUCTION] == INST_ACTION) { port->is_using_ = false; return result; } // set packet timeout if (txpacket[PKT_INSTRUCTION] == INST_READ) { port->setPacketTimeout((uint16_t)(txpacket[PKT_PARAMETER0+1] + 6)); } else { port->setPacketTimeout((uint16_t)6); // HEADER0 HEADER1 ID LENGTH ERROR CHECKSUM } // rx packet do { result = rxPacket(port, rxpacket); } while (result == COMM_SUCCESS && txpacket[PKT_ID] != rxpacket[PKT_ID]); if (result == COMM_SUCCESS && txpacket[PKT_ID] == rxpacket[PKT_ID]) { if (error != 0) *error = (uint8_t)rxpacket[PKT_ERROR]; } return result; } int Protocol1PacketHandler::ping(PortHandler *port, uint8_t id, uint8_t *error) { return ping(port, id, 0, error); } int Protocol1PacketHandler::ping(PortHandler *port, uint8_t id, uint16_t *model_number, uint8_t *error) { int result = COMM_TX_FAIL; uint8_t txpacket[6] = {0}; uint8_t rxpacket[6] = {0}; if (id >= BROADCAST_ID) return COMM_NOT_AVAILABLE; txpacket[PKT_ID] = id; txpacket[PKT_LENGTH] = 2; txpacket[PKT_INSTRUCTION] = INST_PING; result = txRxPacket(port, txpacket, rxpacket, error); if (result == COMM_SUCCESS && model_number != 0) { uint8_t data_read[2] = {0}; result = readTxRx(port, id, 0, 2, data_read); // Address 0 : Model Number if (result == COMM_SUCCESS) *model_number = DXL_MAKEWORD(data_read[0], data_read[1]); } return result; } int Protocol1PacketHandler::broadcastPing(PortHandler *port, std::vector &id_list) { return COMM_NOT_AVAILABLE; } int Protocol1PacketHandler::action(PortHandler *port, uint8_t id) { uint8_t txpacket[6] = {0}; txpacket[PKT_ID] = id; txpacket[PKT_LENGTH] = 2; txpacket[PKT_INSTRUCTION] = INST_ACTION; return txRxPacket(port, txpacket, 0); } int Protocol1PacketHandler::reboot(PortHandler *port, uint8_t id, uint8_t *error) { return COMM_NOT_AVAILABLE; } int Protocol1PacketHandler::clearMultiTurn(PortHandler *port, uint8_t id, uint8_t *error) { return COMM_NOT_AVAILABLE; } int Protocol1PacketHandler::factoryReset(PortHandler *port, uint8_t id, uint8_t option, uint8_t *error) { uint8_t txpacket[6] = {0}; uint8_t rxpacket[6] = {0}; txpacket[PKT_ID] = id; txpacket[PKT_LENGTH] = 2; txpacket[PKT_INSTRUCTION] = INST_FACTORY_RESET; return txRxPacket(port, txpacket, rxpacket, error); } int Protocol1PacketHandler::readTx(PortHandler *port, uint8_t id, uint16_t address, uint16_t length) { int result = COMM_TX_FAIL; uint8_t txpacket[8] = {0}; if (id >= BROADCAST_ID) return COMM_NOT_AVAILABLE; txpacket[PKT_ID] = id; txpacket[PKT_LENGTH] = 4; txpacket[PKT_INSTRUCTION] = INST_READ; txpacket[PKT_PARAMETER0+0] = (uint8_t)address; txpacket[PKT_PARAMETER0+1] = (uint8_t)length; result = txPacket(port, txpacket); // set packet timeout if (result == COMM_SUCCESS) port->setPacketTimeout((uint16_t)(length+6)); return result; } int Protocol1PacketHandler::readRx(PortHandler *port, uint8_t id, uint16_t length, uint8_t *data, uint8_t *error) { int result = COMM_TX_FAIL; uint8_t *rxpacket = (uint8_t *)malloc(RXPACKET_MAX_LEN); //(length+6); //uint8_t *rxpacket = new uint8_t[length+6]; do { result = rxPacket(port, rxpacket); } while (result == COMM_SUCCESS && rxpacket[PKT_ID] != id); if (result == COMM_SUCCESS && rxpacket[PKT_ID] == id) { if (error != 0) { *error = (uint8_t)rxpacket[PKT_ERROR]; } for (uint16_t s = 0; s < length; s++) { data[s] = rxpacket[PKT_PARAMETER0 + s]; } //memcpy(data, &rxpacket[PKT_PARAMETER0], length); } free(rxpacket); //delete[] rxpacket; return result; } int Protocol1PacketHandler::readTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error) { int result = COMM_TX_FAIL; uint8_t txpacket[8] = {0}; uint8_t *rxpacket = (uint8_t *)malloc(RXPACKET_MAX_LEN);//(length+6); if (id >= BROADCAST_ID) return COMM_NOT_AVAILABLE; txpacket[PKT_ID] = id; txpacket[PKT_LENGTH] = 4; txpacket[PKT_INSTRUCTION] = INST_READ; txpacket[PKT_PARAMETER0+0] = (uint8_t)address; txpacket[PKT_PARAMETER0+1] = (uint8_t)length; result = txRxPacket(port, txpacket, rxpacket, error); if (result == COMM_SUCCESS) { if (error != 0) { *error = (uint8_t)rxpacket[PKT_ERROR]; } for (uint16_t s = 0; s < length; s++) { data[s] = rxpacket[PKT_PARAMETER0 + s]; } //memcpy(data, &rxpacket[PKT_PARAMETER0], length); } free(rxpacket); //delete[] rxpacket; return result; } int Protocol1PacketHandler::read1ByteTx(PortHandler *port, uint8_t id, uint16_t address) { return readTx(port, id, address, 1); } int Protocol1PacketHandler::read1ByteRx(PortHandler *port, uint8_t id, uint8_t *data, uint8_t *error) { uint8_t data_read[1] = {0}; int result = readRx(port, id, 1, data_read, error); if (result == COMM_SUCCESS) *data = data_read[0]; return result; } int Protocol1PacketHandler::read1ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint8_t *data, uint8_t *error) { uint8_t data_read[1] = {0}; int result = readTxRx(port, id, address, 1, data_read, error); if (result == COMM_SUCCESS) *data = data_read[0]; return result; } int Protocol1PacketHandler::read2ByteTx(PortHandler *port, uint8_t id, uint16_t address) { return readTx(port, id, address, 2); } int Protocol1PacketHandler::read2ByteRx(PortHandler *port, uint8_t id, uint16_t *data, uint8_t *error) { uint8_t data_read[2] = {0}; int result = readRx(port, id, 2, data_read, error); if (result == COMM_SUCCESS) *data = DXL_MAKEWORD(data_read[0], data_read[1]); return result; } int Protocol1PacketHandler::read2ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t *data, uint8_t *error) { uint8_t data_read[2] = {0}; int result = readTxRx(port, id, address, 2, data_read, error); if (result == COMM_SUCCESS) *data = DXL_MAKEWORD(data_read[0], data_read[1]); return result; } int Protocol1PacketHandler::read4ByteTx(PortHandler *port, uint8_t id, uint16_t address) { return readTx(port, id, address, 4); } int Protocol1PacketHandler::read4ByteRx(PortHandler *port, uint8_t id, uint32_t *data, uint8_t *error) { uint8_t data_read[4] = {0}; int result = readRx(port, id, 4, data_read, error); if (result == COMM_SUCCESS) *data = DXL_MAKEDWORD(DXL_MAKEWORD(data_read[0], data_read[1]), DXL_MAKEWORD(data_read[2], data_read[3])); return result; } int Protocol1PacketHandler::read4ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint32_t *data, uint8_t *error) { uint8_t data_read[4] = {0}; int result = readTxRx(port, id, address, 4, data_read, error); if (result == COMM_SUCCESS) *data = DXL_MAKEDWORD(DXL_MAKEWORD(data_read[0], data_read[1]), DXL_MAKEWORD(data_read[2], data_read[3])); return result; } int Protocol1PacketHandler::writeTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data) { int result = COMM_TX_FAIL; uint8_t *txpacket = (uint8_t *)malloc(length+7); //uint8_t *txpacket = new uint8_t[length+7]; txpacket[PKT_ID] = id; txpacket[PKT_LENGTH] = length+3; txpacket[PKT_INSTRUCTION] = INST_WRITE; txpacket[PKT_PARAMETER0] = (uint8_t)address; for (uint16_t s = 0; s < length; s++) txpacket[PKT_PARAMETER0+1+s] = data[s]; //memcpy(&txpacket[PKT_PARAMETER0+1], data, length); result = txPacket(port, txpacket); port->is_using_ = false; free(txpacket); //delete[] txpacket; return result; } int Protocol1PacketHandler::writeTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error) { int result = COMM_TX_FAIL; uint8_t *txpacket = (uint8_t *)malloc(length+7); //#6->7 //uint8_t *txpacket = new uint8_t[length+7]; uint8_t rxpacket[6] = {0}; txpacket[PKT_ID] = id; txpacket[PKT_LENGTH] = length+3; txpacket[PKT_INSTRUCTION] = INST_WRITE; txpacket[PKT_PARAMETER0] = (uint8_t)address; for (uint16_t s = 0; s < length; s++) txpacket[PKT_PARAMETER0+1+s] = data[s]; //memcpy(&txpacket[PKT_PARAMETER0+1], data, length); result = txRxPacket(port, txpacket, rxpacket, error); free(txpacket); //delete[] txpacket; return result; } int Protocol1PacketHandler::write1ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint8_t data) { uint8_t data_write[1] = { data }; return writeTxOnly(port, id, address, 1, data_write); } int Protocol1PacketHandler::write1ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint8_t data, uint8_t *error) { uint8_t data_write[1] = { data }; return writeTxRx(port, id, address, 1, data_write, error); } int Protocol1PacketHandler::write2ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t data) { uint8_t data_write[2] = { DXL_LOBYTE(data), DXL_HIBYTE(data) }; return writeTxOnly(port, id, address, 2, data_write); } int Protocol1PacketHandler::write2ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t data, uint8_t *error) { uint8_t data_write[2] = { DXL_LOBYTE(data), DXL_HIBYTE(data) }; return writeTxRx(port, id, address, 2, data_write, error); } int Protocol1PacketHandler::write4ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint32_t data) { uint8_t data_write[4] = { DXL_LOBYTE(DXL_LOWORD(data)), DXL_HIBYTE(DXL_LOWORD(data)), DXL_LOBYTE(DXL_HIWORD(data)), DXL_HIBYTE(DXL_HIWORD(data)) }; return writeTxOnly(port, id, address, 4, data_write); } int Protocol1PacketHandler::write4ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint32_t data, uint8_t *error) { uint8_t data_write[4] = { DXL_LOBYTE(DXL_LOWORD(data)), DXL_HIBYTE(DXL_LOWORD(data)), DXL_LOBYTE(DXL_HIWORD(data)), DXL_HIBYTE(DXL_HIWORD(data)) }; return writeTxRx(port, id, address, 4, data_write, error); } int Protocol1PacketHandler::regWriteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data) { int result = COMM_TX_FAIL; uint8_t *txpacket = (uint8_t *)malloc(length+6); //uint8_t *txpacket = new uint8_t[length+6]; txpacket[PKT_ID] = id; txpacket[PKT_LENGTH] = length+3; txpacket[PKT_INSTRUCTION] = INST_REG_WRITE; txpacket[PKT_PARAMETER0] = (uint8_t)address; for (uint16_t s = 0; s < length; s++) txpacket[PKT_PARAMETER0+1+s] = data[s]; //memcpy(&txpacket[PKT_PARAMETER0+1], data, length); result = txPacket(port, txpacket); port->is_using_ = false; free(txpacket); //delete[] txpacket; return result; } int Protocol1PacketHandler::regWriteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error) { int result = COMM_TX_FAIL; uint8_t *txpacket = (uint8_t *)malloc(length+6); //uint8_t *txpacket = new uint8_t[length+6]; uint8_t rxpacket[6] = {0}; txpacket[PKT_ID] = id; txpacket[PKT_LENGTH] = length+3; txpacket[PKT_INSTRUCTION] = INST_REG_WRITE; txpacket[PKT_PARAMETER0] = (uint8_t)address; for (uint16_t s = 0; s < length; s++) txpacket[PKT_PARAMETER0+1+s] = data[s]; //memcpy(&txpacket[PKT_PARAMETER0+1], data, length); result = txRxPacket(port, txpacket, rxpacket, error); free(txpacket); //delete[] txpacket; return result; } int Protocol1PacketHandler::syncReadTx(PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length) { return COMM_NOT_AVAILABLE; } int Protocol1PacketHandler::syncWriteTxOnly(PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length) { int result = COMM_TX_FAIL; uint8_t *txpacket = (uint8_t *)malloc(param_length+8); // 8: HEADER0 HEADER1 ID LEN INST START_ADDR DATA_LEN ... CHKSUM //uint8_t *txpacket = new uint8_t[param_length + 8]; txpacket[PKT_ID] = BROADCAST_ID; txpacket[PKT_LENGTH] = param_length + 4; // 4: INST START_ADDR DATA_LEN ... CHKSUM txpacket[PKT_INSTRUCTION] = INST_SYNC_WRITE; txpacket[PKT_PARAMETER0+0] = start_address; txpacket[PKT_PARAMETER0+1] = data_length; for (uint16_t s = 0; s < param_length; s++) txpacket[PKT_PARAMETER0+2+s] = param[s]; //memcpy(&txpacket[PKT_PARAMETER0+2], param, param_length); result = txRxPacket(port, txpacket, 0, 0); free(txpacket); //delete[] txpacket; return result; } int Protocol1PacketHandler::bulkReadTx(PortHandler *port, uint8_t *param, uint16_t param_length) { int result = COMM_TX_FAIL; uint8_t *txpacket = (uint8_t *)malloc(param_length+7); // 7: HEADER0 HEADER1 ID LEN INST 0x00 ... CHKSUM //uint8_t *txpacket = new uint8_t[param_length + 7]; txpacket[PKT_ID] = BROADCAST_ID; txpacket[PKT_LENGTH] = param_length + 3; // 3: INST 0x00 ... CHKSUM txpacket[PKT_INSTRUCTION] = INST_BULK_READ; txpacket[PKT_PARAMETER0+0] = 0x00; for (uint16_t s = 0; s < param_length; s++) txpacket[PKT_PARAMETER0+1+s] = param[s]; //memcpy(&txpacket[PKT_PARAMETER0+1], param, param_length); result = txPacket(port, txpacket); if (result == COMM_SUCCESS) { int wait_length = 0; for (uint16_t i = 0; i < param_length; i += 3) wait_length += param[i] + 7; port->setPacketTimeout((uint16_t)wait_length); } free(txpacket); //delete[] txpacket; return result; } int Protocol1PacketHandler::bulkWriteTxOnly(PortHandler *port, uint8_t *param, uint16_t param_length) { return COMM_NOT_AVAILABLE; } ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/protocol2_packet_handler.cpp ================================================ /******************************************************************************* * Copyright 2017 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ /* Author: zerom, Ryu Woon Jung (Leon) */ #if defined(__linux__) #include #include "protocol2_packet_handler.h" #elif defined(__APPLE__) #include #include "protocol2_packet_handler.h" #elif defined(_WIN32) || defined(_WIN64) #define WINDLLEXPORT #include #include "protocol2_packet_handler.h" #elif defined(ARDUINO) || defined(__OPENCR__) || defined(__OPENCM904__) #include "../../include/dynamixel_sdk/protocol2_packet_handler.h" #endif #include #include #include #define TXPACKET_MAX_LEN (1*1024) #define RXPACKET_MAX_LEN (1*1024) ///////////////// for Protocol 2.0 Packet ///////////////// #define PKT_HEADER0 0 #define PKT_HEADER1 1 #define PKT_HEADER2 2 #define PKT_RESERVED 3 #define PKT_ID 4 #define PKT_LENGTH_L 5 #define PKT_LENGTH_H 6 #define PKT_INSTRUCTION 7 #define PKT_ERROR 8 #define PKT_PARAMETER0 8 ///////////////// Protocol 2.0 Error bit ///////////////// #define ERRNUM_RESULT_FAIL 1 // Failed to process the instruction packet. #define ERRNUM_INSTRUCTION 2 // Instruction error #define ERRNUM_CRC 3 // CRC check error #define ERRNUM_DATA_RANGE 4 // Data range error #define ERRNUM_DATA_LENGTH 5 // Data length error #define ERRNUM_DATA_LIMIT 6 // Data limit error #define ERRNUM_ACCESS 7 // Access error #define ERRBIT_ALERT 128 //When the device has a problem, this bit is set to 1. Check "Device Status Check" value. using namespace dynamixel; Protocol2PacketHandler *Protocol2PacketHandler::unique_instance_ = new Protocol2PacketHandler(); Protocol2PacketHandler::Protocol2PacketHandler() { } const char *Protocol2PacketHandler::getTxRxResult(int result) { switch(result) { case COMM_SUCCESS: return "[TxRxResult] Communication success."; case COMM_PORT_BUSY: return "[TxRxResult] Port is in use!"; case COMM_TX_FAIL: return "[TxRxResult] Failed transmit instruction packet!"; case COMM_RX_FAIL: return "[TxRxResult] Failed get status packet from device!"; case COMM_TX_ERROR: return "[TxRxResult] Incorrect instruction packet!"; case COMM_RX_WAITING: return "[TxRxResult] Now recieving status packet!"; case COMM_RX_TIMEOUT: return "[TxRxResult] There is no status packet!"; case COMM_RX_CORRUPT: return "[TxRxResult] Incorrect status packet!"; case COMM_NOT_AVAILABLE: return "[TxRxResult] Protocol does not support This function!"; default: return ""; } } const char *Protocol2PacketHandler::getRxPacketError(uint8_t error) { if (error & ERRBIT_ALERT) return "[RxPacketError] Hardware error occurred. Check the error at Control Table (Hardware Error Status)!"; int not_alert_error = error & ~ERRBIT_ALERT; switch(not_alert_error) { case 0: return ""; case ERRNUM_RESULT_FAIL: return "[RxPacketError] Failed to process the instruction packet!"; case ERRNUM_INSTRUCTION: return "[RxPacketError] Undefined instruction or incorrect instruction!"; case ERRNUM_CRC: return "[RxPacketError] CRC doesn't match!"; case ERRNUM_DATA_RANGE: return "[RxPacketError] The data value is out of range!"; case ERRNUM_DATA_LENGTH: return "[RxPacketError] The data length does not match as expected!"; case ERRNUM_DATA_LIMIT: return "[RxPacketError] The data value exceeds the limit value!"; case ERRNUM_ACCESS: return "[RxPacketError] Writing or Reading is not available to target address!"; default: return "[RxPacketError] Unknown error code!"; } } unsigned short Protocol2PacketHandler::updateCRC(uint16_t crc_accum, uint8_t *data_blk_ptr, uint16_t data_blk_size) { uint16_t i; static const uint16_t crc_table[256] = {0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011, 0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D, 0x8027, 0x0022, 0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D, 0x8077, 0x0072, 0x0050, 0x8055, 0x805F, 0x005A, 0x804B, 0x004E, 0x0044, 0x8041, 0x80C3, 0x00C6, 0x00CC, 0x80C9, 0x00D8, 0x80DD, 0x80D7, 0x00D2, 0x00F0, 0x80F5, 0x80FF, 0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1, 0x00A0, 0x80A5, 0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1, 0x8093, 0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087, 0x0082, 0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, 0x8197, 0x0192, 0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB, 0x01AE, 0x01A4, 0x81A1, 0x01E0, 0x81E5, 0x81EF, 0x01EA, 0x81FB, 0x01FE, 0x01F4, 0x81F1, 0x81D3, 0x01D6, 0x01DC, 0x81D9, 0x01C8, 0x81CD, 0x81C7, 0x01C2, 0x0140, 0x8145, 0x814F, 0x014A, 0x815B, 0x015E, 0x0154, 0x8151, 0x8173, 0x0176, 0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162, 0x8123, 0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137, 0x0132, 0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E, 0x0104, 0x8101, 0x8303, 0x0306, 0x030C, 0x8309, 0x0318, 0x831D, 0x8317, 0x0312, 0x0330, 0x8335, 0x833F, 0x033A, 0x832B, 0x032E, 0x0324, 0x8321, 0x0360, 0x8365, 0x836F, 0x036A, 0x837B, 0x037E, 0x0374, 0x8371, 0x8353, 0x0356, 0x035C, 0x8359, 0x0348, 0x834D, 0x8347, 0x0342, 0x03C0, 0x83C5, 0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1, 0x83F3, 0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2, 0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD, 0x83B7, 0x03B2, 0x0390, 0x8395, 0x839F, 0x039A, 0x838B, 0x038E, 0x0384, 0x8381, 0x0280, 0x8285, 0x828F, 0x028A, 0x829B, 0x029E, 0x0294, 0x8291, 0x82B3, 0x02B6, 0x02BC, 0x82B9, 0x02A8, 0x82AD, 0x82A7, 0x02A2, 0x82E3, 0x02E6, 0x02EC, 0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2, 0x02D0, 0x82D5, 0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1, 0x8243, 0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257, 0x0252, 0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, 0x0264, 0x8261, 0x0220, 0x8225, 0x822F, 0x022A, 0x823B, 0x023E, 0x0234, 0x8231, 0x8213, 0x0216, 0x021C, 0x8219, 0x0208, 0x820D, 0x8207, 0x0202 }; for (uint16_t j = 0; j < data_blk_size; j++) { i = ((uint16_t)(crc_accum >> 8) ^ *data_blk_ptr++) & 0xFF; crc_accum = (crc_accum << 8) ^ crc_table[i]; } return crc_accum; } void Protocol2PacketHandler::addStuffing(uint8_t *packet) { int packet_length_in = DXL_MAKEWORD(packet[PKT_LENGTH_L], packet[PKT_LENGTH_H]); int packet_length_out = packet_length_in; if (packet_length_in < 8) // INSTRUCTION, ADDR_L, ADDR_H, CRC16_L, CRC16_H + FF FF FD return; uint8_t *packet_ptr; uint16_t packet_length_before_crc = packet_length_in - 2; for (uint16_t i = 3; i < packet_length_before_crc; i++) { packet_ptr = &packet[i+PKT_INSTRUCTION-2]; if (packet_ptr[0] == 0xFF && packet_ptr[1] == 0xFF && packet_ptr[2] == 0xFD) packet_length_out++; } if (packet_length_in == packet_length_out) // no stuffing required return; uint16_t out_index = packet_length_out + 6 - 2; // last index before crc uint16_t in_index = packet_length_in + 6 - 2; // last index before crc while (out_index != in_index) { if (packet[in_index] == 0xFD && packet[in_index-1] == 0xFF && packet[in_index-2] == 0xFF) { packet[out_index--] = 0xFD; // byte stuffing if (out_index != in_index) { packet[out_index--] = packet[in_index--]; // FD packet[out_index--] = packet[in_index--]; // FF packet[out_index--] = packet[in_index--]; // FF } } else { packet[out_index--] = packet[in_index--]; } } packet[PKT_LENGTH_L] = DXL_LOBYTE(packet_length_out); packet[PKT_LENGTH_H] = DXL_HIBYTE(packet_length_out); return; } void Protocol2PacketHandler::removeStuffing(uint8_t *packet) { int i = 0, index = 0; int packet_length_in = DXL_MAKEWORD(packet[PKT_LENGTH_L], packet[PKT_LENGTH_H]); int packet_length_out = packet_length_in; index = PKT_INSTRUCTION; for (i = 0; i < packet_length_in - 2; i++) // except CRC { if (packet[i+PKT_INSTRUCTION] == 0xFD && packet[i+PKT_INSTRUCTION+1] == 0xFD && packet[i+PKT_INSTRUCTION-1] == 0xFF && packet[i+PKT_INSTRUCTION-2] == 0xFF) { // FF FF FD FD packet_length_out--; i++; } packet[index++] = packet[i+PKT_INSTRUCTION]; } packet[index++] = packet[PKT_INSTRUCTION+packet_length_in-2]; packet[index++] = packet[PKT_INSTRUCTION+packet_length_in-1]; packet[PKT_LENGTH_L] = DXL_LOBYTE(packet_length_out); packet[PKT_LENGTH_H] = DXL_HIBYTE(packet_length_out); } int Protocol2PacketHandler::txPacket(PortHandler *port, uint8_t *txpacket) { uint16_t total_packet_length = 0; uint16_t written_packet_length = 0; if (port->is_using_) return COMM_PORT_BUSY; port->is_using_ = true; // byte stuffing for header addStuffing(txpacket); // check max packet length total_packet_length = DXL_MAKEWORD(txpacket[PKT_LENGTH_L], txpacket[PKT_LENGTH_H]) + 7; // 7: HEADER0 HEADER1 HEADER2 RESERVED ID LENGTH_L LENGTH_H if (total_packet_length > TXPACKET_MAX_LEN) { port->is_using_ = false; return COMM_TX_ERROR; } // make packet header txpacket[PKT_HEADER0] = 0xFF; txpacket[PKT_HEADER1] = 0xFF; txpacket[PKT_HEADER2] = 0xFD; txpacket[PKT_RESERVED] = 0x00; // add CRC16 uint16_t crc = updateCRC(0, txpacket, total_packet_length - 2); // 2: CRC16 txpacket[total_packet_length - 2] = DXL_LOBYTE(crc); txpacket[total_packet_length - 1] = DXL_HIBYTE(crc); // tx packet port->clearPort(); written_packet_length = port->writePort(txpacket, total_packet_length); if (total_packet_length != written_packet_length) { port->is_using_ = false; return COMM_TX_FAIL; } return COMM_SUCCESS; } int Protocol2PacketHandler::rxPacket(PortHandler *port, uint8_t *rxpacket) { int result = COMM_TX_FAIL; uint16_t rx_length = 0; uint16_t wait_length = 11; // minimum length (HEADER0 HEADER1 HEADER2 RESERVED ID LENGTH_L LENGTH_H INST ERROR CRC16_L CRC16_H) while(true) { rx_length += port->readPort(&rxpacket[rx_length], wait_length - rx_length); if (rx_length >= wait_length) { uint16_t idx = 0; // find packet header for (idx = 0; idx < (rx_length - 3); idx++) { if ((rxpacket[idx] == 0xFF) && (rxpacket[idx+1] == 0xFF) && (rxpacket[idx+2] == 0xFD) && (rxpacket[idx+3] != 0xFD)) break; } if (idx == 0) // found at the beginning of the packet { if (rxpacket[PKT_RESERVED] != 0x00 || rxpacket[PKT_ID] > 0xFC || DXL_MAKEWORD(rxpacket[PKT_LENGTH_L], rxpacket[PKT_LENGTH_H]) > RXPACKET_MAX_LEN || rxpacket[PKT_INSTRUCTION] != 0x55) { // remove the first byte in the packet for (uint16_t s = 0; s < rx_length - 1; s++) rxpacket[s] = rxpacket[1 + s]; //memcpy(&rxpacket[0], &rxpacket[idx], rx_length - idx); rx_length -= 1; continue; } // re-calculate the exact length of the rx packet if (wait_length != DXL_MAKEWORD(rxpacket[PKT_LENGTH_L], rxpacket[PKT_LENGTH_H]) + PKT_LENGTH_H + 1) { wait_length = DXL_MAKEWORD(rxpacket[PKT_LENGTH_L], rxpacket[PKT_LENGTH_H]) + PKT_LENGTH_H + 1; continue; } if (rx_length < wait_length) { // check timeout if (port->isPacketTimeout() == true) { if (rx_length == 0) { result = COMM_RX_TIMEOUT; } else { result = COMM_RX_CORRUPT; } break; } else { continue; } } // verify CRC16 uint16_t crc = DXL_MAKEWORD(rxpacket[wait_length-2], rxpacket[wait_length-1]); if (updateCRC(0, rxpacket, wait_length - 2) == crc) { result = COMM_SUCCESS; } else { result = COMM_RX_CORRUPT; } break; } else { // remove unnecessary packets for (uint16_t s = 0; s < rx_length - idx; s++) rxpacket[s] = rxpacket[idx + s]; //memcpy(&rxpacket[0], &rxpacket[idx], rx_length - idx); rx_length -= idx; } } else { // check timeout if (port->isPacketTimeout() == true) { if (rx_length == 0) { result = COMM_RX_TIMEOUT; } else { result = COMM_RX_CORRUPT; } break; } } #if defined(__linux__) || defined(__APPLE__) usleep(0); #elif defined(_WIN32) || defined(_WIN64) Sleep(0); #endif } port->is_using_ = false; if (result == COMM_SUCCESS) removeStuffing(rxpacket); return result; } // NOT for BulkRead / SyncRead instruction int Protocol2PacketHandler::txRxPacket(PortHandler *port, uint8_t *txpacket, uint8_t *rxpacket, uint8_t *error) { int result = COMM_TX_FAIL; // tx packet result = txPacket(port, txpacket); if (result != COMM_SUCCESS) return result; // (Instruction == BulkRead or SyncRead) == this function is not available. if (txpacket[PKT_INSTRUCTION] == INST_BULK_READ || txpacket[PKT_INSTRUCTION] == INST_SYNC_READ) result = COMM_NOT_AVAILABLE; // (ID == Broadcast ID) == no need to wait for status packet or not available. // (Instruction == action) == no need to wait for status packet if (txpacket[PKT_ID] == BROADCAST_ID || txpacket[PKT_INSTRUCTION] == INST_ACTION) { port->is_using_ = false; return result; } // set packet timeout if (txpacket[PKT_INSTRUCTION] == INST_READ) { port->setPacketTimeout((uint16_t)(DXL_MAKEWORD(txpacket[PKT_PARAMETER0+2], txpacket[PKT_PARAMETER0+3]) + 11)); } else { port->setPacketTimeout((uint16_t)11); // HEADER0 HEADER1 HEADER2 RESERVED ID LENGTH_L LENGTH_H INST ERROR CRC16_L CRC16_H } // rx packet do { result = rxPacket(port, rxpacket); } while (result == COMM_SUCCESS && txpacket[PKT_ID] != rxpacket[PKT_ID]); if (result == COMM_SUCCESS && txpacket[PKT_ID] == rxpacket[PKT_ID]) { if (error != 0) *error = (uint8_t)rxpacket[PKT_ERROR]; } return result; } int Protocol2PacketHandler::ping(PortHandler *port, uint8_t id, uint8_t *error) { return ping(port, id, 0, error); } int Protocol2PacketHandler::ping(PortHandler *port, uint8_t id, uint16_t *model_number, uint8_t *error) { int result = COMM_TX_FAIL; uint8_t txpacket[10] = {0}; uint8_t rxpacket[14] = {0}; if (id >= BROADCAST_ID) return COMM_NOT_AVAILABLE; txpacket[PKT_ID] = id; txpacket[PKT_LENGTH_L] = 3; txpacket[PKT_LENGTH_H] = 0; txpacket[PKT_INSTRUCTION] = INST_PING; result = txRxPacket(port, txpacket, rxpacket, error); if (result == COMM_SUCCESS && model_number != 0) *model_number = DXL_MAKEWORD(rxpacket[PKT_PARAMETER0+1], rxpacket[PKT_PARAMETER0+2]); return result; } int Protocol2PacketHandler::broadcastPing(PortHandler *port, std::vector &id_list) { const int STATUS_LENGTH = 14; int result = COMM_TX_FAIL; id_list.clear(); uint16_t rx_length = 0; uint16_t wait_length = STATUS_LENGTH * MAX_ID; uint8_t txpacket[10] = {0}; uint8_t rxpacket[STATUS_LENGTH * MAX_ID] = {0}; txpacket[PKT_ID] = BROADCAST_ID; txpacket[PKT_LENGTH_L] = 3; txpacket[PKT_LENGTH_H] = 0; txpacket[PKT_INSTRUCTION] = INST_PING; result = txPacket(port, txpacket); if (result != COMM_SUCCESS) { port->is_using_ = false; return result; } // set rx timeout port->setPacketTimeout((uint16_t)(wait_length * 30)); while(1) { rx_length += port->readPort(&rxpacket[rx_length], wait_length - rx_length); if (port->isPacketTimeout() == true)// || rx_length >= wait_length) break; } port->is_using_ = false; if (rx_length == 0) return COMM_RX_TIMEOUT; while(1) { if (rx_length < STATUS_LENGTH) return COMM_RX_CORRUPT; uint16_t idx = 0; // find packet header for (idx = 0; idx < (rx_length - 2); idx++) { if (rxpacket[idx] == 0xFF && rxpacket[idx+1] == 0xFF && rxpacket[idx+2] == 0xFD) break; } if (idx == 0) // found at the beginning of the packet { // verify CRC16 uint16_t crc = DXL_MAKEWORD(rxpacket[STATUS_LENGTH-2], rxpacket[STATUS_LENGTH-1]); if (updateCRC(0, rxpacket, STATUS_LENGTH - 2) == crc) { result = COMM_SUCCESS; id_list.push_back(rxpacket[PKT_ID]); for (uint16_t s = 0; s < rx_length - STATUS_LENGTH; s++) rxpacket[s] = rxpacket[STATUS_LENGTH + s]; rx_length -= STATUS_LENGTH; if (rx_length == 0) return result; } else { result = COMM_RX_CORRUPT; // remove header (0xFF 0xFF 0xFD) for (uint16_t s = 0; s < rx_length - 3; s++) rxpacket[s] = rxpacket[3 + s]; rx_length -= 3; } } else { // remove unnecessary packets for (uint16_t s = 0; s < rx_length - idx; s++) rxpacket[s] = rxpacket[idx + s]; rx_length -= idx; } } return result; } int Protocol2PacketHandler::action(PortHandler *port, uint8_t id) { uint8_t txpacket[10] = {0}; txpacket[PKT_ID] = id; txpacket[PKT_LENGTH_L] = 3; txpacket[PKT_LENGTH_H] = 0; txpacket[PKT_INSTRUCTION] = INST_ACTION; return txRxPacket(port, txpacket, 0); } int Protocol2PacketHandler::reboot(PortHandler *port, uint8_t id, uint8_t *error) { uint8_t txpacket[10] = {0}; uint8_t rxpacket[11] = {0}; txpacket[PKT_ID] = id; txpacket[PKT_LENGTH_L] = 3; txpacket[PKT_LENGTH_H] = 0; txpacket[PKT_INSTRUCTION] = INST_REBOOT; return txRxPacket(port, txpacket, rxpacket, error); } int Protocol2PacketHandler::clearMultiTurn(PortHandler *port, uint8_t id, uint8_t *error) { uint8_t txpacket[15] = {0}; uint8_t rxpacket[11] = {0}; txpacket[PKT_ID] = id; txpacket[PKT_LENGTH_L] = 8; txpacket[PKT_LENGTH_H] = 0; txpacket[PKT_INSTRUCTION] = INST_CLEAR; txpacket[PKT_PARAMETER0] = 0x01; txpacket[PKT_PARAMETER0+1] = 0x44; txpacket[PKT_PARAMETER0+2] = 0x58; txpacket[PKT_PARAMETER0+3] = 0x4C; txpacket[PKT_PARAMETER0+4] = 0x22; return txRxPacket(port, txpacket, rxpacket, error); } int Protocol2PacketHandler::factoryReset(PortHandler *port, uint8_t id, uint8_t option, uint8_t *error) { uint8_t txpacket[11] = {0}; uint8_t rxpacket[11] = {0}; txpacket[PKT_ID] = id; txpacket[PKT_LENGTH_L] = 4; txpacket[PKT_LENGTH_H] = 0; txpacket[PKT_INSTRUCTION] = INST_FACTORY_RESET; txpacket[PKT_PARAMETER0] = option; return txRxPacket(port, txpacket, rxpacket, error); } int Protocol2PacketHandler::readTx(PortHandler *port, uint8_t id, uint16_t address, uint16_t length) { int result = COMM_TX_FAIL; uint8_t txpacket[14] = {0}; if (id >= BROADCAST_ID) return COMM_NOT_AVAILABLE; txpacket[PKT_ID] = id; txpacket[PKT_LENGTH_L] = 7; txpacket[PKT_LENGTH_H] = 0; txpacket[PKT_INSTRUCTION] = INST_READ; txpacket[PKT_PARAMETER0+0] = (uint8_t)DXL_LOBYTE(address); txpacket[PKT_PARAMETER0+1] = (uint8_t)DXL_HIBYTE(address); txpacket[PKT_PARAMETER0+2] = (uint8_t)DXL_LOBYTE(length); txpacket[PKT_PARAMETER0+3] = (uint8_t)DXL_HIBYTE(length); result = txPacket(port, txpacket); // set packet timeout if (result == COMM_SUCCESS) port->setPacketTimeout((uint16_t)(length + 11)); return result; } int Protocol2PacketHandler::readRx(PortHandler *port, uint8_t id, uint16_t length, uint8_t *data, uint8_t *error) { int result = COMM_TX_FAIL; uint8_t *rxpacket = (uint8_t *)malloc(length + 11 + (length / 3)); //(length + 11 + (length/3)); // (length/3): consider stuffing if (rxpacket == NULL) return result; do { result = rxPacket(port, rxpacket); } while (result == COMM_SUCCESS && rxpacket[PKT_ID] != id); if (result == COMM_SUCCESS && rxpacket[PKT_ID] == id) { if (error != 0) *error = (uint8_t)rxpacket[PKT_ERROR]; for (uint16_t s = 0; s < length; s++) { data[s] = rxpacket[PKT_PARAMETER0 + 1 + s]; } //memcpy(data, &rxpacket[PKT_PARAMETER0+1], length); } free(rxpacket); //delete[] rxpacket; return result; } int Protocol2PacketHandler::readTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error) { int result = COMM_TX_FAIL; uint8_t txpacket[14] = {0}; uint8_t *rxpacket = (uint8_t *)malloc(length + 11 + (length / 3)); //(length + 11 + (length/3)); // (length/3): consider stuffing if (rxpacket == NULL) return result; if (id >= BROADCAST_ID) return COMM_NOT_AVAILABLE; txpacket[PKT_ID] = id; txpacket[PKT_LENGTH_L] = 7; txpacket[PKT_LENGTH_H] = 0; txpacket[PKT_INSTRUCTION] = INST_READ; txpacket[PKT_PARAMETER0+0] = (uint8_t)DXL_LOBYTE(address); txpacket[PKT_PARAMETER0+1] = (uint8_t)DXL_HIBYTE(address); txpacket[PKT_PARAMETER0+2] = (uint8_t)DXL_LOBYTE(length); txpacket[PKT_PARAMETER0+3] = (uint8_t)DXL_HIBYTE(length); result = txRxPacket(port, txpacket, rxpacket, error); if (result == COMM_SUCCESS) { if (error != 0) *error = (uint8_t)rxpacket[PKT_ERROR]; for (uint16_t s = 0; s < length; s++) { data[s] = rxpacket[PKT_PARAMETER0 + 1 + s]; } //memcpy(data, &rxpacket[PKT_PARAMETER0+1], length); } free(rxpacket); //delete[] rxpacket; return result; } int Protocol2PacketHandler::read1ByteTx(PortHandler *port, uint8_t id, uint16_t address) { return readTx(port, id, address, 1); } int Protocol2PacketHandler::read1ByteRx(PortHandler *port, uint8_t id, uint8_t *data, uint8_t *error) { uint8_t data_read[1] = {0}; int result = readRx(port, id, 1, data_read, error); if (result == COMM_SUCCESS) *data = data_read[0]; return result; } int Protocol2PacketHandler::read1ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint8_t *data, uint8_t *error) { uint8_t data_read[1] = {0}; int result = readTxRx(port, id, address, 1, data_read, error); if (result == COMM_SUCCESS) *data = data_read[0]; return result; } int Protocol2PacketHandler::read2ByteTx(PortHandler *port, uint8_t id, uint16_t address) { return readTx(port, id, address, 2); } int Protocol2PacketHandler::read2ByteRx(PortHandler *port, uint8_t id, uint16_t *data, uint8_t *error) { uint8_t data_read[2] = {0}; int result = readRx(port, id, 2, data_read, error); if (result == COMM_SUCCESS) *data = DXL_MAKEWORD(data_read[0], data_read[1]); return result; } int Protocol2PacketHandler::read2ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t *data, uint8_t *error) { uint8_t data_read[2] = {0}; int result = readTxRx(port, id, address, 2, data_read, error); if (result == COMM_SUCCESS) *data = DXL_MAKEWORD(data_read[0], data_read[1]); return result; } int Protocol2PacketHandler::read4ByteTx(PortHandler *port, uint8_t id, uint16_t address) { return readTx(port, id, address, 4); } int Protocol2PacketHandler::read4ByteRx(PortHandler *port, uint8_t id, uint32_t *data, uint8_t *error) { uint8_t data_read[4] = {0}; int result = readRx(port, id, 4, data_read, error); if (result == COMM_SUCCESS) *data = DXL_MAKEDWORD(DXL_MAKEWORD(data_read[0], data_read[1]), DXL_MAKEWORD(data_read[2], data_read[3])); return result; } int Protocol2PacketHandler::read4ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint32_t *data, uint8_t *error) { uint8_t data_read[4] = {0}; int result = readTxRx(port, id, address, 4, data_read, error); if (result == COMM_SUCCESS) *data = DXL_MAKEDWORD(DXL_MAKEWORD(data_read[0], data_read[1]), DXL_MAKEWORD(data_read[2], data_read[3])); return result; } int Protocol2PacketHandler::writeTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data) { int result = COMM_TX_FAIL; uint8_t *txpacket = (uint8_t *)malloc(length + 12 + (length / 3)); if (txpacket == NULL) return result; txpacket[PKT_ID] = id; txpacket[PKT_LENGTH_L] = DXL_LOBYTE(length+5); txpacket[PKT_LENGTH_H] = DXL_HIBYTE(length+5); txpacket[PKT_INSTRUCTION] = INST_WRITE; txpacket[PKT_PARAMETER0+0] = (uint8_t)DXL_LOBYTE(address); txpacket[PKT_PARAMETER0+1] = (uint8_t)DXL_HIBYTE(address); for (uint16_t s = 0; s < length; s++) txpacket[PKT_PARAMETER0+2+s] = data[s]; //memcpy(&txpacket[PKT_PARAMETER0+2], data, length); result = txPacket(port, txpacket); port->is_using_ = false; free(txpacket); //delete[] txpacket; return result; } int Protocol2PacketHandler::writeTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error) { int result = COMM_TX_FAIL; uint8_t *txpacket = (uint8_t *)malloc(length + 12 + (length / 3)); uint8_t rxpacket[11] = {0}; if (txpacket == NULL) return result; txpacket[PKT_ID] = id; txpacket[PKT_LENGTH_L] = DXL_LOBYTE(length+5); txpacket[PKT_LENGTH_H] = DXL_HIBYTE(length+5); txpacket[PKT_INSTRUCTION] = INST_WRITE; txpacket[PKT_PARAMETER0+0] = (uint8_t)DXL_LOBYTE(address); txpacket[PKT_PARAMETER0+1] = (uint8_t)DXL_HIBYTE(address); for (uint16_t s = 0; s < length; s++) txpacket[PKT_PARAMETER0+2+s] = data[s]; //memcpy(&txpacket[PKT_PARAMETER0+2], data, length); result = txRxPacket(port, txpacket, rxpacket, error); free(txpacket); //delete[] txpacket; return result; } int Protocol2PacketHandler::write1ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint8_t data) { uint8_t data_write[1] = { data }; return writeTxOnly(port, id, address, 1, data_write); } int Protocol2PacketHandler::write1ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint8_t data, uint8_t *error) { uint8_t data_write[1] = { data }; return writeTxRx(port, id, address, 1, data_write, error); } int Protocol2PacketHandler::write2ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t data) { uint8_t data_write[2] = { DXL_LOBYTE(data), DXL_HIBYTE(data) }; return writeTxOnly(port, id, address, 2, data_write); } int Protocol2PacketHandler::write2ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t data, uint8_t *error) { uint8_t data_write[2] = { DXL_LOBYTE(data), DXL_HIBYTE(data) }; return writeTxRx(port, id, address, 2, data_write, error); } int Protocol2PacketHandler::write4ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint32_t data) { uint8_t data_write[4] = { DXL_LOBYTE(DXL_LOWORD(data)), DXL_HIBYTE(DXL_LOWORD(data)), DXL_LOBYTE(DXL_HIWORD(data)), DXL_HIBYTE(DXL_HIWORD(data)) }; return writeTxOnly(port, id, address, 4, data_write); } int Protocol2PacketHandler::write4ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint32_t data, uint8_t *error) { uint8_t data_write[4] = { DXL_LOBYTE(DXL_LOWORD(data)), DXL_HIBYTE(DXL_LOWORD(data)), DXL_LOBYTE(DXL_HIWORD(data)), DXL_HIBYTE(DXL_HIWORD(data)) }; return writeTxRx(port, id, address, 4, data_write, error); } int Protocol2PacketHandler::regWriteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data) { int result = COMM_TX_FAIL; uint8_t *txpacket = (uint8_t *)malloc(length + 12 + (length / 3)); if (txpacket == NULL) return result; txpacket[PKT_ID] = id; txpacket[PKT_LENGTH_L] = DXL_LOBYTE(length+5); txpacket[PKT_LENGTH_H] = DXL_HIBYTE(length+5); txpacket[PKT_INSTRUCTION] = INST_REG_WRITE; txpacket[PKT_PARAMETER0+0] = (uint8_t)DXL_LOBYTE(address); txpacket[PKT_PARAMETER0+1] = (uint8_t)DXL_HIBYTE(address); for (uint16_t s = 0; s < length; s++) txpacket[PKT_PARAMETER0+2+s] = data[s]; //memcpy(&txpacket[PKT_PARAMETER0+2], data, length); result = txPacket(port, txpacket); port->is_using_ = false; free(txpacket); //delete[] txpacket; return result; } int Protocol2PacketHandler::regWriteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error) { int result = COMM_TX_FAIL; uint8_t *txpacket = (uint8_t *)malloc(length + 12 + (length / 3)); uint8_t rxpacket[11] = {0}; if (txpacket == NULL) return result; txpacket[PKT_ID] = id; txpacket[PKT_LENGTH_L] = DXL_LOBYTE(length+5); txpacket[PKT_LENGTH_H] = DXL_HIBYTE(length+5); txpacket[PKT_INSTRUCTION] = INST_REG_WRITE; txpacket[PKT_PARAMETER0+0] = (uint8_t)DXL_LOBYTE(address); txpacket[PKT_PARAMETER0+1] = (uint8_t)DXL_HIBYTE(address); for (uint16_t s = 0; s < length; s++) txpacket[PKT_PARAMETER0+2+s] = data[s]; //memcpy(&txpacket[PKT_PARAMETER0+2], data, length); result = txRxPacket(port, txpacket, rxpacket, error); free(txpacket); //delete[] txpacket; return result; } int Protocol2PacketHandler::syncReadTx(PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length) { int result = COMM_TX_FAIL; uint8_t *txpacket = (uint8_t *)malloc(param_length + 14 + (param_length / 3)); // 14: HEADER0 HEADER1 HEADER2 RESERVED ID LEN_L LEN_H INST START_ADDR_L START_ADDR_H DATA_LEN_L DATA_LEN_H CRC16_L CRC16_H if (txpacket == NULL) return result; txpacket[PKT_ID] = BROADCAST_ID; txpacket[PKT_LENGTH_L] = DXL_LOBYTE(param_length + 7); // 7: INST START_ADDR_L START_ADDR_H DATA_LEN_L DATA_LEN_H CRC16_L CRC16_H txpacket[PKT_LENGTH_H] = DXL_HIBYTE(param_length + 7); // 7: INST START_ADDR_L START_ADDR_H DATA_LEN_L DATA_LEN_H CRC16_L CRC16_H txpacket[PKT_INSTRUCTION] = INST_SYNC_READ; txpacket[PKT_PARAMETER0+0] = DXL_LOBYTE(start_address); txpacket[PKT_PARAMETER0+1] = DXL_HIBYTE(start_address); txpacket[PKT_PARAMETER0+2] = DXL_LOBYTE(data_length); txpacket[PKT_PARAMETER0+3] = DXL_HIBYTE(data_length); for (uint16_t s = 0; s < param_length; s++) txpacket[PKT_PARAMETER0+4+s] = param[s]; //memcpy(&txpacket[PKT_PARAMETER0+4], param, param_length); result = txPacket(port, txpacket); if (result == COMM_SUCCESS) port->setPacketTimeout((uint16_t)((11 + data_length) * param_length)); free(txpacket); return result; } int Protocol2PacketHandler::syncWriteTxOnly(PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length) { int result = COMM_TX_FAIL; uint8_t *txpacket = (uint8_t *)malloc(param_length + 14 + (param_length / 3)); // 14: HEADER0 HEADER1 HEADER2 RESERVED ID LEN_L LEN_H INST START_ADDR_L START_ADDR_H DATA_LEN_L DATA_LEN_H CRC16_L CRC16_H if (txpacket == NULL) return result; txpacket[PKT_ID] = BROADCAST_ID; txpacket[PKT_LENGTH_L] = DXL_LOBYTE(param_length + 7); // 7: INST START_ADDR_L START_ADDR_H DATA_LEN_L DATA_LEN_H CRC16_L CRC16_H txpacket[PKT_LENGTH_H] = DXL_HIBYTE(param_length + 7); // 7: INST START_ADDR_L START_ADDR_H DATA_LEN_L DATA_LEN_H CRC16_L CRC16_H txpacket[PKT_INSTRUCTION] = INST_SYNC_WRITE; txpacket[PKT_PARAMETER0+0] = DXL_LOBYTE(start_address); txpacket[PKT_PARAMETER0+1] = DXL_HIBYTE(start_address); txpacket[PKT_PARAMETER0+2] = DXL_LOBYTE(data_length); txpacket[PKT_PARAMETER0+3] = DXL_HIBYTE(data_length); for (uint16_t s = 0; s < param_length; s++) txpacket[PKT_PARAMETER0+4+s] = param[s]; //memcpy(&txpacket[PKT_PARAMETER0+4], param, param_length); result = txRxPacket(port, txpacket, 0, 0); free(txpacket); //delete[] txpacket; return result; } int Protocol2PacketHandler::bulkReadTx(PortHandler *port, uint8_t *param, uint16_t param_length) { int result = COMM_TX_FAIL; uint8_t *txpacket = (uint8_t *)malloc(param_length + 10 + (param_length / 3)); // 10: HEADER0 HEADER1 HEADER2 RESERVED ID LEN_L LEN_H INST CRC16_L CRC16_H if (txpacket == NULL) return result; txpacket[PKT_ID] = BROADCAST_ID; txpacket[PKT_LENGTH_L] = DXL_LOBYTE(param_length + 3); // 3: INST CRC16_L CRC16_H txpacket[PKT_LENGTH_H] = DXL_HIBYTE(param_length + 3); // 3: INST CRC16_L CRC16_H txpacket[PKT_INSTRUCTION] = INST_BULK_READ; for (uint16_t s = 0; s < param_length; s++) txpacket[PKT_PARAMETER0+s] = param[s]; //memcpy(&txpacket[PKT_PARAMETER0], param, param_length); result = txPacket(port, txpacket); if (result == COMM_SUCCESS) { int wait_length = 0; for (uint16_t i = 0; i < param_length; i += 5) wait_length += DXL_MAKEWORD(param[i+3], param[i+4]) + 10; port->setPacketTimeout((uint16_t)wait_length); } free(txpacket); //delete[] txpacket; return result; } int Protocol2PacketHandler::bulkWriteTxOnly(PortHandler *port, uint8_t *param, uint16_t param_length) { int result = COMM_TX_FAIL; uint8_t *txpacket = (uint8_t *)malloc(param_length + 10 + (param_length / 3)); // 10: HEADER0 HEADER1 HEADER2 RESERVED ID LEN_L LEN_H INST CRC16_L CRC16_H if (txpacket == NULL) return result; txpacket[PKT_ID] = BROADCAST_ID; txpacket[PKT_LENGTH_L] = DXL_LOBYTE(param_length + 3); // 3: INST CRC16_L CRC16_H txpacket[PKT_LENGTH_H] = DXL_HIBYTE(param_length + 3); // 3: INST CRC16_L CRC16_H txpacket[PKT_INSTRUCTION] = INST_BULK_WRITE; for (uint16_t s = 0; s < param_length; s++) txpacket[PKT_PARAMETER0+s] = param[s]; //memcpy(&txpacket[PKT_PARAMETER0], param, param_length); result = txRxPacket(port, txpacket, 0, 0); free(txpacket); //delete[] txpacket; return result; } ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelWorkbench/include/dynamixel_workbench_toolbox/dynamixel_driver.h ================================================ /******************************************************************************* * Copyright 2018 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ /* Authors: Taehun Lim (Darby) */ #ifndef DYNAMIXEL_DRIVER_H #define DYNAMIXEL_DRIVER_H #include "dynamixel_tool.h" #if defined(__OPENCR__) || defined(__OPENCM904__) #include #include #elif defined(__linux__) || defined(__APPLE__) #include "unistd.h" #include "dynamixel_sdk/dynamixel_sdk.h" #endif #define MAX_DXL_SERIES_NUM 5 #define MAX_HANDLER_NUM 5 #define MAX_BULK_PARAMETER 21 typedef struct { const ControlItem *control_item; dynamixel::GroupSyncWrite *groupSyncWrite; } SyncWriteHandler; typedef struct { const ControlItem *control_item; dynamixel::GroupSyncRead *groupSyncRead; } SyncReadHandler; typedef struct { uint8_t id; uint16_t address; uint16_t data_length; } BulkParameter; typedef struct { int dxl_comm_result; bool dxl_addparam_result; bool dxl_getdata_result; uint8_t dxl_error; } ErrorFromSDK; class DynamixelDriver { private: dynamixel::PortHandler *portHandler_; dynamixel::PacketHandler *packetHandler_; SyncWriteHandler syncWriteHandler_[MAX_HANDLER_NUM]; SyncReadHandler syncReadHandler_[MAX_HANDLER_NUM]; dynamixel::GroupBulkRead *groupBulkRead_; dynamixel::GroupBulkWrite *groupBulkWrite_; BulkParameter bulk_read_param_[MAX_BULK_PARAMETER]; DynamixelTool tools_[MAX_DXL_SERIES_NUM]; uint8_t tools_cnt_; uint8_t sync_write_handler_cnt_; uint8_t sync_read_handler_cnt_; uint8_t bulk_read_parameter_cnt_; public: DynamixelDriver(); ~DynamixelDriver(); bool init(const char* device_name = "/dev/ttyUSB0", uint32_t baud_rate = 57600, const char **log = NULL); bool begin(const char* device_name = "/dev/ttyUSB0", uint32_t baud_rate = 57600, const char **log = NULL); bool setPortHandler(const char *device_name, const char **log = NULL); bool setBaudrate(uint32_t baud_rate, const char **log = NULL); bool setPacketHandler(float protocol_version, const char **log = NULL); float getProtocolVersion(void); uint32_t getBaudrate(void); const char * getModelName(uint8_t id, const char **log = NULL); uint16_t getModelNumber(uint8_t id, const char **log = NULL); const ControlItem *getControlTable(uint8_t id, const char **log = NULL); const ControlItem *getItemInfo(uint8_t id, const char *item_name, const char **log = NULL); uint8_t getTheNumberOfControlItem(uint8_t id, const char **log = NULL); const ModelInfo* getModelInfo(uint8_t id, const char **log = NULL); uint8_t getTheNumberOfSyncWriteHandler(void); uint8_t getTheNumberOfSyncReadHandler(void); uint8_t getTheNumberOfBulkReadParam(void); bool scan(uint8_t *get_id, uint8_t *get_the_number_of_id, uint8_t range = 253, const char **log = NULL); bool scan(uint8_t *get_id, uint8_t *get_the_number_of_id, uint8_t start_number, uint8_t end_number, const char **log = NULL); bool ping(uint8_t id, uint16_t *get_model_number, const char **log = NULL); bool ping(uint8_t id, const char **log = NULL); bool clearMultiTurn(uint8_t id, const char **log = NULL); bool reboot(uint8_t id, const char **log = NULL); bool reset(uint8_t id, const char **log = NULL); bool writeRegister(uint8_t id, uint16_t address, uint16_t length, uint8_t* data, const char **log = NULL); bool writeRegister(uint8_t id, const char *item_name, int32_t data, const char **log = NULL); bool writeOnlyRegister(uint8_t id, uint16_t address, uint16_t length, uint8_t *data, const char **log = NULL); bool writeOnlyRegister(uint8_t id, const char *item_name, int32_t data, const char **log = NULL); bool readRegister(uint8_t id, uint16_t address, uint16_t length, uint32_t *data, const char **log = NULL); bool readRegister(uint8_t id, const char *item_name, int32_t *data, const char **log = NULL); void getParam(int32_t data, uint8_t *param); bool addSyncWriteHandler(uint16_t address, uint16_t length, const char **log = NULL); bool addSyncWriteHandler(uint8_t id, const char *item_name, const char **log = NULL); bool syncWrite(uint8_t index, int32_t *data, const char **log = NULL); bool syncWrite(uint8_t index, uint8_t *id, uint8_t id_num, int32_t *data, uint8_t data_num_for_each_id, const char **log = NULL); bool addSyncReadHandler(uint16_t address, uint16_t length, const char **log = NULL); bool addSyncReadHandler(uint8_t id, const char *item_name, const char **log = NULL); bool syncRead(uint8_t index, const char **log = NULL); bool syncRead(uint8_t index, uint8_t *id, uint8_t id_num, const char **log = NULL); bool getSyncReadData(uint8_t index, int32_t *data, const char **log = NULL); bool getSyncReadData(uint8_t index, uint8_t *id, uint8_t id_num, int32_t *data, const char **log = NULL); bool getSyncReadData(uint8_t index, uint8_t *id, uint8_t id_num, uint16_t address, uint16_t length, int32_t *data, const char **log = NULL); bool initBulkWrite(const char **log = NULL); bool addBulkWriteParam(uint8_t id, uint16_t address, uint16_t length, int32_t data, const char **log = NULL); bool addBulkWriteParam(uint8_t id, const char *item_name, int32_t data, const char **log = NULL); bool bulkWrite(const char **log = NULL); bool initBulkRead(const char **log = NULL); bool addBulkReadParam(uint8_t id, uint16_t address, uint16_t length, const char **log = NULL); bool addBulkReadParam(uint8_t id, const char *item_name, const char **log = NULL); bool bulkRead(const char **log = NULL); bool getBulkReadData(int32_t *data, const char **log = NULL); bool getBulkReadData(uint8_t *id, uint8_t id_num, uint16_t *address, uint16_t *length, int32_t *data, const char **log = NULL); bool clearBulkReadParam(void); private: void initTools(void); bool setTool(uint16_t model_number, uint8_t id, const char **log = NULL); uint8_t getTool(uint8_t id, const char **log = NULL); }; #endif //DYNAMIXEL_DRIVER_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelWorkbench/include/dynamixel_workbench_toolbox/dynamixel_item.h ================================================ /******************************************************************************* * Copyright 2018 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ /* Authors: Taehun Lim (Darby), Ryan Shim */ #ifndef DYNAMIXEL_ITEM_H #define DYNAMIXEL_ITEM_H #include #include #define AX_12A 12 #define AX_12W 300 #define AX_18A 18 #define RX_10 10 #define RX_24F 24 #define RX_28 28 #define RX_64 64 #define EX_106 107 #define MX_12W 360 #define MX_28 29 #define MX_28_2 30 #define MX_64 310 #define MX_64_2 311 #define MX_106 320 #define MX_106_2 321 #define XL_320 350 #define XL330_M077 1190 #define XL330_M288 1200 #define XL430_W250 1060 #define XL430_W250_2 1090 // 2XL #define XC430_W250_2 1160 // 2XC #define XC430_W150 1070 #define XC430_W240 1080 #define XM430_W210 1030 #define XM430_W350 1020 #define XM540_W150 1130 #define XM540_W270 1120 #define XH430_W210 1010 #define XH430_W350 1000 #define XH430_V210 1050 #define XH430_V350 1040 #define XH540_W150 1110 #define XH540_W270 1100 #define XH540_V150 1150 #define XH540_V270 1140 #define XW540_T140 1180 #define XW540_T260 1170 #define PRO_L42_10_S300_R 35072 #define PRO_L54_30_S400_R 37928 #define PRO_L54_30_S500_R 37896 #define PRO_L54_50_S290_R 38176 #define PRO_L54_50_S500_R 38152 #define PRO_M42_10_S260_R 43288 #define PRO_M54_40_S250_R 46096 #define PRO_M54_60_S250_R 46352 #define PRO_H42_20_S300_R 51200 #define PRO_H54_100_S500_R 53768 #define PRO_H54_200_S500_R 54024 #define PRO_M42_10_S260_R_A 43289 #define PRO_M54_40_S250_R_A 46097 #define PRO_M54_60_S250_R_A 46353 #define PRO_H42_20_S300_R_A 51201 #define PRO_H54_100_S500_R_A 53769 #define PRO_H54_200_S500_R_A 54025 #define PRO_PLUS_M42P_010_S260_R 2100 #define PRO_PLUS_M54P_040_S250_R 2110 #define PRO_PLUS_M54P_060_S250_R 2120 #define PRO_PLUS_H42P_020_S300_R 2000 #define PRO_PLUS_H54P_100_S500_R 2010 #define PRO_PLUS_H54P_200_S500_R 2020 #define RH_P12_RN 35073 #define RH_P12_RN_A 35074 #define BYTE 1 #define WORD 2 #define DWORD 4 typedef struct { const char *item_name; uint16_t address; uint8_t item_name_length; uint16_t data_length; } ControlItem; typedef struct { float rpm; int64_t value_of_min_radian_position; int64_t value_of_zero_radian_position; int64_t value_of_max_radian_position; float min_radian; float max_radian; } ModelInfo; // Public Functions namespace DynamixelItem { const ControlItem *getControlTable(uint16_t model_number); const ModelInfo *getModelInfo(uint16_t model_number); uint8_t getTheNumberOfControlItem(); } #endif //DYNAMIXEL_ITEM_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelWorkbench/include/dynamixel_workbench_toolbox/dynamixel_tool.h ================================================ /******************************************************************************* * Copyright 2018 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ /* Authors: Taehun Lim (Darby) */ #ifndef DYNAMIXEL_TOOL_H #define DYNAMIXEL_TOOL_H #include #include #include "dynamixel_item.h" class DynamixelTool { private: enum {DYNAMIXEL_BUFFER = 30}; uint8_t dxl_id_[DYNAMIXEL_BUFFER]; uint8_t dxl_cnt_; const char *model_name_; uint16_t model_number_; const ControlItem *control_table_; const ModelInfo *model_info_; uint16_t the_number_of_control_item_; public: DynamixelTool(); ~DynamixelTool(); void initTool(void); bool addTool(const char *model_name, uint8_t id, const char **log = NULL); bool addTool(uint16_t model_number, uint8_t id, const char **log = NULL); void addDXL(uint8_t id); const char *getModelName(void); uint16_t getModelNumber(void); const uint8_t* getID(void); uint8_t getDynamixelBuffer(void); uint8_t getDynamixelCount(void); float getRPM(void); int64_t getValueOfMinRadianPosition(void); int64_t getValueOfMaxRadianPosition(void); int64_t getValueOfZeroRadianPosition(void); float getMinRadian(void); float getMaxRadian(void); uint8_t getTheNumberOfControlItem(void); const ControlItem *getControlItem(const char *item_name, const char **log = NULL); const ControlItem *getControlTable(void); const ModelInfo *getModelInfo(void); private: bool setControlTable(const char *model_name, const char **log = NULL); bool setControlTable(uint16_t model_number, const char **log = NULL); bool setModelName(uint16_t model_number, const char **log = NULL); bool setModelNumber(const char *model_name, const char **log = NULL); }; #endif //DYNAMIXEL_TOOL_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelWorkbench/include/dynamixel_workbench_toolbox/dynamixel_workbench.h ================================================ /******************************************************************************* * Copyright 2018 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ /* Authors: Taehun Lim (Darby) */ #ifndef DYNAMIXEL_WORKBENCH_H_ #define DYNAMIXEL_WORKBENCH_H_ #include "dynamixel_driver.h" class DynamixelWorkbench : public DynamixelDriver { public: DynamixelWorkbench(); ~DynamixelWorkbench(); bool torque(uint8_t id, int32_t onoff, const char **log = NULL); bool torqueOn(uint8_t id, const char **log = NULL); bool torqueOff(uint8_t id, const char **log = NULL); bool changeID(uint8_t id, uint8_t new_id, const char **log = NULL); bool changeBaudrate(uint8_t id, uint32_t new_baudrate, const char **log = NULL); bool changeProtocolVersion(uint8_t id, uint8_t version, const char **log = NULL); bool itemWrite(uint8_t id, const char *item_name, int32_t data, const char **log = NULL); bool itemRead(uint8_t id, const char *item_name, int32_t *data, const char **log = NULL); bool led(uint8_t id, int32_t onoff, const char **log = NULL); bool ledOn(uint8_t id, const char **log = NULL); bool ledOff(uint8_t id, const char **log = NULL); bool setNormalDirection(uint8_t id, const char **log = NULL); bool setReverseDirection(uint8_t id, const char **log = NULL); bool setVelocityBasedProfile(uint8_t id, const char **log = NULL); bool setTimeBasedProfile(uint8_t id, const char **log = NULL); bool setSecondaryID(uint8_t id, uint8_t secondary_id, const char **log = NULL); bool setCurrentControlMode(uint8_t id, const char **log = NULL); bool setTorqueControlMode(uint8_t id, const char **log = NULL); bool setVelocityControlMode(uint8_t id, const char **log = NULL); bool setPositionControlMode(uint8_t id, const char **log = NULL); bool setExtendedPositionControlMode(uint8_t id, const char **log = NULL); bool setMultiTurnControlMode(uint8_t id, const char **log = NULL); bool setCurrentBasedPositionControlMode(uint8_t id, const char **log = NULL); bool setPWMControlMode(uint8_t id, const char **log = NULL); bool setOperatingMode(uint8_t id, uint8_t index, const char **log = NULL); bool jointMode(uint8_t id, int32_t velocity = 0, int32_t acceleration = 0, const char **log = NULL); bool wheelMode(uint8_t id, int32_t acceleration = 0, const char **log = NULL); bool currentBasedPositionMode(uint8_t id, int32_t current = 0, const char **log = NULL); bool goalPosition(uint8_t id, int value, const char **log = NULL); //keep compatibility with older codes bool goalPosition(uint8_t id, int32_t value, const char **log = NULL); bool goalPosition(uint8_t id, float radian, const char **log = NULL); bool goalSpeed(uint8_t id, int value, const char **log = NULL); //keep compatibility with older codes bool goalVelocity(uint8_t id, int value, const char **log = NULL); //keep compatibility with older codes bool goalVelocity(uint8_t id, int32_t value, const char **log = NULL); bool goalVelocity(uint8_t id, float velocity, const char **log = NULL); bool getPresentPositionData(uint8_t id, int32_t* data, const char **log = NULL); bool getRadian(uint8_t id, float* radian, const char **log = NULL); bool getPresentVelocityData(uint8_t id, int32_t* data, const char **log = NULL); bool getVelocity(uint8_t id, float* velocity, const char **log = NULL); int32_t convertRadian2Value(uint8_t id, float radian); float convertValue2Radian(uint8_t id, int32_t value); int32_t convertRadian2Value(float radian, int32_t max_position, int32_t min_position, float max_radian, float min_radian); float convertValue2Radian(int32_t value, int32_t max_position, int32_t min_position, float max_radian, float min_radian); int32_t convertVelocity2Value(uint8_t id, float velocity); float convertValue2Velocity(uint8_t id, int32_t value); int16_t convertCurrent2Value(uint8_t id, float current); int16_t convertCurrent2Value(float current); float convertValue2Current(uint8_t id, int16_t value); float convertValue2Current(int16_t value); float convertValue2Load(int16_t value); }; #endif /*DYNAMIXEL_WORKBENCH_H_*/ ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelWorkbench/keywords.txt ================================================ ####################################### # Syntax Coloring Map DynamixelWorkbench ####################################### ####################################### # Datatypes (KEYWORD1) ####################################### DynamixelWorkbench KEYWORD1 ####################################### # Methods and Functions (KEYWORD2) ####################################### begin KEYWORD2 scan KEYWORD2 ping KEYWORD2 reboot KEYWORD2 reset KEYWORD2 setID KEYWORD2 setBaud KEYWORD2 setPacketHandler KEYWORD2 getModelName KEYWORD2 ledOn KEYWORD2 ledOff KEYWORD2 jointMode KEYWORD2 wheelMode KEYWORD2 currentMode KEYWORD2 goalPosition KEYWORD2 goalSpeed KEYWORD2 itemWrite KEYWORD2 syncWrite KEYWORD2 bulkWrite KEYWORD2 itemRead KEYWORD2 syncRead KEYWORD2 bulkRead KEYWORD2 addSyncWrite KEYWORD2 addSyncRead KEYWORD2 initBulkWrite KEYWORD2 initBulkRead KEYWORD2 addBulkWriteParam KEYWORD2 addBulkReadParam KEYWORD2 setBulkRead KEYWORD2 convertRadian2Value KEYWORD2 convertValue2Radian KEYWORD2 convertVelocity2Value KEYWORD2 convertValue2Velocity KEYWORD2 convertTorque2Value KEYWORD2 convertValue2Torque KEYWORD2 ####################################### # Constants (LITERAL1) ####################################### X_SERIES_CURRENT_CONTROL_MODE LITERAL1 X_SERIES_VELOCITY_CONTROL_MODE LITERAL1 X_SERIES_POSITION_CONTROL_MODE LITERAL1 X_SERIES_EXTENDED_POSITION_CONTROL_MODE LITERAL1 X_SERIES_CURRENT_BASED_POSITION_CONTROL_MODE LITERAL1 X_SERIES_VOLTAGE_CONTROL_MODE LITERAL1 PRO_SERIES_TORQUE_CONTROL_MODE LITERAL1 PRO_SERIES_VELOCITY_CONTROL_MODE LITERAL1 PRO_SERIES_POSITION_CONTROL_MODE LITERAL1 PRO_SERIES_EXTENDED_POSITION_CONTROL_MODE LITERAL1 ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelWorkbench/library.properties ================================================ name=DynamixelWorkbench version=0.1.0 author=Darby Lim (thlim@robotis.com) maintainer=Pyo(pyo@robotis.com) sentence=DynamixelWorkbench using DynamixelSDK paragraph= category=Other url=https://github.com/ROBOTIS-GIT/dynamixel-workbench architectures=OpenCR ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelWorkbench/src/DynamixelWorkbench.h ================================================ #include "../include/dynamixel_workbench_toolbox/dynamixel_workbench.h" ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelWorkbench/src/dynamixel_workbench_toolbox/dynamixel_driver.cpp ================================================ /******************************************************************************* * Copyright 2018 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ /* Authors: Taehun Lim (Darby) */ #include "../../include/dynamixel_workbench_toolbox/dynamixel_driver.h" DynamixelDriver::DynamixelDriver() : tools_cnt_(0), sync_write_handler_cnt_(0), sync_read_handler_cnt_(0), bulk_read_parameter_cnt_(0) { } DynamixelDriver::~DynamixelDriver() { for (int i = 0; i < tools_cnt_; i++) { for (int j = 0; j < tools_[i].getDynamixelCount(); j++) { writeRegister(tools_[i].getID()[j], "Torque_Enable", (uint8_t)0); } } portHandler_->closePort(); } void DynamixelDriver::initTools(void) { for (uint8_t num = 0; num < MAX_DXL_SERIES_NUM; num++) tools_[num].initTool(); tools_cnt_ = 0; } bool DynamixelDriver::setTool(uint16_t model_number, uint8_t id, const char **log) { bool result = false; // See if we have a matching tool? for (uint8_t num = 0; num < tools_cnt_; num++) { if (tools_[num].getModelNumber() == model_number) { if (tools_[num].getDynamixelCount() < tools_[num].getDynamixelBuffer()) { // Found one with the right model number and it is not full tools_[num].addDXL(id); return true; } else { if (log != NULL) *log = "[DynamixelDriver] Too many Dynamixels are connected (default buffer size is 16, the same series of Dynamixels)"; return false; } } } // We did not find one so lets allocate a new one if (tools_cnt_ < MAX_DXL_SERIES_NUM) { // only do it if we still have some room... result = tools_[tools_cnt_++].addTool(model_number, id, log); return result; } else { if (log != NULL) *log = "[DynamixelDriver] Too many series are connected (MAX = 5 different series)"; return false; } if (log != NULL) *log = "[DynamixelDriver] Failed to set the Tool"; return false; } uint8_t DynamixelDriver::getTool(uint8_t id, const char **log) { for (int i = 0; i < tools_cnt_; i++) { for (int j = 0; j < tools_[i].getDynamixelCount(); j++) { if (tools_[i].getID()[j] == id) { return i; } } } if (log != NULL) *log = "[DynamixelDriver] Failed to get the Tool"; return 0xff; } bool DynamixelDriver::init(const char *device_name, uint32_t baud_rate, const char **log) { bool result = false; result = setPortHandler(device_name, log); if (result == false) return false; result = setBaudrate(baud_rate, log); if (result == false) return false; result = setPacketHandler(2.0f, log); if (result == false) return false; return result; } bool DynamixelDriver::begin(const char *device_name, uint32_t baud_rate, const char **log) { return init(device_name, baud_rate, log); } bool DynamixelDriver::setPortHandler(const char *device_name, const char **log) { portHandler_ = dynamixel::PortHandler::getPortHandler(device_name); if (portHandler_->openPort()) { if (log != NULL) *log = "[DynamixelDriver] Succeeded to open the port!"; return true; } if (log != NULL) *log = "[DynamixelDriver] Failed to open the port!"; return false; } bool DynamixelDriver::setBaudrate(uint32_t baud_rate, const char **log) { if (portHandler_->setBaudRate((int)baud_rate)) { if (log != NULL) *log = "[DynamixelDriver] Succeeded to change the baudrate!"; return true; } if (log != NULL) *log = "[DynamixelDriver] Failed to change the baudrate!"; return false; } bool DynamixelDriver::setPacketHandler(float protocol_version, const char **log) { packetHandler_ = dynamixel::PacketHandler::getPacketHandler(protocol_version); if (packetHandler_->getProtocolVersion() == protocol_version) { if (log != NULL) *log = "[DynamixelDriver] Succeeded to set the protocol!"; return true; } if (log != NULL) *log = "[DynamixelDriver] Failed to set the protocol!"; return false; } float DynamixelDriver::getProtocolVersion(void) { return packetHandler_->getProtocolVersion(); } uint32_t DynamixelDriver::getBaudrate(void) { return portHandler_->getBaudRate(); } const char* DynamixelDriver::getModelName(uint8_t id, const char **log) { uint8_t factor = getTool(id, log); if (factor == 0xff) return NULL; else return tools_[factor].getModelName(); return NULL; } uint16_t DynamixelDriver::getModelNumber(uint8_t id, const char **log) { uint8_t factor = getTool(id, log); if (factor == 0xff) return false; for (int i = 0; i < tools_[factor].getDynamixelCount(); i++) { if (tools_[factor].getID()[i] == id) return tools_[factor].getModelNumber(); } return false; } const ControlItem* DynamixelDriver::getControlTable(uint8_t id, const char **log) { uint8_t factor = getTool(id, log); if (factor == 0xff) return NULL; return tools_[factor].getControlTable(); } const ControlItem* DynamixelDriver::getItemInfo(uint8_t id, const char *item_name, const char **log) { const ControlItem *control_item; uint8_t factor = getTool(id, log); if (factor == 0xff) return NULL; control_item = tools_[factor].getControlItem(item_name, log); if (control_item == NULL) return NULL; else return control_item; return NULL; } uint8_t DynamixelDriver::getTheNumberOfControlItem(uint8_t id, const char **log) { uint8_t factor = getTool(id, log); if (factor == 0xff) return false; return tools_[factor].getTheNumberOfControlItem(); } const ModelInfo* DynamixelDriver::getModelInfo(uint8_t id, const char **log) { uint8_t factor = getTool(id, log); if (factor == 0xff) return NULL; return tools_[factor].getModelInfo(); } uint8_t DynamixelDriver::getTheNumberOfSyncWriteHandler(void) { return sync_write_handler_cnt_; } uint8_t DynamixelDriver::getTheNumberOfSyncReadHandler(void) { return sync_read_handler_cnt_; } uint8_t DynamixelDriver::getTheNumberOfBulkReadParam(void) { return bulk_read_parameter_cnt_; } bool DynamixelDriver::scan(uint8_t *get_id, uint8_t *get_the_number_of_id, uint8_t start_num, uint8_t end_num, const char **log) { ErrorFromSDK sdk_error = {0, false, false, 0}; bool result = false; uint8_t id = 0; uint8_t id_cnt = 0; uint16_t model_number = 0; uint8_t get_end_num = end_num; if (get_end_num > 253) get_end_num = 253; initTools(); result = setPacketHandler(1.0f, log); if (result == false) return false; for (id = start_num; id <= get_end_num; id++) { sdk_error.dxl_comm_result = packetHandler_->ping(portHandler_, id, &model_number, &sdk_error.dxl_error); if (sdk_error.dxl_comm_result != COMM_SUCCESS) { if (log != NULL) *log = packetHandler_->getTxRxResult(sdk_error.dxl_comm_result); } else if (sdk_error.dxl_error != 0) { if (log != NULL) *log = packetHandler_->getRxPacketError(sdk_error.dxl_error); } else { get_id[id_cnt++] = id; setTool(model_number, id); } } if (id_cnt > 0) { *get_the_number_of_id = id_cnt; return result; } result = setPacketHandler(2.0f, log); if (result == false) return false; for (id = start_num; id <= get_end_num; id++) { sdk_error.dxl_comm_result = packetHandler_->ping(portHandler_, id, &model_number, &sdk_error.dxl_error); if (sdk_error.dxl_comm_result != COMM_SUCCESS) { if (log != NULL) *log = packetHandler_->getTxRxResult(sdk_error.dxl_comm_result); } else if (sdk_error.dxl_error != 0) { if (log != NULL) *log = packetHandler_->getRxPacketError(sdk_error.dxl_error); } else { get_id[id_cnt++] = id; setTool(model_number, id); } } if (id_cnt > 0) { *get_the_number_of_id = id_cnt; return result; } return result; } bool DynamixelDriver::scan(uint8_t *get_id, uint8_t *get_the_number_of_id, uint8_t range, const char **log) { return scan(get_id, get_the_number_of_id, 0, range, log); } bool DynamixelDriver::ping(uint8_t id, uint16_t *get_model_number, const char **log) { ErrorFromSDK sdk_error = {0, false, false, 0}; bool result = false; uint16_t model_number = 0; result = setPacketHandler(1.0f, log); if (result == false) return false; sdk_error.dxl_comm_result = packetHandler_->ping(portHandler_, id, &model_number, &sdk_error.dxl_error); if (sdk_error.dxl_comm_result != COMM_SUCCESS) { if (log != NULL) *log = packetHandler_->getTxRxResult(sdk_error.dxl_comm_result); } else if (sdk_error.dxl_error != 0) { if (log != NULL) *log = packetHandler_->getRxPacketError(sdk_error.dxl_error); } else { setTool(model_number, id); if (get_model_number != NULL) *get_model_number = model_number; return true; } result = setPacketHandler(2.0f, log); if (result == false) return false; sdk_error.dxl_comm_result = packetHandler_->ping(portHandler_, id, &model_number, &sdk_error.dxl_error); if (sdk_error.dxl_comm_result != COMM_SUCCESS) { if (log != NULL) *log = packetHandler_->getTxRxResult(sdk_error.dxl_comm_result); } else if (sdk_error.dxl_error != 0) { if (log != NULL) *log = packetHandler_->getRxPacketError(sdk_error.dxl_error); } else { setTool(model_number, id); if (get_model_number != NULL) *get_model_number = model_number; return true; } return false; } bool DynamixelDriver::ping(uint8_t id, const char **log) { return ping(id, NULL, log); } bool DynamixelDriver::clearMultiTurn(uint8_t id, const char **log) { ErrorFromSDK sdk_error = {0, false, false, 0}; sdk_error.dxl_comm_result = packetHandler_->clearMultiTurn(portHandler_, id, &sdk_error.dxl_error); if (sdk_error.dxl_comm_result != COMM_SUCCESS) { if (log != NULL) *log = packetHandler_->getTxRxResult(sdk_error.dxl_comm_result); return false; } else if (sdk_error.dxl_error != 0) { if (log != NULL) *log = packetHandler_->getRxPacketError(sdk_error.dxl_error); return false; } else { if (log != NULL) *log = "[DynamixelDriver] Succeeded to clear!"; return true; } return false; } bool DynamixelDriver::reboot(uint8_t id, const char **log) { ErrorFromSDK sdk_error = {0, false, false, 0}; if (getProtocolVersion() == 1.0) { if (log != NULL) *log = "[DynamixelDriver] reboot functions is not available with the Dynamixel Protocol 1.0."; return false; } else { sdk_error.dxl_comm_result = packetHandler_->reboot(portHandler_, id, &sdk_error.dxl_error); #if defined(__OPENCR__) || defined(__OPENCM904__) delay(1000); #else usleep(1000*1000); #endif if (sdk_error.dxl_comm_result != COMM_SUCCESS) { if (log != NULL) *log = packetHandler_->getTxRxResult(sdk_error.dxl_comm_result); return false; } else if (sdk_error.dxl_error != 0) { if (log != NULL) *log = packetHandler_->getRxPacketError(sdk_error.dxl_error); return false; } else { if (log != NULL) *log = "[DynamixelDriver] Succeeded to reboot!"; return true; } } return false; } bool DynamixelDriver::reset(uint8_t id, const char **log) { ErrorFromSDK sdk_error = {0, false, false, 0}; bool result = false; uint32_t new_baud_rate = 0; uint8_t new_id = 1; const char* model_name = getModelName(id, log); if (model_name == NULL) return false; uint16_t model_number = getModelNumber(id, log); if (model_number == 0) return false; if (getProtocolVersion() == 1.0) { sdk_error.dxl_comm_result = packetHandler_->factoryReset(portHandler_, id, 0x00, &sdk_error.dxl_error); #if defined(__OPENCR__) || defined(__OPENCM904__) delay(2000); #else usleep(1000*2000); #endif if (sdk_error.dxl_comm_result != COMM_SUCCESS) { if (log != NULL) *log = packetHandler_->getTxRxResult(sdk_error.dxl_comm_result); return false; } else if (sdk_error.dxl_error != 0) { if (log != NULL) *log = packetHandler_->getRxPacketError(sdk_error.dxl_error); return false; } else { if (!strncmp(model_name, "AX", strlen("AX")) || !strncmp(model_name, "MX-12W", strlen("MX-12W"))) new_baud_rate = 1000000; else new_baud_rate = 57600; result = setBaudrate(new_baud_rate, log); if (result == false) return false; else { if (!strncmp(model_name, "MX-28-2", strlen("MX-28-2")) || !strncmp(model_name, "MX-64-2", strlen("MX-64-2")) || !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) || !strncmp(model_name, "XL", strlen("XL")) || !strncmp(model_name, "XM", strlen("XM")) || !strncmp(model_name, "XH", strlen("XH")) || !strncmp(model_name, "PRO", strlen("PRO"))|| !strncmp(model_name, "RH", strlen("RH"))) { result = setPacketHandler(2.0f, log); if (result == false) return false; } else { result = setPacketHandler(1.0f, log); if (result == false) return false; } } } initTools(); result = setTool(model_number, new_id, log); if (result == false) return false; if (log != NULL) *log = "[DynamixelDriver] Succeeded to reset!"; return true; } else if (getProtocolVersion() == 2.0) { sdk_error.dxl_comm_result = packetHandler_->factoryReset(portHandler_, id, 0xff, &sdk_error.dxl_error); #if defined(__OPENCR__) || defined(__OPENCM904__) delay(2000); #else usleep(1000*2000); #endif if (sdk_error.dxl_comm_result != COMM_SUCCESS) { if (log != NULL) *log = packetHandler_->getTxRxResult(sdk_error.dxl_comm_result); return false; } else if (sdk_error.dxl_error != 0) { if (log != NULL) *log = packetHandler_->getRxPacketError(sdk_error.dxl_error); return false; } else { if (!strncmp(model_name, "XL-320", strlen("XL-320"))) new_baud_rate = 1000000; else new_baud_rate = 57600; result = setBaudrate(new_baud_rate, log); if (result == false) return false; else { result = setPacketHandler(2.0f, log); if (result == false) return false; } } initTools(); result = setTool(model_number, new_id, log); if (result == false) return false; if (log != NULL) *log = "[DynamixelDriver] Succeeded to reset!"; return true; } return result; } bool DynamixelDriver::writeRegister(uint8_t id, uint16_t address, uint16_t length, uint8_t* data, const char **log) { ErrorFromSDK sdk_error = {0, false, false, 0}; #if defined(__OPENCR__) || defined(__OPENCM904__) delay(10); #else usleep(1000*10); #endif sdk_error.dxl_comm_result = packetHandler_->writeTxRx(portHandler_, id, address, length, data, &sdk_error.dxl_error); if (sdk_error.dxl_comm_result != COMM_SUCCESS) { if (log != NULL) *log = packetHandler_->getTxRxResult(sdk_error.dxl_comm_result); return false; } else if (sdk_error.dxl_error != 0) { if (log != NULL) *log = packetHandler_->getRxPacketError(sdk_error.dxl_error); return false; } else { if (log != NULL) *log = "[DynamixelDriver] Succeeded to write!"; return true; } return false; } bool DynamixelDriver::writeRegister(uint8_t id, const char *item_name, int32_t data, const char **log) { ErrorFromSDK sdk_error = {0, false, false, 0}; const ControlItem *control_item; uint8_t factor = getTool(id, log); if (factor == 0xff) return false; control_item = tools_[factor].getControlItem(item_name, log); if (control_item == NULL) return false; uint8_t data_1_byte = (uint8_t)data; uint16_t data_2_byte = (uint16_t)data; uint32_t data_4_byte = (uint32_t)data; #if defined(__OPENCR__) || defined(__OPENCM904__) delay(10); #else usleep(1000*10); #endif switch (control_item->data_length) { case BYTE: sdk_error.dxl_comm_result = packetHandler_->write1ByteTxRx(portHandler_, id, control_item->address, data_1_byte, &sdk_error.dxl_error); break; case WORD: sdk_error.dxl_comm_result = packetHandler_->write2ByteTxRx(portHandler_, id, control_item->address, data_2_byte, &sdk_error.dxl_error); break; case DWORD: sdk_error.dxl_comm_result = packetHandler_->write4ByteTxRx(portHandler_, id, control_item->address, data_4_byte, &sdk_error.dxl_error); break; default: sdk_error.dxl_comm_result = packetHandler_->write1ByteTxRx(portHandler_, id, control_item->address, data_1_byte, &sdk_error.dxl_error); break; } if (sdk_error.dxl_comm_result != COMM_SUCCESS) { if (log != NULL) *log = packetHandler_->getTxRxResult(sdk_error.dxl_comm_result); return false; } else if (sdk_error.dxl_error != 0) { if (log != NULL) *log = packetHandler_->getRxPacketError(sdk_error.dxl_error); return false; } else { if (log != NULL) *log = "[DynamixelDriver] Succeeded to write!"; return true; } return false; } bool DynamixelDriver::writeOnlyRegister(uint8_t id, uint16_t address, uint16_t length, uint8_t *data, const char **log) { ErrorFromSDK sdk_error = {0, false, false, 0}; #if defined(__OPENCR__) || defined(__OPENCM904__) delay(10); #else usleep(1000*10); #endif sdk_error.dxl_comm_result = packetHandler_->writeTxOnly(portHandler_, id, address, length, data); if (sdk_error.dxl_comm_result != COMM_SUCCESS) { if (log != NULL) *log = packetHandler_->getTxRxResult(sdk_error.dxl_comm_result); return false; } else { if (log != NULL) *log = "[DynamixelDriver] Succeeded to write!"; return true; } return false; } bool DynamixelDriver::writeOnlyRegister(uint8_t id, const char *item_name, int32_t data, const char **log) { ErrorFromSDK sdk_error = {0, false, false, 0}; const ControlItem *control_item; uint8_t factor = getTool(id, log); if (factor == 0xff) return false; control_item = tools_[factor].getControlItem(item_name, log); if (control_item == NULL) return false; #if defined(__OPENCR__) || defined(__OPENCM904__) delay(10); #else usleep(1000*10); #endif switch (control_item->data_length) { case BYTE: sdk_error.dxl_comm_result = packetHandler_->write1ByteTxOnly(portHandler_, id, control_item->address, (uint8_t)data); break; case WORD: sdk_error.dxl_comm_result = packetHandler_->write2ByteTxOnly(portHandler_, id, control_item->address, (uint16_t)data); break; case DWORD: sdk_error.dxl_comm_result = packetHandler_->write4ByteTxOnly(portHandler_, id, control_item->address, (uint32_t)data); break; default: sdk_error.dxl_comm_result = packetHandler_->write1ByteTxOnly(portHandler_, id, control_item->address, (uint8_t)data); break; } if (sdk_error.dxl_comm_result != COMM_SUCCESS) { if (log != NULL) *log = packetHandler_->getTxRxResult(sdk_error.dxl_comm_result); return false; } else { if (log != NULL) *log = "[DynamixelDriver] Succeeded to write!"; return true; } return false; } bool DynamixelDriver::readRegister(uint8_t id, uint16_t address, uint16_t length, uint32_t *data, const char **log) { ErrorFromSDK sdk_error = {0, false, false, 0}; uint8_t data_read[length]; sdk_error.dxl_comm_result = packetHandler_->readTxRx(portHandler_, id, address, length, (uint8_t *)&data_read, &sdk_error.dxl_error); if (sdk_error.dxl_comm_result != COMM_SUCCESS) { if (log != NULL) *log = packetHandler_->getTxRxResult(sdk_error.dxl_comm_result); return false; } else if (sdk_error.dxl_error != 0) { if (log != NULL) *log = packetHandler_->getRxPacketError(sdk_error.dxl_error); return false; } else { switch (length) { case BYTE: *data = data_read[0]; break; case WORD: *data = DXL_MAKEWORD(data_read[0], data_read[1]); break; case DWORD: *data = DXL_MAKEDWORD(DXL_MAKEWORD(data_read[0], data_read[1]), DXL_MAKEWORD(data_read[2], data_read[3])); break; default: for (uint16_t index = 0; index < length; index++) { data[index] = (uint32_t)data_read[index]; } break; } if (log != NULL) *log = "[DynamixelDriver] Succeeded to read!"; return true; } return false; } bool DynamixelDriver::readRegister(uint8_t id, const char *item_name, int32_t *data, const char **log) { ErrorFromSDK sdk_error = {0, false, false, 0}; const ControlItem *control_item; uint8_t factor = getTool(id, log); if (factor == 0xff) return false; control_item = tools_[factor].getControlItem(item_name, log); if (control_item == NULL) return false; uint8_t data_1_byte = 0; uint16_t data_2_byte = 0; uint32_t data_4_byte = 0; switch (control_item->data_length) { case BYTE: sdk_error.dxl_comm_result = packetHandler_->read1ByteTxRx(portHandler_, id, control_item->address, &data_1_byte, &sdk_error.dxl_error); break; case WORD: sdk_error.dxl_comm_result = packetHandler_->read2ByteTxRx(portHandler_, id, control_item->address, &data_2_byte, &sdk_error.dxl_error); break; case DWORD: sdk_error.dxl_comm_result = packetHandler_->read4ByteTxRx(portHandler_, id, control_item->address, &data_4_byte, &sdk_error.dxl_error); break; default: sdk_error.dxl_comm_result = packetHandler_->read1ByteTxRx(portHandler_, id, control_item->address, &data_1_byte, &sdk_error.dxl_error); break; } if (sdk_error.dxl_comm_result != COMM_SUCCESS) { if (log != NULL) *log = packetHandler_->getTxRxResult(sdk_error.dxl_comm_result); return false; } else if (sdk_error.dxl_error != 0) { if (log != NULL) *log = packetHandler_->getRxPacketError(sdk_error.dxl_error); return false; } else { switch (control_item->data_length) { case BYTE: *data = data_1_byte; break; case WORD: *data = data_2_byte; break; case DWORD: *data = data_4_byte; break; default: *data = data_1_byte; break; } if (log != NULL) *log = "[DynamixelDriver] Succeeded to read!"; return true; } return false; } void DynamixelDriver::getParam(int32_t data, uint8_t *param) { param[0] = DXL_LOBYTE(DXL_LOWORD(data)); param[1] = DXL_HIBYTE(DXL_LOWORD(data)); param[2] = DXL_LOBYTE(DXL_HIWORD(data)); param[3] = DXL_HIBYTE(DXL_HIWORD(data)); } bool DynamixelDriver::addSyncWriteHandler(uint16_t address, uint16_t length, const char **log) { if (sync_write_handler_cnt_ > (MAX_HANDLER_NUM-1)) { if (log != NULL) *log = "[DynamixelDriver] Too many sync write handler are added (MAX = 5)"; return false; } syncWriteHandler_[sync_write_handler_cnt_].control_item = NULL; syncWriteHandler_[sync_write_handler_cnt_].groupSyncWrite = new dynamixel::GroupSyncWrite(portHandler_, packetHandler_, address, length); sync_write_handler_cnt_++; if (log != NULL) *log = "[DynamixelDriver] Succeeded to add sync write handler"; return true; } bool DynamixelDriver::addSyncWriteHandler(uint8_t id, const char *item_name, const char **log) { const ControlItem *control_item; uint8_t factor = getTool(id, log); if (factor == 0xff) return false; control_item = tools_[factor].getControlItem(item_name, log); if (control_item == NULL) return false; if (sync_write_handler_cnt_ > (MAX_HANDLER_NUM-1)) { if (log != NULL) *log = "[DynamixelDriver] Too many sync write handler are added (MAX = 5)"; return false; } syncWriteHandler_[sync_write_handler_cnt_].control_item = control_item; syncWriteHandler_[sync_write_handler_cnt_].groupSyncWrite = new dynamixel::GroupSyncWrite(portHandler_, packetHandler_, control_item->address, control_item->data_length); sync_write_handler_cnt_++; if (log != NULL) *log = "[DynamixelDriver] Succeeded to add sync write handler"; return true; } bool DynamixelDriver::syncWrite(uint8_t index, int32_t *data, const char **log) { ErrorFromSDK sdk_error = {0, false, false, 0}; uint8_t dxl_cnt = 0; uint8_t parameter[4] = {0, 0, 0, 0}; for (int i = 0; i < tools_cnt_; i++) { for (int j = 0; j < tools_[i].getDynamixelCount(); j++) { getParam(data[dxl_cnt], parameter); sdk_error.dxl_addparam_result = syncWriteHandler_[index].groupSyncWrite->addParam(tools_[i].getID()[j], (uint8_t *)¶meter); if (sdk_error.dxl_addparam_result != true) { if (log != NULL) *log = "groupSyncWrite addparam failed"; return false; } else dxl_cnt++; } } sdk_error.dxl_comm_result = syncWriteHandler_[index].groupSyncWrite->txPacket(); if (sdk_error.dxl_comm_result != COMM_SUCCESS) { if (log != NULL) *log = packetHandler_->getTxRxResult(sdk_error.dxl_comm_result); return false; } syncWriteHandler_[index].groupSyncWrite->clearParam(); if (log != NULL) *log = "[DynamixelDriver] Succeeded to sync write!"; return true; } bool DynamixelDriver::syncWrite(uint8_t index, uint8_t *id, uint8_t id_num, int32_t *data, uint8_t data_num_for_each_id, const char **log) { ErrorFromSDK sdk_error = {0, false, false, 0}; uint8_t parameter[4] = {0, 0, 0, 0}; uint8_t multi_parameter[4*data_num_for_each_id]; uint8_t cnt = 0; for (int i = 0; i < id_num; i++) { for (int j = 0; j < data_num_for_each_id; j++) { getParam(data[cnt++], parameter); for (int k = 0; k < 4; k++) { multi_parameter[4*j+k] = parameter[k]; } } sdk_error.dxl_addparam_result = syncWriteHandler_[index].groupSyncWrite->addParam(id[i], (uint8_t *)&multi_parameter); if (sdk_error.dxl_addparam_result != true) { if (log != NULL) *log = "groupSyncWrite addparam failed"; return false; } } sdk_error.dxl_comm_result = syncWriteHandler_[index].groupSyncWrite->txPacket(); if (sdk_error.dxl_comm_result != COMM_SUCCESS) { if (log != NULL) *log = packetHandler_->getTxRxResult(sdk_error.dxl_comm_result); return false; } syncWriteHandler_[index].groupSyncWrite->clearParam(); if (log != NULL) *log = "[DynamixelDriver] Succeeded to sync write!"; return true; } bool DynamixelDriver::addSyncReadHandler(uint16_t address, uint16_t length, const char **log) { if (sync_read_handler_cnt_ > (MAX_HANDLER_NUM-1)) { if (log != NULL) *log = "[DynamixelDriver] Too many sync read handler are added (MAX = 5)"; return false; } syncReadHandler_[sync_read_handler_cnt_].control_item = NULL; syncReadHandler_[sync_read_handler_cnt_].groupSyncRead = new dynamixel::GroupSyncRead(portHandler_, packetHandler_, address, length); sync_read_handler_cnt_++; if (log != NULL) *log = "[DynamixelDriver] Succeeded to add sync read handler"; return true; } bool DynamixelDriver::addSyncReadHandler(uint8_t id, const char *item_name, const char **log) { const ControlItem *control_item; uint8_t factor = getTool(id, log); if (factor == 0xff) return false; control_item = tools_[factor].getControlItem(item_name, log); if (control_item == NULL) return false; if (sync_read_handler_cnt_ > (MAX_HANDLER_NUM-1)) { if (log != NULL) *log = "[DynamixelDriver] Too many sync read handler are added (MAX = 5)"; return false; } syncReadHandler_[sync_read_handler_cnt_].control_item = control_item; syncReadHandler_[sync_read_handler_cnt_].groupSyncRead = new dynamixel::GroupSyncRead(portHandler_, packetHandler_, control_item->address, control_item->data_length); sync_read_handler_cnt_++; if (log != NULL) *log = "[DynamixelDriver] Succeeded to add sync read handler"; return true; } bool DynamixelDriver::syncRead(uint8_t index, const char **log) { ErrorFromSDK sdk_error = {0, false, false, 0}; syncReadHandler_[index].groupSyncRead->clearParam(); for (int i = 0; i < tools_cnt_; i++) { for (int j = 0; j < tools_[i].getDynamixelCount(); j++) { sdk_error.dxl_addparam_result = syncReadHandler_[index].groupSyncRead->addParam(tools_[i].getID()[j]); if (sdk_error.dxl_addparam_result != true) { if (log != NULL) *log = "groupSyncWrite addparam failed"; return false; } } } sdk_error.dxl_comm_result = syncReadHandler_[index].groupSyncRead->txRxPacket(); if (sdk_error.dxl_comm_result != COMM_SUCCESS) { if (log != NULL) *log = packetHandler_->getTxRxResult(sdk_error.dxl_comm_result); return false; } if (log != NULL) *log = "[DynamixelDriver] Succeeded to sync read!"; return true; } bool DynamixelDriver::syncRead(uint8_t index, uint8_t *id, uint8_t id_num, const char **log) { ErrorFromSDK sdk_error = {0, false, false, 0}; syncReadHandler_[index].groupSyncRead->clearParam(); for (int i = 0; i < id_num; i++) { sdk_error.dxl_addparam_result = syncReadHandler_[index].groupSyncRead->addParam(id[i]); if (sdk_error.dxl_addparam_result != true) { if (log != NULL) *log = "groupSyncWrite addparam failed"; return false; } } sdk_error.dxl_comm_result = syncReadHandler_[index].groupSyncRead->txRxPacket(); if (sdk_error.dxl_comm_result != COMM_SUCCESS) { if (log != NULL) *log = packetHandler_->getTxRxResult(sdk_error.dxl_comm_result); return false; } if (log != NULL) *log = "[DynamixelDriver] Succeeded to sync read!"; return true; } bool DynamixelDriver::getSyncReadData(uint8_t index, int32_t *data, const char **log) { ErrorFromSDK sdk_error = {0, false, false, 0}; for (int i = 0; i < tools_cnt_; i++) { for (int j = 0; j < tools_[i].getDynamixelCount(); j++) { sdk_error.dxl_getdata_result = syncReadHandler_[index].groupSyncRead->isAvailable(tools_[i].getID()[j], syncReadHandler_[index].control_item->address, syncReadHandler_[index].control_item->data_length); if (sdk_error.dxl_getdata_result != true) { if (log != NULL) *log = "groupSyncRead getdata failed"; return false; } else { data[i+j] = syncReadHandler_[index].groupSyncRead->getData(tools_[i].getID()[j], syncReadHandler_[index].control_item->address, syncReadHandler_[index].control_item->data_length); } } } if (log != NULL) *log = "[DynamixelDriver] Succeeded to get sync read data!"; return true; } bool DynamixelDriver::getSyncReadData(uint8_t index, uint8_t *id, uint8_t id_num, int32_t *data, const char **log) { ErrorFromSDK sdk_error = {0, false, false, 0}; for (int i = 0; i < id_num; i++) { sdk_error.dxl_getdata_result = syncReadHandler_[index].groupSyncRead->isAvailable(id[i], syncReadHandler_[index].control_item->address, syncReadHandler_[index].control_item->data_length); if (sdk_error.dxl_getdata_result != true) { if (log != NULL) *log = "groupSyncRead getdata failed"; return false; } else { data[i] = syncReadHandler_[index].groupSyncRead->getData(id[i], syncReadHandler_[index].control_item->address, syncReadHandler_[index].control_item->data_length); } } if (log != NULL) *log = "[DynamixelDriver] Succeeded to get sync read data!"; return true; } bool DynamixelDriver::getSyncReadData(uint8_t index, uint8_t *id, uint8_t id_num, uint16_t address, uint16_t length, int32_t *data, const char **log) { ErrorFromSDK sdk_error = {0, false, false, 0}; for (int i = 0; i < id_num; i++) { sdk_error.dxl_getdata_result = syncReadHandler_[index].groupSyncRead->isAvailable(id[i], address, length); if (sdk_error.dxl_getdata_result != true) { if (log != NULL) *log = "groupSyncRead getdata failed"; return false; } else { data[i] = syncReadHandler_[index].groupSyncRead->getData(id[i], address, length); } } if (log != NULL) *log = "[DynamixelDriver] Succeeded to get sync read data!"; return true; } bool DynamixelDriver::initBulkWrite(const char **log) { if (portHandler_ == NULL) { if (log != NULL) *log = "[DynamixelDriver] Failed to load portHandler!"; } else if (packetHandler_ == NULL) { if (log != NULL) *log = "[DynamixelDriver] Failed to load packetHandler!"; } else { groupBulkWrite_ = new dynamixel::GroupBulkWrite(portHandler_, packetHandler_); if (log != NULL) *log = "[DynamixelDriver] Succeeded to init groupBulkWrite!"; return true; } return false; } bool DynamixelDriver::addBulkWriteParam(uint8_t id, uint16_t address, uint16_t length, int32_t data, const char **log) { ErrorFromSDK sdk_error = {0, false, false, 0}; uint8_t parameter[4] = {0, 0, 0, 0}; getParam(data, parameter); sdk_error.dxl_addparam_result = groupBulkWrite_->addParam(id, address, length, parameter); if (sdk_error.dxl_addparam_result != true) { if (log != NULL) *log = "groupBulkWrite addparam failed"; return false; } if (log != NULL) *log = "[DynamixelDriver] Succeeded to add param for bulk write!"; return true; } bool DynamixelDriver::addBulkWriteParam(uint8_t id, const char *item_name, int32_t data, const char **log) { ErrorFromSDK sdk_error = {0, false, false, 0}; uint8_t parameter[4] = {0, 0, 0, 0}; const ControlItem *control_item; uint8_t factor = getTool(id, log); if (factor == 0xff) return false; control_item = tools_[factor].getControlItem(item_name, log); if (control_item == NULL) return false; getParam(data, parameter); sdk_error.dxl_addparam_result = groupBulkWrite_->addParam(id, control_item->address, control_item->data_length, parameter); if (sdk_error.dxl_addparam_result != true) { if (log != NULL) *log = "groupBulkWrite addparam failed"; return false; } if (log != NULL) *log = "[DynamixelDriver] Succeeded to add param for bulk write!"; return true; } bool DynamixelDriver::bulkWrite(const char **log) { ErrorFromSDK sdk_error = {0, false, false, 0}; sdk_error.dxl_comm_result = groupBulkWrite_->txPacket(); if (sdk_error.dxl_comm_result != COMM_SUCCESS) { if (log != NULL) *log = packetHandler_->getTxRxResult(sdk_error.dxl_comm_result); return false; } groupBulkWrite_->clearParam(); if (log != NULL) *log = "[DynamixelDriver] Succeeded to bulk write!"; return true; } bool DynamixelDriver::initBulkRead(const char **log) { if (portHandler_ == NULL) { if (log != NULL) *log = "[DynamixelDriver] Failed to load portHandler!"; } else if (packetHandler_ == NULL) { if (log != NULL) *log = "[DynamixelDriver] Failed to load packetHandler!"; } else { groupBulkRead_ = new dynamixel::GroupBulkRead(portHandler_, packetHandler_); if (log != NULL) *log = "[DynamixelDriver] Succeeded to init groupBulkRead!"; return true; } return false; } bool DynamixelDriver::addBulkReadParam(uint8_t id, uint16_t address, uint16_t length, const char **log) { ErrorFromSDK sdk_error = {0, false, false, 0}; sdk_error.dxl_addparam_result = groupBulkRead_->addParam(id, address, length); if (sdk_error.dxl_addparam_result != true) { if (log != NULL) *log = "grouBulkRead addparam failed"; return false; } if (bulk_read_parameter_cnt_ < (MAX_BULK_PARAMETER-1)) { bulk_read_param_[bulk_read_parameter_cnt_].id = id; bulk_read_param_[bulk_read_parameter_cnt_].address = address; bulk_read_param_[bulk_read_parameter_cnt_].data_length = length; bulk_read_parameter_cnt_++; } else { if (log != NULL) *log = "[DynamixelDriver] Too many bulk parameter are added (default buffer size is 21)"; return false; } if (log != NULL) *log = "[DynamixelDriver] Succeeded to add param for bulk read!"; return true; } bool DynamixelDriver::addBulkReadParam(uint8_t id, const char *item_name, const char **log) { ErrorFromSDK sdk_error = {0, false, false, 0}; const ControlItem *control_item; uint8_t factor = getTool(id, log); if (factor == 0xff) return false; control_item = tools_[factor].getControlItem(item_name, log); if (control_item == NULL) return false; sdk_error.dxl_addparam_result = groupBulkRead_->addParam(id, control_item->address, control_item->data_length); if (sdk_error.dxl_addparam_result != true) { if (log != NULL) *log = "grouBulkRead addparam failed"; return false; } if (bulk_read_parameter_cnt_ < (MAX_BULK_PARAMETER-1)) { bulk_read_param_[bulk_read_parameter_cnt_].id = id; bulk_read_param_[bulk_read_parameter_cnt_].address = control_item->address; bulk_read_param_[bulk_read_parameter_cnt_].data_length = control_item->data_length; bulk_read_parameter_cnt_++; } else { if (log != NULL) *log = "[DynamixelDriver] Too many bulk parameter are added (default buffer size is 21)"; return false; } if (log != NULL) *log = "[DynamixelDriver] Succeeded to add param for bulk read!"; return true; } bool DynamixelDriver::bulkRead(const char **log) { ErrorFromSDK sdk_error = {0, false, false, 0}; sdk_error.dxl_comm_result = groupBulkRead_->txRxPacket(); if (sdk_error.dxl_comm_result != COMM_SUCCESS) { if (log != NULL) *log = packetHandler_->getTxRxResult(sdk_error.dxl_comm_result); return false; } if (log != NULL) *log = "[DynamixelDriver] Succeeded to bulk read!"; return true; } bool DynamixelDriver::getBulkReadData(int32_t *data, const char **log) { ErrorFromSDK sdk_error = {0, false, false, 0}; for (int i = 0; i < bulk_read_parameter_cnt_; i++) { sdk_error.dxl_getdata_result = groupBulkRead_->isAvailable(bulk_read_param_[i].id, bulk_read_param_[i].address, bulk_read_param_[i].data_length); if (sdk_error.dxl_getdata_result != true) { if (log != NULL) *log = "groupBulkRead getdata failed"; return false; } else { data[i] = groupBulkRead_->getData(bulk_read_param_[i].id, bulk_read_param_[i].address, bulk_read_param_[i].data_length); } } if (log != NULL) *log = "[DynamixelDriver] Succeeded to get bulk read data!"; return true; } bool DynamixelDriver::getBulkReadData(uint8_t *id, uint8_t id_num, uint16_t *address, uint16_t *length, int32_t *data, const char **log) { ErrorFromSDK sdk_error = {0, false, false, 0}; for (int i = 0; i < id_num; i++) { sdk_error.dxl_getdata_result = groupBulkRead_->isAvailable(id[i], address[i], length[i]); if (sdk_error.dxl_getdata_result != true) { if (log != NULL) *log = "groupBulkRead getdata failed"; return false; } else { data[i] = groupBulkRead_->getData(id[i], address[i], length[i]); } } if (log != NULL) *log = "[DynamixelDriver] Succeeded to get bulk read data!"; return true; } bool DynamixelDriver::clearBulkReadParam(void) { groupBulkRead_->clearParam(); bulk_read_parameter_cnt_ = 0; return true; } ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelWorkbench/src/dynamixel_workbench_toolbox/dynamixel_item.cpp ================================================ /******************************************************************************* * Copyright 2018 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ /* Authors: Taehun Lim (Darby), Ryan Shim */ #include "../../include/dynamixel_workbench_toolbox/dynamixel_item.h" //========================================================= // Servo register definitions //========================================================= //_________________________________________________________ static const char s_Acceleration_Limit[] = "Acceleration_Limit"; static const char s_Alarm_LED[] = "Alarm_LED"; static const char s_Baud_Rate[] = "Baud_Rate"; static const char s_Bus_Watchdog[] = "Bus_Watchdog"; static const char s_CCW_Angle_Limit[] = "CCW_Angle_Limit"; static const char s_CCW_Compliance_Margin[] = "CCW_Compliance_Margin"; static const char s_CCW_Compliance_Slope[] = "CCW_Compliance_Slope"; static const char s_Control_Mode[] = "Control_Mode"; static const char s_Current[] = "Current"; static const char s_Current_Limit[] = "Current_Limit"; static const char s_CW_Angle_Limit[] = "CW_Angle_Limit"; static const char s_CW_Compliance_Margin[] = "CW_Compliance_Margin"; static const char s_CW_Compliance_Slope[] = "CW_Compliance_Slope"; static const char s_D_gain[] = "D_gain"; static const char s_Drive_Mode[] = "Drive_Mode"; static const char s_External_Port_Mode_1[] = "External_Port_Mode_1"; static const char s_External_Port_Mode_2[] = "External_Port_Mode_2"; static const char s_External_Port_Mode_3[] = "External_Port_Mode_3"; static const char s_External_Port_Mode_4[] = "External_Port_Mode_4"; static const char s_Feedforward_1st_Gain[] = "Feedforward_1st_Gain"; static const char s_Feedforward_2nd_Gain[] = "Feedforward_2nd_Gain"; static const char s_Firmware_Version[] = "Firmware_Version"; static const char s_Goal_Acceleration[] = "Goal_Acceleration"; static const char s_Goal_Current[] = "Goal_Current"; static const char s_Goal_Position[] = "Goal_Position"; static const char s_Goal_PWM[] = "Goal_PWM"; static const char s_Goal_Torque[] = "Goal_Torque"; static const char s_Goal_Velocity[] = "Goal_Velocity"; static const char s_Hardware_Error_Status[] = "Hardware_Error_Status"; static const char s_Homing_Offset[] = "Homing_Offset"; static const char s_I_gain[] = "I_gain"; static const char s_ID[] = "ID"; static const char s_LED[] = "LED"; static const char s_LED_BLUE[] = "LED_BLUE"; static const char s_LED_GREEN[] = "LED_GREEN"; static const char s_LED_RED[] = "LED_RED"; static const char s_Lock[] = "Lock"; static const char s_Max_Position_Limit[] = "Max_Position_Limit"; static const char s_Max_Torque[] = "Max_Torque"; static const char s_Max_Voltage_Limit[] = "Max_Voltage_Limit"; static const char s_Min_Position_Limit[] = "Min_Position_Limit"; static const char s_Min_Voltage_Limit[] = "Min_Voltage_Limit"; static const char s_Model_Number[] = "Model_Number"; static const char s_Moving[] = "Moving"; static const char s_Moving_Speed[] = "Moving_Speed"; static const char s_Moving_Status[] = "Moving_Status"; static const char s_Moving_Threshold[] = "Moving_Threshold"; static const char s_Multi_Turn_Offset[] = "Multi_Turn_Offset"; static const char s_Operating_Mode[] = "Operating_Mode"; static const char s_P_gain[] = "P_gain"; static const char s_Position_D_Gain[] = "Position_D_Gain"; static const char s_Position_I_Gain[] = "Position_I_Gain"; static const char s_Position_P_Gain[] = "Position_P_Gain"; static const char s_Position_Trajectory[] = "Position_Trajectory"; static const char s_Present_Current[] = "Present_Current"; static const char s_Present_Input[] = "Present_Input"; static const char s_Present_Input_Voltage[] = "Present_Input_Voltage"; static const char s_Present_Load[] = "Present_Load"; static const char s_Present_Position[] = "Present_Position"; static const char s_Present_PWM[] = "Present_PWM"; static const char s_Present_Speed[] = "Present_Speed"; static const char s_Present_Temperature[] = "Present_Temperature"; static const char s_Present_Velocity[] = "Present_Velocity"; static const char s_Present_Voltage[] = "Present_Voltage"; static const char s_Profile_Acceleration[] = "Profile_Acceleration"; static const char s_Profile_Velocity[] = "Profile_Velocity"; static const char s_Protocol_Version[] = "Protocol_Version"; static const char s_Punch[] = "Punch"; static const char s_PWM_Limit[] = "PWM_Limit"; static const char s_Realtime_Tick[] = "Realtime_Tick"; static const char s_Registered[] = "Registered"; static const char s_Registered_Instruction[] = "Registered_Instruction"; static const char s_Resolution_Divider[] = "Resolution_Divider"; static const char s_Return_Delay_Time[] = "Return_Delay_Time"; static const char s_Secondary_ID[] = "Secondary_ID"; static const char s_Sensored_Current[] = "Sensored_Current"; static const char s_Shutdown[] = "Shutdown"; static const char s_Status_Return_Level[] = "Status_Return_Level"; static const char s_Temperature_Limit[] = "Temperature_Limit"; static const char s_Torque_Control_Mode_Enable[] = "Torque_Control_Mode_Enable"; static const char s_Torque_Enable[] = "Torque_Enable"; static const char s_Torque_Limit[] = "Torque_Limit"; static const char s_Velocity_I_Gain[] = "Velocity_I_Gain"; static const char s_Velocity_Limit[] = "Velocity_Limit"; static const char s_Velocity_P_Gain[] = "Velocity_P_Gain"; static const char s_Velocity_Trajectory[] = "Velocity_Trajectory"; //_________________________________________________________ //--------------------------------------------------------- // AX servos - (num == AX_12A || num == AX_12W || num == AX_18A) //--------------------------------------------------------- static const ControlItem items_AX[]{ {s_Model_Number, 0, sizeof(s_Model_Number) - 1, 2}, {s_Firmware_Version, 2, sizeof(s_Firmware_Version) - 1, 1}, {s_ID, 3, sizeof(s_ID) - 1, 1}, {s_Baud_Rate, 4, sizeof(s_Baud_Rate) - 1, 1}, {s_Return_Delay_Time, 5, sizeof(s_Return_Delay_Time) - 1, 1}, {s_CW_Angle_Limit, 6, sizeof(s_CW_Angle_Limit) - 1, 2}, {s_CCW_Angle_Limit, 8, sizeof(s_CCW_Angle_Limit) - 1, 2}, {s_Temperature_Limit, 11, sizeof(s_Temperature_Limit) - 1, 1}, {s_Min_Voltage_Limit, 12, sizeof(s_Min_Voltage_Limit) - 1, 1}, {s_Max_Voltage_Limit, 13, sizeof(s_Max_Voltage_Limit) - 1, 1}, {s_Max_Torque, 14, sizeof(s_Max_Torque) - 1, 2}, {s_Status_Return_Level, 16, sizeof(s_Status_Return_Level) - 1, 1}, {s_Alarm_LED, 17, sizeof(s_Alarm_LED) - 1, 1}, {s_Shutdown, 18, sizeof(s_Shutdown) - 1, 1}, {s_Torque_Enable, 24, sizeof(s_Torque_Enable) - 1, 1}, {s_LED, 25, sizeof(s_LED) - 1, 1}, {s_CW_Compliance_Margin, 26, sizeof(s_CW_Compliance_Margin) - 1, 1}, {s_CCW_Compliance_Margin, 27, sizeof(s_CCW_Compliance_Margin) - 1, 1}, {s_CW_Compliance_Slope, 28, sizeof(s_CW_Compliance_Slope) - 1, 1}, {s_CCW_Compliance_Slope, 29, sizeof(s_CCW_Compliance_Slope) - 1, 1}, {s_Goal_Position, 30, sizeof(s_Goal_Position) - 1, 2}, {s_Moving_Speed, 32, sizeof(s_Moving_Speed) - 1, 2}, {s_Torque_Limit, 34, sizeof(s_Torque_Limit) - 1, 2}, {s_Present_Position, 36, sizeof(s_Present_Position) - 1, 2}, {s_Present_Speed, 38, sizeof(s_Present_Speed) - 1, 2}, {s_Present_Load, 40, sizeof(s_Present_Load) - 1, 2}, {s_Present_Voltage, 42, sizeof(s_Present_Voltage) - 1, 1}, {s_Present_Temperature, 43, sizeof(s_Present_Temperature) - 1, 1}, {s_Registered, 44, sizeof(s_Registered) - 1, 1}, {s_Moving, 46, sizeof(s_Moving) - 1, 1}, {s_Lock, 47, sizeof(s_Lock) - 1, 1}, {s_Punch, 48, sizeof(s_Punch) - 1, 2}}; #define COUNT_AX_ITEMS (sizeof(items_AX) / sizeof(items_AX[0])) static const ModelInfo info_AX = {0.11, 0, 512, 1024, -2.61799, 2.61799}; //--------------------------------------------------------- // RX servos - (num == RX_10 || num == RX_24F || num == RX_28 || num == RX_64) //--------------------------------------------------------- static const ControlItem items_RX[]{ {s_Model_Number, 0, sizeof(s_Model_Number) - 1, 2}, {s_Firmware_Version, 2, sizeof(s_Firmware_Version) - 1, 1}, {s_ID, 3, sizeof(s_ID) - 1, 1}, {s_Baud_Rate, 4, sizeof(s_Baud_Rate) - 1, 1}, {s_Return_Delay_Time, 5, sizeof(s_Return_Delay_Time) - 1, 1}, {s_CW_Angle_Limit, 6, sizeof(s_CW_Angle_Limit) - 1, 2}, {s_CCW_Angle_Limit, 8, sizeof(s_CCW_Angle_Limit) - 1, 2}, {s_Temperature_Limit, 11, sizeof(s_Temperature_Limit) - 1, 1}, {s_Min_Voltage_Limit, 12, sizeof(s_Min_Voltage_Limit) - 1, 1}, {s_Max_Voltage_Limit, 13, sizeof(s_Max_Voltage_Limit) - 1, 1}, {s_Max_Torque, 14, sizeof(s_Max_Torque) - 1, 2}, {s_Status_Return_Level, 16, sizeof(s_Status_Return_Level) - 1, 1}, {s_Alarm_LED, 17, sizeof(s_Alarm_LED) - 1, 1}, {s_Shutdown, 18, sizeof(s_Shutdown) - 1, 1}, {s_Torque_Enable, 24, sizeof(s_Torque_Enable) - 1, 1}, {s_LED, 25, sizeof(s_LED) - 1, 1}, {s_CW_Compliance_Margin, 26, sizeof(s_CW_Compliance_Margin) - 1, 1}, {s_CCW_Compliance_Margin, 27, sizeof(s_CCW_Compliance_Margin) - 1, 1}, {s_CW_Compliance_Slope, 28, sizeof(s_CW_Compliance_Slope) - 1, 1}, {s_CCW_Compliance_Slope, 29, sizeof(s_CCW_Compliance_Slope) - 1, 1}, {s_Goal_Position, 30, sizeof(s_Goal_Position) - 1, 2}, {s_Moving_Speed, 32, sizeof(s_Moving_Speed) - 1, 2}, {s_Torque_Limit, 34, sizeof(s_Torque_Limit) - 1, 2}, {s_Present_Position, 36, sizeof(s_Present_Position) - 1, 2}, {s_Present_Speed, 38, sizeof(s_Present_Speed) - 1, 2}, {s_Present_Load, 40, sizeof(s_Present_Load) - 1, 2}, {s_Present_Voltage, 42, sizeof(s_Present_Voltage) - 1, 1}, {s_Present_Temperature, 43, sizeof(s_Present_Temperature) - 1, 1}, {s_Registered, 44, sizeof(s_Registered) - 1, 1}, {s_Moving, 46, sizeof(s_Moving) - 1, 1}, {s_Lock, 47, sizeof(s_Lock) - 1, 1}, {s_Punch, 48, sizeof(s_Punch) - 1, 2}}; #define COUNT_RX_ITEMS (sizeof(items_RX) / sizeof(items_RX[0])) static const ModelInfo info_RX = {0.11, 0, 512, 1024, -2.61799, 2.61799}; //--------------------------------------------------------- // EX servos - (num == EX_106) //--------------------------------------------------------- static const ControlItem items_EX[]{ {s_Model_Number, 0, sizeof(s_Model_Number) - 1, 2}, {s_Firmware_Version, 2, sizeof(s_Firmware_Version) - 1, 1}, {s_ID, 3, sizeof(s_ID) - 1, 1}, {s_Baud_Rate, 4, sizeof(s_Baud_Rate) - 1, 1}, {s_Return_Delay_Time, 5, sizeof(s_Return_Delay_Time) - 1, 1}, {s_CW_Angle_Limit, 6, sizeof(s_CW_Angle_Limit) - 1, 2}, {s_CCW_Angle_Limit, 8, sizeof(s_CCW_Angle_Limit) - 1, 2}, {s_Drive_Mode, 10, sizeof(s_Drive_Mode) - 1, 1}, {s_Temperature_Limit, 11, sizeof(s_Temperature_Limit) - 1, 1}, {s_Min_Voltage_Limit, 12, sizeof(s_Min_Voltage_Limit) - 1, 1}, {s_Max_Voltage_Limit, 13, sizeof(s_Max_Voltage_Limit) - 1, 1}, {s_Max_Torque, 14, sizeof(s_Max_Torque) - 1, 2}, {s_Status_Return_Level, 16, sizeof(s_Status_Return_Level) - 1, 1}, {s_Alarm_LED, 17, sizeof(s_Alarm_LED) - 1, 1}, {s_Shutdown, 18, sizeof(s_Shutdown) - 1, 1}, {s_Torque_Enable, 24, sizeof(s_Torque_Enable) - 1, 1}, {s_LED, 25, sizeof(s_LED) - 1, 1}, {s_CW_Compliance_Margin, 26, sizeof(s_CW_Compliance_Margin) - 1, 1}, {s_CCW_Compliance_Margin, 27, sizeof(s_CCW_Compliance_Margin) - 1, 1}, {s_CW_Compliance_Slope, 28, sizeof(s_CW_Compliance_Slope) - 1, 1}, {s_CCW_Compliance_Slope, 29, sizeof(s_CCW_Compliance_Slope) - 1, 1}, {s_Goal_Position, 30, sizeof(s_Goal_Position) - 1, 2}, {s_Moving_Speed, 34, sizeof(s_Moving_Speed) - 1, 2}, {s_Torque_Limit, 35, sizeof(s_Torque_Limit) - 1, 2}, {s_Present_Position, 36, sizeof(s_Present_Position) - 1, 2}, {s_Present_Speed, 38, sizeof(s_Present_Speed) - 1, 2}, {s_Present_Load, 40, sizeof(s_Present_Load) - 1, 2}, {s_Present_Voltage, 42, sizeof(s_Present_Voltage) - 1, 1}, {s_Present_Temperature, 43, sizeof(s_Present_Temperature) - 1, 1}, {s_Registered, 44, sizeof(s_Registered) - 1, 1}, {s_Moving, 46, sizeof(s_Moving) - 1, 1}, {s_Lock, 47, sizeof(s_Lock) - 1, 1}, {s_Punch, 48, sizeof(s_Punch) - 1, 2}, {s_Sensored_Current, 56, sizeof(s_Sensored_Current) - 1, 2}}; #define COUNT_EX_ITEMS (sizeof(items_EX) / sizeof(items_EX[0])) static const ModelInfo info_EX = {0.11, 0, 2048, 4096, -2.18969008, 2.18969008}; //--------------------------------------------------------- // MX Protocol 1 servos - (num == MX_12W || num == MX_28) //--------------------------------------------------------- static const ControlItem items_MX[]{ {s_Model_Number, 0, sizeof(s_Model_Number) - 1, 2}, {s_Firmware_Version, 2, sizeof(s_Firmware_Version) - 1, 1}, {s_ID, 3, sizeof(s_ID) - 1, 1}, {s_Baud_Rate, 4, sizeof(s_Baud_Rate) - 1, 1}, {s_Return_Delay_Time, 5, sizeof(s_Return_Delay_Time) - 1, 1}, {s_CW_Angle_Limit, 6, sizeof(s_CW_Angle_Limit) - 1, 2}, {s_CCW_Angle_Limit, 8, sizeof(s_CCW_Angle_Limit) - 1, 2}, {s_Temperature_Limit, 11, sizeof(s_Temperature_Limit) - 1, 1}, {s_Min_Voltage_Limit, 12, sizeof(s_Min_Voltage_Limit) - 1, 1}, {s_Max_Voltage_Limit, 13, sizeof(s_Max_Voltage_Limit) - 1, 1}, {s_Max_Torque, 14, sizeof(s_Max_Torque) - 1, 2}, {s_Status_Return_Level, 16, sizeof(s_Status_Return_Level) - 1, 1}, {s_Alarm_LED, 17, sizeof(s_Alarm_LED) - 1, 1}, {s_Shutdown, 18, sizeof(s_Shutdown) - 1, 1}, {s_Multi_Turn_Offset, 20, sizeof(s_Multi_Turn_Offset) - 1, 2}, {s_Resolution_Divider, 22, sizeof(s_Resolution_Divider) - 1, 1}, {s_Torque_Enable, 24, sizeof(s_Torque_Enable) - 1, 1}, {s_LED, 25, sizeof(s_LED) - 1, 1}, {s_D_gain, 26, sizeof(s_D_gain) - 1, 1}, {s_I_gain, 27, sizeof(s_I_gain) - 1, 1}, {s_P_gain, 28, sizeof(s_P_gain) - 1, 1}, {s_Goal_Position, 30, sizeof(s_Goal_Position) - 1, 2}, {s_Moving_Speed, 32, sizeof(s_Moving_Speed) - 1, 2}, {s_Torque_Limit, 34, sizeof(s_Torque_Limit) - 1, 2}, {s_Present_Position, 36, sizeof(s_Present_Position) - 1, 2}, {s_Present_Speed, 38, sizeof(s_Present_Speed) - 1, 2}, {s_Present_Load, 40, sizeof(s_Present_Load) - 1, 2}, {s_Present_Voltage, 42, sizeof(s_Present_Voltage) - 1, 1}, {s_Present_Temperature, 43, sizeof(s_Present_Temperature) - 1, 1}, {s_Registered, 44, sizeof(s_Registered) - 1, 1}, {s_Moving, 46, sizeof(s_Moving) - 1, 1}, {s_Lock, 47, sizeof(s_Lock) - 1, 1}, {s_Punch, 48, sizeof(s_Punch) - 1, 2}, {s_Goal_Acceleration, 73, sizeof(s_Goal_Acceleration) - 1, 1}}; #define COUNT_MX_ITEMS (sizeof(items_MX) / sizeof(items_MX[0])) static const ModelInfo info_MX = {0.11, 0, 2048, 4096, -3.14159265, 3.14159265}; //--------------------------------------------------------- // MX Protocol 2 servos - (num == MX_28_2) //--------------------------------------------------------- static const ControlItem items_MX2[]{ {s_Model_Number, 0, sizeof(s_Model_Number) - 1, 2}, {s_Firmware_Version, 6, sizeof(s_Firmware_Version) - 1, 1}, {s_ID, 7, sizeof(s_ID) - 1, 1}, {s_Baud_Rate, 8, sizeof(s_Baud_Rate) - 1, 1}, {s_Return_Delay_Time, 9, sizeof(s_Return_Delay_Time) - 1, 1}, {s_Drive_Mode, 10, sizeof(s_Drive_Mode) - 1, 1}, {s_Operating_Mode, 11, sizeof(s_Operating_Mode) - 1, 1}, {s_Secondary_ID, 12, sizeof(s_Secondary_ID) - 1, 1}, {s_Protocol_Version, 13, sizeof(s_Protocol_Version) - 1, 1}, {s_Homing_Offset, 20, sizeof(s_Homing_Offset) - 1, 4}, {s_Moving_Threshold, 24, sizeof(s_Moving_Threshold) - 1, 4}, {s_Temperature_Limit, 31, sizeof(s_Temperature_Limit) - 1, 1}, {s_Max_Voltage_Limit, 32, sizeof(s_Max_Voltage_Limit) - 1, 2}, {s_Min_Voltage_Limit, 34, sizeof(s_Min_Voltage_Limit) - 1, 2}, {s_PWM_Limit, 36, sizeof(s_PWM_Limit) - 1, 2}, {s_Acceleration_Limit, 40, sizeof(s_Acceleration_Limit) - 1, 4}, {s_Velocity_Limit, 44, sizeof(s_Velocity_Limit) - 1, 4}, {s_Max_Position_Limit, 48, sizeof(s_Max_Position_Limit) - 1, 4}, {s_Min_Position_Limit, 52, sizeof(s_Min_Position_Limit) - 1, 4}, {s_Shutdown, 63, sizeof(s_Shutdown) - 1, 1}, {s_Torque_Enable, 64, sizeof(s_Torque_Enable) - 1, 1}, {s_LED, 65, sizeof(s_LED) - 1, 1}, {s_Status_Return_Level, 68, sizeof(s_Status_Return_Level) - 1, 1}, {s_Registered_Instruction, 69, sizeof(s_Registered_Instruction) - 1, 1}, {s_Hardware_Error_Status, 70, sizeof(s_Hardware_Error_Status) - 1, 1}, {s_Velocity_I_Gain, 76, sizeof(s_Velocity_I_Gain) - 1, 2}, {s_Velocity_P_Gain, 78, sizeof(s_Velocity_P_Gain) - 1, 2}, {s_Position_D_Gain, 80, sizeof(s_Position_D_Gain) - 1, 2}, {s_Position_I_Gain, 82, sizeof(s_Position_I_Gain) - 1, 2}, {s_Position_P_Gain, 84, sizeof(s_Position_P_Gain) - 1, 2}, {s_Feedforward_2nd_Gain, 88, sizeof(s_Feedforward_2nd_Gain) - 1, 2}, {s_Feedforward_1st_Gain, 90, sizeof(s_Feedforward_1st_Gain) - 1, 2}, {s_Bus_Watchdog, 98, sizeof(s_Bus_Watchdog) - 1, 1}, {s_Goal_PWM, 100, sizeof(s_Goal_PWM) - 1, 2}, {s_Goal_Velocity, 104, sizeof(s_Goal_Velocity) - 1, 4}, {s_Profile_Acceleration, 108, sizeof(s_Profile_Acceleration) - 1, 4}, {s_Profile_Velocity, 112, sizeof(s_Profile_Velocity) - 1, 4}, {s_Goal_Position, 116, sizeof(s_Goal_Position) - 1, 4}, {s_Realtime_Tick, 120, sizeof(s_Realtime_Tick) - 1, 2}, {s_Moving, 122, sizeof(s_Moving) - 1, 1}, {s_Moving_Status, 123, sizeof(s_Moving_Status) - 1, 1}, {s_Present_PWM, 124, sizeof(s_Present_PWM) - 1, 2}, {s_Present_Load, 126, sizeof(s_Present_Load) - 1, 2}, {s_Present_Velocity, 128, sizeof(s_Present_Velocity) - 1, 4}, {s_Present_Position, 132, sizeof(s_Present_Position) - 1, 4}, {s_Velocity_Trajectory, 136, sizeof(s_Velocity_Trajectory) - 1, 4}, {s_Position_Trajectory, 140, sizeof(s_Position_Trajectory) - 1, 4}, {s_Present_Input_Voltage, 144, sizeof(s_Present_Input_Voltage) - 1, 2}, {s_Present_Temperature, 146, sizeof(s_Present_Temperature) - 1, 1}}; #define COUNT_MX2_ITEMS (sizeof(items_MX2) / sizeof(items_MX2[0])) static const ModelInfo info_MX2 = {0.229, 0, 2048, 4096, -3.14159265, 3.14159265}; //--------------------------------------------------------- // EXT MX Protocol 1 servos - (num == MX_64 || num == MX_106) //--------------------------------------------------------- static const ControlItem items_EXTMX[]{ {s_Model_Number, 0, sizeof(s_Model_Number) - 1, 2}, {s_Firmware_Version, 2, sizeof(s_Firmware_Version) - 1, 1}, {s_ID, 3, sizeof(s_ID) - 1, 1}, {s_Baud_Rate, 4, sizeof(s_Baud_Rate) - 1, 1}, {s_Return_Delay_Time, 5, sizeof(s_Return_Delay_Time) - 1, 1}, {s_CW_Angle_Limit, 6, sizeof(s_CW_Angle_Limit) - 1, 2}, {s_CCW_Angle_Limit, 8, sizeof(s_CCW_Angle_Limit) - 1, 2}, {s_Temperature_Limit, 11, sizeof(s_Temperature_Limit) - 1, 1}, {s_Min_Voltage_Limit, 12, sizeof(s_Min_Voltage_Limit) - 1, 1}, {s_Max_Voltage_Limit, 13, sizeof(s_Max_Voltage_Limit) - 1, 1}, {s_Max_Torque, 14, sizeof(s_Max_Torque) - 1, 2}, {s_Status_Return_Level, 16, sizeof(s_Status_Return_Level) - 1, 1}, {s_Alarm_LED, 17, sizeof(s_Alarm_LED) - 1, 1}, {s_Shutdown, 18, sizeof(s_Shutdown) - 1, 1}, {s_Multi_Turn_Offset, 20, sizeof(s_Multi_Turn_Offset) - 1, 2}, {s_Resolution_Divider, 22, sizeof(s_Resolution_Divider) - 1, 1}, {s_Torque_Enable, 24, sizeof(s_Torque_Enable) - 1, 1}, {s_LED, 25, sizeof(s_LED) - 1, 1}, {s_D_gain, 26, sizeof(s_D_gain) - 1, 1}, {s_I_gain, 27, sizeof(s_I_gain) - 1, 1}, {s_P_gain, 28, sizeof(s_P_gain) - 1, 1}, {s_Goal_Position, 30, sizeof(s_Goal_Position) - 1, 2}, {s_Moving_Speed, 32, sizeof(s_Moving_Speed) - 1, 2}, {s_Torque_Limit, 34, sizeof(s_Torque_Limit) - 1, 2}, {s_Present_Position, 36, sizeof(s_Present_Position) - 1, 2}, {s_Present_Speed, 38, sizeof(s_Present_Speed) - 1, 2}, {s_Present_Load, 40, sizeof(s_Present_Load) - 1, 2}, {s_Present_Voltage, 42, sizeof(s_Present_Voltage) - 1, 1}, {s_Present_Temperature, 43, sizeof(s_Present_Temperature) - 1, 1}, {s_Registered, 44, sizeof(s_Registered) - 1, 1}, {s_Moving, 46, sizeof(s_Moving) - 1, 1}, {s_Lock, 47, sizeof(s_Lock) - 1, 1}, {s_Punch, 48, sizeof(s_Punch) - 1, 2}, {s_Current, 68, sizeof(s_Current) - 1, 2}, {s_Torque_Control_Mode_Enable, 70, sizeof(s_Torque_Control_Mode_Enable) - 1, 1}, {s_Goal_Torque, 71, sizeof(s_Goal_Torque) - 1, 2}, {s_Goal_Acceleration, 73, sizeof(s_Goal_Acceleration) - 1, 1}}; #define COUNT_EXTMX_ITEMS (sizeof(items_EXTMX) / sizeof(items_EXTMX[0])) static const ModelInfo info_EXTMX = {0.11, 0, 2048, 4096, -3.14159265, 3.14159265}; //--------------------------------------------------------- // EXT MX Protocol 2 Servos - (num == MX_64_2 || num == MX_106_2) //--------------------------------------------------------- static const ControlItem items_EXTMX2[]{ {s_Model_Number, 0, sizeof(s_Model_Number) - 1, 2}, {s_Firmware_Version, 6, sizeof(s_Firmware_Version) - 1, 1}, {s_ID, 7, sizeof(s_ID) - 1, 1}, {s_Baud_Rate, 8, sizeof(s_Baud_Rate) - 1, 1}, {s_Return_Delay_Time, 9, sizeof(s_Return_Delay_Time) - 1, 1}, {s_Drive_Mode, 10, sizeof(s_Drive_Mode) - 1, 1}, {s_Operating_Mode, 11, sizeof(s_Operating_Mode) - 1, 1}, {s_Secondary_ID, 12, sizeof(s_Secondary_ID) - 1, 1}, {s_Protocol_Version, 13, sizeof(s_Protocol_Version) - 1, 1}, {s_Homing_Offset, 20, sizeof(s_Homing_Offset) - 1, 4}, {s_Moving_Threshold, 24, sizeof(s_Moving_Threshold) - 1, 4}, {s_Temperature_Limit, 31, sizeof(s_Temperature_Limit) - 1, 1}, {s_Max_Voltage_Limit, 32, sizeof(s_Max_Voltage_Limit) - 1, 2}, {s_Min_Voltage_Limit, 34, sizeof(s_Min_Voltage_Limit) - 1, 2}, {s_PWM_Limit, 36, sizeof(s_PWM_Limit) - 1, 2}, {s_Current_Limit, 38, sizeof(s_Current_Limit) - 1, 2}, {s_Acceleration_Limit, 40, sizeof(s_Acceleration_Limit) - 1, 4}, {s_Velocity_Limit, 44, sizeof(s_Velocity_Limit) - 1, 4}, {s_Max_Position_Limit, 48, sizeof(s_Max_Position_Limit) - 1, 4}, {s_Min_Position_Limit, 52, sizeof(s_Min_Position_Limit) - 1, 4}, {s_Shutdown, 63, sizeof(s_Shutdown) - 1, 1}, {s_Torque_Enable, 64, sizeof(s_Torque_Enable) - 1, 1}, {s_LED, 65, sizeof(s_LED) - 1, 1}, {s_Status_Return_Level, 68, sizeof(s_Status_Return_Level) - 1, 1}, {s_Registered_Instruction, 69, sizeof(s_Registered_Instruction) - 1, 1}, {s_Hardware_Error_Status, 70, sizeof(s_Hardware_Error_Status) - 1, 1}, {s_Velocity_I_Gain, 76, sizeof(s_Velocity_I_Gain) - 1, 2}, {s_Velocity_P_Gain, 78, sizeof(s_Velocity_P_Gain) - 1, 2}, {s_Position_D_Gain, 80, sizeof(s_Position_D_Gain) - 1, 2}, {s_Position_I_Gain, 82, sizeof(s_Position_I_Gain) - 1, 2}, {s_Position_P_Gain, 84, sizeof(s_Position_P_Gain) - 1, 2}, {s_Feedforward_2nd_Gain, 88, sizeof(s_Feedforward_2nd_Gain) - 1, 2}, {s_Feedforward_1st_Gain, 90, sizeof(s_Feedforward_1st_Gain) - 1, 2}, {s_Bus_Watchdog, 98, sizeof(s_Bus_Watchdog) - 1, 1}, {s_Goal_PWM, 100, sizeof(s_Goal_PWM) - 1, 2}, {s_Goal_Current, 102, sizeof(s_Goal_Current) - 1, 2}, {s_Goal_Velocity, 104, sizeof(s_Goal_Velocity) - 1, 4}, {s_Profile_Acceleration, 108, sizeof(s_Profile_Acceleration) - 1, 4}, {s_Profile_Velocity, 112, sizeof(s_Profile_Velocity) - 1, 4}, {s_Goal_Position, 116, sizeof(s_Goal_Position) - 1, 4}, {s_Realtime_Tick, 120, sizeof(s_Realtime_Tick) - 1, 2}, {s_Moving, 122, sizeof(s_Moving) - 1, 1}, {s_Moving_Status, 123, sizeof(s_Moving_Status) - 1, 1}, {s_Present_PWM, 124, sizeof(s_Present_PWM) - 1, 2}, {s_Present_Current, 126, sizeof(s_Present_Current) - 1, 2}, {s_Present_Velocity, 128, sizeof(s_Present_Velocity) - 1, 4}, {s_Present_Position, 132, sizeof(s_Present_Position) - 1, 4}, {s_Velocity_Trajectory, 136, sizeof(s_Velocity_Trajectory) - 1, 4}, {s_Position_Trajectory, 140, sizeof(s_Position_Trajectory) - 1, 4}, {s_Present_Input_Voltage, 144, sizeof(s_Present_Input_Voltage) - 1, 2}, {s_Present_Temperature, 146, sizeof(s_Present_Temperature) - 1, 1}}; #define COUNT_EXTMX2_ITEMS (sizeof(items_EXTMX2) / sizeof(items_EXTMX2[0])) static const ModelInfo info_EXTMX2 = {0.229, 0, 2048, 4096, -3.14159265, 3.14159265}; //--------------------------------------------------------- // XL320 - (num == XL_320) //--------------------------------------------------------- static const ControlItem items_XL320[]{ {s_Model_Number, 0, sizeof(s_Model_Number) - 1, 2}, {s_Firmware_Version, 2, sizeof(s_Firmware_Version) - 1, 1}, {s_ID, 3, sizeof(s_ID) - 1, 1}, {s_Baud_Rate, 4, sizeof(s_Baud_Rate) - 1, 1}, {s_Return_Delay_Time, 5, sizeof(s_Return_Delay_Time) - 1, 1}, {s_CW_Angle_Limit, 6, sizeof(s_CW_Angle_Limit) - 1, 2}, {s_CCW_Angle_Limit, 8, sizeof(s_CCW_Angle_Limit) - 1, 2}, {s_Control_Mode, 11, sizeof(s_Control_Mode) - 1, 1}, {s_Temperature_Limit, 12, sizeof(s_Temperature_Limit) - 1, 1}, {s_Min_Voltage_Limit, 13, sizeof(s_Min_Voltage_Limit) - 1, 1}, {s_Max_Voltage_Limit, 14, sizeof(s_Max_Voltage_Limit) - 1, 1}, {s_Max_Torque, 15, sizeof(s_Max_Torque) - 1, 2}, {s_Status_Return_Level, 17, sizeof(s_Status_Return_Level) - 1, 1}, {s_Shutdown, 18, sizeof(s_Shutdown) - 1, 1}, {s_Torque_Enable, 24, sizeof(s_Torque_Enable) - 1, 1}, {s_LED, 25, sizeof(s_LED) - 1, 1}, {s_D_gain, 27, sizeof(s_D_gain) - 1, 1}, {s_I_gain, 28, sizeof(s_I_gain) - 1, 1}, {s_P_gain, 29, sizeof(s_P_gain) - 1, 1}, {s_Goal_Position, 30, sizeof(s_Goal_Position) - 1, 2}, {s_Moving_Speed, 32, sizeof(s_Moving_Speed) - 1, 2}, {s_Torque_Limit, 34, sizeof(s_Torque_Limit) - 1, 2}, {s_Present_Position, 37, sizeof(s_Present_Position) - 1, 2}, {s_Present_Speed, 39, sizeof(s_Present_Speed) - 1, 2}, {s_Present_Load, 41, sizeof(s_Present_Load) - 1, 2}, {s_Present_Voltage, 45, sizeof(s_Present_Voltage) - 1, 1}, {s_Present_Temperature, 46, sizeof(s_Present_Temperature) - 1, 1}, {s_Registered, 47, sizeof(s_Registered) - 1, 1}, {s_Moving, 49, sizeof(s_Moving) - 1, 1}, {s_Hardware_Error_Status, 50, sizeof(s_Hardware_Error_Status) - 1, 1}, {s_Punch, 51, sizeof(s_Punch) - 1, 2}}; #define COUNT_XL320_ITEMS (sizeof(items_XL320) / sizeof(items_XL320[0])) static const ModelInfo info_XL320 = {0.11, 0, 512, 1024, -2.61799, 2.61799}; //--------------------------------------------------------- // XL - (num == XL430_W250, XL430_W250_2, XC430_W150, XC430_W240, XC430_W250_2) //--------------------------------------------------------- static const ControlItem items_XL[]{ {s_Model_Number, 0, sizeof(s_Model_Number) - 1, 2}, {s_Firmware_Version, 6, sizeof(s_Firmware_Version) - 1, 1}, {s_ID, 7, sizeof(s_ID) - 1, 1}, {s_Baud_Rate, 8, sizeof(s_Baud_Rate) - 1, 1}, {s_Return_Delay_Time, 9, sizeof(s_Return_Delay_Time) - 1, 1}, {s_Drive_Mode, 10, sizeof(s_Drive_Mode) - 1, 1}, {s_Operating_Mode, 11, sizeof(s_Operating_Mode) - 1, 1}, {s_Secondary_ID, 12, sizeof(s_Secondary_ID) - 1, 1}, {s_Protocol_Version, 13, sizeof(s_Protocol_Version) - 1, 1}, {s_Homing_Offset, 20, sizeof(s_Homing_Offset) - 1, 4}, {s_Moving_Threshold, 24, sizeof(s_Moving_Threshold) - 1, 4}, {s_Temperature_Limit, 31, sizeof(s_Temperature_Limit) - 1, 1}, {s_Max_Voltage_Limit, 32, sizeof(s_Max_Voltage_Limit) - 1, 2}, {s_Min_Voltage_Limit, 34, sizeof(s_Min_Voltage_Limit) - 1, 2}, {s_PWM_Limit, 36, sizeof(s_PWM_Limit) - 1, 2}, {s_Acceleration_Limit, 40, sizeof(s_Acceleration_Limit) - 1, 4}, {s_Velocity_Limit, 44, sizeof(s_Velocity_Limit) - 1, 4}, {s_Max_Position_Limit, 48, sizeof(s_Max_Position_Limit) - 1, 4}, {s_Min_Position_Limit, 52, sizeof(s_Min_Position_Limit) - 1, 4}, {s_Shutdown, 63, sizeof(s_Shutdown) - 1, 1}, {s_Torque_Enable, 64, sizeof(s_Torque_Enable) - 1, 1}, {s_LED, 65, sizeof(s_LED) - 1, 1}, {s_Status_Return_Level, 68, sizeof(s_Status_Return_Level) - 1, 1}, {s_Registered_Instruction, 69, sizeof(s_Registered_Instruction) - 1, 1}, {s_Hardware_Error_Status, 70, sizeof(s_Hardware_Error_Status) - 1, 1}, {s_Velocity_I_Gain, 76, sizeof(s_Velocity_I_Gain) - 1, 2}, {s_Velocity_P_Gain, 78, sizeof(s_Velocity_P_Gain) - 1, 2}, {s_Position_D_Gain, 80, sizeof(s_Position_D_Gain) - 1, 2}, {s_Position_I_Gain, 82, sizeof(s_Position_I_Gain) - 1, 2}, {s_Position_P_Gain, 84, sizeof(s_Position_P_Gain) - 1, 2}, {s_Feedforward_2nd_Gain, 88, sizeof(s_Feedforward_2nd_Gain) - 1, 2}, {s_Feedforward_1st_Gain, 90, sizeof(s_Feedforward_1st_Gain) - 1, 2}, {s_Bus_Watchdog, 98, sizeof(s_Bus_Watchdog) - 1, 1}, {s_Goal_PWM, 100, sizeof(s_Goal_PWM) - 1, 2}, {s_Goal_Velocity, 104, sizeof(s_Goal_Velocity) - 1, 4}, {s_Profile_Acceleration, 108, sizeof(s_Profile_Acceleration) - 1, 4}, {s_Profile_Velocity, 112, sizeof(s_Profile_Velocity) - 1, 4}, {s_Goal_Position, 116, sizeof(s_Goal_Position) - 1, 4}, {s_Realtime_Tick, 120, sizeof(s_Realtime_Tick) - 1, 2}, {s_Moving, 122, sizeof(s_Moving) - 1, 1}, {s_Moving_Status, 123, sizeof(s_Moving_Status) - 1, 1}, {s_Present_PWM, 124, sizeof(s_Present_PWM) - 1, 2}, {s_Present_Load, 126, sizeof(s_Present_Load) - 1, 2}, {s_Present_Velocity, 128, sizeof(s_Present_Velocity) - 1, 4}, {s_Present_Position, 132, sizeof(s_Present_Position) - 1, 4}, {s_Velocity_Trajectory, 136, sizeof(s_Velocity_Trajectory) - 1, 4}, {s_Position_Trajectory, 140, sizeof(s_Position_Trajectory) - 1, 4}, {s_Present_Input_Voltage, 144, sizeof(s_Present_Input_Voltage) - 1, 2}, {s_Present_Temperature, 146, sizeof(s_Present_Temperature) - 1, 1}}; #define COUNT_XL_ITEMS (sizeof(items_XL) / sizeof(items_XL[0])) static const ModelInfo info_XL = {0.229, 0, 2048, 4096, -3.14159265, 3.14159265}; //--------------------------------------------------------- // XM - (num == XM430_W210 || num == XM430_W350) || num == XL330_M077 || num == XL330_M288) //--------------------------------------------------------- static const ControlItem items_XM[]{ {s_Model_Number, 0, sizeof(s_Model_Number) - 1, 2}, {s_Firmware_Version, 6, sizeof(s_Firmware_Version) - 1, 1}, {s_ID, 7, sizeof(s_ID) - 1, 1}, {s_Baud_Rate, 8, sizeof(s_Baud_Rate) - 1, 1}, {s_Return_Delay_Time, 9, sizeof(s_Return_Delay_Time) - 1, 1}, {s_Drive_Mode, 10, sizeof(s_Drive_Mode) - 1, 1}, {s_Operating_Mode, 11, sizeof(s_Operating_Mode) - 1, 1}, {s_Secondary_ID, 12, sizeof(s_Secondary_ID) - 1, 1}, {s_Protocol_Version, 13, sizeof(s_Protocol_Version) - 1, 1}, {s_Homing_Offset, 20, sizeof(s_Homing_Offset) - 1, 4}, {s_Moving_Threshold, 24, sizeof(s_Moving_Threshold) - 1, 4}, {s_Temperature_Limit, 31, sizeof(s_Temperature_Limit) - 1, 1}, {s_Max_Voltage_Limit, 32, sizeof(s_Max_Voltage_Limit) - 1, 2}, {s_Min_Voltage_Limit, 34, sizeof(s_Min_Voltage_Limit) - 1, 2}, {s_PWM_Limit, 36, sizeof(s_PWM_Limit) - 1, 2}, {s_Current_Limit, 38, sizeof(s_Current_Limit) - 1, 2}, {s_Acceleration_Limit, 40, sizeof(s_Acceleration_Limit) - 1, 4}, {s_Velocity_Limit, 44, sizeof(s_Velocity_Limit) - 1, 4}, {s_Max_Position_Limit, 48, sizeof(s_Max_Position_Limit) - 1, 4}, {s_Min_Position_Limit, 52, sizeof(s_Min_Position_Limit) - 1, 4}, {s_Shutdown, 63, sizeof(s_Shutdown) - 1, 1}, {s_Torque_Enable, 64, sizeof(s_Torque_Enable) - 1, 1}, {s_LED, 65, sizeof(s_LED) - 1, 1}, {s_Status_Return_Level, 68, sizeof(s_Status_Return_Level) - 1, 1}, {s_Registered_Instruction, 69, sizeof(s_Registered_Instruction) - 1, 1}, {s_Hardware_Error_Status, 70, sizeof(s_Hardware_Error_Status) - 1, 1}, {s_Velocity_I_Gain, 76, sizeof(s_Velocity_I_Gain) - 1, 2}, {s_Velocity_P_Gain, 78, sizeof(s_Velocity_P_Gain) - 1, 2}, {s_Position_D_Gain, 80, sizeof(s_Position_D_Gain) - 1, 2}, {s_Position_I_Gain, 82, sizeof(s_Position_I_Gain) - 1, 2}, {s_Position_P_Gain, 84, sizeof(s_Position_P_Gain) - 1, 2}, {s_Feedforward_2nd_Gain, 88, sizeof(s_Feedforward_2nd_Gain) - 1, 2}, {s_Feedforward_1st_Gain, 90, sizeof(s_Feedforward_1st_Gain) - 1, 2}, {s_Bus_Watchdog, 98, sizeof(s_Bus_Watchdog) - 1, 1}, {s_Goal_PWM, 100, sizeof(s_Goal_PWM) - 1, 2}, {s_Goal_Current, 102, sizeof(s_Goal_Current) - 1, 2}, {s_Goal_Velocity, 104, sizeof(s_Goal_Velocity) - 1, 4}, {s_Profile_Acceleration, 108, sizeof(s_Profile_Acceleration) - 1, 4}, {s_Profile_Velocity, 112, sizeof(s_Profile_Velocity) - 1, 4}, {s_Goal_Position, 116, sizeof(s_Goal_Position) - 1, 4}, {s_Realtime_Tick, 120, sizeof(s_Realtime_Tick) - 1, 2}, {s_Moving, 122, sizeof(s_Moving) - 1, 1}, {s_Moving_Status, 123, sizeof(s_Moving_Status) - 1, 1}, {s_Present_PWM, 124, sizeof(s_Present_PWM) - 1, 2}, {s_Present_Current, 126, sizeof(s_Present_Current) - 1, 2}, {s_Present_Velocity, 128, sizeof(s_Present_Velocity) - 1, 4}, {s_Present_Position, 132, sizeof(s_Present_Position) - 1, 4}, {s_Velocity_Trajectory, 136, sizeof(s_Velocity_Trajectory) - 1, 4}, {s_Position_Trajectory, 140, sizeof(s_Position_Trajectory) - 1, 4}, {s_Present_Input_Voltage, 144, sizeof(s_Present_Input_Voltage) - 1, 2}, {s_Present_Temperature, 146, sizeof(s_Present_Temperature) - 1, 1}}; #define COUNT_XM_ITEMS (sizeof(items_XM) / sizeof(items_XM[0])) static const ModelInfo info_XM = {0.229, 0, 2048, 4096, -3.14159265, 3.14159265}; //--------------------------------------------------------- // EXTXM - (num == XM540_W150 || num == XM540_W270) //--------------------------------------------------------- static const ControlItem items_EXTXM[]{ {s_Model_Number, 0, sizeof(s_Model_Number) - 1, 2}, {s_Firmware_Version, 6, sizeof(s_Firmware_Version) - 1, 1}, {s_ID, 7, sizeof(s_ID) - 1, 1}, {s_Baud_Rate, 8, sizeof(s_Baud_Rate) - 1, 1}, {s_Return_Delay_Time, 9, sizeof(s_Return_Delay_Time) - 1, 1}, {s_Drive_Mode, 10, sizeof(s_Drive_Mode) - 1, 1}, {s_Operating_Mode, 11, sizeof(s_Operating_Mode) - 1, 1}, {s_Secondary_ID, 12, sizeof(s_Secondary_ID) - 1, 1}, {s_Protocol_Version, 13, sizeof(s_Protocol_Version) - 1, 1}, {s_Homing_Offset, 20, sizeof(s_Homing_Offset) - 1, 4}, {s_Moving_Threshold, 24, sizeof(s_Moving_Threshold) - 1, 4}, {s_Temperature_Limit, 31, sizeof(s_Temperature_Limit) - 1, 1}, {s_Max_Voltage_Limit, 32, sizeof(s_Max_Voltage_Limit) - 1, 2}, {s_Min_Voltage_Limit, 34, sizeof(s_Min_Voltage_Limit) - 1, 2}, {s_PWM_Limit, 36, sizeof(s_PWM_Limit) - 1, 2}, {s_Current_Limit, 38, sizeof(s_Current_Limit) - 1, 2}, {s_Acceleration_Limit, 40, sizeof(s_Acceleration_Limit) - 1, 4}, {s_Velocity_Limit, 44, sizeof(s_Velocity_Limit) - 1, 4}, {s_Max_Position_Limit, 48, sizeof(s_Max_Position_Limit) - 1, 4}, {s_Min_Position_Limit, 52, sizeof(s_Min_Position_Limit) - 1, 4}, {s_External_Port_Mode_1, 56, sizeof(s_External_Port_Mode_1) - 1, 1}, {s_External_Port_Mode_2, 57, sizeof(s_External_Port_Mode_2) - 1, 1}, {s_External_Port_Mode_3, 58, sizeof(s_External_Port_Mode_3) - 1, 1}, {s_Shutdown, 63, sizeof(s_Shutdown) - 1, 1}, {s_Torque_Enable, 64, sizeof(s_Torque_Enable) - 1, 1}, {s_LED, 65, sizeof(s_LED) - 1, 1}, {s_Status_Return_Level, 68, sizeof(s_Status_Return_Level) - 1, 1}, {s_Registered_Instruction, 69, sizeof(s_Registered_Instruction) - 1, 1}, {s_Hardware_Error_Status, 70, sizeof(s_Hardware_Error_Status) - 1, 1}, {s_Velocity_I_Gain, 76, sizeof(s_Velocity_I_Gain) - 1, 2}, {s_Velocity_P_Gain, 78, sizeof(s_Velocity_P_Gain) - 1, 2}, {s_Position_D_Gain, 80, sizeof(s_Position_D_Gain) - 1, 2}, {s_Position_I_Gain, 82, sizeof(s_Position_I_Gain) - 1, 2}, {s_Position_P_Gain, 84, sizeof(s_Position_P_Gain) - 1, 2}, {s_Feedforward_2nd_Gain, 88, sizeof(s_Feedforward_2nd_Gain) - 1, 2}, {s_Feedforward_1st_Gain, 90, sizeof(s_Feedforward_1st_Gain) - 1, 2}, {s_Bus_Watchdog, 98, sizeof(s_Bus_Watchdog) - 1, 1}, {s_Goal_PWM, 100, sizeof(s_Goal_PWM) - 1, 2}, {s_Goal_Current, 102, sizeof(s_Goal_Current) - 1, 2}, {s_Goal_Velocity, 104, sizeof(s_Goal_Velocity) - 1, 4}, {s_Profile_Acceleration, 108, sizeof(s_Profile_Acceleration) - 1, 4}, {s_Profile_Velocity, 112, sizeof(s_Profile_Velocity) - 1, 4}, {s_Goal_Position, 116, sizeof(s_Goal_Position) - 1, 4}, {s_Realtime_Tick, 120, sizeof(s_Realtime_Tick) - 1, 2}, {s_Moving, 122, sizeof(s_Moving) - 1, 1}, {s_Moving_Status, 123, sizeof(s_Moving_Status) - 1, 1}, {s_Present_PWM, 124, sizeof(s_Present_PWM) - 1, 2}, {s_Present_Current, 126, sizeof(s_Present_Current) - 1, 2}, {s_Present_Velocity, 128, sizeof(s_Present_Velocity) - 1, 4}, {s_Present_Position, 132, sizeof(s_Present_Position) - 1, 4}, {s_Velocity_Trajectory, 136, sizeof(s_Velocity_Trajectory) - 1, 4}, {s_Position_Trajectory, 140, sizeof(s_Position_Trajectory) - 1, 4}, {s_Present_Input_Voltage, 144, sizeof(s_Present_Input_Voltage) - 1, 2}, {s_Present_Temperature, 146, sizeof(s_Present_Temperature) - 1, 1}}; #define COUNT_EXTXM_ITEMS (sizeof(items_EXTXM) / sizeof(items_EXTXM[0])) static const ModelInfo info_EXTXM = {0.229, 0, 2048, 4096, -3.14159265, 3.14159265}; //--------------------------------------------------------- // XH - (num == XH430_V210 || num == XH430_V350 || num == XH430_W210 || num == XH430_W350 || num == XW540_T140 || num == XW540_T260) //--------------------------------------------------------- static const ControlItem items_XH[]{ {s_Model_Number, 0, sizeof(s_Model_Number) - 1, 2}, {s_Firmware_Version, 6, sizeof(s_Firmware_Version) - 1, 1}, {s_ID, 7, sizeof(s_ID) - 1, 1}, {s_Baud_Rate, 8, sizeof(s_Baud_Rate) - 1, 1}, {s_Return_Delay_Time, 9, sizeof(s_Return_Delay_Time) - 1, 1}, {s_Drive_Mode, 10, sizeof(s_Drive_Mode) - 1, 1}, {s_Operating_Mode, 11, sizeof(s_Operating_Mode) - 1, 1}, {s_Secondary_ID, 12, sizeof(s_Secondary_ID) - 1, 1}, {s_Protocol_Version, 13, sizeof(s_Protocol_Version) - 1, 1}, {s_Homing_Offset, 20, sizeof(s_Homing_Offset) - 1, 4}, {s_Moving_Threshold, 24, sizeof(s_Moving_Threshold) - 1, 4}, {s_Temperature_Limit, 31, sizeof(s_Temperature_Limit) - 1, 1}, {s_Max_Voltage_Limit, 32, sizeof(s_Max_Voltage_Limit) - 1, 2}, {s_Min_Voltage_Limit, 34, sizeof(s_Min_Voltage_Limit) - 1, 2}, {s_PWM_Limit, 36, sizeof(s_PWM_Limit) - 1, 2}, {s_Current_Limit, 38, sizeof(s_Current_Limit) - 1, 2}, {s_Acceleration_Limit, 40, sizeof(s_Acceleration_Limit) - 1, 4}, {s_Velocity_Limit, 44, sizeof(s_Velocity_Limit) - 1, 4}, {s_Max_Position_Limit, 48, sizeof(s_Max_Position_Limit) - 1, 4}, {s_Min_Position_Limit, 52, sizeof(s_Min_Position_Limit) - 1, 4}, {s_Shutdown, 63, sizeof(s_Shutdown) - 1, 1}, {s_Torque_Enable, 64, sizeof(s_Torque_Enable) - 1, 1}, {s_LED, 65, sizeof(s_LED) - 1, 1}, {s_Status_Return_Level, 68, sizeof(s_Status_Return_Level) - 1, 1}, {s_Registered_Instruction, 69, sizeof(s_Registered_Instruction) - 1, 1}, {s_Hardware_Error_Status, 70, sizeof(s_Hardware_Error_Status) - 1, 1}, {s_Velocity_I_Gain, 76, sizeof(s_Velocity_I_Gain) - 1, 2}, {s_Velocity_P_Gain, 78, sizeof(s_Velocity_P_Gain) - 1, 2}, {s_Position_D_Gain, 80, sizeof(s_Position_D_Gain) - 1, 2}, {s_Position_I_Gain, 82, sizeof(s_Position_I_Gain) - 1, 2}, {s_Position_P_Gain, 84, sizeof(s_Position_P_Gain) - 1, 2}, {s_Feedforward_2nd_Gain, 88, sizeof(s_Feedforward_2nd_Gain) - 1, 2}, {s_Feedforward_1st_Gain, 90, sizeof(s_Feedforward_1st_Gain) - 1, 2}, {s_Bus_Watchdog, 98, sizeof(s_Bus_Watchdog) - 1, 1}, {s_Goal_PWM, 100, sizeof(s_Goal_PWM) - 1, 2}, {s_Goal_Current, 102, sizeof(s_Goal_Current) - 1, 2}, {s_Goal_Velocity, 104, sizeof(s_Goal_Velocity) - 1, 4}, {s_Profile_Acceleration, 108, sizeof(s_Profile_Acceleration) - 1, 4}, {s_Profile_Velocity, 112, sizeof(s_Profile_Velocity) - 1, 4}, {s_Goal_Position, 116, sizeof(s_Goal_Position) - 1, 4}, {s_Realtime_Tick, 120, sizeof(s_Realtime_Tick) - 1, 2}, {s_Moving, 122, sizeof(s_Moving) - 1, 1}, {s_Moving_Status, 123, sizeof(s_Moving_Status) - 1, 1}, {s_Present_PWM, 124, sizeof(s_Present_PWM) - 1, 2}, {s_Present_Current, 126, sizeof(s_Present_Current) - 1, 2}, {s_Present_Velocity, 128, sizeof(s_Present_Velocity) - 1, 4}, {s_Present_Position, 132, sizeof(s_Present_Position) - 1, 4}, {s_Velocity_Trajectory, 136, sizeof(s_Velocity_Trajectory) - 1, 4}, {s_Position_Trajectory, 140, sizeof(s_Position_Trajectory) - 1, 4}, {s_Present_Input_Voltage, 144, sizeof(s_Present_Input_Voltage) - 1, 2}, {s_Present_Temperature, 146, sizeof(s_Present_Temperature) - 1, 1}}; #define COUNT_XH_ITEMS (sizeof(items_XH) / sizeof(items_XH[0])) static const ModelInfo info_XH = {0.229, 0, 2048, 4096, -3.14159265, 3.14159265}; //--------------------------------------------------------- // EXTXH - (num == XH540_W150 || num == XH540_W270 || num == XH540_V150 || num == XH540_W270) //--------------------------------------------------------- static const ControlItem items_EXTXH[]{ {s_Model_Number, 0, sizeof(s_Model_Number) - 1, 2}, {s_Firmware_Version, 6, sizeof(s_Firmware_Version) - 1, 1}, {s_ID, 7, sizeof(s_ID) - 1, 1}, {s_Baud_Rate, 8, sizeof(s_Baud_Rate) - 1, 1}, {s_Return_Delay_Time, 9, sizeof(s_Return_Delay_Time) - 1, 1}, {s_Drive_Mode, 10, sizeof(s_Drive_Mode) - 1, 1}, {s_Operating_Mode, 11, sizeof(s_Operating_Mode) - 1, 1}, {s_Secondary_ID, 12, sizeof(s_Secondary_ID) - 1, 1}, {s_Protocol_Version, 13, sizeof(s_Protocol_Version) - 1, 1}, {s_Homing_Offset, 20, sizeof(s_Homing_Offset) - 1, 4}, {s_Moving_Threshold, 24, sizeof(s_Moving_Threshold) - 1, 4}, {s_Temperature_Limit, 31, sizeof(s_Temperature_Limit) - 1, 1}, {s_Max_Voltage_Limit, 32, sizeof(s_Max_Voltage_Limit) - 1, 2}, {s_Min_Voltage_Limit, 34, sizeof(s_Min_Voltage_Limit) - 1, 2}, {s_PWM_Limit, 36, sizeof(s_PWM_Limit) - 1, 2}, {s_Current_Limit, 38, sizeof(s_Current_Limit) - 1, 2}, {s_Acceleration_Limit, 40, sizeof(s_Acceleration_Limit) - 1, 4}, {s_Velocity_Limit, 44, sizeof(s_Velocity_Limit) - 1, 4}, {s_Max_Position_Limit, 48, sizeof(s_Max_Position_Limit) - 1, 4}, {s_Min_Position_Limit, 52, sizeof(s_Min_Position_Limit) - 1, 4}, {s_Shutdown, 63, sizeof(s_Shutdown) - 1, 1}, {s_Torque_Enable, 64, sizeof(s_Torque_Enable) - 1, 1}, {s_LED, 65, sizeof(s_LED) - 1, 1}, {s_Status_Return_Level, 68, sizeof(s_Status_Return_Level) - 1, 1}, {s_Registered_Instruction, 69, sizeof(s_Registered_Instruction) - 1, 1}, {s_Hardware_Error_Status, 70, sizeof(s_Hardware_Error_Status) - 1, 1}, {s_Velocity_I_Gain, 76, sizeof(s_Velocity_I_Gain) - 1, 2}, {s_Velocity_P_Gain, 78, sizeof(s_Velocity_P_Gain) - 1, 2}, {s_Position_D_Gain, 80, sizeof(s_Position_D_Gain) - 1, 2}, {s_Position_I_Gain, 82, sizeof(s_Position_I_Gain) - 1, 2}, {s_Position_P_Gain, 84, sizeof(s_Position_P_Gain) - 1, 2}, {s_Feedforward_2nd_Gain, 88, sizeof(s_Feedforward_2nd_Gain) - 1, 2}, {s_Feedforward_1st_Gain, 90, sizeof(s_Feedforward_1st_Gain) - 1, 2}, {s_Bus_Watchdog, 98, sizeof(s_Bus_Watchdog) - 1, 1}, {s_Goal_PWM, 100, sizeof(s_Goal_PWM) - 1, 2}, {s_Goal_Current, 102, sizeof(s_Goal_Current) - 1, 2}, {s_Goal_Velocity, 104, sizeof(s_Goal_Velocity) - 1, 4}, {s_Profile_Acceleration, 108, sizeof(s_Profile_Acceleration) - 1, 4}, {s_Profile_Velocity, 112, sizeof(s_Profile_Velocity) - 1, 4}, {s_Goal_Position, 116, sizeof(s_Goal_Position) - 1, 4}, {s_Realtime_Tick, 120, sizeof(s_Realtime_Tick) - 1, 2}, {s_Moving, 122, sizeof(s_Moving) - 1, 1}, {s_Moving_Status, 123, sizeof(s_Moving_Status) - 1, 1}, {s_Present_PWM, 124, sizeof(s_Present_PWM) - 1, 2}, {s_Present_Current, 126, sizeof(s_Present_Current) - 1, 2}, {s_Present_Velocity, 128, sizeof(s_Present_Velocity) - 1, 4}, {s_Present_Position, 132, sizeof(s_Present_Position) - 1, 4}, {s_Velocity_Trajectory, 136, sizeof(s_Velocity_Trajectory) - 1, 4}, {s_Position_Trajectory, 140, sizeof(s_Position_Trajectory) - 1, 4}, {s_Present_Input_Voltage, 144, sizeof(s_Present_Input_Voltage) - 1, 2}, {s_Present_Temperature, 146, sizeof(s_Present_Temperature) - 1, 1}}; #define COUNT_EXTXH_ITEMS (sizeof(items_EXTXH) / sizeof(items_EXTXH[0])) static const ModelInfo info_EXTXH = {0.229, 0, 2048, 4096, -3.14159265, 3.14159265}; //--------------------------------------------------------- // PRO - (num == PRO_L42_10_S300_R) //--------------------------------------------------------- static const ControlItem items_PRO[]{ {s_Model_Number, 0, sizeof(s_Model_Number) - 1, 2}, {s_Firmware_Version, 6, sizeof(s_Firmware_Version) - 1, 1}, {s_ID, 7, sizeof(s_ID) - 1, 1}, {s_Baud_Rate, 8, sizeof(s_Baud_Rate) - 1, 1}, {s_Return_Delay_Time, 9, sizeof(s_Return_Delay_Time) - 1, 1}, {s_Operating_Mode, 11, sizeof(s_Operating_Mode) - 1, 1}, {s_Moving_Threshold, 17, sizeof(s_Moving_Threshold) - 1, 4}, {s_Temperature_Limit, 21, sizeof(s_Temperature_Limit) - 1, 1}, {s_Max_Voltage_Limit, 22, sizeof(s_Max_Voltage_Limit) - 1, 2}, {s_Min_Voltage_Limit, 24, sizeof(s_Min_Voltage_Limit) - 1, 2}, {s_Acceleration_Limit, 26, sizeof(s_Acceleration_Limit) - 1, 4}, {s_Torque_Limit, 30, sizeof(s_Torque_Limit) - 1, 2}, {s_Velocity_Limit, 32, sizeof(s_Velocity_Limit) - 1, 4}, {s_Max_Position_Limit, 36, sizeof(s_Max_Position_Limit) - 1, 4}, {s_Min_Position_Limit, 40, sizeof(s_Min_Position_Limit) - 1, 4}, {s_External_Port_Mode_1, 44, sizeof(s_External_Port_Mode_1) - 1, 1}, {s_External_Port_Mode_2, 45, sizeof(s_External_Port_Mode_2) - 1, 1}, {s_External_Port_Mode_3, 46, sizeof(s_External_Port_Mode_3) - 1, 1}, {s_External_Port_Mode_4, 47, sizeof(s_External_Port_Mode_4) - 1, 1}, {s_Shutdown, 48, sizeof(s_Shutdown) - 1, 1}, {s_Torque_Enable, 562, sizeof(s_Torque_Enable) - 1, 1}, {s_LED_RED, 563, sizeof(s_LED_RED) - 1, 1}, {s_LED_GREEN, 564, sizeof(s_LED_GREEN) - 1, 1}, {s_LED_BLUE, 565, sizeof(s_LED_BLUE) - 1, 1}, {s_Velocity_I_Gain, 586, sizeof(s_Velocity_I_Gain) - 1, 2}, {s_Velocity_P_Gain, 588, sizeof(s_Velocity_P_Gain) - 1, 2}, {s_Position_P_Gain, 594, sizeof(s_Position_P_Gain) - 1, 2}, {s_Goal_Position, 596, sizeof(s_Goal_Position) - 1, 4}, {s_Goal_Velocity, 600, sizeof(s_Goal_Velocity) - 1, 4}, {s_Goal_Torque, 604, sizeof(s_Goal_Torque) - 1, 2}, {s_Goal_Acceleration, 606, sizeof(s_Goal_Acceleration) - 1, 4}, {s_Moving, 610, sizeof(s_Moving) - 1, 1}, {s_Present_Position, 611, sizeof(s_Present_Position) - 1, 4}, {s_Present_Velocity, 615, sizeof(s_Present_Velocity) - 1, 4}, {s_Present_Current, 621, sizeof(s_Present_Current) - 1, 2}, {s_Present_Input_Voltage, 623, sizeof(s_Present_Input_Voltage) - 1, 2}, {s_Present_Temperature, 625, sizeof(s_Present_Temperature) - 1, 1}, {s_External_Port_Mode_1, 626, sizeof(s_External_Port_Mode_1) - 1, 2}, {s_External_Port_Mode_2, 628, sizeof(s_External_Port_Mode_2) - 1, 2}, {s_External_Port_Mode_3, 630, sizeof(s_External_Port_Mode_3) - 1, 2}, {s_External_Port_Mode_4, 632, sizeof(s_External_Port_Mode_4) - 1, 2}, {s_Registered_Instruction, 890, sizeof(s_Registered_Instruction) - 1, 1}, {s_Status_Return_Level, 891, sizeof(s_Status_Return_Level) - 1, 1}, {s_Hardware_Error_Status, 892, sizeof(s_Hardware_Error_Status) - 1, 1}}; #define COUNT_PRO_ITEMS (sizeof(items_PRO) / sizeof(items_PRO[0])) static const ModelInfo info_PRO = {0.114, -2048, 0, 2048, -3.14159265, 3.14159265}; //--------------------------------------------------------- // EXT PRO - All Other Pros... //--------------------------------------------------------- static const ControlItem items_EXTPRO[]{ {s_Model_Number, 0, sizeof(s_Model_Number) - 1, 2}, {s_Firmware_Version, 6, sizeof(s_Firmware_Version) - 1, 1}, {s_ID, 7, sizeof(s_ID) - 1, 1}, {s_Baud_Rate, 8, sizeof(s_Baud_Rate) - 1, 1}, {s_Return_Delay_Time, 9, sizeof(s_Return_Delay_Time) - 1, 1}, {s_Operating_Mode, 11, sizeof(s_Operating_Mode) - 1, 1}, {s_Homing_Offset, 13, sizeof(s_Homing_Offset) - 1, 4}, {s_Moving_Threshold, 17, sizeof(s_Moving_Threshold) - 1, 4}, {s_Temperature_Limit, 21, sizeof(s_Temperature_Limit) - 1, 1}, {s_Max_Voltage_Limit, 22, sizeof(s_Max_Voltage_Limit) - 1, 2}, {s_Min_Voltage_Limit, 24, sizeof(s_Min_Voltage_Limit) - 1, 2}, {s_Acceleration_Limit, 26, sizeof(s_Acceleration_Limit) - 1, 4}, {s_Torque_Limit, 30, sizeof(s_Torque_Limit) - 1, 2}, {s_Velocity_Limit, 32, sizeof(s_Velocity_Limit) - 1, 4}, {s_Max_Position_Limit, 36, sizeof(s_Max_Position_Limit) - 1, 4}, {s_Min_Position_Limit, 40, sizeof(s_Min_Position_Limit) - 1, 4}, {s_External_Port_Mode_1, 44, sizeof(s_External_Port_Mode_1) - 1, 1}, {s_External_Port_Mode_2, 45, sizeof(s_External_Port_Mode_2) - 1, 1}, {s_External_Port_Mode_3, 46, sizeof(s_External_Port_Mode_3) - 1, 1}, {s_External_Port_Mode_4, 47, sizeof(s_External_Port_Mode_4) - 1, 1}, {s_Shutdown, 48, sizeof(s_Shutdown) - 1, 1}, {s_Torque_Enable, 562, sizeof(s_Torque_Enable) - 1, 1}, {s_LED_RED, 563, sizeof(s_LED_RED) - 1, 1}, {s_LED_GREEN, 564, sizeof(s_LED_GREEN) - 1, 1}, {s_LED_BLUE, 565, sizeof(s_LED_BLUE) - 1, 1}, {s_Velocity_I_Gain, 586, sizeof(s_Velocity_I_Gain) - 1, 2}, {s_Velocity_P_Gain, 588, sizeof(s_Velocity_P_Gain) - 1, 2}, {s_Position_P_Gain, 594, sizeof(s_Position_P_Gain) - 1, 2}, {s_Goal_Position, 596, sizeof(s_Goal_Position) - 1, 4}, {s_Goal_Velocity, 600, sizeof(s_Goal_Velocity) - 1, 4}, {s_Goal_Torque, 604, sizeof(s_Goal_Torque) - 1, 2}, {s_Goal_Acceleration, 606, sizeof(s_Goal_Acceleration) - 1, 4}, {s_Moving, 610, sizeof(s_Moving) - 1, 1}, {s_Present_Position, 611, sizeof(s_Present_Position) - 1, 4}, {s_Present_Velocity, 615, sizeof(s_Present_Velocity) - 1, 4}, {s_Present_Current, 621, sizeof(s_Present_Current) - 1, 2}, {s_Present_Input_Voltage, 623, sizeof(s_Present_Input_Voltage) - 1, 2}, {s_Present_Temperature, 625, sizeof(s_Present_Temperature) - 1, 1}, {s_External_Port_Mode_1, 626, sizeof(s_External_Port_Mode_1) - 1, 2}, {s_External_Port_Mode_2, 628, sizeof(s_External_Port_Mode_2) - 1, 2}, {s_External_Port_Mode_3, 630, sizeof(s_External_Port_Mode_3) - 1, 2}, {s_External_Port_Mode_4, 632, sizeof(s_External_Port_Mode_4) - 1, 2}, {s_Registered_Instruction, 890, sizeof(s_Registered_Instruction) - 1, 1}, {s_Status_Return_Level, 891, sizeof(s_Status_Return_Level) - 1, 1}, {s_Hardware_Error_Status, 892, sizeof(s_Hardware_Error_Status) - 1, 1}}; #define COUNT_EXTPRO_ITEMS (sizeof(items_EXTPRO) / sizeof(items_EXTPRO[0])) static const ModelInfo info_EXTPRO[] = { {0.00249657, -144197, 0, 144197, -3.14159265, 3.14159265}, // PRO_L54_30_S400_R {0.00199234, -180692, 0, 180692, -3.14159265, 3.14159265}, // PRO_L54_30_S500_R, PRO_L54_50_S500_R {0.00346667, -103846, 0, 103846, -3.14159265, 3.14159265}, // PRO_L54_50_S290_R {0.00389076, -131593, 0, 131593, -3.14159265, 3.14159265}, // PRO_M42_10_S260_R {0.00397746, -125708, 0, 125708, -3.14159265, 3.14159265}, // PRO_M54_40_S250_R, PRO_M54_60_S250_R {0.00329218, -151875, 0, 151875, -3.14159265, 3.14159265}, // PRO_H42_20_S300_R {0.00199234, -250961, 0, 250961, -3.14159265, 3.14159265}}; // PRO_H54_100_S500_R, PRO_H54_200_S500_R //--------------------------------------------------------- // EXT PRO (A Firmware_Version) //--------------------------------------------------------- static const ControlItem items_EXTPRO_A[]{ {s_Model_Number, 0, sizeof(s_Model_Number) - 1, 2}, {s_Firmware_Version, 6, sizeof(s_Firmware_Version) - 1, 1}, {s_ID, 7, sizeof(s_ID) - 1, 1}, {s_Baud_Rate, 8, sizeof(s_Baud_Rate) - 1, 1}, {s_Return_Delay_Time, 9, sizeof(s_Return_Delay_Time) - 1, 1}, {s_Operating_Mode, 11, sizeof(s_Operating_Mode) - 1, 1}, {s_Homing_Offset, 20, sizeof(s_Homing_Offset) - 1, 4}, {s_Moving_Threshold, 24, sizeof(s_Moving_Threshold) - 1, 4}, {s_Temperature_Limit, 31, sizeof(s_Temperature_Limit) - 1, 1}, {s_Max_Voltage_Limit, 32, sizeof(s_Max_Voltage_Limit) - 1, 2}, {s_Min_Voltage_Limit, 34, sizeof(s_Min_Voltage_Limit) - 1, 2}, {s_Current_Limit, 38, sizeof(s_Current_Limit) - 1, 2}, {s_Acceleration_Limit, 40, sizeof(s_Acceleration_Limit) - 1, 4}, {s_Velocity_Limit, 44, sizeof(s_Velocity_Limit) - 1, 4}, {s_Max_Position_Limit, 48, sizeof(s_Max_Position_Limit) - 1, 4}, {s_Min_Position_Limit, 52, sizeof(s_Min_Position_Limit) - 1, 4}, {s_External_Port_Mode_1, 56, sizeof(s_External_Port_Mode_1) - 1, 1}, {s_External_Port_Mode_2, 57, sizeof(s_External_Port_Mode_2) - 1, 1}, {s_External_Port_Mode_3, 58, sizeof(s_External_Port_Mode_3) - 1, 1}, {s_External_Port_Mode_4, 59, sizeof(s_External_Port_Mode_4) - 1, 1}, {s_Shutdown, 63, sizeof(s_Shutdown) - 1, 1}, {s_Torque_Enable, 512, sizeof(s_Torque_Enable) - 1, 1}, {s_LED_RED, 513, sizeof(s_LED_RED) - 1, 1}, {s_LED_GREEN, 514, sizeof(s_LED_GREEN) - 1, 1}, {s_LED_BLUE, 515, sizeof(s_LED_BLUE) - 1, 1}, {s_Velocity_I_Gain, 524, sizeof(s_Velocity_I_Gain) - 1, 2}, {s_Velocity_P_Gain, 526, sizeof(s_Velocity_P_Gain) - 1, 2}, {s_Position_D_Gain, 528, sizeof(s_Position_D_Gain) - 1, 2}, {s_Position_P_Gain, 532, sizeof(s_Position_P_Gain) - 1, 2}, {s_Position_I_Gain, 530, sizeof(s_Position_I_Gain) - 1, 2}, {s_Goal_Position, 564, sizeof(s_Goal_Position) - 1, 4}, {s_Goal_Velocity, 552, sizeof(s_Goal_Velocity) - 1, 4}, {s_Goal_Current, 604, sizeof(s_Goal_Current) - 1, 2}, {s_Profile_Acceleration, 556, sizeof(s_Profile_Acceleration) - 1, 4}, {s_Profile_Velocity, 560, sizeof(s_Profile_Velocity) - 1, 4}, {s_Moving, 570, sizeof(s_Moving) - 1, 1}, {s_Present_Position, 580, sizeof(s_Present_Position) - 1, 4}, {s_Present_Velocity, 576, sizeof(s_Present_Velocity) - 1, 4}, {s_Present_Current, 574, sizeof(s_Present_Current) - 1, 2}, {s_Present_Input_Voltage, 592, sizeof(s_Present_Input_Voltage) - 1, 2}, {s_Present_Temperature, 594, sizeof(s_Present_Temperature) - 1, 1}, {s_External_Port_Mode_1, 600, sizeof(s_External_Port_Mode_1) - 1, 2}, {s_External_Port_Mode_2, 602, sizeof(s_External_Port_Mode_2) - 1, 2}, {s_External_Port_Mode_3, 604, sizeof(s_External_Port_Mode_3) - 1, 2}, {s_External_Port_Mode_4, 606, sizeof(s_External_Port_Mode_4) - 1, 2}}; #define COUNT_EXTPRO_A_ITEMS (sizeof(items_EXTPRO_A) / sizeof(items_EXTPRO_A[0])) static const ModelInfo info_EXTPRO_A[] = { {0.00389076, -131593, 0, 131593, -3.14159265, 3.14159265}, // PRO_M42_10_S260_R_A {0.00397746, -125708, 0, 125708, -3.14159265, 3.14159265}, // PRO_M54_40_S250_R_A, PRO_M54_60_S250_R_A {0.00329218, -151875, 0, 151875, -3.14159265, 3.14159265}, // PRO_H42_20_S300_R_A {0.00199234, -250961, 0, 250961, -3.14159265, 3.14159265}}; // PRO_H54_100_S500_R_A, PRO_H54_200_S500_R_A //--------------------------------------------------------- // PRO PLUS - (num == PRO_H42P_020_S300_R, PRO_H54P_100_S500_R, PRO_H54P_200_S500_R) //--------------------------------------------------------- static const ControlItem items_PRO_PLUS[]{ {s_Model_Number, 0, sizeof(s_Model_Number) - 1, 2}, {s_Firmware_Version, 6, sizeof(s_Firmware_Version) - 1, 1}, {s_ID, 7, sizeof(s_ID) - 1, 1}, {s_Baud_Rate, 8, sizeof(s_Baud_Rate) - 1, 1}, {s_Return_Delay_Time, 9, sizeof(s_Return_Delay_Time) - 1, 1}, {s_Drive_Mode, 10, sizeof(s_Drive_Mode) - 1, 1}, {s_Operating_Mode, 11, sizeof(s_Operating_Mode) - 1, 1}, {s_Secondary_ID, 12, sizeof(s_Secondary_ID) - 1, 1}, {s_Homing_Offset, 20, sizeof(s_Homing_Offset) - 1, 4}, {s_Moving_Threshold, 24, sizeof(s_Moving_Threshold) - 1, 4}, {s_Temperature_Limit, 31, sizeof(s_Temperature_Limit) - 1, 1}, {s_Max_Voltage_Limit, 32, sizeof(s_Max_Voltage_Limit) - 1, 2}, {s_Min_Voltage_Limit, 34, sizeof(s_Min_Voltage_Limit) - 1, 2}, {s_PWM_Limit, 36, sizeof(s_PWM_Limit) - 1, 2}, {s_Current_Limit, 38, sizeof(s_Current_Limit) - 1, 2}, {s_Acceleration_Limit, 40, sizeof(s_Acceleration_Limit) - 1, 4}, {s_Velocity_Limit, 44, sizeof(s_Velocity_Limit) - 1, 4}, {s_Max_Position_Limit, 48, sizeof(s_Max_Position_Limit) - 1, 4}, {s_Min_Position_Limit, 52, sizeof(s_Min_Position_Limit) - 1, 4}, {s_External_Port_Mode_1, 56, sizeof(s_External_Port_Mode_1) - 1, 1}, {s_External_Port_Mode_2, 57, sizeof(s_External_Port_Mode_2) - 1, 1}, {s_External_Port_Mode_3, 58, sizeof(s_External_Port_Mode_3) - 1, 1}, {s_External_Port_Mode_4, 59, sizeof(s_External_Port_Mode_4) - 1, 1}, {s_Shutdown, 63, sizeof(s_Shutdown) - 1, 1}, {s_Torque_Enable, 512, sizeof(s_Torque_Enable) - 1, 1}, {s_LED_RED, 513, sizeof(s_LED_RED) - 1, 1}, {s_LED_GREEN, 514, sizeof(s_LED_GREEN) - 1, 1}, {s_LED_BLUE, 515, sizeof(s_LED_BLUE) - 1, 1}, {s_Status_Return_Level, 516, sizeof(s_Status_Return_Level) - 1, 1}, {s_Registered_Instruction, 517, sizeof(s_Registered_Instruction) - 1, 1}, {s_Hardware_Error_Status, 518, sizeof(s_Hardware_Error_Status) - 1, 1}, {s_Velocity_I_Gain, 524, sizeof(s_Velocity_I_Gain) - 1, 2}, {s_Velocity_P_Gain, 526, sizeof(s_Velocity_P_Gain) - 1, 2}, {s_Position_D_Gain, 528, sizeof(s_Position_D_Gain) - 1, 2}, {s_Position_I_Gain, 530, sizeof(s_Position_I_Gain) - 1, 2}, {s_Position_P_Gain, 532, sizeof(s_Position_P_Gain) - 1, 2}, {s_Feedforward_2nd_Gain, 536, sizeof(s_Feedforward_2nd_Gain) - 1, 2}, {s_Feedforward_1st_Gain, 538, sizeof(s_Feedforward_1st_Gain) - 1, 2}, {s_Bus_Watchdog, 546, sizeof(s_Bus_Watchdog) - 1, 1}, {s_Goal_PWM, 548, sizeof(s_Goal_PWM) - 1, 2}, {s_Goal_Current, 550, sizeof(s_Goal_Current) - 1, 2}, {s_Goal_Velocity, 552, sizeof(s_Goal_Velocity) - 1, 4}, {s_Profile_Acceleration, 556, sizeof(s_Profile_Acceleration) - 1, 4}, {s_Profile_Velocity, 560, sizeof(s_Profile_Velocity) - 1, 4}, {s_Goal_Position, 564, sizeof(s_Goal_Position) - 1, 4}, {s_Realtime_Tick, 568, sizeof(s_Realtime_Tick) - 1, 2}, {s_Moving, 570, sizeof(s_Moving) - 1, 1}, {s_Moving_Status, 571, sizeof(s_Moving) - 1, 1}, {s_Present_PWM, 572, sizeof(s_Present_PWM) - 1, 2}, {s_Present_Current, 574, sizeof(s_Present_Current) - 1, 2}, {s_Present_Velocity, 576, sizeof(s_Present_Velocity) - 1, 4}, {s_Present_Position, 580, sizeof(s_Present_Position) - 1, 4}, {s_Velocity_Trajectory, 584, sizeof(s_Velocity_Trajectory) - 1, 4}, {s_Position_Trajectory, 588, sizeof(s_Position_Trajectory) - 1, 4}, {s_Present_Input_Voltage, 592, sizeof(s_Present_Input_Voltage) - 1, 2}, {s_Present_Temperature, 594, sizeof(s_Present_Temperature) - 1, 1}, {s_External_Port_Mode_1, 600, sizeof(s_External_Port_Mode_1) - 1, 2}, {s_External_Port_Mode_2, 602, sizeof(s_External_Port_Mode_2) - 1, 2}, {s_External_Port_Mode_3, 604, sizeof(s_External_Port_Mode_3) - 1, 2}, {s_External_Port_Mode_4, 606, sizeof(s_External_Port_Mode_4) - 1, 2}}; #define COUNT_EXTPRO_PLUS_ITEMS (sizeof(items_PRO_PLUS) / sizeof(items_PRO_PLUS[0])) static const ModelInfo info_PRO_PLUS[] = { {0.01, -251173, 0, 251173, -3.14159265, 3.14159265}, // PRO_PLUS_M42P_010_S260_R {0.01, -251173, 0, 251173, -3.14159265, 3.14159265}, // PRO_PLUS_M54P_040_S250_R {0.01, -262931, 0, 262931, -3.14159265, 3.14159265}, // PRO_PLUS_M54P_060_S250_R {0.01, -303454, 0, 303454, -3.14159265, 3.14159265}, // PRO_PLUS_H42P_020_S300_R {0.01, -501433, 0, 501433, -3.14159265, 3.14159265}, // PRO_PLUS_H54P_100_S500_R {0.01, -501433, 0, 501433, -3.14159265, 3.14159265}}; // PRO_PLUS_H54P_200_S500_R //--------------------------------------------------------- // Gripper - (num == RH_P12_RN) //--------------------------------------------------------- static const ControlItem items_Gripper[]{ {s_Model_Number, 0, sizeof(s_Model_Number) - 1, 2}, {s_Firmware_Version, 6, sizeof(s_Firmware_Version) - 1, 1}, {s_ID, 7, sizeof(s_ID) - 1, 1}, {s_Baud_Rate, 8, sizeof(s_Baud_Rate) - 1, 1}, {s_Return_Delay_Time, 9, sizeof(s_Return_Delay_Time) - 1, 1}, {s_Operating_Mode, 11, sizeof(s_Operating_Mode) - 1, 1}, {s_Homing_Offset, 13, sizeof(s_Homing_Offset) - 1, 4}, {s_Moving_Threshold, 17, sizeof(s_Moving_Threshold) - 1, 4}, {s_Temperature_Limit, 21, sizeof(s_Temperature_Limit) - 1, 1}, {s_Max_Voltage_Limit, 22, sizeof(s_Max_Voltage_Limit) - 1, 2}, {s_Min_Voltage_Limit, 24, sizeof(s_Min_Voltage_Limit) - 1, 2}, {s_Acceleration_Limit, 26, sizeof(s_Acceleration_Limit) - 1, 4}, {s_Torque_Limit, 30, sizeof(s_Torque_Limit) - 1, 2}, {s_Velocity_Limit, 32, sizeof(s_Velocity_Limit) - 1, 4}, {s_Max_Position_Limit, 36, sizeof(s_Max_Position_Limit) - 1, 4}, {s_Min_Position_Limit, 40, sizeof(s_Min_Position_Limit) - 1, 4}, {s_External_Port_Mode_1, 44, sizeof(s_External_Port_Mode_1) - 1, 1}, {s_External_Port_Mode_2, 45, sizeof(s_External_Port_Mode_2) - 1, 1}, {s_External_Port_Mode_3, 46, sizeof(s_External_Port_Mode_3) - 1, 1}, {s_External_Port_Mode_4, 47, sizeof(s_External_Port_Mode_4) - 1, 1}, {s_Shutdown, 48, sizeof(s_Shutdown) - 1, 1}, {s_Torque_Enable, 562, sizeof(s_Torque_Enable) - 1, 1}, {s_LED_RED, 563, sizeof(s_LED_RED) - 1, 1}, {s_LED_GREEN, 564, sizeof(s_LED_GREEN) - 1, 1}, {s_LED_BLUE, 565, sizeof(s_LED_BLUE) - 1, 1}, {s_Velocity_I_Gain, 586, sizeof(s_Velocity_I_Gain) - 1, 2}, {s_Velocity_P_Gain, 588, sizeof(s_Velocity_P_Gain) - 1, 2}, {s_Position_P_Gain, 594, sizeof(s_Position_P_Gain) - 1, 2}, {s_Goal_Position, 596, sizeof(s_Goal_Position) - 1, 4}, {s_Goal_Velocity, 600, sizeof(s_Goal_Velocity) - 1, 4}, {s_Goal_Torque, 604, sizeof(s_Goal_Torque) - 1, 2}, {s_Goal_Acceleration, 606, sizeof(s_Goal_Acceleration) - 1, 4}, {s_Moving, 610, sizeof(s_Moving) - 1, 1}, {s_Present_Position, 611, sizeof(s_Present_Position) - 1, 4}, {s_Present_Velocity, 615, sizeof(s_Present_Velocity) - 1, 4}, {s_Present_Current, 621, sizeof(s_Present_Current) - 1, 2}, {s_Present_Input_Voltage, 623, sizeof(s_Present_Input_Voltage) - 1, 2}, {s_Present_Temperature, 625, sizeof(s_Present_Temperature) - 1, 1}, {s_External_Port_Mode_1, 626, sizeof(s_External_Port_Mode_1) - 1, 2}, {s_External_Port_Mode_2, 628, sizeof(s_External_Port_Mode_2) - 1, 2}, {s_External_Port_Mode_3, 630, sizeof(s_External_Port_Mode_3) - 1, 2}, {s_External_Port_Mode_4, 632, sizeof(s_External_Port_Mode_4) - 1, 2}, {s_Registered_Instruction, 890, sizeof(s_Registered_Instruction) - 1, 1}, {s_Status_Return_Level, 891, sizeof(s_Status_Return_Level) - 1, 1}, {s_Hardware_Error_Status, 892, sizeof(s_Hardware_Error_Status) - 1, 1}}; #define COUNT_Gripper_ITEMS (sizeof(items_Gripper) / sizeof(items_Gripper[0])) static const ModelInfo info_Gripper = {0.01, 0, 0, 740, 0, 1.1345703125}; //--------------------------------------------------------- // Gripper A Firmware - (num == RH_P12_RN_A) //--------------------------------------------------------- static const ControlItem items_EXTGripper[]{ {s_Model_Number, 0, sizeof(s_Model_Number) - 1, 2}, {s_Firmware_Version, 6, sizeof(s_Firmware_Version) - 1, 1}, {s_ID, 7, sizeof(s_ID) - 1, 1}, {s_Baud_Rate, 8, sizeof(s_Baud_Rate) - 1, 1}, {s_Return_Delay_Time, 9, sizeof(s_Return_Delay_Time) - 1, 1}, {s_Drive_Mode, 10, sizeof(s_Drive_Mode) - 1, 1}, {s_Operating_Mode, 11, sizeof(s_Operating_Mode) - 1, 1}, {s_Secondary_ID, 12, sizeof(s_Secondary_ID) - 1, 1}, {s_Homing_Offset, 20, sizeof(s_Homing_Offset) - 1, 4}, {s_Moving_Threshold, 24, sizeof(s_Moving_Threshold) - 1, 4}, {s_Temperature_Limit, 31, sizeof(s_Temperature_Limit) - 1, 1}, {s_Max_Voltage_Limit, 32, sizeof(s_Max_Voltage_Limit) - 1, 2}, {s_Min_Voltage_Limit, 34, sizeof(s_Min_Voltage_Limit) - 1, 2}, {s_PWM_Limit, 36, sizeof(s_PWM_Limit) - 1, 2}, {s_Current_Limit, 38, sizeof(s_Current_Limit) - 1, 2}, {s_Acceleration_Limit, 40, sizeof(s_Acceleration_Limit) - 1, 4}, {s_Velocity_Limit, 44, sizeof(s_Velocity_Limit) - 1, 4}, {s_Max_Position_Limit, 48, sizeof(s_Max_Position_Limit) - 1, 4}, {s_Min_Position_Limit, 52, sizeof(s_Min_Position_Limit) - 1, 4}, {s_External_Port_Mode_1, 56, sizeof(s_External_Port_Mode_1) - 1, 1}, {s_External_Port_Mode_2, 57, sizeof(s_External_Port_Mode_2) - 1, 1}, {s_External_Port_Mode_3, 58, sizeof(s_External_Port_Mode_3) - 1, 1}, {s_External_Port_Mode_4, 59, sizeof(s_External_Port_Mode_4) - 1, 1}, {s_Shutdown, 63, sizeof(s_Shutdown) - 1, 1}, {s_Torque_Enable, 512, sizeof(s_Torque_Enable) - 1, 1}, {s_LED_RED, 513, sizeof(s_LED_RED) - 1, 1}, {s_LED_GREEN, 514, sizeof(s_LED_GREEN) - 1, 1}, {s_LED_BLUE, 515, sizeof(s_LED_BLUE) - 1, 1}, {s_Status_Return_Level, 516, sizeof(s_Status_Return_Level) - 1, 1}, {s_Registered_Instruction, 517, sizeof(s_Registered_Instruction) - 1, 1}, {s_Hardware_Error_Status, 518, sizeof(s_Hardware_Error_Status) - 1, 1}, {s_Velocity_I_Gain, 524, sizeof(s_Velocity_I_Gain) - 1, 2}, {s_Velocity_P_Gain, 526, sizeof(s_Velocity_P_Gain) - 1, 2}, {s_Position_D_Gain, 528, sizeof(s_Position_D_Gain) - 1, 2}, {s_Position_I_Gain, 530, sizeof(s_Position_I_Gain) - 1, 2}, {s_Position_P_Gain, 532, sizeof(s_Position_P_Gain) - 1, 2}, {s_Feedforward_2nd_Gain, 536, sizeof(s_Feedforward_2nd_Gain) - 1, 2}, {s_Feedforward_1st_Gain, 538, sizeof(s_Feedforward_1st_Gain) - 1, 2}, {s_Bus_Watchdog, 546, sizeof(s_Bus_Watchdog) - 1, 1}, {s_Goal_PWM, 548, sizeof(s_Goal_PWM) - 1, 2}, {s_Goal_Current, 550, sizeof(s_Goal_Current) - 1, 2}, {s_Goal_Velocity, 552, sizeof(s_Goal_Velocity) - 1, 4}, {s_Profile_Acceleration, 556, sizeof(s_Profile_Acceleration) - 1, 4}, {s_Profile_Velocity, 560, sizeof(s_Profile_Velocity) - 1, 4}, {s_Goal_Position, 564, sizeof(s_Goal_Position) - 1, 4}, {s_Realtime_Tick, 568, sizeof(s_Realtime_Tick) - 1, 2}, {s_Moving, 570, sizeof(s_Moving) - 1, 1}, {s_Moving_Status, 571, sizeof(s_Moving) - 1, 1}, {s_Present_PWM, 572, sizeof(s_Present_PWM) - 1, 2}, {s_Present_Current, 574, sizeof(s_Present_Current) - 1, 2}, {s_Present_Velocity, 576, sizeof(s_Present_Velocity) - 1, 4}, {s_Present_Position, 580, sizeof(s_Present_Position) - 1, 4}, {s_Velocity_Trajectory, 584, sizeof(s_Velocity_Trajectory) - 1, 4}, {s_Position_Trajectory, 588, sizeof(s_Position_Trajectory) - 1, 4}, {s_Present_Input_Voltage, 592, sizeof(s_Present_Input_Voltage) - 1, 2}, {s_Present_Temperature, 594, sizeof(s_Present_Temperature) - 1, 1}, {s_External_Port_Mode_1, 600, sizeof(s_External_Port_Mode_1) - 1, 2}, {s_External_Port_Mode_2, 602, sizeof(s_External_Port_Mode_2) - 1, 2}, {s_External_Port_Mode_3, 604, sizeof(s_External_Port_Mode_3) - 1, 2}, {s_External_Port_Mode_4, 606, sizeof(s_External_Port_Mode_4) - 1, 2}}; #define COUNT_EXTGripper_ITEMS (sizeof(items_EXTGripper) / sizeof(items_EXTGripper[0])) static const ModelInfo info_EXTGripper = {0.01, 0, 0, 740, 0, 1.1345703125}; //========================================================= // Get Servo control table for the specified servo type //========================================================= static uint8_t the_number_of_item = 0; const ControlItem *DynamixelItem::getControlTable(uint16_t model_number) { uint16_t num = model_number; const ControlItem *control_table; if (num == AX_12A || num == AX_12W || num == AX_18A) { control_table = items_AX; the_number_of_item = COUNT_AX_ITEMS; } else if (num == RX_10 || num == RX_24F || num == RX_28 || num == RX_64) { control_table = items_RX; the_number_of_item = COUNT_RX_ITEMS; } else if (num == EX_106) { control_table = items_EX; the_number_of_item = COUNT_EX_ITEMS; } else if (num == MX_12W || num == MX_28) { control_table = items_MX; the_number_of_item = COUNT_MX_ITEMS; } else if (num == MX_64 || num == MX_106) { control_table = items_EXTMX; the_number_of_item = COUNT_EXTMX_ITEMS; } else if (num == MX_28_2) { control_table = items_MX2; the_number_of_item = COUNT_MX2_ITEMS; } else if (num == MX_64_2 || num == MX_106_2) { control_table = items_EXTMX2; the_number_of_item = COUNT_EXTMX2_ITEMS; } else if (num == XL_320) { control_table = items_XL320; the_number_of_item = COUNT_XL320_ITEMS; } else if (num == XL430_W250 || num == XL430_W250_2 || num == XC430_W150 || num == XC430_W240 || num == XC430_W250_2) { control_table = items_XL; the_number_of_item = COUNT_XL_ITEMS; } else if (num == XM430_W210 || num == XM430_W350 || num == XL330_M077 || num == XL330_M288) { control_table = items_XM; the_number_of_item = COUNT_XM_ITEMS; } else if (num == XM540_W150 || num == XM540_W270) { control_table = items_EXTXM; the_number_of_item = COUNT_EXTXM_ITEMS; } else if (num == XH430_V210 || num == XH430_V350 || num == XH430_W210 || num == XH430_W350 || num == XW540_T140 || num == XW540_T260) { control_table = items_XH; the_number_of_item = COUNT_XH_ITEMS; } else if (num == XH540_W150 || num == XH540_W270 || num == XH540_V150 || num == XH540_V270) { control_table = items_EXTXH; the_number_of_item = COUNT_EXTXH_ITEMS; } else if (num == PRO_L42_10_S300_R) { control_table = items_PRO; the_number_of_item = COUNT_PRO_ITEMS; } else if (num == PRO_L54_30_S400_R || num == PRO_L54_30_S500_R || num == PRO_L54_50_S290_R || num == PRO_L54_50_S500_R || num == PRO_M42_10_S260_R || num == PRO_M54_40_S250_R || num == PRO_M54_60_S250_R || num == PRO_H42_20_S300_R || num == PRO_H54_100_S500_R || num == PRO_H54_200_S500_R) { control_table = items_EXTPRO; the_number_of_item = COUNT_EXTPRO_ITEMS; } else if (num == PRO_M42_10_S260_R_A || num == PRO_M54_40_S250_R_A || num == PRO_M54_60_S250_R_A || num == PRO_H42_20_S300_R_A || num == PRO_H54_100_S500_R_A || num == PRO_H54_200_S500_R_A) { control_table = items_EXTPRO_A; the_number_of_item = COUNT_EXTPRO_A_ITEMS; } else if (num == PRO_PLUS_H42P_020_S300_R || num == PRO_PLUS_H54P_100_S500_R || num == PRO_PLUS_H54P_200_S500_R || num == PRO_PLUS_M42P_010_S260_R || num == PRO_PLUS_M54P_040_S250_R || num == PRO_PLUS_M54P_060_S250_R) { control_table = items_PRO_PLUS; the_number_of_item = COUNT_EXTPRO_PLUS_ITEMS; } else if (num == RH_P12_RN) { control_table = items_Gripper; the_number_of_item = COUNT_Gripper_ITEMS; } else if (num == RH_P12_RN_A) { control_table = items_EXTGripper; the_number_of_item = COUNT_EXTGripper_ITEMS; } else { control_table = NULL; the_number_of_item = 0; } return control_table; } const ModelInfo *DynamixelItem::getModelInfo(uint16_t model_number) { uint16_t num = model_number; const ModelInfo *info; if (num == AX_12A || num == AX_12W || num == AX_18A) { info = &info_AX; } else if (num == RX_10 || num == RX_24F || num == RX_28 || num == RX_64) { info = &info_RX; } else if (num == EX_106) { info = &info_EX; } else if (num == MX_12W || num == MX_28) { info = &info_MX; } else if (num == MX_64 || num == MX_106) { info = &info_EXTMX; } else if (num == MX_28_2) { info = &info_MX2; } else if (num == MX_64_2 || num == MX_106_2) { info = &info_EXTMX2; } else if (num == XL_320) { info = &info_XL320; } else if (num == XL430_W250 || num == XL430_W250_2 || num == XC430_W150 || num == XC430_W240 || num == XC430_W250_2) { info = &info_XL; } else if (num == XM430_W210 || num == XM430_W350 || num == XL330_M077 || num == XL330_M288) { info = &info_XM; } else if (num == XM540_W150 || num == XM540_W270) { info = &info_EXTXM; } else if (num == XH430_V210 || num == XH430_V350 || num == XH430_W210 || num == XH430_W350 || num == XW540_T140 || num == XW540_T260) { info = &info_XH; } else if (num == XH540_W150 || num == XH540_W270 || num == XH540_V150 || num == XH540_V270) { info = &info_EXTXH; } else if (num == PRO_L42_10_S300_R) { info = &info_PRO; } else if (num == PRO_L54_30_S400_R) { info = &info_EXTPRO[0]; } else if (num == PRO_L54_30_S500_R || num == PRO_L54_50_S500_R) { info = &info_EXTPRO[1]; } else if (num == PRO_L54_50_S290_R) { info = &info_EXTPRO[2]; } else if (num == PRO_M42_10_S260_R) { info = &info_EXTPRO[3]; } else if (num == PRO_M54_40_S250_R || num == PRO_M54_60_S250_R) { info = &info_EXTPRO[4]; } else if (num == PRO_H42_20_S300_R) { info = &info_EXTPRO[5]; } else if (num == PRO_H54_100_S500_R || num == PRO_H54_200_S500_R) { info = &info_EXTPRO[6]; } else if (num == PRO_M42_10_S260_R_A) { info = &info_EXTPRO_A[0]; } else if (num == PRO_M54_40_S250_R_A || num == PRO_M54_60_S250_R_A) { info = &info_EXTPRO_A[1]; } else if (num == PRO_H42_20_S300_R_A) { info = &info_EXTPRO_A[2]; } else if (num == PRO_H54_100_S500_R_A || num == PRO_H54_200_S500_R_A) { info = &info_EXTPRO_A[3]; } else if (num == PRO_PLUS_H42P_020_S300_R) { info = &info_PRO_PLUS[0]; } else if (num == PRO_PLUS_H54P_100_S500_R) { info = &info_PRO_PLUS[1]; } else if (num == PRO_PLUS_H54P_200_S500_R) { info = &info_PRO_PLUS[2]; } else if (num == PRO_PLUS_M42P_010_S260_R) { info = &info_PRO_PLUS[3]; } else if (num == PRO_PLUS_M54P_040_S250_R) { info = &info_PRO_PLUS[4]; } else if (num == PRO_PLUS_M54P_060_S250_R) { info = &info_PRO_PLUS[5]; } else if (num == RH_P12_RN) { info = &info_Gripper; } else if (num == RH_P12_RN_A) { info = &info_EXTGripper; } else { info = NULL; } return info; } uint8_t DynamixelItem::getTheNumberOfControlItem() { return the_number_of_item; } ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelWorkbench/src/dynamixel_workbench_toolbox/dynamixel_tool.cpp ================================================ /******************************************************************************* * Copyright 2018 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ /* Authors: Taehun Lim (Darby), Ryan Shim */ #include "../../include/dynamixel_workbench_toolbox/dynamixel_tool.h" //=================================================================== // Define Serial ID to Namd table //=================================================================== typedef struct { uint16_t number; const char* name; } DynamixelModel; static const DynamixelModel dynamixel_model_table[] = { {AX_12A, "AX-12A"}, {AX_12W, "AX-12W"}, {AX_18A, "AX-18A"}, {RX_10, "RX-10"}, {RX_24F, "RX-24F"}, {RX_28, "RX-28"}, {RX_64, "RX-64"}, {EX_106, "EX-106"}, {MX_12W, "MX-12W"}, {MX_28, "MX-28"}, {MX_28_2, "MX-28-2"}, {MX_64, "MX-64"}, {MX_64_2, "MX-64-2"}, {MX_106, "MX-106"}, {MX_106_2, "MX-106-2"}, {XL_320, "XL-320"}, {XL430_W250, "XL430-W250"}, {XL330_M077, "XL330-M077"}, {XL330_M288, "XL330-M288"}, {XL430_W250_2, "XL430-W250-2"}, // 2XL {XC430_W250_2, "XC430-W240-2"}, // 2XC {XC430_W150, "XC430-W150"}, {XC430_W240, "XC430-W240"}, {XM430_W210, "XM430-W210"}, {XM430_W350, "XM430-W350"}, {XM540_W150, "XM540-W150"}, {XM540_W270, "XM540-W270"}, {XH430_V210, "XH430-V210"}, {XH430_V350, "XH430-V350"}, {XH430_W210, "XH430-W210"}, {XH430_W350, "XH430-W350"}, {XH540_W150, "XH540-W150"}, {XH540_W270, "XH540-W270"}, {XH540_V150, "XH540-V150"}, {XH540_V270, "XH540-V270"}, {XW540_T140, "XW540-T140"}, {XW540_T260, "XW540-T260"}, {PRO_L42_10_S300_R, "PRO-L42-10-S300-R"}, {PRO_L54_30_S400_R, "PRO-L54-30-S400-R"}, {PRO_L54_30_S500_R, "PRO-L54-30-S500-R"}, {PRO_L54_50_S290_R, "PRO-L54-50-S290-R"}, {PRO_L54_50_S500_R, "PRO-L54-50-S500-R"}, {PRO_M42_10_S260_R, "PRO-M42-10-S260-R"}, {PRO_M54_40_S250_R, "PRO-M54-40-S250-R"}, {PRO_M54_60_S250_R, "PRO-M54-60-S250-R"}, {PRO_H42_20_S300_R, "PRO-H42-20-S300-R"}, {PRO_H54_100_S500_R, "PRO-H54-100-S500-R"}, {PRO_H54_200_S500_R, "PRO-H54-200-S500-R"}, {PRO_M42_10_S260_R_A, "PRO-M42-10-S260-R-A"}, {PRO_M54_40_S250_R_A, "PRO-M54-40-S250-R-A"}, {PRO_M54_60_S250_R_A, "PRO-M54-60-S250-R-A"}, {PRO_H42_20_S300_R_A, "PRO-H42-20-S300-R-A"}, {PRO_H54_100_S500_R_A, "PRO-H54-100-S500-R-A"}, {PRO_H54_200_S500_R_A, "PRO-H54-200-S500-R-A"}, {PRO_PLUS_M42P_010_S260_R, "PRO-PLUS-M42P-010-S260-R"}, {PRO_PLUS_M54P_040_S250_R, "PRO-PLUS-M54P-040-S250-R"}, {PRO_PLUS_M54P_060_S250_R, "PRO-PLUS-M54P-060-S250-R"}, {PRO_PLUS_H42P_020_S300_R, "PRO-PLUS-H42P-020-S300-R"}, {PRO_PLUS_H54P_100_S500_R, "PRO-PLUS-H54P-100-S500-R"}, {PRO_PLUS_H54P_200_S500_R, "PRO-PLUS-H54P-200-S500-R"}, {RH_P12_RN, "RH-P12-RN"}, {RH_P12_RN_A, "RH-P12-RN-A"} }; #define COUNT_DYNAMIXEL_MODEL (sizeof(dynamixel_model_table)/sizeof(dynamixel_model_table[0])) DynamixelTool::DynamixelTool() : dxl_cnt_(0), the_number_of_control_item_(0){} DynamixelTool::~DynamixelTool(){} void DynamixelTool::initTool(void) { for (uint8_t i = 0; i < DYNAMIXEL_BUFFER; i++) dxl_id_[i] = 0; dxl_cnt_ = 0; } bool DynamixelTool::addTool(const char *model_name, uint8_t id, const char **log) { bool result = false; initTool(); model_name_ = model_name; result = setModelNumber(model_name, log); if (result == false) return false; dxl_id_[dxl_cnt_++] = id; result = setControlTable(model_name, log); if (result == false) return false; return true; } bool DynamixelTool::addTool(uint16_t model_number, uint8_t id, const char **log) { bool result = false; initTool(); result = setModelName(model_number, log); if (result == false) return false; model_number_ = model_number; dxl_id_[dxl_cnt_++] = id; result = setControlTable(model_number, log); if (result == false) return false; return result; } void DynamixelTool::addDXL(uint8_t id) { dxl_id_[dxl_cnt_++] = id; } bool DynamixelTool::setControlTable(const char *model_name, const char **log) { const char* name = model_name; uint8_t name_length = strlen(name); for (uint8_t index=0; index < COUNT_DYNAMIXEL_MODEL; index++) { if(strncmp(name, dynamixel_model_table[index].name, name_length) == 0) { return setControlTable(dynamixel_model_table[index].number, log); } } if (log != NULL) *log = "[DynamixelTool] Failed to set control table due to mismatch model name and model number"; return false; } bool DynamixelTool::setControlTable(uint16_t model_number, const char **log) { control_table_ = DynamixelItem::getControlTable(model_number); the_number_of_control_item_ = DynamixelItem::getTheNumberOfControlItem(); model_info_ = DynamixelItem::getModelInfo(model_number); if (control_table_ == NULL || model_info_ == NULL) { if (log != NULL) *log = "[DynamixelTool] Failed to get control table or model info"; return false; } return true; } bool DynamixelTool::setModelName(uint16_t model_number, const char **log) { uint16_t num = model_number; for (uint8_t index=0; index < COUNT_DYNAMIXEL_MODEL; index++) { if (num == dynamixel_model_table[index].number) { model_name_ = dynamixel_model_table[index].name; return true; } } if (log != NULL) *log = "[DynamixelTool] Failed to find model name"; return false; } bool DynamixelTool::setModelNumber(const char *model_name, const char **log) { const char* name = model_name; uint8_t name_length = strlen(name); for (uint8_t index=0; index < COUNT_DYNAMIXEL_MODEL; index++) { if(strncmp(name, model_name_, name_length) == 0) { model_number_ = dynamixel_model_table[index].number; return true; } } if (log != NULL) *log = "[DynamixelTool] Failed to find model number"; return false; } const char* DynamixelTool::getModelName(void) { return model_name_; } uint16_t DynamixelTool::getModelNumber(void) { return model_number_; } const uint8_t* DynamixelTool::getID(void) { const uint8_t* id_table_ = dxl_id_; return id_table_; } uint8_t DynamixelTool::getDynamixelCount(void) { return dxl_cnt_; } uint8_t DynamixelTool::getDynamixelBuffer(void) { return DYNAMIXEL_BUFFER; } float DynamixelTool::getRPM(void) { return model_info_->rpm; } int64_t DynamixelTool::getValueOfMinRadianPosition(void) { return model_info_->value_of_min_radian_position; } int64_t DynamixelTool::getValueOfMaxRadianPosition(void) { return model_info_->value_of_max_radian_position; } int64_t DynamixelTool::getValueOfZeroRadianPosition(void) { return model_info_->value_of_zero_radian_position; } float DynamixelTool::getMinRadian(void) { return model_info_->min_radian; } float DynamixelTool::getMaxRadian(void) { return model_info_->max_radian; } uint8_t DynamixelTool::getTheNumberOfControlItem(void) { return the_number_of_control_item_; } const ControlItem *DynamixelTool::getControlItem(const char *item_name, const char **log) { const ControlItem* control_item = control_table_; uint8_t name_length = strlen(item_name); for (uint8_t num = 0; num < the_number_of_control_item_; num++) { if ((name_length == control_item->item_name_length) && (memcmp(item_name, control_item->item_name, name_length) == 0)) { return control_item; } control_item++; } if (log != NULL) *log = "[DynamixelTool] Can't find Item"; return NULL; } const ControlItem *DynamixelTool::getControlTable(void) { return control_table_; } const ModelInfo *DynamixelTool::getModelInfo(void) { return model_info_; } ================================================ FILE: arduino/opencr_arduino/opencr/libraries/DynamixelWorkbench/src/dynamixel_workbench_toolbox/dynamixel_workbench.cpp ================================================ /******************************************************************************* * Copyright 2018 ROBOTIS CO., LTD. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *******************************************************************************/ /* Authors: Taehun Lim (Darby), Ryan Shim */ #include "../../include/dynamixel_workbench_toolbox/dynamixel_workbench.h" static const uint8_t WHEEL_MODE = 1; static const uint8_t JOINT_MODE = 2; static const uint8_t CURRENT_CONTROL_MODE = 0; static const uint8_t VELOCITY_CONTROL_MODE = 1; static const uint8_t POSITION_CONTROL_MODE = 3; static const uint8_t EXTENDED_POSITION_CONTROL_MODE = 4; static const uint8_t CURRENT_BASED_POSITION_CONTROL_MODE = 5; static const uint8_t PWM_CONTROL_MODE = 16; static const uint8_t TORQUE_CONTROL_MODE = 100; static const uint8_t MULTI_TURN_MODE = 101; static const char* model_name = NULL; static const ModelInfo* model_info = NULL; DynamixelWorkbench::DynamixelWorkbench(){} DynamixelWorkbench::~DynamixelWorkbench(){} bool DynamixelWorkbench::torque(uint8_t id, int32_t onoff, const char **log) { bool result = false; result = itemWrite(id, "Torque_Enable", (int32_t)onoff, log); if (result == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to change torque status!"; return false; } if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to change torque status!"; return result; } bool DynamixelWorkbench::torqueOn(uint8_t id, const char **log) { bool result = false; result = torque(id, 1, log); return result; } bool DynamixelWorkbench::torqueOff(uint8_t id, const char **log) { bool result = false; result = torque(id, 0, log); return result; } bool DynamixelWorkbench::changeID(uint8_t id, uint8_t new_id, const char **log) { bool result = false; result = torqueOff(id, log); if (result == false) return false; result = writeRegister(id, "ID", new_id, log); if (result == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to change ID!"; return false; } // millis(1000); if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to change ID!"; return result; } bool DynamixelWorkbench::changeBaudrate(uint8_t id, uint32_t new_baudrate, const char **log) { bool result = false; result = torqueOff(id, log); if (result == false) return false; if (getProtocolVersion() == 1.0f) { switch (new_baudrate) { case 9600: result = writeRegister(id, "Baud_Rate", 207, log); break; case 19200: result = writeRegister(id, "Baud_Rate", 103, log); break; case 57600: result = writeRegister(id, "Baud_Rate", 34, log); break; case 115200: result = writeRegister(id, "Baud_Rate", 16, log); break; case 200000: result = writeRegister(id, "Baud_Rate", 9, log); break; case 250000: result = writeRegister(id, "Baud_Rate", 7, log); break; case 400000: result = writeRegister(id, "Baud_Rate", 4, log); break; case 500000: result = writeRegister(id, "Baud_Rate", 3, log); break; case 1000000: result = writeRegister(id, "Baud_Rate", 1, log); break; case 2250000: result = writeRegister(id, "Baud_Rate", 250, log); break; case 2500000: result = writeRegister(id, "Baud_Rate", 251, log); break; case 3000000: result = writeRegister(id, "Baud_Rate", 252, log); break; default: result = writeRegister(id, "Baud_Rate", 34, log); break; } } else if (getProtocolVersion() == 2.0f) { switch (new_baudrate) { case 9600: result = writeRegister(id, "Baud_Rate", 0, log); break; case 57600: result = writeRegister(id, "Baud_Rate", 1, log); break; case 115200: result = writeRegister(id, "Baud_Rate", 2, log); break; case 1000000: result = writeRegister(id, "Baud_Rate", 3, log); break; case 2000000: result = writeRegister(id, "Baud_Rate", 4, log); break; case 3000000: result = writeRegister(id, "Baud_Rate", 5, log); break; case 4000000: result = writeRegister(id, "Baud_Rate", 6, log); break; case 4500000: result = writeRegister(id, "Baud_Rate", 7, log); break; case 10500000: result = writeRegister(id, "Baud_Rate", 8, log); break; default: result = writeRegister(id, "Baud_Rate", 1, log); break; } } #if defined(__OPENCR__) || defined(__OPENCM904__) delay(2000); #else usleep(1000*2000); #endif if (result == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to change Baud Rate!"; return result; } if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to change Baud Rate!"; return result; } bool DynamixelWorkbench::changeProtocolVersion(uint8_t id, uint8_t version, const char **log) { bool result = false; model_name = getModelName(id, log); if (model_name == NULL) return false; if (!strncmp(model_name, "MX-28-2", strlen("MX-28-2")) || !strncmp(model_name, "MX-64-2", strlen("MX-64-2")) || !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) || !strncmp(model_name, "XM", strlen("XM")) || !strncmp(model_name, "XL430", strlen("XL430")) || !strncmp(model_name, "XC430", strlen("XC430")) || !strncmp(model_name, "XH", strlen("XH"))) { result = writeRegister(id, "Protocol_Version", version, log); if (result == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to set protocol version!"; return false; } } result = setPacketHandler((float)version, log); if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to set protocol version!"; return result; } bool DynamixelWorkbench::itemWrite(uint8_t id, const char *item_name, int32_t data, const char **log) { return writeRegister(id, item_name, data, log); } bool DynamixelWorkbench::itemRead(uint8_t id, const char *item_name, int32_t *data, const char **log) { return readRegister(id, item_name, data, log); } bool DynamixelWorkbench::led(uint8_t id, int32_t onoff, const char **log) { bool result = false; result = writeRegister(id, "LED", onoff, log); if (result == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to change led status!"; return false; } if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to change led status!"; return result; } bool DynamixelWorkbench::ledOn(uint8_t id, const char **log) { bool result = false; result = led(id, 1, log); return result; } bool DynamixelWorkbench::ledOff(uint8_t id, const char **log) { bool result = false; result = led(id, 0, log); return result; } bool DynamixelWorkbench::setNormalDirection(uint8_t id, const char **log) { bool result = false; int32_t data = 0; model_name = getModelName(id, log); if (model_name == NULL) return false; if (!strncmp(model_name, "MX-28-2", strlen("MX-28-2")) || !strncmp(model_name, "MX-64-2", strlen("MX-64-2")) || !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) || !strncmp(model_name, "XM", strlen("XM")) || !strncmp(model_name, "XL330", strlen("XL330")) || !strncmp(model_name, "XL430", strlen("XL430")) || !strncmp(model_name, "XC430", strlen("XC430")) || !strncmp(model_name, "XH", strlen("XH")) || !strncmp(model_name, "XW", strlen("XW"))) { result = readRegister(id, "Drive_Mode", &data, log); data = data & 0b00000100; result = writeRegister(id, "Drive_Mode", data, log); if (result == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to set normal direction!"; return false; } } if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to set normal direction!"; return result; } bool DynamixelWorkbench::setReverseDirection(uint8_t id, const char **log) { bool result = false; int32_t data = 0; model_name = getModelName(id, log); if (model_name == NULL) return false; if (!strncmp(model_name, "MX-28-2", strlen("MX-28-2")) || !strncmp(model_name, "MX-64-2", strlen("MX-64-2")) || !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) || !strncmp(model_name, "XM", strlen("XM")) || !strncmp(model_name, "XL330", strlen("XL330")) || !strncmp(model_name, "XL430", strlen("XL430")) || !strncmp(model_name, "XC430", strlen("XC430")) || !strncmp(model_name, "XH", strlen("XH")) || !strncmp(model_name, "XW", strlen("XW"))) { result = readRegister(id, "Drive_Mode", &data, log); data = data | 0b00000001; result = writeRegister(id, "Drive_Mode", data, log); if (result == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to set reverse direction!"; return false; } } if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to set reverse direction!"; return result; } bool DynamixelWorkbench::setVelocityBasedProfile(uint8_t id, const char **log) { bool result = false; int32_t data = 0; model_name = getModelName(id, log); if (model_name == NULL) return false; if (!strncmp(model_name, "MX-28-2", strlen("MX-28-2")) || !strncmp(model_name, "MX-64-2", strlen("MX-64-2")) || !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) || !strncmp(model_name, "XM", strlen("XM")) || !strncmp(model_name, "XL330", strlen("XL330")) || !strncmp(model_name, "XL430", strlen("XL430")) || !strncmp(model_name, "XC430", strlen("XC430")) || !strncmp(model_name, "XH", strlen("XH")) || !strncmp(model_name, "XW", strlen("XW"))) { result = readRegister(id, "Drive_Mode", &data, log); data = data & 0b00000001; result = writeRegister(id, "Drive_Mode", data, log); if (result == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to set velocity based profile!"; return false; } } if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to set velocity based profile!"; return result; } bool DynamixelWorkbench::setTimeBasedProfile(uint8_t id, const char **log) { bool result = false; int32_t data = 0; model_name = getModelName(id, log); if (model_name == NULL) return false; if (!strncmp(model_name, "MX-28-2", strlen("MX-28-2")) || !strncmp(model_name, "MX-64-2", strlen("MX-64-2")) || !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) || !strncmp(model_name, "XM", strlen("XM")) || !strncmp(model_name, "XL330", strlen("XL330")) || !strncmp(model_name, "XL430", strlen("XL430")) || !strncmp(model_name, "XC430", strlen("XC430")) || !strncmp(model_name, "XH", strlen("XH")) || !strncmp(model_name, "XW", strlen("XW"))) { result = readRegister(id, "Drive_Mode", &data, log); data = data | 0b00000100; result = writeRegister(id, "Drive_Mode", data, log); if (result == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to set time based profile!"; return false; } } if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to set time based profile!"; return result; } bool DynamixelWorkbench::setSecondaryID(uint8_t id, uint8_t secondary_id, const char **log) { bool result = false; model_name = getModelName(id, log); if (model_name == NULL) return false; if (!strncmp(model_name, "MX-28-2", strlen("MX-28-2")) || !strncmp(model_name, "MX-64-2", strlen("MX-64-2")) || !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) || !strncmp(model_name, "XM", strlen("XM")) || !strncmp(model_name, "XL330", strlen("XL330")) || !strncmp(model_name, "XL430", strlen("XL430")) || !strncmp(model_name, "XC430", strlen("XC430")) || !strncmp(model_name, "XH", strlen("XH")) || !strncmp(model_name, "RH", strlen("RH")) || !strncmp(model_name, "XW", strlen("XW"))) { result = torqueOff(id, log); if (result == false) return false; result = writeRegister(id, "Secondary_ID", secondary_id, log); if (result == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to set secondary ID!"; return false; } } // millis(1000); if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to set secondary ID!"; return result; } bool DynamixelWorkbench::setPositionControlMode(uint8_t id, const char **log) { bool result = false; result = setOperatingMode(id, POSITION_CONTROL_MODE, log); if (result == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to set Position Control Mode!"; return false; } if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to set Position Control Mode!"; return result; } bool DynamixelWorkbench::setVelocityControlMode(uint8_t id, const char **log) { bool result = false; result = setOperatingMode(id, VELOCITY_CONTROL_MODE, log); if (result == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to set Velocity Control Mode!"; return false; } if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to set Velocity Control Mode!"; return result; } bool DynamixelWorkbench::setCurrentControlMode(uint8_t id, const char **log) { bool result = false; result = setOperatingMode(id, CURRENT_CONTROL_MODE, log); if (result == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to set Current Control Mode!"; return false; } if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to set Current Control Mode!"; return result; } bool DynamixelWorkbench::setTorqueControlMode(uint8_t id, const char **log) { bool result = false; result = setOperatingMode(id, TORQUE_CONTROL_MODE, log); if (result == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to set Torque Control Mode!"; return false; } if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to set Torque Control Mode!"; return result; } bool DynamixelWorkbench::setExtendedPositionControlMode(uint8_t id, const char **log) { bool result = false; result = setOperatingMode(id, EXTENDED_POSITION_CONTROL_MODE, log); if (result == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to set Extended Position Control Mode!"; return false; } if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to set Extended Position Control Mode!"; return result; } bool DynamixelWorkbench::setMultiTurnControlMode(uint8_t id, const char **log) { bool result = false; result = setOperatingMode(id, MULTI_TURN_MODE, log); if (result == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to set Multi-Turn Control Mode!"; return false; } if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to set Multi-Turn Control Mode!"; return result; } bool DynamixelWorkbench::setCurrentBasedPositionControlMode(uint8_t id, const char **log) { bool result = false; result = setOperatingMode(id, CURRENT_BASED_POSITION_CONTROL_MODE, log); if (result == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to set Current Based Position Control Mode!"; return false; } if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to set Current Based Position Control Mode!"; return result; } bool DynamixelWorkbench::setPWMControlMode(uint8_t id, const char **log) { bool result = false; result = setOperatingMode(id, PWM_CONTROL_MODE, log); if (result == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to set PWM Control Mode!"; return false; } if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to set PWM Control Mode!"; return result; } bool DynamixelWorkbench::setOperatingMode(uint8_t id, uint8_t index, const char **log) { bool result = false; model_name = getModelName(id, log); if (model_name == NULL) return false; if (getProtocolVersion() == 1.0) { if (index == POSITION_CONTROL_MODE) { if (!strncmp(model_name, "MX-28-2", strlen("MX-28-2")) || !strncmp(model_name, "MX-64-2", strlen("MX-64-2")) || !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) || !strncmp(model_name, "XL330", strlen("XL330")) || !strncmp(model_name, "XL430", strlen("XL430")) || !strncmp(model_name, "XC430", strlen("XC430")) || !strncmp(model_name, "XM", strlen("XM")) || !strncmp(model_name, "XH", strlen("XH")) || !strncmp(model_name, "XW", strlen("XW")) || !strncmp(model_name, "PRO", strlen("PRO")) || !strncmp(model_name, "RH", strlen("RH"))) { result = writeRegister(id, "Operating_Mode", POSITION_CONTROL_MODE, log); } else if (!strncmp(model_name, "AX", 2) || !strncmp(model_name, "RX", 2)) { result = writeRegister(id, "CW_Angle_Limit", 0, log); result = writeRegister(id, "CCW_Angle_Limit", 1023, log); } else { result = writeRegister(id, "CW_Angle_Limit", 0, log); result = writeRegister(id, "CCW_Angle_Limit", 4095, log); } } else if (index == VELOCITY_CONTROL_MODE) { if (!strncmp(model_name, "MX-28-2", strlen("MX-28-2")) || !strncmp(model_name, "MX-64-2", strlen("MX-64-2")) || !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) || !strncmp(model_name, "XL330", strlen("XL330")) || !strncmp(model_name, "XL430", strlen("XL430")) || !strncmp(model_name, "XC430", strlen("XC430")) || !strncmp(model_name, "XM", strlen("XM")) || !strncmp(model_name, "XH", strlen("XH")) || !strncmp(model_name, "XW", strlen("XW")) || !strncmp(model_name, "PRO", strlen("PRO"))) { result = writeRegister(id, "Operating_Mode", VELOCITY_CONTROL_MODE); } else { result = writeRegister(id, "CW_Angle_Limit", 0, log); result = writeRegister(id, "CCW_Angle_Limit", 0, log); } } else if (index == CURRENT_CONTROL_MODE) { if (!strncmp(model_name, "XL330", strlen("XL330")) || !strncmp(model_name, "XM", strlen("XM")) || !strncmp(model_name, "XH", strlen("XH")) || !strncmp(model_name, "MX-64-2", strlen("MX-64-2")) || !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) || !strncmp(model_name, "XW", strlen("XW")) || !strncmp(model_name, "RH", strlen("RH"))) { result = writeRegister(id, "Operating_Mode", CURRENT_CONTROL_MODE, log); } } else if (index == TORQUE_CONTROL_MODE) { if (!strncmp(model_name, "MX-64", strlen("MX-64")) || !strncmp(model_name, "MX-106", strlen("MX-106")) ) { result = writeRegister(id, "Torque_Control_Mode_Enable", 1, log); } } else if (index == MULTI_TURN_MODE) { if (!strncmp(model_name, "MX-64", strlen("MX-64")) || !strncmp(model_name, "MX-106", strlen("MX-106")) ) { result = writeRegister(id, "CW_Angle_Limit", 4095, log); result = writeRegister(id, "CCW_Angle_Limit", 4095, log); } } else if (index == CURRENT_BASED_POSITION_CONTROL_MODE) { if (!strncmp(model_name, "MX-64-2", strlen("MX-64-2")) || !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) || !strncmp(model_name, "XL330", strlen("XL330")) || !strncmp(model_name, "XM", strlen("XM")) || !strncmp(model_name, "XH", strlen("XH")) || !strncmp(model_name, "XW", strlen("XW")) || !strncmp(model_name, "RH", strlen("RH"))) { result = writeRegister(id, "Operating_Mode", CURRENT_BASED_POSITION_CONTROL_MODE, log); } } else if (index == PWM_CONTROL_MODE) { if (!strncmp(model_name, "MX-28-2", strlen("MX-28-2")) || !strncmp(model_name, "MX-64-2", strlen("MX-64-2")) || !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) || !strncmp(model_name, "XM", strlen("XM")) || !strncmp(model_name, "XH", strlen("XH")) || !strncmp(model_name, "XW", strlen("XW"))) { result = writeRegister(id, "Operating_Mode", PWM_CONTROL_MODE, log); } } } else if (getProtocolVersion() == 2.0) { if (index == POSITION_CONTROL_MODE) { if (!strncmp(model_name, "XL-320", strlen("XL-320"))) result = writeRegister(id, "Control_Mode", JOINT_MODE, log); else result = writeRegister(id, "Operating_Mode", POSITION_CONTROL_MODE, log); } else if (index == VELOCITY_CONTROL_MODE) { if (!strncmp(model_name, "XL-320", strlen("XL-320"))) result = writeRegister(id, "Control_Mode", WHEEL_MODE, log); else result = writeRegister(id, "Operating_Mode", VELOCITY_CONTROL_MODE, log); } else if (index == CURRENT_CONTROL_MODE) { if (!strncmp(model_name, "XL330", strlen("XL330")) || !strncmp(model_name, "XM", strlen("XM")) || !strncmp(model_name, "XH", strlen("XH")) || !strncmp(model_name, "XW", strlen("XW")) || !strncmp(model_name, "MX-64-2", strlen("MX-64-2")) || !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) || !strncmp(model_name, "RH", strlen("RH"))) { result = writeRegister(id, "Operating_Mode", CURRENT_CONTROL_MODE, log); } } else if (index == TORQUE_CONTROL_MODE) { if (!strncmp(model_name, "PRO", strlen("PRO")) || strncmp(model_name, "PRO-L42", strlen("PRO-L42")) ) { result = writeRegister(id, "Operating_Mode", 0, log); } } else if (index == EXTENDED_POSITION_CONTROL_MODE) { if (!strncmp(model_name, "PRO", strlen("PRO")) || strncmp(model_name, "PRO-L42", strlen("PRO-L42")) ) { result = writeRegister(id, "Operating_Mode", EXTENDED_POSITION_CONTROL_MODE, log); } } else if (index == CURRENT_BASED_POSITION_CONTROL_MODE) { if (!strncmp(model_name, "MX-64-2", strlen("MX-64-2")) || !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) || !strncmp(model_name, "XL330", strlen("XL330")) || !strncmp(model_name, "XM", strlen("XM")) || !strncmp(model_name, "XH", strlen("XH")) || !strncmp(model_name, "XW", strlen("XW")) || !strncmp(model_name, "RH", strlen("RH"))) { result = writeRegister(id, "Operating_Mode", CURRENT_BASED_POSITION_CONTROL_MODE, log); } } else if (index == PWM_CONTROL_MODE) { if (!strncmp(model_name, "MX-28-2", strlen("MX-28-2")) || !strncmp(model_name, "MX-64-2", strlen("MX-64-2")) || !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) || !strncmp(model_name, "XL330", strlen("XL330")) || !strncmp(model_name, "XL430", strlen("XL430")) || !strncmp(model_name, "XC430", strlen("XC430")) || !strncmp(model_name, "XM", strlen("XM")) || !strncmp(model_name, "XH", strlen("XH")) || !strncmp(model_name, "XW", strlen("XW")) || !strncmp(model_name, "PRO", strlen("PRO"))) { result = writeRegister(id, "Operating_Mode", PWM_CONTROL_MODE, log); } } } if (result == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to set Operating Mode!"; return false; } if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to set Operating Mode!"; return result; } bool DynamixelWorkbench::jointMode(uint8_t id, int32_t velocity, int32_t acceleration, const char **log) { bool result = false; model_name = getModelName(id, log); if (model_name == NULL) return false; result = torqueOff(id, log); if (result == false) return false; result = setPositionControlMode(id, log); if (result == false) return false; if (getProtocolVersion() == 1.0) { if (!strncmp(model_name, "MX-28-2", strlen("MX-28-2")) || !strncmp(model_name, "MX-64-2", strlen("MX-64-2")) || !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) || !strncmp(model_name, "XL330", strlen("XL330")) || !strncmp(model_name, "XL430", strlen("XL430")) || !strncmp(model_name, "XC430", strlen("XC430")) || !strncmp(model_name, "XM", strlen("XM")) || !strncmp(model_name, "XH", strlen("XH")) || !strncmp(model_name, "XW", strlen("XW"))) { result = writeRegister(id, "Profile_Acceleration", acceleration, log); result = writeRegister(id, "Profile_Velocity", velocity, log); } else if (!strncmp(model_name, "MX-28", strlen("MX-28")) || !strncmp(model_name, "MX-64", strlen("MX-64")) || !strncmp(model_name, "MX-106", strlen("MX-106"))) { result = writeRegister(id, "Moving_Speed", velocity, log); result = writeRegister(id, "Goal_Acceleration", acceleration, log); } else { result = writeRegister(id, "Moving_Speed", velocity, log); } } else if (getProtocolVersion() == 2.0) { if (!strncmp(model_name, "XL-320", strlen("XL-320"))) { result = writeRegister(id, "Moving_Speed", velocity, log); } else if (!strncmp(model_name, "PRO-M42-10-S260-R-A", strlen("PRO-M42-10-S260-R-A")) || !strncmp(model_name, "PRO-M54-40-S250-R-A", strlen("PRO-M54-40-S250-R-A")) || !strncmp(model_name, "PRO-M54-60-S250-R-A", strlen("PRO-M54-60-S250-R-A")) || !strncmp(model_name, "PRO-H42-20-S300-R-A", strlen("PRO-H42-20-S300-R-A")) || !strncmp(model_name, "PRO-H54-100-S500-R-A", strlen("PRO-H54-100-S500-R-A")) || !strncmp(model_name, "PRO-H54-200-S500-R-A", strlen("PRO-H54-200-S500-R-A"))) { result = writeRegister(id, "Profile_Acceleration", acceleration, log); result = writeRegister(id, "Profile_Velocity", velocity, log); } else if (!strncmp(model_name, "PRO-L", strlen("PRO-L")) || !strncmp(model_name, "PRO-M", strlen("PRO-M")) || !strncmp(model_name, "PRO-H", strlen("PRO-H"))) { result = writeRegister(id, "Goal_Velocity", velocity, log); result = writeRegister(id, "Goal_Acceleration", acceleration, log); } else { result = writeRegister(id, "Profile_Acceleration", acceleration, log); result = writeRegister(id, "Profile_Velocity", velocity, log); } } if (result == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to set Joint Mode!"; return false; } result = torqueOn(id, log); if (result == false) return false; if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to set Joint Mode!"; return result; } bool DynamixelWorkbench::wheelMode(uint8_t id, int32_t acceleration, const char **log) { bool result = false; model_name = getModelName(id, log); if (model_name == NULL) return false; result = torqueOff(id, log); if (result == false) return false; result = setVelocityControlMode(id, log); if (result == false) return false; if (getProtocolVersion() == 1.0) { if (!strncmp(model_name, "MX-28-2", strlen("MX-28-2")) || !strncmp(model_name, "MX-64-2", strlen("MX-64-2")) || !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) || !strncmp(model_name, "XL330", strlen("XL330")) || !strncmp(model_name, "XL430", strlen("XL430")) || !strncmp(model_name, "XC430", strlen("XC430")) || !strncmp(model_name, "XM", strlen("XM")) || !strncmp(model_name, "XH", strlen("XH")) || !strncmp(model_name, "XW", strlen("XW"))) { result = writeRegister(id, "Profile_Acceleration", acceleration, log); } else if (!strncmp(model_name, "MX-28", strlen("MX-28")) || !strncmp(model_name, "MX-64", strlen("MX-64")) || !strncmp(model_name, "MX-106", strlen("MX-106"))) { result = writeRegister(id, "Goal_Acceleration", acceleration, log); } } else if (getProtocolVersion() == 2.0) { if (!strncmp(model_name, "PRO-PLUS", strlen("PRO-PLUS"))) { result = writeRegister(id, "Profile_Acceleration", acceleration, log); } else if (!strncmp(model_name, "PRO", strlen("PRO"))) { result = writeRegister(id, "Goal_Acceleration", acceleration, log); } else { result = writeRegister(id, "Profile_Acceleration", acceleration, log); } } if (result == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to set Wheel Mode!"; return false; } result = torqueOn(id, log); if (result == false) return false; if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to set Wheel Mode!"; return result; } bool DynamixelWorkbench::currentBasedPositionMode(uint8_t id, int32_t current, const char **log) { bool result = false; model_name = getModelName(id, log); if (model_name == NULL) return false; result = torqueOff(id, log); if (result == false) return false; result = setCurrentBasedPositionControlMode(id, log); if (result == false) return false; if (!strncmp(model_name, "MX-64-2", strlen("MX-64-2")) || !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) || !strncmp(model_name, "XL330", strlen("XL330")) || !strncmp(model_name, "XM", strlen("XM")) || !strncmp(model_name, "XH", strlen("XH")) || !strncmp(model_name, "XW", strlen("XW")) || !strncmp(model_name, "RH", strlen("RH"))) { result = writeRegister(id, "Goal_Current", current, log); } if (result == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to set Current Based Position Mode!"; return false; } result = torqueOn(id, log); if (result == false) return false; if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to set Current Based Position Wheel Mode!"; return result; } //keep compatibility with older codes bool DynamixelWorkbench::goalPosition(uint8_t id, int value, const char **log) { bool result = false; result = goalPosition(id, (int32_t)value, log); return result; } bool DynamixelWorkbench::goalPosition(uint8_t id, int32_t value, const char **log) { bool result = false; result = itemWrite(id, "Goal_Position", value, log); if (result == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to set goal position!"; return false; } if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to set goal position!"; return result; } //keep compatibility with older codes bool DynamixelWorkbench::goalSpeed(uint8_t id, int value, const char **log) { bool result = false; result = goalVelocity(id, (int32_t)value, log); return result; } //keep compatibility with older codes bool DynamixelWorkbench::goalVelocity(uint8_t id, int value, const char **log) { bool result = false; goalVelocity(id, (int32_t)value, log); return result; } bool DynamixelWorkbench::goalVelocity(uint8_t id, int32_t value, const char **log) { bool result[2] = {false, false}; if (getProtocolVersion() == 2.0f) { result[0] = writeRegister(id, "Goal_Velocity", value, log); if (result[0] == false) { if (value < 0) { value = (-1) * value; value |= 1024; } result[1] = writeRegister(id, "Moving_Speed", value, log); if (result[1] == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to set goal velocity!"; return false; } else { if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to set goal velocity!"; return true; } } else { if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to set goal velocity!"; return true; } } else { result[0] = writeRegister(id, "Goal_Velocity", value, log); if (result[0] == false) { if (value < 0) { value = (-1) * value; value |= 1024; } result[1] = writeRegister(id, "Moving_Speed", value, log); if (result[1] == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to set goal velocity!"; return false; } else { if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to set goal velocity!"; return true; } } else { if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to set goal velocity!"; return true; } } if (log != NULL) *log = "[DynamixelWorkbench] Failed to set goal velocity!"; return false; } bool DynamixelWorkbench::goalPosition(uint8_t id, float radian, const char **log) { bool result = 0; uint32_t value = 0; value = convertRadian2Value(id, radian); result = goalPosition(id, (int32_t)value, log); if (result == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to set goal position!"; return false; } if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to set goal position!"; return true; } bool DynamixelWorkbench::goalVelocity(uint8_t id, float velocity, const char **log) { bool result = 0; int32_t value = 0; value = convertVelocity2Value(id, velocity); result = goalVelocity(id, value, log); if (result == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to set goal velocity!"; return result; } if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to set goal velocity!"; return result; } bool DynamixelWorkbench::getPresentPositionData(uint8_t id, int32_t* data, const char **log) { bool result = 0; int32_t get_data = 0; result = readRegister(id, "Present_Position", &get_data, log); if (result == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to get present position data!"; return result; } *data = get_data; if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to get present position data!"; return result; } bool DynamixelWorkbench::getRadian(uint8_t id, float* radian, const char **log) { bool result = 0; int32_t get_data = 0; result = getPresentPositionData(id, &get_data, log); if (result == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to get radian!"; return result; } *radian = convertValue2Radian(id, get_data); if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to get radian!"; return result; } bool DynamixelWorkbench::getVelocity(uint8_t id, float* velocity, const char **log) { bool result = 0; int32_t get_data = 0; result = getPresentVelocityData(id, &get_data, log); if (result == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to get velocity!"; return result; } *velocity = convertValue2Velocity(id, get_data); if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to get velocity!"; return result; } bool DynamixelWorkbench::getPresentVelocityData(uint8_t id, int32_t* data, const char **log) { bool result[2] = {false, false}; int32_t get_data = 0; result[0] = readRegister(id, "Goal_Velocity", &get_data, log); if (result[0] == false) { result[1] = readRegister(id, "Moving_Speed", &get_data, log); if (result[1] == false) { if (log != NULL) *log = "[DynamixelWorkbench] Failed to get goal velocity!"; return false; } else { *data = get_data; if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to get goal velocity!"; return true; } } else { *data = get_data; if (log != NULL) *log = "[DynamixelWorkbench] Succeeded to get goal velocity!"; return true; } if (log != NULL) *log = "[DynamixelWorkbench] Failed to get goal velocity!"; return false; } int32_t DynamixelWorkbench::convertRadian2Value(uint8_t id, float radian) { int32_t position = 0; model_info = getModelInfo(id); if (model_info == NULL) return false; if (radian > 0) { position = (radian * (model_info->value_of_max_radian_position - model_info->value_of_zero_radian_position) / model_info->max_radian) + model_info->value_of_zero_radian_position; } else if (radian < 0) { position = (radian * (model_info->value_of_min_radian_position - model_info->value_of_zero_radian_position) / model_info->min_radian) + model_info->value_of_zero_radian_position; } else { position = model_info->value_of_zero_radian_position; } return position; } float DynamixelWorkbench::convertValue2Radian(uint8_t id, int32_t value) { float radian = 0.0; model_info = getModelInfo(id); if (model_info == NULL) return false; if (value > model_info->value_of_zero_radian_position) { radian = (float)(value - model_info->value_of_zero_radian_position) * model_info->max_radian / (float)(model_info->value_of_max_radian_position - model_info->value_of_zero_radian_position); } else if (value < model_info->value_of_zero_radian_position) { radian = (float)(value - model_info->value_of_zero_radian_position) * model_info->min_radian / (float)(model_info->value_of_min_radian_position - model_info->value_of_zero_radian_position); } return radian; } int32_t DynamixelWorkbench::convertRadian2Value(float radian, int32_t max_position, int32_t min_position, float max_radian, float min_radian) { int32_t value = 0; int32_t zero_position = (max_position + min_position)/2; if (radian > 0) { value = (radian * (max_position - zero_position) / max_radian) + zero_position; } else if (radian < 0) { value = (radian * (min_position - zero_position) / min_radian) + zero_position; } else { value = zero_position; } return value; } float DynamixelWorkbench::convertValue2Radian(int32_t value, int32_t max_position, int32_t min_position, float max_radian, float min_radian) { float radian = 0.0; int32_t zero_position = (max_position + min_position)/2; if (value > zero_position) { radian = (float)(value - zero_position) * max_radian / (float)(max_position - zero_position); } else if (value < zero_position) { radian = (float)(value - zero_position) * min_radian / (float)(min_position - zero_position); } return radian; } int32_t DynamixelWorkbench::convertVelocity2Value(uint8_t id, float velocity) { int32_t value = 0; const float RPM2RADPERSEC = 0.104719755f; model_info = getModelInfo(id); if (model_info == NULL) return false; if (getProtocolVersion() == 1.0f) { if (strncmp(getModelName(id), "AX", strlen("AX")) == 0 || strncmp(getModelName(id), "RX", strlen("RX")) == 0 || strncmp(getModelName(id), "EX", strlen("EX")) == 0 || strncmp(getModelName(id), "MX", strlen("MX")) == 0) { if (velocity == 0.0f) value = 0; else if (velocity < 0.0f) value = (velocity / (model_info->rpm * RPM2RADPERSEC)); else if (velocity > 0.0f) value = (velocity / (model_info->rpm * RPM2RADPERSEC)) + 1023; return value; } } else if (getProtocolVersion() == 2.0f) { if (strcmp(getModelName(id), "XL-320") == 0) { if (velocity == 0.0f) value = 0; else if (velocity < 0.0f) value = (velocity / (model_info->rpm * RPM2RADPERSEC)); else if (velocity > 0.0f) value = (velocity / (model_info->rpm * RPM2RADPERSEC)) + 1023; return value; } else { value = velocity / (model_info->rpm * RPM2RADPERSEC); } return value; } return 0; } float DynamixelWorkbench::convertValue2Velocity(uint8_t id, int32_t value) { float velocity = 0; const float RPM2RADPERSEC = 0.104719755f; model_info = getModelInfo(id); if (model_info == NULL) return false; if (getProtocolVersion() == 1.0f) { if (strncmp(getModelName(id), "AX", strlen("AX")) == 0 || strncmp(getModelName(id), "RX", strlen("RX")) == 0 || strncmp(getModelName(id), "EX", strlen("EX")) == 0 || strncmp(getModelName(id), "MX", strlen("MX")) == 0) { if (value == 1023 || value == 0) velocity = 0.0f; else if (value > 0 && value < 1023) velocity = value * model_info->rpm * RPM2RADPERSEC; else if (value > 1023 && value < 2048) velocity = (value - 1023) * model_info->rpm * RPM2RADPERSEC * (-1.0f); return velocity; } } else if (getProtocolVersion() == 2.0f) { if (strcmp(getModelName(id), "XL-320") == 0) { if (value == 1023 || value == 0) velocity = 0.0f; else if (value > 0 && value < 1023) velocity = value * model_info->rpm * RPM2RADPERSEC; else if (value > 1023 && value < 2048) velocity = (value - 1023) * model_info->rpm * RPM2RADPERSEC * (-1.0f); } else { velocity = value * (model_info->rpm * RPM2RADPERSEC); } return velocity; } return 0.0f; } int16_t DynamixelWorkbench::convertCurrent2Value(uint8_t id, float current) { float CURRENT_UNIT = 2.69f; //Unit : mA, Ref : http://emanual.robotis.com/docs/en/dxl/x/xm430-w350/#goal-current102 model_info = getModelInfo(id); if (model_info == NULL) return false; if (getProtocolVersion() == 1.0f) { return (current / CURRENT_UNIT); } else if (getProtocolVersion() == 2.0f) { if (strncmp(getModelName(id), "PRO-L", strlen("PRO-L")) == 0 || strncmp(getModelName(id), "PRO-M", strlen("PRO-M")) == 0 || strncmp(getModelName(id), "PRO-H", strlen("PRO-H")) == 0) { CURRENT_UNIT = 16.11328f; return (current / CURRENT_UNIT); } else if (strncmp(getModelName(id), "PRO-PLUS", strlen("PRO-PLUS")) == 0) { CURRENT_UNIT = 1.0f; return (current / CURRENT_UNIT); } else { return (current / CURRENT_UNIT); } } return (current / CURRENT_UNIT); } int16_t DynamixelWorkbench::convertCurrent2Value(float current) { int16_t value = 0; const float CURRENT_UNIT = 2.69f; //Unit : mA, Ref : http://emanual.robotis.com/docs/en/dxl/x/xm430-w350/#goal-current102 value = current / CURRENT_UNIT; return value; } float DynamixelWorkbench::convertValue2Current(uint8_t id, int16_t value) { float current = 0; float CURRENT_UNIT = 2.69f; //Unit : mA, Ref : http://emanual.robotis.com/docs/en/dxl/x/xm430-w350/#goal-current102 model_info = getModelInfo(id); if (model_info == NULL) return false; if (getProtocolVersion() == 1.0f) { current = (int16_t)value * CURRENT_UNIT; return current; } else if (getProtocolVersion() == 2.0f) { if (strncmp(getModelName(id), "PRO-L", strlen("PRO-L")) == 0 || strncmp(getModelName(id), "PRO-M", strlen("PRO-M")) == 0 || strncmp(getModelName(id), "PRO-H", strlen("PRO-H")) == 0) { CURRENT_UNIT = 16.11328f; current = (int16_t)value * CURRENT_UNIT; return current; } else if (strncmp(getModelName(id), "PRO-PLUS", strlen("PRO-PLUS")) == 0) { CURRENT_UNIT = 1.0f; current = (int16_t)value * CURRENT_UNIT; return current; } else { current = (int16_t)value * CURRENT_UNIT; return current; } } current = (int16_t)value * CURRENT_UNIT; return current; } float DynamixelWorkbench::convertValue2Current(int16_t value) { float current = 0; const float CURRENT_UNIT = 2.69f; //Unit : mA, Ref : http://emanual.robotis.com/docs/en/dxl/x/xm430-w350/#goal-current102 current = (int16_t)value * CURRENT_UNIT; return current; } float DynamixelWorkbench::convertValue2Load(int16_t value) { float load = 0; const float LOAD_UNIT = 0.1f; //Unit : %, Ref : http://emanual.robotis.com/docs/en/dxl/mx/mx-28/#present-load if (value == 1023 || value == 0) load = 0.0f; else if (value > 0 && value < 1023) load = value * LOAD_UNIT; else if (value > 1023 && value < 2048) load = (value - 1023) * LOAD_UNIT * (-1.0f); return load; } ================================================ FILE: arduino/opencr_arduino/opencr/libraries/EEPROM/README.md ================================================ ## **EEPROM Library V2.0** for Arduino **Written by:** _Christopher Andrews_. ### **What is the EEPROM library.** Th EEPROM library provides an easy to use interface to interact with the internal non-volatile storage found in AVR based Arduino boards. This library will work on many AVR devices like ATtiny and ATmega chips. ### **How to use it** The EEPROM library is included in your IDE download. To add its functionality to your sketch you'll need to reference the library header file. You do this by adding an include directive to the top of your sketch. ```Arduino #include void setup(){ } void loop(){ } ``` The library provides a global variable named `EEPROM`, you use this variable to access the library functions. The methods provided in the EEPROM class are listed below. You can view all the examples [here](examples/). ### **Library functions** #### **`EEPROM.read( address )`** [[_example_]](examples/eeprom_read/eeprom_read.ino) This function allows you to read a single byte of data from the eeprom. Its only parameter is an `int` which should be set to the address you wish to read. The function returns an `unsigned char` containing the value read. #### **`EEPROM.write( address, value )`** [[_example_]](examples/eeprom_write/eeprom_write.ino) The `write()` method allows you to write a single byte of data to the EEPROM. Two parameters are needed. The first is an `int` containing the address that is to be written, and the second is a the data to be written (`unsigned char`). This function does not return any value. #### **`EEPROM.update( address, value )`** [[_example_]](examples/eeprom_update/eeprom_update.ino) This function is similar to `EEPROM.write()` however this method will only write data if the cell contents pointed to by `address` is different to `value`. This method can help prevent unnecessary wear on the EEPROM cells. This function does not return any value. #### **`EEPROM.get( address, object )`** [[_example_]](examples/eeprom_get/eeprom_get.ino) This function will retrieve any object from the EEPROM. Two parameters are needed to call this function. The first is an `int` containing the address that is to be written, and the second is the object you would like to read. This function returns a reference to the `object` passed in. It does not need to be used and is only returned for conveience. #### **`EEPROM.put( address, object )`** [[_example_]](examples/eeprom_put/eeprom_put.ino) This function will write any object to the EEPROM. Two parameters are needed to call this function. The first is an `int` containing the address that is to be written, and the second is the object you would like to write. This function uses the _update_ method to write its data, and therefore only rewrites changed cells. This function returns a reference to the `object` passed in. It does not need to be used and is only returned for conveience. #### **Subscript operator: `EEPROM[address]`** [[_example_]](examples/eeprom_crc/eeprom_crc.ino) This operator allows using the identifier `EEPROM` like an array. EEPROM cells can be read _and_ **_written_** directly using this method. This operator returns a reference to the EEPROM cell. ```c++ unsigned char val; //Read first EEPROM cell. val = EEPROM[ 0 ]; //Write first EEPROM cell. EEPROM[ 0 ] = val; //Compare contents if( val == EEPROM[ 0 ] ){ //Do something... } ``` #### **`EEPROM.length()`** This function returns an `unsigned int` containing the number of cells in the EEPROM. --- ### **Advanced features** This library uses a component based approach to provide its functionality. This means you can also use these components to design a customized approach. Two background classes are available for use: `EERef` & `EEPtr`. #### **`EERef` class** This object references an EEPROM cell. Its purpose is to mimic a typical byte of RAM, however its storage is the EEPROM. This class has an overhead of two bytes, similar to storing a pointer to an EEPROM cell. ```C++ EERef ref = EEPROM[ 10 ]; //Create a reference to 11th cell. ref = 4; //write to EEPROM cell. unsigned char val = ref; //Read referenced cell. ``` #### **`EEPtr` class** This object is a bidirectional pointer to EEPROM cells represented by `EERef` objects. Just like a normal pointer type, this type can be dereferenced and repositioned using increment/decrement operators. ```C++ EEPtr ptr = 10; //Create a pointer to 11th cell. *ptr = 4; //dereference and write to EEPROM cell. unsigned char val = *ptr; //dereference and read. ptr++; //Move to next EEPROM cell. ``` #### **`EEPROM.begin()`** This function returns an `EEPtr` pointing to the first cell in the EEPROM. This is useful for STL objects, custom iteration and C++11 style ranged for loops. #### **`EEPROM.end()`** This function returns an `EEPtr` pointing at the location after the last EEPROM cell. Used with `begin()` to provide custom iteration. **Note:** The `EEPtr` returned is invalid as it is out of range. Infact the hardware causes wrapping of the address (overflow) and `EEPROM.end()` actually references the first EEPROM cell. ================================================ FILE: arduino/opencr_arduino/opencr/libraries/EEPROM/keywords.txt ================================================ ####################################### # Syntax Coloring Map For EEPROM ####################################### ####################################### # Datatypes (KEYWORD1) ####################################### EEPROM KEYWORD1 EERef KEYWORD1 EEPtr KEYWORD2 ####################################### # Methods and Functions (KEYWORD2) ####################################### update KEYWORD2 ####################################### # Constants (LITERAL1) ####################################### ================================================ FILE: arduino/opencr_arduino/opencr/libraries/EEPROM/library.properties ================================================ name=EEPROM version=2.0 author=Arduino, Christopher Andrews maintainer=Arduino sentence=Enables reading and writing to the permanent board storage. paragraph=This library allows to read and write data in a memory type, the EEPROM, that keeps its content also when the board is powered off. The amount of EEPROM available depends on the microcontroller type. category=Data Storage url=http://www.arduino.cc/en/Reference/EEPROM architectures=OpenCR ================================================ FILE: arduino/opencr_arduino/opencr/libraries/EEPROM/src/EEPROM.h ================================================ /* EEPROM.h - EEPROM library Original Copyright (c) 2006 David A. Mellis. All right reserved. New version by Christopher Andrews 2015. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #ifndef EEPROM_h #define EEPROM_h #include #include "drv_eeprom.h" /*** EERef class. This object references an EEPROM cell. Its purpose is to mimic a typical byte of RAM, however its storage is the EEPROM. This class has an overhead of two bytes, similar to storing a pointer to an EEPROM cell. ***/ struct EERef{ EERef( const int index ) : index( index ) {} //Access/read members. uint8_t operator*() const { return drv_eeprom_read_byte( index ); } operator uint8_t() const { return **this; } //Assignment/write members. EERef &operator=( const EERef &ref ) { return *this = *ref; } EERef &operator=( uint8_t in ) { return drv_eeprom_write_byte( index, in ), *this; } EERef &operator +=( uint8_t in ) { return *this = **this + in; } EERef &operator -=( uint8_t in ) { return *this = **this - in; } EERef &operator *=( uint8_t in ) { return *this = **this * in; } EERef &operator /=( uint8_t in ) { return *this = **this / in; } EERef &operator ^=( uint8_t in ) { return *this = **this ^ in; } EERef &operator %=( uint8_t in ) { return *this = **this % in; } EERef &operator &=( uint8_t in ) { return *this = **this & in; } EERef &operator |=( uint8_t in ) { return *this = **this | in; } EERef &operator <<=( uint8_t in ) { return *this = **this << in; } EERef &operator >>=( uint8_t in ) { return *this = **this >> in; } EERef &update( uint8_t in ) { return in != *this ? *this = in : *this; } /** Prefix increment/decrement **/ EERef& operator++() { return *this += 1; } EERef& operator--() { return *this -= 1; } /** Postfix increment/decrement **/ uint8_t operator++ (int){ uint8_t ret = **this; return ++(*this), ret; } uint8_t operator-- (int){ uint8_t ret = **this; return --(*this), ret; } int index; //Index of current EEPROM cell. }; /*** EEPtr class. This object is a bidirectional pointer to EEPROM cells represented by EERef objects. Just like a normal pointer type, this can be dereferenced and repositioned using increment/decrement operators. ***/ struct EEPtr{ EEPtr( const int index ) : index( index ) {} operator int() const { return index; } EEPtr &operator=( int in ) { return index = in, *this; } //Iterator functionality. bool operator!=( const EEPtr &ptr ) { return index != ptr.index; } EERef operator*() { return index; } /** Prefix & Postfix increment/decrement **/ EEPtr& operator++() { return ++index, *this; } EEPtr& operator--() { return --index, *this; } EEPtr operator++ (int) { return index++; } EEPtr operator-- (int) { return index--; } int index; //Index of current EEPROM cell. }; /*** EEPROMClass class. This object represents the entire EEPROM space. It wraps the functionality of EEPtr and EERef into a basic interface. This class is also 100% backwards compatible with earlier Arduino core releases. ***/ struct EEPROMClass{ //Basic user access methods. EERef operator[]( const int idx ) { return idx; } uint8_t read( int idx ) { return EERef( idx ); } void write( int idx, uint8_t val ) { (EERef( idx )) = val; } void update( int idx, uint8_t val ) { EERef( idx ).update( val ); } //STL and C++11 iteration capability. EEPtr begin() { return 0x00; } EEPtr end() { return length(); } //Standards requires this to be the item after the last valid entry. The returned pointer is invalid. uint16_t length() { return drv_eeprom_get_length(); } //Functionality to 'get' and 'put' objects to and from EEPROM. template< typename T > T &get( int idx, T &t ){ EEPtr e = idx; uint8_t *ptr = (uint8_t*) &t; for( int count = sizeof(T) ; count ; --count, ++e ) *ptr++ = *e; return t; } template< typename T > const T &put( int idx, const T &t ){ EEPtr e = idx; const uint8_t *ptr = (const uint8_t*) &t; for( int count = sizeof(T) ; count ; --count, ++e ) (*e).update( *ptr++ ); return t; } }; static EEPROMClass EEPROM __attribute__ ((unused)); #endif ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/library.properties ================================================ name=Eigen version=3.3.1 author= maintainer= sentence=Eigen for OpenCR paragraph= category=Data Processing url=http://eigen.tuxfamily.org/index.php?title=Main_Page architectures=OpenCR ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/CMakeLists.txt ================================================ include(RegexUtils) test_escape_string_as_regex() file(GLOB Eigen_directory_files "*") escape_string_as_regex(ESCAPED_CMAKE_CURRENT_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}") foreach(f ${Eigen_directory_files}) if(NOT f MATCHES "\\.txt" AND NOT f MATCHES "${ESCAPED_CMAKE_CURRENT_SOURCE_DIR}/[.].+" AND NOT f MATCHES "${ESCAPED_CMAKE_CURRENT_SOURCE_DIR}/src") list(APPEND Eigen_directory_files_to_install ${f}) endif() endforeach(f ${Eigen_directory_files}) install(FILES ${Eigen_directory_files_to_install} DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen COMPONENT Devel ) install(DIRECTORY src DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen COMPONENT Devel FILES_MATCHING PATTERN "*.h") ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/Cholesky ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_CHOLESKY_MODULE_H #define EIGEN_CHOLESKY_MODULE_H #include "Core" #include "src/Core/util/DisableStupidWarnings.h" /** \defgroup Cholesky_Module Cholesky module * * * * This module provides two variants of the Cholesky decomposition for selfadjoint (hermitian) matrices. * Those decompositions are also accessible via the following methods: * - MatrixBase::llt() * - MatrixBase::ldlt() * - SelfAdjointView::llt() * - SelfAdjointView::ldlt() * * \code * #include * \endcode */ #include "src/Cholesky/LLT.h" #include "src/Cholesky/LDLT.h" #ifdef EIGEN_USE_LAPACKE #include "src/misc/lapacke.h" #include "src/Cholesky/LLT_LAPACKE.h" #endif #include "src/Core/util/ReenableStupidWarnings.h" #endif // EIGEN_CHOLESKY_MODULE_H /* vim: set filetype=cpp et sw=2 ts=2 ai: */ ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/CholmodSupport ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_CHOLMODSUPPORT_MODULE_H #define EIGEN_CHOLMODSUPPORT_MODULE_H #include "SparseCore" #include "src/Core/util/DisableStupidWarnings.h" extern "C" { #include } /** \ingroup Support_modules * \defgroup CholmodSupport_Module CholmodSupport module * * This module provides an interface to the Cholmod library which is part of the suitesparse package. * It provides the two following main factorization classes: * - class CholmodSupernodalLLT: a supernodal LLT Cholesky factorization. * - class CholmodDecomposiiton: a general L(D)LT Cholesky factorization with automatic or explicit runtime selection of the underlying factorization method (supernodal or simplicial). * * For the sake of completeness, this module also propose the two following classes: * - class CholmodSimplicialLLT * - class CholmodSimplicialLDLT * Note that these classes does not bring any particular advantage compared to the built-in * SimplicialLLT and SimplicialLDLT factorization classes. * * \code * #include * \endcode * * In order to use this module, the cholmod headers must be accessible from the include paths, and your binary must be linked to the cholmod library and its dependencies. * The dependencies depend on how cholmod has been compiled. * For a cmake based project, you can use our FindCholmod.cmake module to help you in this task. * */ #include "src/CholmodSupport/CholmodSupport.h" #include "src/Core/util/ReenableStupidWarnings.h" #endif // EIGEN_CHOLMODSUPPORT_MODULE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/Core ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2008 Gael Guennebaud // Copyright (C) 2007-2011 Benoit Jacob // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_CORE_H #define EIGEN_CORE_H // first thing Eigen does: stop the compiler from committing suicide #include "src/Core/util/DisableStupidWarnings.h" // Handle NVCC/CUDA/SYCL #if defined(__CUDACC__) || defined(__SYCL_DEVICE_ONLY__) // Do not try asserts on CUDA and SYCL! #ifndef EIGEN_NO_DEBUG #define EIGEN_NO_DEBUG #endif #ifdef EIGEN_INTERNAL_DEBUGGING #undef EIGEN_INTERNAL_DEBUGGING #endif #ifdef EIGEN_EXCEPTIONS #undef EIGEN_EXCEPTIONS #endif // All functions callable from CUDA code must be qualified with __device__ #ifdef __CUDACC__ // Do not try to vectorize on CUDA and SYCL! #ifndef EIGEN_DONT_VECTORIZE #define EIGEN_DONT_VECTORIZE #endif #define EIGEN_DEVICE_FUNC __host__ __device__ // We need math_functions.hpp to ensure that that EIGEN_USING_STD_MATH macro // works properly on the device side #include #else #define EIGEN_DEVICE_FUNC #endif #else #define EIGEN_DEVICE_FUNC #endif // When compiling CUDA device code with NVCC, pull in math functions from the // global namespace. In host mode, and when device doee with clang, use the // std versions. #if defined(__CUDA_ARCH__) && defined(__NVCC__) #define EIGEN_USING_STD_MATH(FUNC) using ::FUNC; #else #define EIGEN_USING_STD_MATH(FUNC) using std::FUNC; #endif #if (defined(_CPPUNWIND) || defined(__EXCEPTIONS)) && !defined(__CUDA_ARCH__) && !defined(EIGEN_EXCEPTIONS) && !defined(EIGEN_USE_SYCL) #define EIGEN_EXCEPTIONS #endif #ifdef EIGEN_EXCEPTIONS #include #endif // then include this file where all our macros are defined. It's really important to do it first because // it's where we do all the alignment settings (platform detection and honoring the user's will if he // defined e.g. EIGEN_DONT_ALIGN) so it needs to be done before we do anything with vectorization. #include "src/Core/util/Macros.h" // Disable the ipa-cp-clone optimization flag with MinGW 6.x or newer (enabled by default with -O3) // See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=556 for details. #if EIGEN_COMP_MINGW && EIGEN_GNUC_AT_LEAST(4,6) #pragma GCC optimize ("-fno-ipa-cp-clone") #endif #include // this include file manages BLAS and MKL related macros // and inclusion of their respective header files #include "src/Core/util/MKL_support.h" // if alignment is disabled, then disable vectorization. Note: EIGEN_MAX_ALIGN_BYTES is the proper check, it takes into // account both the user's will (EIGEN_MAX_ALIGN_BYTES,EIGEN_DONT_ALIGN) and our own platform checks #if EIGEN_MAX_ALIGN_BYTES==0 #ifndef EIGEN_DONT_VECTORIZE #define EIGEN_DONT_VECTORIZE #endif #endif #if EIGEN_COMP_MSVC #include // for _aligned_malloc -- need it regardless of whether vectorization is enabled #if (EIGEN_COMP_MSVC >= 1500) // 2008 or later // Remember that usage of defined() in a #define is undefined by the standard. // a user reported that in 64-bit mode, MSVC doesn't care to define _M_IX86_FP. #if (defined(_M_IX86_FP) && (_M_IX86_FP >= 2)) || EIGEN_ARCH_x86_64 #define EIGEN_SSE2_ON_MSVC_2008_OR_LATER #endif #endif #else // Remember that usage of defined() in a #define is undefined by the standard #if (defined __SSE2__) && ( (!EIGEN_COMP_GNUC) || EIGEN_COMP_ICC || EIGEN_GNUC_AT_LEAST(4,2) ) #define EIGEN_SSE2_ON_NON_MSVC_BUT_NOT_OLD_GCC #endif #endif #ifndef EIGEN_DONT_VECTORIZE #if defined (EIGEN_SSE2_ON_NON_MSVC_BUT_NOT_OLD_GCC) || defined(EIGEN_SSE2_ON_MSVC_2008_OR_LATER) // Defines symbols for compile-time detection of which instructions are // used. // EIGEN_VECTORIZE_YY is defined if and only if the instruction set YY is used #define EIGEN_VECTORIZE #define EIGEN_VECTORIZE_SSE #define EIGEN_VECTORIZE_SSE2 // Detect sse3/ssse3/sse4: // gcc and icc defines __SSE3__, ... // there is no way to know about this on msvc. You can define EIGEN_VECTORIZE_SSE* if you // want to force the use of those instructions with msvc. #ifdef __SSE3__ #define EIGEN_VECTORIZE_SSE3 #endif #ifdef __SSSE3__ #define EIGEN_VECTORIZE_SSSE3 #endif #ifdef __SSE4_1__ #define EIGEN_VECTORIZE_SSE4_1 #endif #ifdef __SSE4_2__ #define EIGEN_VECTORIZE_SSE4_2 #endif #ifdef __AVX__ #define EIGEN_VECTORIZE_AVX #define EIGEN_VECTORIZE_SSE3 #define EIGEN_VECTORIZE_SSSE3 #define EIGEN_VECTORIZE_SSE4_1 #define EIGEN_VECTORIZE_SSE4_2 #endif #ifdef __AVX2__ #define EIGEN_VECTORIZE_AVX2 #endif #ifdef __FMA__ #define EIGEN_VECTORIZE_FMA #endif #if defined(__AVX512F__) && defined(EIGEN_ENABLE_AVX512) #define EIGEN_VECTORIZE_AVX512 #define EIGEN_VECTORIZE_AVX2 #define EIGEN_VECTORIZE_AVX #define EIGEN_VECTORIZE_FMA #ifdef __AVX512DQ__ #define EIGEN_VECTORIZE_AVX512DQ #endif #endif // include files // This extern "C" works around a MINGW-w64 compilation issue // https://sourceforge.net/tracker/index.php?func=detail&aid=3018394&group_id=202880&atid=983354 // In essence, intrin.h is included by windows.h and also declares intrinsics (just as emmintrin.h etc. below do). // However, intrin.h uses an extern "C" declaration, and g++ thus complains of duplicate declarations // with conflicting linkage. The linkage for intrinsics doesn't matter, but at that stage the compiler doesn't know; // so, to avoid compile errors when windows.h is included after Eigen/Core, ensure intrinsics are extern "C" here too. // notice that since these are C headers, the extern "C" is theoretically needed anyways. extern "C" { // In theory we should only include immintrin.h and not the other *mmintrin.h header files directly. // Doing so triggers some issues with ICC. However old gcc versions seems to not have this file, thus: #if EIGEN_COMP_ICC >= 1110 #include #else #include #include #include #ifdef EIGEN_VECTORIZE_SSE3 #include #endif #ifdef EIGEN_VECTORIZE_SSSE3 #include #endif #ifdef EIGEN_VECTORIZE_SSE4_1 #include #endif #ifdef EIGEN_VECTORIZE_SSE4_2 #include #endif #if defined(EIGEN_VECTORIZE_AVX) || defined(EIGEN_VECTORIZE_AVX512) #include #endif #endif } // end extern "C" #elif defined __VSX__ #define EIGEN_VECTORIZE #define EIGEN_VECTORIZE_VSX #include // We need to #undef all these ugly tokens defined in // => use __vector instead of vector #undef bool #undef vector #undef pixel #elif defined __ALTIVEC__ #define EIGEN_VECTORIZE #define EIGEN_VECTORIZE_ALTIVEC #include // We need to #undef all these ugly tokens defined in // => use __vector instead of vector #undef bool #undef vector #undef pixel #elif (defined __ARM_NEON) || (defined __ARM_NEON__) #define EIGEN_VECTORIZE #define EIGEN_VECTORIZE_NEON #include #elif (defined __s390x__ && defined __VEC__) #define EIGEN_VECTORIZE #define EIGEN_VECTORIZE_ZVECTOR #include #endif #endif #if defined(__F16C__) && !defined(EIGEN_COMP_CLANG) // We can use the optimized fp16 to float and float to fp16 conversion routines #define EIGEN_HAS_FP16_C #endif #if defined __CUDACC__ #define EIGEN_VECTORIZE_CUDA #include #if defined __CUDACC_VER__ && __CUDACC_VER__ >= 70500 #define EIGEN_HAS_CUDA_FP16 #endif #endif #if defined EIGEN_HAS_CUDA_FP16 #include #include #endif #if (defined _OPENMP) && (!defined EIGEN_DONT_PARALLELIZE) #define EIGEN_HAS_OPENMP #endif #ifdef EIGEN_HAS_OPENMP #include #endif // MSVC for windows mobile does not have the errno.h file #if !(EIGEN_COMP_MSVC && EIGEN_OS_WINCE) && !EIGEN_COMP_ARM #define EIGEN_HAS_ERRNO #endif #ifdef EIGEN_HAS_ERRNO #include #endif #include #include #include #include #include #include #include #include #include #include // for CHAR_BIT // for min/max: #include // for std::is_nothrow_move_assignable #ifdef EIGEN_INCLUDE_TYPE_TRAITS #include #endif // for outputting debug info #ifdef EIGEN_DEBUG_ASSIGN #include #endif // required for __cpuid, needs to be included after cmath #if EIGEN_COMP_MSVC && EIGEN_ARCH_i386_OR_x86_64 && !EIGEN_OS_WINCE #include #endif /** \brief Namespace containing all symbols from the %Eigen library. */ namespace Eigen { inline static const char *SimdInstructionSetsInUse(void) { #if defined(EIGEN_VECTORIZE_AVX512) return "AVX512, FMA, AVX2, AVX, SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2"; #elif defined(EIGEN_VECTORIZE_AVX) return "AVX SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2"; #elif defined(EIGEN_VECTORIZE_SSE4_2) return "SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2"; #elif defined(EIGEN_VECTORIZE_SSE4_1) return "SSE, SSE2, SSE3, SSSE3, SSE4.1"; #elif defined(EIGEN_VECTORIZE_SSSE3) return "SSE, SSE2, SSE3, SSSE3"; #elif defined(EIGEN_VECTORIZE_SSE3) return "SSE, SSE2, SSE3"; #elif defined(EIGEN_VECTORIZE_SSE2) return "SSE, SSE2"; #elif defined(EIGEN_VECTORIZE_ALTIVEC) return "AltiVec"; #elif defined(EIGEN_VECTORIZE_VSX) return "VSX"; #elif defined(EIGEN_VECTORIZE_NEON) return "ARM NEON"; #elif defined(EIGEN_VECTORIZE_ZVECTOR) return "S390X ZVECTOR"; #else return "None"; #endif } } // end namespace Eigen #if defined EIGEN2_SUPPORT_STAGE40_FULL_EIGEN3_STRICTNESS || defined EIGEN2_SUPPORT_STAGE30_FULL_EIGEN3_API || defined EIGEN2_SUPPORT_STAGE20_RESOLVE_API_CONFLICTS || defined EIGEN2_SUPPORT_STAGE10_FULL_EIGEN2_API || defined EIGEN2_SUPPORT // This will generate an error message: #error Eigen2-support is only available up to version 3.2. Please go to "http://eigen.tuxfamily.org/index.php?title=Eigen2" for further information #endif // we use size_t frequently and we'll never remember to prepend it with std:: everytime just to // ensure QNX/QCC support using std::size_t; // gcc 4.6.0 wants std:: for ptrdiff_t using std::ptrdiff_t; /** \defgroup Core_Module Core module * This is the main module of Eigen providing dense matrix and vector support * (both fixed and dynamic size) with all the features corresponding to a BLAS library * and much more... * * \code * #include * \endcode */ #include "src/Core/util/Constants.h" #include "src/Core/util/Meta.h" #include "src/Core/util/ForwardDeclarations.h" #include "src/Core/util/StaticAssert.h" #include "src/Core/util/XprHelper.h" #include "src/Core/util/Memory.h" #include "src/Core/NumTraits.h" #include "src/Core/MathFunctions.h" #include "src/Core/GenericPacketMath.h" #include "src/Core/MathFunctionsImpl.h" #if defined EIGEN_VECTORIZE_AVX512 #include "src/Core/arch/SSE/PacketMath.h" #include "src/Core/arch/AVX/PacketMath.h" #include "src/Core/arch/AVX512/PacketMath.h" #include "src/Core/arch/AVX512/MathFunctions.h" #elif defined EIGEN_VECTORIZE_AVX // Use AVX for floats and doubles, SSE for integers #include "src/Core/arch/SSE/PacketMath.h" #include "src/Core/arch/SSE/Complex.h" #include "src/Core/arch/SSE/MathFunctions.h" #include "src/Core/arch/AVX/PacketMath.h" #include "src/Core/arch/AVX/MathFunctions.h" #include "src/Core/arch/AVX/Complex.h" #include "src/Core/arch/AVX/TypeCasting.h" #elif defined EIGEN_VECTORIZE_SSE #include "src/Core/arch/SSE/PacketMath.h" #include "src/Core/arch/SSE/MathFunctions.h" #include "src/Core/arch/SSE/Complex.h" #include "src/Core/arch/SSE/TypeCasting.h" #elif defined(EIGEN_VECTORIZE_ALTIVEC) || defined(EIGEN_VECTORIZE_VSX) #include "src/Core/arch/AltiVec/PacketMath.h" #include "src/Core/arch/AltiVec/MathFunctions.h" #include "src/Core/arch/AltiVec/Complex.h" #elif defined EIGEN_VECTORIZE_NEON #include "src/Core/arch/NEON/PacketMath.h" #include "src/Core/arch/NEON/MathFunctions.h" #include "src/Core/arch/NEON/Complex.h" #elif defined EIGEN_VECTORIZE_ZVECTOR #include "src/Core/arch/ZVector/PacketMath.h" #include "src/Core/arch/ZVector/MathFunctions.h" #include "src/Core/arch/ZVector/Complex.h" #endif // Half float support #include "src/Core/arch/CUDA/Half.h" #include "src/Core/arch/CUDA/PacketMathHalf.h" #include "src/Core/arch/CUDA/TypeCasting.h" #if defined EIGEN_VECTORIZE_CUDA #include "src/Core/arch/CUDA/PacketMath.h" #include "src/Core/arch/CUDA/MathFunctions.h" #endif #include "src/Core/arch/Default/Settings.h" #include "src/Core/functors/TernaryFunctors.h" #include "src/Core/functors/BinaryFunctors.h" #include "src/Core/functors/UnaryFunctors.h" #include "src/Core/functors/NullaryFunctors.h" #include "src/Core/functors/StlFunctors.h" #include "src/Core/functors/AssignmentFunctors.h" // Specialized functors to enable the processing of complex numbers // on CUDA devices #include "src/Core/arch/CUDA/Complex.h" #include "src/Core/DenseCoeffsBase.h" #include "src/Core/DenseBase.h" #include "src/Core/MatrixBase.h" #include "src/Core/EigenBase.h" #include "src/Core/Product.h" #include "src/Core/CoreEvaluators.h" #include "src/Core/AssignEvaluator.h" #ifndef EIGEN_PARSED_BY_DOXYGEN // work around Doxygen bug triggered by Assign.h r814874 // at least confirmed with Doxygen 1.5.5 and 1.5.6 #include "src/Core/Assign.h" #endif #include "src/Core/ArrayBase.h" #include "src/Core/util/BlasUtil.h" #include "src/Core/DenseStorage.h" #include "src/Core/NestByValue.h" // #include "src/Core/ForceAlignedAccess.h" #include "src/Core/ReturnByValue.h" #include "src/Core/NoAlias.h" #include "src/Core/PlainObjectBase.h" #include "src/Core/Matrix.h" #include "src/Core/Array.h" #include "src/Core/CwiseTernaryOp.h" #include "src/Core/CwiseBinaryOp.h" #include "src/Core/CwiseUnaryOp.h" #include "src/Core/CwiseNullaryOp.h" #include "src/Core/CwiseUnaryView.h" #include "src/Core/SelfCwiseBinaryOp.h" #include "src/Core/Dot.h" #include "src/Core/StableNorm.h" #include "src/Core/Stride.h" #include "src/Core/MapBase.h" #include "src/Core/Map.h" #include "src/Core/Ref.h" #include "src/Core/Block.h" #include "src/Core/VectorBlock.h" #include "src/Core/Transpose.h" #include "src/Core/DiagonalMatrix.h" #include "src/Core/Diagonal.h" #include "src/Core/DiagonalProduct.h" #include "src/Core/Redux.h" #include "src/Core/Visitor.h" #include "src/Core/Fuzzy.h" #include "src/Core/IO.h" #include "src/Core/Swap.h" #include "src/Core/CommaInitializer.h" #include "src/Core/GeneralProduct.h" #include "src/Core/Solve.h" #include "src/Core/Inverse.h" #include "src/Core/SolverBase.h" #include "src/Core/PermutationMatrix.h" #include "src/Core/Transpositions.h" #include "src/Core/TriangularMatrix.h" #include "src/Core/SelfAdjointView.h" #include "src/Core/products/GeneralBlockPanelKernel.h" #include "src/Core/products/Parallelizer.h" #include "src/Core/ProductEvaluators.h" #include "src/Core/products/GeneralMatrixVector.h" #include "src/Core/products/GeneralMatrixMatrix.h" #include "src/Core/SolveTriangular.h" #include "src/Core/products/GeneralMatrixMatrixTriangular.h" #include "src/Core/products/SelfadjointMatrixVector.h" #include "src/Core/products/SelfadjointMatrixMatrix.h" #include "src/Core/products/SelfadjointProduct.h" #include "src/Core/products/SelfadjointRank2Update.h" #include "src/Core/products/TriangularMatrixVector.h" #include "src/Core/products/TriangularMatrixMatrix.h" #include "src/Core/products/TriangularSolverMatrix.h" #include "src/Core/products/TriangularSolverVector.h" #include "src/Core/BandMatrix.h" #include "src/Core/CoreIterators.h" #include "src/Core/ConditionEstimator.h" #include "src/Core/BooleanRedux.h" #include "src/Core/Select.h" #include "src/Core/VectorwiseOp.h" #include "src/Core/Random.h" #include "src/Core/Replicate.h" #include "src/Core/Reverse.h" #include "src/Core/ArrayWrapper.h" #ifdef EIGEN_USE_BLAS #include "src/Core/products/GeneralMatrixMatrix_BLAS.h" #include "src/Core/products/GeneralMatrixVector_BLAS.h" #include "src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h" #include "src/Core/products/SelfadjointMatrixMatrix_BLAS.h" #include "src/Core/products/SelfadjointMatrixVector_BLAS.h" #include "src/Core/products/TriangularMatrixMatrix_BLAS.h" #include "src/Core/products/TriangularMatrixVector_BLAS.h" #include "src/Core/products/TriangularSolverMatrix_BLAS.h" #endif // EIGEN_USE_BLAS #ifdef EIGEN_USE_MKL_VML #include "src/Core/Assign_MKL.h" #endif #include "src/Core/GlobalFunctions.h" #include "src/Core/util/ReenableStupidWarnings.h" #endif // EIGEN_CORE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/Dense ================================================ #include "Core" #include "LU" #include "Cholesky" #include "QR" #include "SVD" #include "Geometry" #include "Eigenvalues" ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/Eigen ================================================ #include "Dense" #include "Sparse" ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/Eigenvalues ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_EIGENVALUES_MODULE_H #define EIGEN_EIGENVALUES_MODULE_H #include "Core" #include "src/Core/util/DisableStupidWarnings.h" #include "Cholesky" #include "Jacobi" #include "Householder" #include "LU" #include "Geometry" /** \defgroup Eigenvalues_Module Eigenvalues module * * * * This module mainly provides various eigenvalue solvers. * This module also provides some MatrixBase methods, including: * - MatrixBase::eigenvalues(), * - MatrixBase::operatorNorm() * * \code * #include * \endcode */ #include "src/misc/RealSvd2x2.h" #include "src/Eigenvalues/Tridiagonalization.h" #include "src/Eigenvalues/RealSchur.h" #include "src/Eigenvalues/EigenSolver.h" #include "src/Eigenvalues/SelfAdjointEigenSolver.h" #include "src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h" #include "src/Eigenvalues/HessenbergDecomposition.h" #include "src/Eigenvalues/ComplexSchur.h" #include "src/Eigenvalues/ComplexEigenSolver.h" #include "src/Eigenvalues/RealQZ.h" #include "src/Eigenvalues/GeneralizedEigenSolver.h" #include "src/Eigenvalues/MatrixBaseEigenvalues.h" #ifdef EIGEN_USE_LAPACKE #include "src/misc/lapacke.h" #include "src/Eigenvalues/RealSchur_LAPACKE.h" #include "src/Eigenvalues/ComplexSchur_LAPACKE.h" #include "src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h" #endif #include "src/Core/util/ReenableStupidWarnings.h" #endif // EIGEN_EIGENVALUES_MODULE_H /* vim: set filetype=cpp et sw=2 ts=2 ai: */ ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/Geometry ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_GEOMETRY_MODULE_H #define EIGEN_GEOMETRY_MODULE_H #include "Core" #include "src/Core/util/DisableStupidWarnings.h" #include "SVD" #include "LU" #include /** \defgroup Geometry_Module Geometry module * * This module provides support for: * - fixed-size homogeneous transformations * - translation, scaling, 2D and 3D rotations * - \link Quaternion quaternions \endlink * - cross products (\ref MatrixBase::cross, \ref MatrixBase::cross3) * - orthognal vector generation (\ref MatrixBase::unitOrthogonal) * - some linear components: \link ParametrizedLine parametrized-lines \endlink and \link Hyperplane hyperplanes \endlink * - \link AlignedBox axis aligned bounding boxes \endlink * - \link umeyama least-square transformation fitting \endlink * * \code * #include * \endcode */ #include "src/Geometry/OrthoMethods.h" #include "src/Geometry/EulerAngles.h" #include "src/Geometry/Homogeneous.h" #include "src/Geometry/RotationBase.h" #include "src/Geometry/Rotation2D.h" #include "src/Geometry/Quaternion.h" #include "src/Geometry/AngleAxis.h" #include "src/Geometry/Transform.h" #include "src/Geometry/Translation.h" #include "src/Geometry/Scaling.h" #include "src/Geometry/Hyperplane.h" #include "src/Geometry/ParametrizedLine.h" #include "src/Geometry/AlignedBox.h" #include "src/Geometry/Umeyama.h" // Use the SSE optimized version whenever possible. At the moment the // SSE version doesn't compile when AVX is enabled #if defined EIGEN_VECTORIZE_SSE && !defined EIGEN_VECTORIZE_AVX #include "src/Geometry/arch/Geometry_SSE.h" #endif #include "src/Core/util/ReenableStupidWarnings.h" #endif // EIGEN_GEOMETRY_MODULE_H /* vim: set filetype=cpp et sw=2 ts=2 ai: */ ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/Householder ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_HOUSEHOLDER_MODULE_H #define EIGEN_HOUSEHOLDER_MODULE_H #include "Core" #include "src/Core/util/DisableStupidWarnings.h" /** \defgroup Householder_Module Householder module * This module provides Householder transformations. * * \code * #include * \endcode */ #include "src/Householder/Householder.h" #include "src/Householder/HouseholderSequence.h" #include "src/Householder/BlockHouseholder.h" #include "src/Core/util/ReenableStupidWarnings.h" #endif // EIGEN_HOUSEHOLDER_MODULE_H /* vim: set filetype=cpp et sw=2 ts=2 ai: */ ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/IterativeLinearSolvers ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_ITERATIVELINEARSOLVERS_MODULE_H #define EIGEN_ITERATIVELINEARSOLVERS_MODULE_H #include "SparseCore" #include "OrderingMethods" #include "src/Core/util/DisableStupidWarnings.h" /** * \defgroup IterativeLinearSolvers_Module IterativeLinearSolvers module * * This module currently provides iterative methods to solve problems of the form \c A \c x = \c b, where \c A is a squared matrix, usually very large and sparse. * Those solvers are accessible via the following classes: * - ConjugateGradient for selfadjoint (hermitian) matrices, * - LeastSquaresConjugateGradient for rectangular least-square problems, * - BiCGSTAB for general square matrices. * * These iterative solvers are associated with some preconditioners: * - IdentityPreconditioner - not really useful * - DiagonalPreconditioner - also called Jacobi preconditioner, work very well on diagonal dominant matrices. * - IncompleteLUT - incomplete LU factorization with dual thresholding * * Such problems can also be solved using the direct sparse decomposition modules: SparseCholesky, CholmodSupport, UmfPackSupport, SuperLUSupport. * \code #include \endcode */ #include "src/IterativeLinearSolvers/SolveWithGuess.h" #include "src/IterativeLinearSolvers/IterativeSolverBase.h" #include "src/IterativeLinearSolvers/BasicPreconditioners.h" #include "src/IterativeLinearSolvers/ConjugateGradient.h" #include "src/IterativeLinearSolvers/LeastSquareConjugateGradient.h" #include "src/IterativeLinearSolvers/BiCGSTAB.h" #include "src/IterativeLinearSolvers/IncompleteLUT.h" #include "src/IterativeLinearSolvers/IncompleteCholesky.h" #include "src/Core/util/ReenableStupidWarnings.h" #endif // EIGEN_ITERATIVELINEARSOLVERS_MODULE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/Jacobi ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_JACOBI_MODULE_H #define EIGEN_JACOBI_MODULE_H #include "Core" #include "src/Core/util/DisableStupidWarnings.h" /** \defgroup Jacobi_Module Jacobi module * This module provides Jacobi and Givens rotations. * * \code * #include * \endcode * * In addition to listed classes, it defines the two following MatrixBase methods to apply a Jacobi or Givens rotation: * - MatrixBase::applyOnTheLeft() * - MatrixBase::applyOnTheRight(). */ #include "src/Jacobi/Jacobi.h" #include "src/Core/util/ReenableStupidWarnings.h" #endif // EIGEN_JACOBI_MODULE_H /* vim: set filetype=cpp et sw=2 ts=2 ai: */ ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/LU ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_LU_MODULE_H #define EIGEN_LU_MODULE_H #include "Core" #include "src/Core/util/DisableStupidWarnings.h" /** \defgroup LU_Module LU module * This module includes %LU decomposition and related notions such as matrix inversion and determinant. * This module defines the following MatrixBase methods: * - MatrixBase::inverse() * - MatrixBase::determinant() * * \code * #include * \endcode */ #include "src/misc/Kernel.h" #include "src/misc/Image.h" #include "src/LU/FullPivLU.h" #include "src/LU/PartialPivLU.h" #ifdef EIGEN_USE_LAPACKE #include "src/misc/lapacke.h" #include "src/LU/PartialPivLU_LAPACKE.h" #endif #include "src/LU/Determinant.h" #include "src/LU/InverseImpl.h" // Use the SSE optimized version whenever possible. At the moment the // SSE version doesn't compile when AVX is enabled #if defined EIGEN_VECTORIZE_SSE && !defined EIGEN_VECTORIZE_AVX #include "src/LU/arch/Inverse_SSE.h" #endif #include "src/Core/util/ReenableStupidWarnings.h" #endif // EIGEN_LU_MODULE_H /* vim: set filetype=cpp et sw=2 ts=2 ai: */ ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/MetisSupport ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_METISSUPPORT_MODULE_H #define EIGEN_METISSUPPORT_MODULE_H #include "SparseCore" #include "src/Core/util/DisableStupidWarnings.h" extern "C" { #include } /** \ingroup Support_modules * \defgroup MetisSupport_Module MetisSupport module * * \code * #include * \endcode * This module defines an interface to the METIS reordering package (http://glaros.dtc.umn.edu/gkhome/views/metis). * It can be used just as any other built-in method as explained in \link OrderingMethods_Module here. \endlink */ #include "src/MetisSupport/MetisSupport.h" #include "src/Core/util/ReenableStupidWarnings.h" #endif // EIGEN_METISSUPPORT_MODULE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/OrderingMethods ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_ORDERINGMETHODS_MODULE_H #define EIGEN_ORDERINGMETHODS_MODULE_H #include "SparseCore" #include "src/Core/util/DisableStupidWarnings.h" /** * \defgroup OrderingMethods_Module OrderingMethods module * * This module is currently for internal use only * * It defines various built-in and external ordering methods for sparse matrices. * They are typically used to reduce the number of elements during * the sparse matrix decomposition (LLT, LU, QR). * Precisely, in a preprocessing step, a permutation matrix P is computed using * those ordering methods and applied to the columns of the matrix. * Using for instance the sparse Cholesky decomposition, it is expected that * the nonzeros elements in LLT(A*P) will be much smaller than that in LLT(A). * * * Usage : * \code * #include * \endcode * * A simple usage is as a template parameter in the sparse decomposition classes : * * \code * SparseLU > solver; * \endcode * * \code * SparseQR > solver; * \endcode * * It is possible as well to call directly a particular ordering method for your own purpose, * \code * AMDOrdering ordering; * PermutationMatrix perm; * SparseMatrix A; * //Fill the matrix ... * * ordering(A, perm); // Call AMD * \endcode * * \note Some of these methods (like AMD or METIS), need the sparsity pattern * of the input matrix to be symmetric. When the matrix is structurally unsymmetric, * Eigen computes internally the pattern of \f$A^T*A\f$ before calling the method. * If your matrix is already symmetric (at leat in structure), you can avoid that * by calling the method with a SelfAdjointView type. * * \code * // Call the ordering on the pattern of the lower triangular matrix A * ordering(A.selfadjointView(), perm); * \endcode */ #ifndef EIGEN_MPL2_ONLY #include "src/OrderingMethods/Amd.h" #endif #include "src/OrderingMethods/Ordering.h" #include "src/Core/util/ReenableStupidWarnings.h" #endif // EIGEN_ORDERINGMETHODS_MODULE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/PaStiXSupport ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_PASTIXSUPPORT_MODULE_H #define EIGEN_PASTIXSUPPORT_MODULE_H #include "SparseCore" #include "src/Core/util/DisableStupidWarnings.h" extern "C" { #include #include } #ifdef complex #undef complex #endif /** \ingroup Support_modules * \defgroup PaStiXSupport_Module PaStiXSupport module * * This module provides an interface to the PaSTiX library. * PaSTiX is a general \b supernodal, \b parallel and \b opensource sparse solver. * It provides the two following main factorization classes: * - class PastixLLT : a supernodal, parallel LLt Cholesky factorization. * - class PastixLDLT: a supernodal, parallel LDLt Cholesky factorization. * - class PastixLU : a supernodal, parallel LU factorization (optimized for a symmetric pattern). * * \code * #include * \endcode * * In order to use this module, the PaSTiX headers must be accessible from the include paths, and your binary must be linked to the PaSTiX library and its dependencies. * The dependencies depend on how PaSTiX has been compiled. * For a cmake based project, you can use our FindPaSTiX.cmake module to help you in this task. * */ #include "src/PaStiXSupport/PaStiXSupport.h" #include "src/Core/util/ReenableStupidWarnings.h" #endif // EIGEN_PASTIXSUPPORT_MODULE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/PardisoSupport ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_PARDISOSUPPORT_MODULE_H #define EIGEN_PARDISOSUPPORT_MODULE_H #include "SparseCore" #include "src/Core/util/DisableStupidWarnings.h" #include /** \ingroup Support_modules * \defgroup PardisoSupport_Module PardisoSupport module * * This module brings support for the Intel(R) MKL PARDISO direct sparse solvers. * * \code * #include * \endcode * * In order to use this module, the MKL headers must be accessible from the include paths, and your binary must be linked to the MKL library and its dependencies. * See this \ref TopicUsingIntelMKL "page" for more information on MKL-Eigen integration. * */ #include "src/PardisoSupport/PardisoSupport.h" #include "src/Core/util/ReenableStupidWarnings.h" #endif // EIGEN_PARDISOSUPPORT_MODULE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/QR ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_QR_MODULE_H #define EIGEN_QR_MODULE_H #include "Core" #include "src/Core/util/DisableStupidWarnings.h" #include "Cholesky" #include "Jacobi" #include "Householder" /** \defgroup QR_Module QR module * * * * This module provides various QR decompositions * This module also provides some MatrixBase methods, including: * - MatrixBase::householderQr() * - MatrixBase::colPivHouseholderQr() * - MatrixBase::fullPivHouseholderQr() * * \code * #include * \endcode */ #include "src/QR/HouseholderQR.h" #include "src/QR/FullPivHouseholderQR.h" #include "src/QR/ColPivHouseholderQR.h" #include "src/QR/CompleteOrthogonalDecomposition.h" #ifdef EIGEN_USE_LAPACKE #include "src/misc/lapacke.h" #include "src/QR/HouseholderQR_LAPACKE.h" #include "src/QR/ColPivHouseholderQR_LAPACKE.h" #endif #include "src/Core/util/ReenableStupidWarnings.h" #endif // EIGEN_QR_MODULE_H /* vim: set filetype=cpp et sw=2 ts=2 ai: */ ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/QtAlignedMalloc ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_QTMALLOC_MODULE_H #define EIGEN_QTMALLOC_MODULE_H #include "Core" #if (!EIGEN_MALLOC_ALREADY_ALIGNED) #include "src/Core/util/DisableStupidWarnings.h" void *qMalloc(size_t size) { return Eigen::internal::aligned_malloc(size); } void qFree(void *ptr) { Eigen::internal::aligned_free(ptr); } void *qRealloc(void *ptr, size_t size) { void* newPtr = Eigen::internal::aligned_malloc(size); memcpy(newPtr, ptr, size); Eigen::internal::aligned_free(ptr); return newPtr; } #include "src/Core/util/ReenableStupidWarnings.h" #endif #endif // EIGEN_QTMALLOC_MODULE_H /* vim: set filetype=cpp et sw=2 ts=2 ai: */ ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/SPQRSupport ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_SPQRSUPPORT_MODULE_H #define EIGEN_SPQRSUPPORT_MODULE_H #include "SparseCore" #include "src/Core/util/DisableStupidWarnings.h" #include "SuiteSparseQR.hpp" /** \ingroup Support_modules * \defgroup SPQRSupport_Module SuiteSparseQR module * * This module provides an interface to the SPQR library, which is part of the suitesparse package. * * \code * #include * \endcode * * In order to use this module, the SPQR headers must be accessible from the include paths, and your binary must be linked to the SPQR library and its dependencies (Cholmod, AMD, COLAMD,...). * For a cmake based project, you can use our FindSPQR.cmake and FindCholmod.Cmake modules * */ #include "src/CholmodSupport/CholmodSupport.h" #include "src/SPQRSupport/SuiteSparseQRSupport.h" #endif ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/SVD ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_SVD_MODULE_H #define EIGEN_SVD_MODULE_H #include "QR" #include "Householder" #include "Jacobi" #include "src/Core/util/DisableStupidWarnings.h" /** \defgroup SVD_Module SVD module * * * * This module provides SVD decomposition for matrices (both real and complex). * Two decomposition algorithms are provided: * - JacobiSVD implementing two-sided Jacobi iterations is numerically very accurate, fast for small matrices, but very slow for larger ones. * - BDCSVD implementing a recursive divide & conquer strategy on top of an upper-bidiagonalization which remains fast for large problems. * These decompositions are accessible via the respective classes and following MatrixBase methods: * - MatrixBase::jacobiSvd() * - MatrixBase::bdcSvd() * * \code * #include * \endcode */ #include "src/misc/RealSvd2x2.h" #include "src/SVD/UpperBidiagonalization.h" #include "src/SVD/SVDBase.h" #include "src/SVD/JacobiSVD.h" #include "src/SVD/BDCSVD.h" #if defined(EIGEN_USE_LAPACKE) && !defined(EIGEN_USE_LAPACKE_STRICT) #include "src/misc/lapacke.h" #include "src/SVD/JacobiSVD_LAPACKE.h" #endif #include "src/Core/util/ReenableStupidWarnings.h" #endif // EIGEN_SVD_MODULE_H /* vim: set filetype=cpp et sw=2 ts=2 ai: */ ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/Sparse ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_SPARSE_MODULE_H #define EIGEN_SPARSE_MODULE_H /** \defgroup Sparse_Module Sparse meta-module * * Meta-module including all related modules: * - \ref SparseCore_Module * - \ref OrderingMethods_Module * - \ref SparseCholesky_Module * - \ref SparseLU_Module * - \ref SparseQR_Module * - \ref IterativeLinearSolvers_Module * \code #include \endcode */ #include "SparseCore" #include "OrderingMethods" #include "SparseCholesky" #include "SparseLU" #include "SparseQR" #include "IterativeLinearSolvers" #endif // EIGEN_SPARSE_MODULE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/SparseCholesky ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2008-2013 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_SPARSECHOLESKY_MODULE_H #define EIGEN_SPARSECHOLESKY_MODULE_H #include "SparseCore" #include "OrderingMethods" #include "src/Core/util/DisableStupidWarnings.h" /** * \defgroup SparseCholesky_Module SparseCholesky module * * This module currently provides two variants of the direct sparse Cholesky decomposition for selfadjoint (hermitian) matrices. * Those decompositions are accessible via the following classes: * - SimplicialLLt, * - SimplicialLDLt * * Such problems can also be solved using the ConjugateGradient solver from the IterativeLinearSolvers module. * * \code * #include * \endcode */ #ifdef EIGEN_MPL2_ONLY #error The SparseCholesky module has nothing to offer in MPL2 only mode #endif #include "src/SparseCholesky/SimplicialCholesky.h" #ifndef EIGEN_MPL2_ONLY #include "src/SparseCholesky/SimplicialCholesky_impl.h" #endif #include "src/Core/util/ReenableStupidWarnings.h" #endif // EIGEN_SPARSECHOLESKY_MODULE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/SparseCore ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_SPARSECORE_MODULE_H #define EIGEN_SPARSECORE_MODULE_H #include "Core" #include "src/Core/util/DisableStupidWarnings.h" #include #include #include #include #include /** * \defgroup SparseCore_Module SparseCore module * * This module provides a sparse matrix representation, and basic associated matrix manipulations * and operations. * * See the \ref TutorialSparse "Sparse tutorial" * * \code * #include * \endcode * * This module depends on: Core. */ #include "src/SparseCore/SparseUtil.h" #include "src/SparseCore/SparseMatrixBase.h" #include "src/SparseCore/SparseAssign.h" #include "src/SparseCore/CompressedStorage.h" #include "src/SparseCore/AmbiVector.h" #include "src/SparseCore/SparseCompressedBase.h" #include "src/SparseCore/SparseMatrix.h" #include "src/SparseCore/SparseMap.h" #include "src/SparseCore/MappedSparseMatrix.h" #include "src/SparseCore/SparseVector.h" #include "src/SparseCore/SparseRef.h" #include "src/SparseCore/SparseCwiseUnaryOp.h" #include "src/SparseCore/SparseCwiseBinaryOp.h" #include "src/SparseCore/SparseTranspose.h" #include "src/SparseCore/SparseBlock.h" #include "src/SparseCore/SparseDot.h" #include "src/SparseCore/SparseRedux.h" #include "src/SparseCore/SparseView.h" #include "src/SparseCore/SparseDiagonalProduct.h" #include "src/SparseCore/ConservativeSparseSparseProduct.h" #include "src/SparseCore/SparseSparseProductWithPruning.h" #include "src/SparseCore/SparseProduct.h" #include "src/SparseCore/SparseDenseProduct.h" #include "src/SparseCore/SparseSelfAdjointView.h" #include "src/SparseCore/SparseTriangularView.h" #include "src/SparseCore/TriangularSolver.h" #include "src/SparseCore/SparsePermutation.h" #include "src/SparseCore/SparseFuzzy.h" #include "src/SparseCore/SparseSolverBase.h" #include "src/Core/util/ReenableStupidWarnings.h" #endif // EIGEN_SPARSECORE_MODULE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/SparseLU ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2012 Désiré Nuentsa-Wakam // Copyright (C) 2012 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_SPARSELU_MODULE_H #define EIGEN_SPARSELU_MODULE_H #include "SparseCore" /** * \defgroup SparseLU_Module SparseLU module * This module defines a supernodal factorization of general sparse matrices. * The code is fully optimized for supernode-panel updates with specialized kernels. * Please, see the documentation of the SparseLU class for more details. */ // Ordering interface #include "OrderingMethods" #include "src/SparseLU/SparseLU_gemm_kernel.h" #include "src/SparseLU/SparseLU_Structs.h" #include "src/SparseLU/SparseLU_SupernodalMatrix.h" #include "src/SparseLU/SparseLUImpl.h" #include "src/SparseCore/SparseColEtree.h" #include "src/SparseLU/SparseLU_Memory.h" #include "src/SparseLU/SparseLU_heap_relax_snode.h" #include "src/SparseLU/SparseLU_relax_snode.h" #include "src/SparseLU/SparseLU_pivotL.h" #include "src/SparseLU/SparseLU_panel_dfs.h" #include "src/SparseLU/SparseLU_kernel_bmod.h" #include "src/SparseLU/SparseLU_panel_bmod.h" #include "src/SparseLU/SparseLU_column_dfs.h" #include "src/SparseLU/SparseLU_column_bmod.h" #include "src/SparseLU/SparseLU_copy_to_ucol.h" #include "src/SparseLU/SparseLU_pruneL.h" #include "src/SparseLU/SparseLU_Utils.h" #include "src/SparseLU/SparseLU.h" #endif // EIGEN_SPARSELU_MODULE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/SparseQR ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_SPARSEQR_MODULE_H #define EIGEN_SPARSEQR_MODULE_H #include "SparseCore" #include "OrderingMethods" #include "src/Core/util/DisableStupidWarnings.h" /** \defgroup SparseQR_Module SparseQR module * \brief Provides QR decomposition for sparse matrices * * This module provides a simplicial version of the left-looking Sparse QR decomposition. * The columns of the input matrix should be reordered to limit the fill-in during the * decomposition. Built-in methods (COLAMD, AMD) or external methods (METIS) can be used to this end. * See the \link OrderingMethods_Module OrderingMethods\endlink module for the list * of built-in and external ordering methods. * * \code * #include * \endcode * * */ #include "OrderingMethods" #include "src/SparseCore/SparseColEtree.h" #include "src/SparseQR/SparseQR.h" #include "src/Core/util/ReenableStupidWarnings.h" #endif ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/StdDeque ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2009 Gael Guennebaud // Copyright (C) 2009 Hauke Heibel // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_STDDEQUE_MODULE_H #define EIGEN_STDDEQUE_MODULE_H #include "Core" #include #if EIGEN_COMP_MSVC && EIGEN_OS_WIN64 /* MSVC auto aligns in 64 bit builds */ #define EIGEN_DEFINE_STL_DEQUE_SPECIALIZATION(...) #else #include "src/StlSupport/StdDeque.h" #endif #endif // EIGEN_STDDEQUE_MODULE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/StdList ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2009 Hauke Heibel // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_STDLIST_MODULE_H #define EIGEN_STDLIST_MODULE_H #include "Core" #include #if EIGEN_COMP_MSVC && EIGEN_OS_WIN64 /* MSVC auto aligns in 64 bit builds */ #define EIGEN_DEFINE_STL_LIST_SPECIALIZATION(...) #else #include "src/StlSupport/StdList.h" #endif #endif // EIGEN_STDLIST_MODULE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/StdVector ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2009 Gael Guennebaud // Copyright (C) 2009 Hauke Heibel // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_STDVECTOR_MODULE_H #define EIGEN_STDVECTOR_MODULE_H #include "Core" #include #if EIGEN_COMP_MSVC && EIGEN_OS_WIN64 /* MSVC auto aligns in 64 bit builds */ #define EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(...) #else #include "src/StlSupport/StdVector.h" #endif #endif // EIGEN_STDVECTOR_MODULE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/SuperLUSupport ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_SUPERLUSUPPORT_MODULE_H #define EIGEN_SUPERLUSUPPORT_MODULE_H #include "SparseCore" #include "src/Core/util/DisableStupidWarnings.h" #ifdef EMPTY #define EIGEN_EMPTY_WAS_ALREADY_DEFINED #endif typedef int int_t; #include #include #include // slu_util.h defines a preprocessor token named EMPTY which is really polluting, // so we remove it in favor of a SUPERLU_EMPTY token. // If EMPTY was already defined then we don't undef it. #if defined(EIGEN_EMPTY_WAS_ALREADY_DEFINED) # undef EIGEN_EMPTY_WAS_ALREADY_DEFINED #elif defined(EMPTY) # undef EMPTY #endif #define SUPERLU_EMPTY (-1) namespace Eigen { struct SluMatrix; } /** \ingroup Support_modules * \defgroup SuperLUSupport_Module SuperLUSupport module * * This module provides an interface to the SuperLU library. * It provides the following factorization class: * - class SuperLU: a supernodal sequential LU factorization. * - class SuperILU: a supernodal sequential incomplete LU factorization (to be used as a preconditioner for iterative methods). * * \warning This wrapper requires at least versions 4.0 of SuperLU. The 3.x versions are not supported. * * \warning When including this module, you have to use SUPERLU_EMPTY instead of EMPTY which is no longer defined because it is too polluting. * * \code * #include * \endcode * * In order to use this module, the superlu headers must be accessible from the include paths, and your binary must be linked to the superlu library and its dependencies. * The dependencies depend on how superlu has been compiled. * For a cmake based project, you can use our FindSuperLU.cmake module to help you in this task. * */ #include "src/SuperLUSupport/SuperLUSupport.h" #include "src/Core/util/ReenableStupidWarnings.h" #endif // EIGEN_SUPERLUSUPPORT_MODULE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/UmfPackSupport ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_UMFPACKSUPPORT_MODULE_H #define EIGEN_UMFPACKSUPPORT_MODULE_H #include "SparseCore" #include "src/Core/util/DisableStupidWarnings.h" extern "C" { #include } /** \ingroup Support_modules * \defgroup UmfPackSupport_Module UmfPackSupport module * * This module provides an interface to the UmfPack library which is part of the suitesparse package. * It provides the following factorization class: * - class UmfPackLU: a multifrontal sequential LU factorization. * * \code * #include * \endcode * * In order to use this module, the umfpack headers must be accessible from the include paths, and your binary must be linked to the umfpack library and its dependencies. * The dependencies depend on how umfpack has been compiled. * For a cmake based project, you can use our FindUmfPack.cmake module to help you in this task. * */ #include "src/UmfPackSupport/UmfPackSupport.h" #include "src/Core/util/ReenableStupidWarnings.h" #endif // EIGEN_UMFPACKSUPPORT_MODULE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Cholesky/LDLT.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2008-2011 Gael Guennebaud // Copyright (C) 2009 Keir Mierle // Copyright (C) 2009 Benoit Jacob // Copyright (C) 2011 Timothy E. Holy // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_LDLT_H #define EIGEN_LDLT_H namespace Eigen { namespace internal { template struct LDLT_Traits; // PositiveSemiDef means positive semi-definite and non-zero; same for NegativeSemiDef enum SignMatrix { PositiveSemiDef, NegativeSemiDef, ZeroSign, Indefinite }; } /** \ingroup Cholesky_Module * * \class LDLT * * \brief Robust Cholesky decomposition of a matrix with pivoting * * \tparam _MatrixType the type of the matrix of which to compute the LDL^T Cholesky decomposition * \tparam _UpLo the triangular part that will be used for the decompositon: Lower (default) or Upper. * The other triangular part won't be read. * * Perform a robust Cholesky decomposition of a positive semidefinite or negative semidefinite * matrix \f$ A \f$ such that \f$ A = P^TLDL^*P \f$, where P is a permutation matrix, L * is lower triangular with a unit diagonal and D is a diagonal matrix. * * The decomposition uses pivoting to ensure stability, so that L will have * zeros in the bottom right rank(A) - n submatrix. Avoiding the square root * on D also stabilizes the computation. * * Remember that Cholesky decompositions are not rank-revealing. Also, do not use a Cholesky * decomposition to determine whether a system of equations has a solution. * * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism. * * \sa MatrixBase::ldlt(), SelfAdjointView::ldlt(), class LLT */ template class LDLT { public: typedef _MatrixType MatrixType; enum { RowsAtCompileTime = MatrixType::RowsAtCompileTime, ColsAtCompileTime = MatrixType::ColsAtCompileTime, MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime, MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime, UpLo = _UpLo }; typedef typename MatrixType::Scalar Scalar; typedef typename NumTraits::Real RealScalar; typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3 typedef typename MatrixType::StorageIndex StorageIndex; typedef Matrix TmpMatrixType; typedef Transpositions TranspositionType; typedef PermutationMatrix PermutationType; typedef internal::LDLT_Traits Traits; /** \brief Default Constructor. * * The default constructor is useful in cases in which the user intends to * perform decompositions via LDLT::compute(const MatrixType&). */ LDLT() : m_matrix(), m_transpositions(), m_sign(internal::ZeroSign), m_isInitialized(false) {} /** \brief Default Constructor with memory preallocation * * Like the default constructor but with preallocation of the internal data * according to the specified problem \a size. * \sa LDLT() */ explicit LDLT(Index size) : m_matrix(size, size), m_transpositions(size), m_temporary(size), m_sign(internal::ZeroSign), m_isInitialized(false) {} /** \brief Constructor with decomposition * * This calculates the decomposition for the input \a matrix. * * \sa LDLT(Index size) */ template explicit LDLT(const EigenBase& matrix) : m_matrix(matrix.rows(), matrix.cols()), m_transpositions(matrix.rows()), m_temporary(matrix.rows()), m_sign(internal::ZeroSign), m_isInitialized(false) { compute(matrix.derived()); } /** \brief Constructs a LDLT factorization from a given matrix * * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when \c MatrixType is a Eigen::Ref. * * \sa LDLT(const EigenBase&) */ template explicit LDLT(EigenBase& matrix) : m_matrix(matrix.derived()), m_transpositions(matrix.rows()), m_temporary(matrix.rows()), m_sign(internal::ZeroSign), m_isInitialized(false) { compute(matrix.derived()); } /** Clear any existing decomposition * \sa rankUpdate(w,sigma) */ void setZero() { m_isInitialized = false; } /** \returns a view of the upper triangular matrix U */ inline typename Traits::MatrixU matrixU() const { eigen_assert(m_isInitialized && "LDLT is not initialized."); return Traits::getU(m_matrix); } /** \returns a view of the lower triangular matrix L */ inline typename Traits::MatrixL matrixL() const { eigen_assert(m_isInitialized && "LDLT is not initialized."); return Traits::getL(m_matrix); } /** \returns the permutation matrix P as a transposition sequence. */ inline const TranspositionType& transpositionsP() const { eigen_assert(m_isInitialized && "LDLT is not initialized."); return m_transpositions; } /** \returns the coefficients of the diagonal matrix D */ inline Diagonal vectorD() const { eigen_assert(m_isInitialized && "LDLT is not initialized."); return m_matrix.diagonal(); } /** \returns true if the matrix is positive (semidefinite) */ inline bool isPositive() const { eigen_assert(m_isInitialized && "LDLT is not initialized."); return m_sign == internal::PositiveSemiDef || m_sign == internal::ZeroSign; } /** \returns true if the matrix is negative (semidefinite) */ inline bool isNegative(void) const { eigen_assert(m_isInitialized && "LDLT is not initialized."); return m_sign == internal::NegativeSemiDef || m_sign == internal::ZeroSign; } /** \returns a solution x of \f$ A x = b \f$ using the current decomposition of A. * * This function also supports in-place solves using the syntax x = decompositionObject.solve(x) . * * \note_about_checking_solutions * * More precisely, this method solves \f$ A x = b \f$ using the decomposition \f$ A = P^T L D L^* P \f$ * by solving the systems \f$ P^T y_1 = b \f$, \f$ L y_2 = y_1 \f$, \f$ D y_3 = y_2 \f$, * \f$ L^* y_4 = y_3 \f$ and \f$ P x = y_4 \f$ in succession. If the matrix \f$ A \f$ is singular, then * \f$ D \f$ will also be singular (all the other matrices are invertible). In that case, the * least-square solution of \f$ D y_3 = y_2 \f$ is computed. This does not mean that this function * computes the least-square solution of \f$ A x = b \f$ is \f$ A \f$ is singular. * * \sa MatrixBase::ldlt(), SelfAdjointView::ldlt() */ template inline const Solve solve(const MatrixBase& b) const { eigen_assert(m_isInitialized && "LDLT is not initialized."); eigen_assert(m_matrix.rows()==b.rows() && "LDLT::solve(): invalid number of rows of the right hand side matrix b"); return Solve(*this, b.derived()); } template bool solveInPlace(MatrixBase &bAndX) const; template LDLT& compute(const EigenBase& matrix); /** \returns an estimate of the reciprocal condition number of the matrix of * which \c *this is the LDLT decomposition. */ RealScalar rcond() const { eigen_assert(m_isInitialized && "LDLT is not initialized."); return internal::rcond_estimate_helper(m_l1_norm, *this); } template LDLT& rankUpdate(const MatrixBase& w, const RealScalar& alpha=1); /** \returns the internal LDLT decomposition matrix * * TODO: document the storage layout */ inline const MatrixType& matrixLDLT() const { eigen_assert(m_isInitialized && "LDLT is not initialized."); return m_matrix; } MatrixType reconstructedMatrix() const; /** \returns the adjoint of \c *this, that is, a const reference to the decomposition itself as the underlying matrix is self-adjoint. * * This method is provided for compatibility with other matrix decompositions, thus enabling generic code such as: * \code x = decomposition.adjoint().solve(b) \endcode */ const LDLT& adjoint() const { return *this; }; inline Index rows() const { return m_matrix.rows(); } inline Index cols() const { return m_matrix.cols(); } /** \brief Reports whether previous computation was successful. * * \returns \c Success if computation was succesful, * \c NumericalIssue if the matrix.appears to be negative. */ ComputationInfo info() const { eigen_assert(m_isInitialized && "LDLT is not initialized."); return m_info; } #ifndef EIGEN_PARSED_BY_DOXYGEN template EIGEN_DEVICE_FUNC void _solve_impl(const RhsType &rhs, DstType &dst) const; #endif protected: static void check_template_parameters() { EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar); } /** \internal * Used to compute and store the Cholesky decomposition A = L D L^* = U^* D U. * The strict upper part is used during the decomposition, the strict lower * part correspond to the coefficients of L (its diagonal is equal to 1 and * is not stored), and the diagonal entries correspond to D. */ MatrixType m_matrix; RealScalar m_l1_norm; TranspositionType m_transpositions; TmpMatrixType m_temporary; internal::SignMatrix m_sign; bool m_isInitialized; ComputationInfo m_info; }; namespace internal { template struct ldlt_inplace; template<> struct ldlt_inplace { template static bool unblocked(MatrixType& mat, TranspositionType& transpositions, Workspace& temp, SignMatrix& sign) { using std::abs; typedef typename MatrixType::Scalar Scalar; typedef typename MatrixType::RealScalar RealScalar; typedef typename TranspositionType::StorageIndex IndexType; eigen_assert(mat.rows()==mat.cols()); const Index size = mat.rows(); bool found_zero_pivot = false; bool ret = true; if (size <= 1) { transpositions.setIdentity(); if (numext::real(mat.coeff(0,0)) > static_cast(0) ) sign = PositiveSemiDef; else if (numext::real(mat.coeff(0,0)) < static_cast(0)) sign = NegativeSemiDef; else sign = ZeroSign; return true; } for (Index k = 0; k < size; ++k) { // Find largest diagonal element Index index_of_biggest_in_corner; mat.diagonal().tail(size-k).cwiseAbs().maxCoeff(&index_of_biggest_in_corner); index_of_biggest_in_corner += k; transpositions.coeffRef(k) = IndexType(index_of_biggest_in_corner); if(k != index_of_biggest_in_corner) { // apply the transposition while taking care to consider only // the lower triangular part Index s = size-index_of_biggest_in_corner-1; // trailing size after the biggest element mat.row(k).head(k).swap(mat.row(index_of_biggest_in_corner).head(k)); mat.col(k).tail(s).swap(mat.col(index_of_biggest_in_corner).tail(s)); std::swap(mat.coeffRef(k,k),mat.coeffRef(index_of_biggest_in_corner,index_of_biggest_in_corner)); for(Index i=k+1;i::IsComplex) mat.coeffRef(index_of_biggest_in_corner,k) = numext::conj(mat.coeff(index_of_biggest_in_corner,k)); } // partition the matrix: // A00 | - | - // lu = A10 | A11 | - // A20 | A21 | A22 Index rs = size - k - 1; Block A21(mat,k+1,k,rs,1); Block A10(mat,k,0,1,k); Block A20(mat,k+1,0,rs,k); if(k>0) { temp.head(k) = mat.diagonal().real().head(k).asDiagonal() * A10.adjoint(); mat.coeffRef(k,k) -= (A10 * temp.head(k)).value(); if(rs>0) A21.noalias() -= A20 * temp.head(k); } // In some previous versions of Eigen (e.g., 3.2.1), the scaling was omitted if the pivot // was smaller than the cutoff value. However, since LDLT is not rank-revealing // we should only make sure that we do not introduce INF or NaN values. // Remark that LAPACK also uses 0 as the cutoff value. RealScalar realAkk = numext::real(mat.coeffRef(k,k)); bool pivot_is_valid = (abs(realAkk) > RealScalar(0)); if(k==0 && !pivot_is_valid) { // The entire diagonal is zero, there is nothing more to do // except filling the transpositions, and checking whether the matrix is zero. sign = ZeroSign; for(Index j = 0; j0) && pivot_is_valid) A21 /= realAkk; if(found_zero_pivot && pivot_is_valid) ret = false; // factorization failed else if(!pivot_is_valid) found_zero_pivot = true; if (sign == PositiveSemiDef) { if (realAkk < static_cast(0)) sign = Indefinite; } else if (sign == NegativeSemiDef) { if (realAkk > static_cast(0)) sign = Indefinite; } else if (sign == ZeroSign) { if (realAkk > static_cast(0)) sign = PositiveSemiDef; else if (realAkk < static_cast(0)) sign = NegativeSemiDef; } } return ret; } // Reference for the algorithm: Davis and Hager, "Multiple Rank // Modifications of a Sparse Cholesky Factorization" (Algorithm 1) // Trivial rearrangements of their computations (Timothy E. Holy) // allow their algorithm to work for rank-1 updates even if the // original matrix is not of full rank. // Here only rank-1 updates are implemented, to reduce the // requirement for intermediate storage and improve accuracy template static bool updateInPlace(MatrixType& mat, MatrixBase& w, const typename MatrixType::RealScalar& sigma=1) { using numext::isfinite; typedef typename MatrixType::Scalar Scalar; typedef typename MatrixType::RealScalar RealScalar; const Index size = mat.rows(); eigen_assert(mat.cols() == size && w.size()==size); RealScalar alpha = 1; // Apply the update for (Index j = 0; j < size; j++) { // Check for termination due to an original decomposition of low-rank if (!(isfinite)(alpha)) break; // Update the diagonal terms RealScalar dj = numext::real(mat.coeff(j,j)); Scalar wj = w.coeff(j); RealScalar swj2 = sigma*numext::abs2(wj); RealScalar gamma = dj*alpha + swj2; mat.coeffRef(j,j) += swj2/alpha; alpha += swj2/dj; // Update the terms of L Index rs = size-j-1; w.tail(rs) -= wj * mat.col(j).tail(rs); if(gamma != 0) mat.col(j).tail(rs) += (sigma*numext::conj(wj)/gamma)*w.tail(rs); } return true; } template static bool update(MatrixType& mat, const TranspositionType& transpositions, Workspace& tmp, const WType& w, const typename MatrixType::RealScalar& sigma=1) { // Apply the permutation to the input w tmp = transpositions * w; return ldlt_inplace::updateInPlace(mat,tmp,sigma); } }; template<> struct ldlt_inplace { template static EIGEN_STRONG_INLINE bool unblocked(MatrixType& mat, TranspositionType& transpositions, Workspace& temp, SignMatrix& sign) { Transpose matt(mat); return ldlt_inplace::unblocked(matt, transpositions, temp, sign); } template static EIGEN_STRONG_INLINE bool update(MatrixType& mat, TranspositionType& transpositions, Workspace& tmp, WType& w, const typename MatrixType::RealScalar& sigma=1) { Transpose matt(mat); return ldlt_inplace::update(matt, transpositions, tmp, w.conjugate(), sigma); } }; template struct LDLT_Traits { typedef const TriangularView MatrixL; typedef const TriangularView MatrixU; static inline MatrixL getL(const MatrixType& m) { return MatrixL(m); } static inline MatrixU getU(const MatrixType& m) { return MatrixU(m.adjoint()); } }; template struct LDLT_Traits { typedef const TriangularView MatrixL; typedef const TriangularView MatrixU; static inline MatrixL getL(const MatrixType& m) { return MatrixL(m.adjoint()); } static inline MatrixU getU(const MatrixType& m) { return MatrixU(m); } }; } // end namespace internal /** Compute / recompute the LDLT decomposition A = L D L^* = U^* D U of \a matrix */ template template LDLT& LDLT::compute(const EigenBase& a) { check_template_parameters(); eigen_assert(a.rows()==a.cols()); const Index size = a.rows(); m_matrix = a.derived(); // Compute matrix L1 norm = max abs column sum. m_l1_norm = RealScalar(0); // TODO move this code to SelfAdjointView for (Index col = 0; col < size; ++col) { RealScalar abs_col_sum; if (_UpLo == Lower) abs_col_sum = m_matrix.col(col).tail(size - col).template lpNorm<1>() + m_matrix.row(col).head(col).template lpNorm<1>(); else abs_col_sum = m_matrix.col(col).head(col).template lpNorm<1>() + m_matrix.row(col).tail(size - col).template lpNorm<1>(); if (abs_col_sum > m_l1_norm) m_l1_norm = abs_col_sum; } m_transpositions.resize(size); m_isInitialized = false; m_temporary.resize(size); m_sign = internal::ZeroSign; m_info = internal::ldlt_inplace::unblocked(m_matrix, m_transpositions, m_temporary, m_sign) ? Success : NumericalIssue; m_isInitialized = true; return *this; } /** Update the LDLT decomposition: given A = L D L^T, efficiently compute the decomposition of A + sigma w w^T. * \param w a vector to be incorporated into the decomposition. * \param sigma a scalar, +1 for updates and -1 for "downdates," which correspond to removing previously-added column vectors. Optional; default value is +1. * \sa setZero() */ template template LDLT& LDLT::rankUpdate(const MatrixBase& w, const typename LDLT::RealScalar& sigma) { typedef typename TranspositionType::StorageIndex IndexType; const Index size = w.rows(); if (m_isInitialized) { eigen_assert(m_matrix.rows()==size); } else { m_matrix.resize(size,size); m_matrix.setZero(); m_transpositions.resize(size); for (Index i = 0; i < size; i++) m_transpositions.coeffRef(i) = IndexType(i); m_temporary.resize(size); m_sign = sigma>=0 ? internal::PositiveSemiDef : internal::NegativeSemiDef; m_isInitialized = true; } internal::ldlt_inplace::update(m_matrix, m_transpositions, m_temporary, w, sigma); return *this; } #ifndef EIGEN_PARSED_BY_DOXYGEN template template void LDLT<_MatrixType,_UpLo>::_solve_impl(const RhsType &rhs, DstType &dst) const { eigen_assert(rhs.rows() == rows()); // dst = P b dst = m_transpositions * rhs; // dst = L^-1 (P b) matrixL().solveInPlace(dst); // dst = D^-1 (L^-1 P b) // more precisely, use pseudo-inverse of D (see bug 241) using std::abs; const typename Diagonal::RealReturnType vecD(vectorD()); // In some previous versions, tolerance was set to the max of 1/highest and the maximal diagonal entry * epsilon // as motivated by LAPACK's xGELSS: // RealScalar tolerance = numext::maxi(vecD.array().abs().maxCoeff() * NumTraits::epsilon(),RealScalar(1) / NumTraits::highest()); // However, LDLT is not rank revealing, and so adjusting the tolerance wrt to the highest // diagonal element is not well justified and leads to numerical issues in some cases. // Moreover, Lapack's xSYTRS routines use 0 for the tolerance. RealScalar tolerance = RealScalar(1) / NumTraits::highest(); for (Index i = 0; i < vecD.size(); ++i) { if(abs(vecD(i)) > tolerance) dst.row(i) /= vecD(i); else dst.row(i).setZero(); } // dst = L^-T (D^-1 L^-1 P b) matrixU().solveInPlace(dst); // dst = P^-1 (L^-T D^-1 L^-1 P b) = A^-1 b dst = m_transpositions.transpose() * dst; } #endif /** \internal use x = ldlt_object.solve(x); * * This is the \em in-place version of solve(). * * \param bAndX represents both the right-hand side matrix b and result x. * * \returns true always! If you need to check for existence of solutions, use another decomposition like LU, QR, or SVD. * * This version avoids a copy when the right hand side matrix b is not * needed anymore. * * \sa LDLT::solve(), MatrixBase::ldlt() */ template template bool LDLT::solveInPlace(MatrixBase &bAndX) const { eigen_assert(m_isInitialized && "LDLT is not initialized."); eigen_assert(m_matrix.rows() == bAndX.rows()); bAndX = this->solve(bAndX); return true; } /** \returns the matrix represented by the decomposition, * i.e., it returns the product: P^T L D L^* P. * This function is provided for debug purpose. */ template MatrixType LDLT::reconstructedMatrix() const { eigen_assert(m_isInitialized && "LDLT is not initialized."); const Index size = m_matrix.rows(); MatrixType res(size,size); // P res.setIdentity(); res = transpositionsP() * res; // L^* P res = matrixU() * res; // D(L^*P) res = vectorD().real().asDiagonal() * res; // L(DL^*P) res = matrixL() * res; // P^T (LDL^*P) res = transpositionsP().transpose() * res; return res; } /** \cholesky_module * \returns the Cholesky decomposition with full pivoting without square root of \c *this * \sa MatrixBase::ldlt() */ template inline const LDLT::PlainObject, UpLo> SelfAdjointView::ldlt() const { return LDLT(m_matrix); } /** \cholesky_module * \returns the Cholesky decomposition with full pivoting without square root of \c *this * \sa SelfAdjointView::ldlt() */ template inline const LDLT::PlainObject> MatrixBase::ldlt() const { return LDLT(derived()); } } // end namespace Eigen #endif // EIGEN_LDLT_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Cholesky/LLT.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2008 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_LLT_H #define EIGEN_LLT_H namespace Eigen { namespace internal{ template struct LLT_Traits; } /** \ingroup Cholesky_Module * * \class LLT * * \brief Standard Cholesky decomposition (LL^T) of a matrix and associated features * * \tparam _MatrixType the type of the matrix of which we are computing the LL^T Cholesky decomposition * \tparam _UpLo the triangular part that will be used for the decompositon: Lower (default) or Upper. * The other triangular part won't be read. * * This class performs a LL^T Cholesky decomposition of a symmetric, positive definite * matrix A such that A = LL^* = U^*U, where L is lower triangular. * * While the Cholesky decomposition is particularly useful to solve selfadjoint problems like D^*D x = b, * for that purpose, we recommend the Cholesky decomposition without square root which is more stable * and even faster. Nevertheless, this standard Cholesky decomposition remains useful in many other * situations like generalised eigen problems with hermitian matrices. * * Remember that Cholesky decompositions are not rank-revealing. This LLT decomposition is only stable on positive definite matrices, * use LDLT instead for the semidefinite case. Also, do not use a Cholesky decomposition to determine whether a system of equations * has a solution. * * Example: \include LLT_example.cpp * Output: \verbinclude LLT_example.out * * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism. * * \sa MatrixBase::llt(), SelfAdjointView::llt(), class LDLT */ /* HEY THIS DOX IS DISABLED BECAUSE THERE's A BUG EITHER HERE OR IN LDLT ABOUT THAT (OR BOTH) * Note that during the decomposition, only the upper triangular part of A is considered. Therefore, * the strict lower part does not have to store correct values. */ template class LLT { public: typedef _MatrixType MatrixType; enum { RowsAtCompileTime = MatrixType::RowsAtCompileTime, ColsAtCompileTime = MatrixType::ColsAtCompileTime, MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime }; typedef typename MatrixType::Scalar Scalar; typedef typename NumTraits::Real RealScalar; typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3 typedef typename MatrixType::StorageIndex StorageIndex; enum { PacketSize = internal::packet_traits::size, AlignmentMask = int(PacketSize)-1, UpLo = _UpLo }; typedef internal::LLT_Traits Traits; /** * \brief Default Constructor. * * The default constructor is useful in cases in which the user intends to * perform decompositions via LLT::compute(const MatrixType&). */ LLT() : m_matrix(), m_isInitialized(false) {} /** \brief Default Constructor with memory preallocation * * Like the default constructor but with preallocation of the internal data * according to the specified problem \a size. * \sa LLT() */ explicit LLT(Index size) : m_matrix(size, size), m_isInitialized(false) {} template explicit LLT(const EigenBase& matrix) : m_matrix(matrix.rows(), matrix.cols()), m_isInitialized(false) { compute(matrix.derived()); } /** \brief Constructs a LDLT factorization from a given matrix * * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when * \c MatrixType is a Eigen::Ref. * * \sa LLT(const EigenBase&) */ template explicit LLT(EigenBase& matrix) : m_matrix(matrix.derived()), m_isInitialized(false) { compute(matrix.derived()); } /** \returns a view of the upper triangular matrix U */ inline typename Traits::MatrixU matrixU() const { eigen_assert(m_isInitialized && "LLT is not initialized."); return Traits::getU(m_matrix); } /** \returns a view of the lower triangular matrix L */ inline typename Traits::MatrixL matrixL() const { eigen_assert(m_isInitialized && "LLT is not initialized."); return Traits::getL(m_matrix); } /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A. * * Since this LLT class assumes anyway that the matrix A is invertible, the solution * theoretically exists and is unique regardless of b. * * Example: \include LLT_solve.cpp * Output: \verbinclude LLT_solve.out * * \sa solveInPlace(), MatrixBase::llt(), SelfAdjointView::llt() */ template inline const Solve solve(const MatrixBase& b) const { eigen_assert(m_isInitialized && "LLT is not initialized."); eigen_assert(m_matrix.rows()==b.rows() && "LLT::solve(): invalid number of rows of the right hand side matrix b"); return Solve(*this, b.derived()); } template void solveInPlace(MatrixBase &bAndX) const; template LLT& compute(const EigenBase& matrix); /** \returns an estimate of the reciprocal condition number of the matrix of * which \c *this is the Cholesky decomposition. */ RealScalar rcond() const { eigen_assert(m_isInitialized && "LLT is not initialized."); eigen_assert(m_info == Success && "LLT failed because matrix appears to be negative"); return internal::rcond_estimate_helper(m_l1_norm, *this); } /** \returns the LLT decomposition matrix * * TODO: document the storage layout */ inline const MatrixType& matrixLLT() const { eigen_assert(m_isInitialized && "LLT is not initialized."); return m_matrix; } MatrixType reconstructedMatrix() const; /** \brief Reports whether previous computation was successful. * * \returns \c Success if computation was succesful, * \c NumericalIssue if the matrix.appears to be negative. */ ComputationInfo info() const { eigen_assert(m_isInitialized && "LLT is not initialized."); return m_info; } /** \returns the adjoint of \c *this, that is, a const reference to the decomposition itself as the underlying matrix is self-adjoint. * * This method is provided for compatibility with other matrix decompositions, thus enabling generic code such as: * \code x = decomposition.adjoint().solve(b) \endcode */ const LLT& adjoint() const { return *this; }; inline Index rows() const { return m_matrix.rows(); } inline Index cols() const { return m_matrix.cols(); } template LLT rankUpdate(const VectorType& vec, const RealScalar& sigma = 1); #ifndef EIGEN_PARSED_BY_DOXYGEN template EIGEN_DEVICE_FUNC void _solve_impl(const RhsType &rhs, DstType &dst) const; #endif protected: static void check_template_parameters() { EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar); } /** \internal * Used to compute and store L * The strict upper part is not used and even not initialized. */ MatrixType m_matrix; RealScalar m_l1_norm; bool m_isInitialized; ComputationInfo m_info; }; namespace internal { template struct llt_inplace; template static Index llt_rank_update_lower(MatrixType& mat, const VectorType& vec, const typename MatrixType::RealScalar& sigma) { using std::sqrt; typedef typename MatrixType::Scalar Scalar; typedef typename MatrixType::RealScalar RealScalar; typedef typename MatrixType::ColXpr ColXpr; typedef typename internal::remove_all::type ColXprCleaned; typedef typename ColXprCleaned::SegmentReturnType ColXprSegment; typedef Matrix TempVectorType; typedef typename TempVectorType::SegmentReturnType TempVecSegment; Index n = mat.cols(); eigen_assert(mat.rows()==n && vec.size()==n); TempVectorType temp; if(sigma>0) { // This version is based on Givens rotations. // It is faster than the other one below, but only works for updates, // i.e., for sigma > 0 temp = sqrt(sigma) * vec; for(Index i=0; i g; g.makeGivens(mat(i,i), -temp(i), &mat(i,i)); Index rs = n-i-1; if(rs>0) { ColXprSegment x(mat.col(i).tail(rs)); TempVecSegment y(temp.tail(rs)); apply_rotation_in_the_plane(x, y, g); } } } else { temp = vec; RealScalar beta = 1; for(Index j=0; j struct llt_inplace { typedef typename NumTraits::Real RealScalar; template static Index unblocked(MatrixType& mat) { using std::sqrt; eigen_assert(mat.rows()==mat.cols()); const Index size = mat.rows(); for(Index k = 0; k < size; ++k) { Index rs = size-k-1; // remaining size Block A21(mat,k+1,k,rs,1); Block A10(mat,k,0,1,k); Block A20(mat,k+1,0,rs,k); RealScalar x = numext::real(mat.coeff(k,k)); if (k>0) x -= A10.squaredNorm(); if (x<=RealScalar(0)) return k; mat.coeffRef(k,k) = x = sqrt(x); if (k>0 && rs>0) A21.noalias() -= A20 * A10.adjoint(); if (rs>0) A21 /= x; } return -1; } template static Index blocked(MatrixType& m) { eigen_assert(m.rows()==m.cols()); Index size = m.rows(); if(size<32) return unblocked(m); Index blockSize = size/8; blockSize = (blockSize/16)*16; blockSize = (std::min)((std::max)(blockSize,Index(8)), Index(128)); for (Index k=0; k A11(m,k, k, bs,bs); Block A21(m,k+bs,k, rs,bs); Block A22(m,k+bs,k+bs,rs,rs); Index ret; if((ret=unblocked(A11))>=0) return k+ret; if(rs>0) A11.adjoint().template triangularView().template solveInPlace(A21); if(rs>0) A22.template selfadjointView().rankUpdate(A21,typename NumTraits::Literal(-1)); // bottleneck } return -1; } template static Index rankUpdate(MatrixType& mat, const VectorType& vec, const RealScalar& sigma) { return Eigen::internal::llt_rank_update_lower(mat, vec, sigma); } }; template struct llt_inplace { typedef typename NumTraits::Real RealScalar; template static EIGEN_STRONG_INLINE Index unblocked(MatrixType& mat) { Transpose matt(mat); return llt_inplace::unblocked(matt); } template static EIGEN_STRONG_INLINE Index blocked(MatrixType& mat) { Transpose matt(mat); return llt_inplace::blocked(matt); } template static Index rankUpdate(MatrixType& mat, const VectorType& vec, const RealScalar& sigma) { Transpose matt(mat); return llt_inplace::rankUpdate(matt, vec.conjugate(), sigma); } }; template struct LLT_Traits { typedef const TriangularView MatrixL; typedef const TriangularView MatrixU; static inline MatrixL getL(const MatrixType& m) { return MatrixL(m); } static inline MatrixU getU(const MatrixType& m) { return MatrixU(m.adjoint()); } static bool inplace_decomposition(MatrixType& m) { return llt_inplace::blocked(m)==-1; } }; template struct LLT_Traits { typedef const TriangularView MatrixL; typedef const TriangularView MatrixU; static inline MatrixL getL(const MatrixType& m) { return MatrixL(m.adjoint()); } static inline MatrixU getU(const MatrixType& m) { return MatrixU(m); } static bool inplace_decomposition(MatrixType& m) { return llt_inplace::blocked(m)==-1; } }; } // end namespace internal /** Computes / recomputes the Cholesky decomposition A = LL^* = U^*U of \a matrix * * \returns a reference to *this * * Example: \include TutorialLinAlgComputeTwice.cpp * Output: \verbinclude TutorialLinAlgComputeTwice.out */ template template LLT& LLT::compute(const EigenBase& a) { check_template_parameters(); eigen_assert(a.rows()==a.cols()); const Index size = a.rows(); m_matrix.resize(size, size); m_matrix = a.derived(); // Compute matrix L1 norm = max abs column sum. m_l1_norm = RealScalar(0); // TODO move this code to SelfAdjointView for (Index col = 0; col < size; ++col) { RealScalar abs_col_sum; if (_UpLo == Lower) abs_col_sum = m_matrix.col(col).tail(size - col).template lpNorm<1>() + m_matrix.row(col).head(col).template lpNorm<1>(); else abs_col_sum = m_matrix.col(col).head(col).template lpNorm<1>() + m_matrix.row(col).tail(size - col).template lpNorm<1>(); if (abs_col_sum > m_l1_norm) m_l1_norm = abs_col_sum; } m_isInitialized = true; bool ok = Traits::inplace_decomposition(m_matrix); m_info = ok ? Success : NumericalIssue; return *this; } /** Performs a rank one update (or dowdate) of the current decomposition. * If A = LL^* before the rank one update, * then after it we have LL^* = A + sigma * v v^* where \a v must be a vector * of same dimension. */ template template LLT<_MatrixType,_UpLo> LLT<_MatrixType,_UpLo>::rankUpdate(const VectorType& v, const RealScalar& sigma) { EIGEN_STATIC_ASSERT_VECTOR_ONLY(VectorType); eigen_assert(v.size()==m_matrix.cols()); eigen_assert(m_isInitialized); if(internal::llt_inplace::rankUpdate(m_matrix,v,sigma)>=0) m_info = NumericalIssue; else m_info = Success; return *this; } #ifndef EIGEN_PARSED_BY_DOXYGEN template template void LLT<_MatrixType,_UpLo>::_solve_impl(const RhsType &rhs, DstType &dst) const { dst = rhs; solveInPlace(dst); } #endif /** \internal use x = llt_object.solve(x); * * This is the \em in-place version of solve(). * * \param bAndX represents both the right-hand side matrix b and result x. * * This version avoids a copy when the right hand side matrix b is not needed anymore. * * \sa LLT::solve(), MatrixBase::llt() */ template template void LLT::solveInPlace(MatrixBase &bAndX) const { eigen_assert(m_isInitialized && "LLT is not initialized."); eigen_assert(m_matrix.rows()==bAndX.rows()); matrixL().solveInPlace(bAndX); matrixU().solveInPlace(bAndX); } /** \returns the matrix represented by the decomposition, * i.e., it returns the product: L L^*. * This function is provided for debug purpose. */ template MatrixType LLT::reconstructedMatrix() const { eigen_assert(m_isInitialized && "LLT is not initialized."); return matrixL() * matrixL().adjoint().toDenseMatrix(); } /** \cholesky_module * \returns the LLT decomposition of \c *this * \sa SelfAdjointView::llt() */ template inline const LLT::PlainObject> MatrixBase::llt() const { return LLT(derived()); } /** \cholesky_module * \returns the LLT decomposition of \c *this * \sa SelfAdjointView::llt() */ template inline const LLT::PlainObject, UpLo> SelfAdjointView::llt() const { return LLT(m_matrix); } } // end namespace Eigen #endif // EIGEN_LLT_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Cholesky/LLT_LAPACKE.h ================================================ /* Copyright (c) 2011, Intel Corporation. All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of Intel Corporation nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ******************************************************************************** * Content : Eigen bindings to LAPACKe * LLt decomposition based on LAPACKE_?potrf function. ******************************************************************************** */ #ifndef EIGEN_LLT_LAPACKE_H #define EIGEN_LLT_LAPACKE_H namespace Eigen { namespace internal { template struct lapacke_llt; #define EIGEN_LAPACKE_LLT(EIGTYPE, BLASTYPE, LAPACKE_PREFIX) \ template<> struct lapacke_llt \ { \ template \ static inline Index potrf(MatrixType& m, char uplo) \ { \ lapack_int matrix_order; \ lapack_int size, lda, info, StorageOrder; \ EIGTYPE* a; \ eigen_assert(m.rows()==m.cols()); \ /* Set up parameters for ?potrf */ \ size = convert_index(m.rows()); \ StorageOrder = MatrixType::Flags&RowMajorBit?RowMajor:ColMajor; \ matrix_order = StorageOrder==RowMajor ? LAPACK_ROW_MAJOR : LAPACK_COL_MAJOR; \ a = &(m.coeffRef(0,0)); \ lda = convert_index(m.outerStride()); \ \ info = LAPACKE_##LAPACKE_PREFIX##potrf( matrix_order, uplo, size, (BLASTYPE*)a, lda ); \ info = (info==0) ? -1 : info>0 ? info-1 : size; \ return info; \ } \ }; \ template<> struct llt_inplace \ { \ template \ static Index blocked(MatrixType& m) \ { \ return lapacke_llt::potrf(m, 'L'); \ } \ template \ static Index rankUpdate(MatrixType& mat, const VectorType& vec, const typename MatrixType::RealScalar& sigma) \ { return Eigen::internal::llt_rank_update_lower(mat, vec, sigma); } \ }; \ template<> struct llt_inplace \ { \ template \ static Index blocked(MatrixType& m) \ { \ return lapacke_llt::potrf(m, 'U'); \ } \ template \ static Index rankUpdate(MatrixType& mat, const VectorType& vec, const typename MatrixType::RealScalar& sigma) \ { \ Transpose matt(mat); \ return llt_inplace::rankUpdate(matt, vec.conjugate(), sigma); \ } \ }; EIGEN_LAPACKE_LLT(double, double, d) EIGEN_LAPACKE_LLT(float, float, s) EIGEN_LAPACKE_LLT(dcomplex, lapack_complex_double, z) EIGEN_LAPACKE_LLT(scomplex, lapack_complex_float, c) } // end namespace internal } // end namespace Eigen #endif // EIGEN_LLT_LAPACKE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/CholmodSupport/CholmodSupport.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2008-2010 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_CHOLMODSUPPORT_H #define EIGEN_CHOLMODSUPPORT_H namespace Eigen { namespace internal { template struct cholmod_configure_matrix; template<> struct cholmod_configure_matrix { template static void run(CholmodType& mat) { mat.xtype = CHOLMOD_REAL; mat.dtype = CHOLMOD_DOUBLE; } }; template<> struct cholmod_configure_matrix > { template static void run(CholmodType& mat) { mat.xtype = CHOLMOD_COMPLEX; mat.dtype = CHOLMOD_DOUBLE; } }; // Other scalar types are not yet suppotred by Cholmod // template<> struct cholmod_configure_matrix { // template // static void run(CholmodType& mat) { // mat.xtype = CHOLMOD_REAL; // mat.dtype = CHOLMOD_SINGLE; // } // }; // // template<> struct cholmod_configure_matrix > { // template // static void run(CholmodType& mat) { // mat.xtype = CHOLMOD_COMPLEX; // mat.dtype = CHOLMOD_SINGLE; // } // }; } // namespace internal /** Wraps the Eigen sparse matrix \a mat into a Cholmod sparse matrix object. * Note that the data are shared. */ template cholmod_sparse viewAsCholmod(Ref > mat) { cholmod_sparse res; res.nzmax = mat.nonZeros(); res.nrow = mat.rows(); res.ncol = mat.cols(); res.p = mat.outerIndexPtr(); res.i = mat.innerIndexPtr(); res.x = mat.valuePtr(); res.z = 0; res.sorted = 1; if(mat.isCompressed()) { res.packed = 1; res.nz = 0; } else { res.packed = 0; res.nz = mat.innerNonZeroPtr(); } res.dtype = 0; res.stype = -1; if (internal::is_same<_StorageIndex,int>::value) { res.itype = CHOLMOD_INT; } else if (internal::is_same<_StorageIndex,long>::value) { res.itype = CHOLMOD_LONG; } else { eigen_assert(false && "Index type not supported yet"); } // setup res.xtype internal::cholmod_configure_matrix<_Scalar>::run(res); res.stype = 0; return res; } template const cholmod_sparse viewAsCholmod(const SparseMatrix<_Scalar,_Options,_Index>& mat) { cholmod_sparse res = viewAsCholmod(Ref >(mat.const_cast_derived())); return res; } template const cholmod_sparse viewAsCholmod(const SparseVector<_Scalar,_Options,_Index>& mat) { cholmod_sparse res = viewAsCholmod(Ref >(mat.const_cast_derived())); return res; } /** Returns a view of the Eigen sparse matrix \a mat as Cholmod sparse matrix. * The data are not copied but shared. */ template cholmod_sparse viewAsCholmod(const SparseSelfAdjointView, UpLo>& mat) { cholmod_sparse res = viewAsCholmod(Ref >(mat.matrix().const_cast_derived())); if(UpLo==Upper) res.stype = 1; if(UpLo==Lower) res.stype = -1; return res; } /** Returns a view of the Eigen \b dense matrix \a mat as Cholmod dense matrix. * The data are not copied but shared. */ template cholmod_dense viewAsCholmod(MatrixBase& mat) { EIGEN_STATIC_ASSERT((internal::traits::Flags&RowMajorBit)==0,THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES); typedef typename Derived::Scalar Scalar; cholmod_dense res; res.nrow = mat.rows(); res.ncol = mat.cols(); res.nzmax = res.nrow * res.ncol; res.d = Derived::IsVectorAtCompileTime ? mat.derived().size() : mat.derived().outerStride(); res.x = (void*)(mat.derived().data()); res.z = 0; internal::cholmod_configure_matrix::run(res); return res; } /** Returns a view of the Cholmod sparse matrix \a cm as an Eigen sparse matrix. * The data are not copied but shared. */ template MappedSparseMatrix viewAsEigen(cholmod_sparse& cm) { return MappedSparseMatrix (cm.nrow, cm.ncol, static_cast(cm.p)[cm.ncol], static_cast(cm.p), static_cast(cm.i),static_cast(cm.x) ); } enum CholmodMode { CholmodAuto, CholmodSimplicialLLt, CholmodSupernodalLLt, CholmodLDLt }; /** \ingroup CholmodSupport_Module * \class CholmodBase * \brief The base class for the direct Cholesky factorization of Cholmod * \sa class CholmodSupernodalLLT, class CholmodSimplicialLDLT, class CholmodSimplicialLLT */ template class CholmodBase : public SparseSolverBase { protected: typedef SparseSolverBase Base; using Base::derived; using Base::m_isInitialized; public: typedef _MatrixType MatrixType; enum { UpLo = _UpLo }; typedef typename MatrixType::Scalar Scalar; typedef typename MatrixType::RealScalar RealScalar; typedef MatrixType CholMatrixType; typedef typename MatrixType::StorageIndex StorageIndex; enum { ColsAtCompileTime = MatrixType::ColsAtCompileTime, MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime }; public: CholmodBase() : m_cholmodFactor(0), m_info(Success), m_factorizationIsOk(false), m_analysisIsOk(false) { EIGEN_STATIC_ASSERT((internal::is_same::value), CHOLMOD_SUPPORTS_DOUBLE_PRECISION_ONLY); m_shiftOffset[0] = m_shiftOffset[1] = 0.0; cholmod_start(&m_cholmod); } explicit CholmodBase(const MatrixType& matrix) : m_cholmodFactor(0), m_info(Success), m_factorizationIsOk(false), m_analysisIsOk(false) { EIGEN_STATIC_ASSERT((internal::is_same::value), CHOLMOD_SUPPORTS_DOUBLE_PRECISION_ONLY); m_shiftOffset[0] = m_shiftOffset[1] = 0.0; cholmod_start(&m_cholmod); compute(matrix); } ~CholmodBase() { if(m_cholmodFactor) cholmod_free_factor(&m_cholmodFactor, &m_cholmod); cholmod_finish(&m_cholmod); } inline StorageIndex cols() const { return internal::convert_index(m_cholmodFactor->n); } inline StorageIndex rows() const { return internal::convert_index(m_cholmodFactor->n); } /** \brief Reports whether previous computation was successful. * * \returns \c Success if computation was succesful, * \c NumericalIssue if the matrix.appears to be negative. */ ComputationInfo info() const { eigen_assert(m_isInitialized && "Decomposition is not initialized."); return m_info; } /** Computes the sparse Cholesky decomposition of \a matrix */ Derived& compute(const MatrixType& matrix) { analyzePattern(matrix); factorize(matrix); return derived(); } /** Performs a symbolic decomposition on the sparsity pattern of \a matrix. * * This function is particularly useful when solving for several problems having the same structure. * * \sa factorize() */ void analyzePattern(const MatrixType& matrix) { if(m_cholmodFactor) { cholmod_free_factor(&m_cholmodFactor, &m_cholmod); m_cholmodFactor = 0; } cholmod_sparse A = viewAsCholmod(matrix.template selfadjointView()); m_cholmodFactor = cholmod_analyze(&A, &m_cholmod); this->m_isInitialized = true; this->m_info = Success; m_analysisIsOk = true; m_factorizationIsOk = false; } /** Performs a numeric decomposition of \a matrix * * The given matrix must have the same sparsity pattern as the matrix on which the symbolic decomposition has been performed. * * \sa analyzePattern() */ void factorize(const MatrixType& matrix) { eigen_assert(m_analysisIsOk && "You must first call analyzePattern()"); cholmod_sparse A = viewAsCholmod(matrix.template selfadjointView()); cholmod_factorize_p(&A, m_shiftOffset, 0, 0, m_cholmodFactor, &m_cholmod); // If the factorization failed, minor is the column at which it did. On success minor == n. this->m_info = (m_cholmodFactor->minor == m_cholmodFactor->n ? Success : NumericalIssue); m_factorizationIsOk = true; } /** Returns a reference to the Cholmod's configuration structure to get a full control over the performed operations. * See the Cholmod user guide for details. */ cholmod_common& cholmod() { return m_cholmod; } #ifndef EIGEN_PARSED_BY_DOXYGEN /** \internal */ template void _solve_impl(const MatrixBase &b, MatrixBase &dest) const { eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or symbolic()/numeric()"); const Index size = m_cholmodFactor->n; EIGEN_UNUSED_VARIABLE(size); eigen_assert(size==b.rows()); // Cholmod needs column-major stoarge without inner-stride, which corresponds to the default behavior of Ref. Ref > b_ref(b.derived()); cholmod_dense b_cd = viewAsCholmod(b_ref); cholmod_dense* x_cd = cholmod_solve(CHOLMOD_A, m_cholmodFactor, &b_cd, &m_cholmod); if(!x_cd) { this->m_info = NumericalIssue; return; } // TODO optimize this copy by swapping when possible (be careful with alignment, etc.) dest = Matrix::Map(reinterpret_cast(x_cd->x),b.rows(),b.cols()); cholmod_free_dense(&x_cd, &m_cholmod); } /** \internal */ template void _solve_impl(const SparseMatrixBase &b, SparseMatrixBase &dest) const { eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or symbolic()/numeric()"); const Index size = m_cholmodFactor->n; EIGEN_UNUSED_VARIABLE(size); eigen_assert(size==b.rows()); // note: cs stands for Cholmod Sparse Ref > b_ref(b.const_cast_derived()); cholmod_sparse b_cs = viewAsCholmod(b_ref); cholmod_sparse* x_cs = cholmod_spsolve(CHOLMOD_A, m_cholmodFactor, &b_cs, &m_cholmod); if(!x_cs) { this->m_info = NumericalIssue; return; } // TODO optimize this copy by swapping when possible (be careful with alignment, etc.) dest.derived() = viewAsEigen(*x_cs); cholmod_free_sparse(&x_cs, &m_cholmod); } #endif // EIGEN_PARSED_BY_DOXYGEN /** Sets the shift parameter that will be used to adjust the diagonal coefficients during the numerical factorization. * * During the numerical factorization, an offset term is added to the diagonal coefficients:\n * \c d_ii = \a offset + \c d_ii * * The default is \a offset=0. * * \returns a reference to \c *this. */ Derived& setShift(const RealScalar& offset) { m_shiftOffset[0] = double(offset); return derived(); } /** \returns the determinant of the underlying matrix from the current factorization */ Scalar determinant() const { using std::exp; return exp(logDeterminant()); } /** \returns the log determinant of the underlying matrix from the current factorization */ Scalar logDeterminant() const { using std::log; using numext::real; eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or symbolic()/numeric()"); RealScalar logDet = 0; Scalar *x = static_cast(m_cholmodFactor->x); if (m_cholmodFactor->is_super) { // Supernodal factorization stored as a packed list of dense column-major blocs, // as described by the following structure: // super[k] == index of the first column of the j-th super node StorageIndex *super = static_cast(m_cholmodFactor->super); // pi[k] == offset to the description of row indices StorageIndex *pi = static_cast(m_cholmodFactor->pi); // px[k] == offset to the respective dense block StorageIndex *px = static_cast(m_cholmodFactor->px); Index nb_super_nodes = m_cholmodFactor->nsuper; for (Index k=0; k < nb_super_nodes; ++k) { StorageIndex ncols = super[k + 1] - super[k]; StorageIndex nrows = pi[k + 1] - pi[k]; Map, 0, InnerStride<> > sk(x + px[k], ncols, InnerStride<>(nrows+1)); logDet += sk.real().log().sum(); } } else { // Simplicial factorization stored as standard CSC matrix. StorageIndex *p = static_cast(m_cholmodFactor->p); Index size = m_cholmodFactor->n; for (Index k=0; kis_ll) logDet *= 2.0; return logDet; }; template void dumpMemory(Stream& /*s*/) {} protected: mutable cholmod_common m_cholmod; cholmod_factor* m_cholmodFactor; double m_shiftOffset[2]; mutable ComputationInfo m_info; int m_factorizationIsOk; int m_analysisIsOk; }; /** \ingroup CholmodSupport_Module * \class CholmodSimplicialLLT * \brief A simplicial direct Cholesky (LLT) factorization and solver based on Cholmod * * This class allows to solve for A.X = B sparse linear problems via a simplicial LL^T Cholesky factorization * using the Cholmod library. * This simplicial variant is equivalent to Eigen's built-in SimplicialLLT class. Therefore, it has little practical interest. * The sparse matrix A must be selfadjoint and positive definite. The vectors or matrices * X and B can be either dense or sparse. * * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<> * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower * or Upper. Default is Lower. * * \implsparsesolverconcept * * This class supports all kind of SparseMatrix<>: row or column major; upper, lower, or both; compressed or non compressed. * * \warning Only double precision real and complex scalar types are supported by Cholmod. * * \sa \ref TutorialSparseSolverConcept, class CholmodSupernodalLLT, class SimplicialLLT */ template class CholmodSimplicialLLT : public CholmodBase<_MatrixType, _UpLo, CholmodSimplicialLLT<_MatrixType, _UpLo> > { typedef CholmodBase<_MatrixType, _UpLo, CholmodSimplicialLLT> Base; using Base::m_cholmod; public: typedef _MatrixType MatrixType; CholmodSimplicialLLT() : Base() { init(); } CholmodSimplicialLLT(const MatrixType& matrix) : Base() { init(); this->compute(matrix); } ~CholmodSimplicialLLT() {} protected: void init() { m_cholmod.final_asis = 0; m_cholmod.supernodal = CHOLMOD_SIMPLICIAL; m_cholmod.final_ll = 1; } }; /** \ingroup CholmodSupport_Module * \class CholmodSimplicialLDLT * \brief A simplicial direct Cholesky (LDLT) factorization and solver based on Cholmod * * This class allows to solve for A.X = B sparse linear problems via a simplicial LDL^T Cholesky factorization * using the Cholmod library. * This simplicial variant is equivalent to Eigen's built-in SimplicialLDLT class. Therefore, it has little practical interest. * The sparse matrix A must be selfadjoint and positive definite. The vectors or matrices * X and B can be either dense or sparse. * * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<> * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower * or Upper. Default is Lower. * * \implsparsesolverconcept * * This class supports all kind of SparseMatrix<>: row or column major; upper, lower, or both; compressed or non compressed. * * \warning Only double precision real and complex scalar types are supported by Cholmod. * * \sa \ref TutorialSparseSolverConcept, class CholmodSupernodalLLT, class SimplicialLDLT */ template class CholmodSimplicialLDLT : public CholmodBase<_MatrixType, _UpLo, CholmodSimplicialLDLT<_MatrixType, _UpLo> > { typedef CholmodBase<_MatrixType, _UpLo, CholmodSimplicialLDLT> Base; using Base::m_cholmod; public: typedef _MatrixType MatrixType; CholmodSimplicialLDLT() : Base() { init(); } CholmodSimplicialLDLT(const MatrixType& matrix) : Base() { init(); this->compute(matrix); } ~CholmodSimplicialLDLT() {} protected: void init() { m_cholmod.final_asis = 1; m_cholmod.supernodal = CHOLMOD_SIMPLICIAL; } }; /** \ingroup CholmodSupport_Module * \class CholmodSupernodalLLT * \brief A supernodal Cholesky (LLT) factorization and solver based on Cholmod * * This class allows to solve for A.X = B sparse linear problems via a supernodal LL^T Cholesky factorization * using the Cholmod library. * This supernodal variant performs best on dense enough problems, e.g., 3D FEM, or very high order 2D FEM. * The sparse matrix A must be selfadjoint and positive definite. The vectors or matrices * X and B can be either dense or sparse. * * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<> * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower * or Upper. Default is Lower. * * \implsparsesolverconcept * * This class supports all kind of SparseMatrix<>: row or column major; upper, lower, or both; compressed or non compressed. * * \warning Only double precision real and complex scalar types are supported by Cholmod. * * \sa \ref TutorialSparseSolverConcept */ template class CholmodSupernodalLLT : public CholmodBase<_MatrixType, _UpLo, CholmodSupernodalLLT<_MatrixType, _UpLo> > { typedef CholmodBase<_MatrixType, _UpLo, CholmodSupernodalLLT> Base; using Base::m_cholmod; public: typedef _MatrixType MatrixType; CholmodSupernodalLLT() : Base() { init(); } CholmodSupernodalLLT(const MatrixType& matrix) : Base() { init(); this->compute(matrix); } ~CholmodSupernodalLLT() {} protected: void init() { m_cholmod.final_asis = 1; m_cholmod.supernodal = CHOLMOD_SUPERNODAL; } }; /** \ingroup CholmodSupport_Module * \class CholmodDecomposition * \brief A general Cholesky factorization and solver based on Cholmod * * This class allows to solve for A.X = B sparse linear problems via a LL^T or LDL^T Cholesky factorization * using the Cholmod library. The sparse matrix A must be selfadjoint and positive definite. The vectors or matrices * X and B can be either dense or sparse. * * This variant permits to change the underlying Cholesky method at runtime. * On the other hand, it does not provide access to the result of the factorization. * The default is to let Cholmod automatically choose between a simplicial and supernodal factorization. * * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<> * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower * or Upper. Default is Lower. * * \implsparsesolverconcept * * This class supports all kind of SparseMatrix<>: row or column major; upper, lower, or both; compressed or non compressed. * * \warning Only double precision real and complex scalar types are supported by Cholmod. * * \sa \ref TutorialSparseSolverConcept */ template class CholmodDecomposition : public CholmodBase<_MatrixType, _UpLo, CholmodDecomposition<_MatrixType, _UpLo> > { typedef CholmodBase<_MatrixType, _UpLo, CholmodDecomposition> Base; using Base::m_cholmod; public: typedef _MatrixType MatrixType; CholmodDecomposition() : Base() { init(); } CholmodDecomposition(const MatrixType& matrix) : Base() { init(); this->compute(matrix); } ~CholmodDecomposition() {} void setMode(CholmodMode mode) { switch(mode) { case CholmodAuto: m_cholmod.final_asis = 1; m_cholmod.supernodal = CHOLMOD_AUTO; break; case CholmodSimplicialLLt: m_cholmod.final_asis = 0; m_cholmod.supernodal = CHOLMOD_SIMPLICIAL; m_cholmod.final_ll = 1; break; case CholmodSupernodalLLt: m_cholmod.final_asis = 1; m_cholmod.supernodal = CHOLMOD_SUPERNODAL; break; case CholmodLDLt: m_cholmod.final_asis = 1; m_cholmod.supernodal = CHOLMOD_SIMPLICIAL; break; default: break; } } protected: void init() { m_cholmod.final_asis = 1; m_cholmod.supernodal = CHOLMOD_AUTO; } }; } // end namespace Eigen #endif // EIGEN_CHOLMODSUPPORT_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/Array.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2009 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_ARRAY_H #define EIGEN_ARRAY_H namespace Eigen { namespace internal { template struct traits > : traits > { typedef ArrayXpr XprKind; typedef ArrayBase > XprBase; }; } /** \class Array * \ingroup Core_Module * * \brief General-purpose arrays with easy API for coefficient-wise operations * * The %Array class is very similar to the Matrix class. It provides * general-purpose one- and two-dimensional arrays. The difference between the * %Array and the %Matrix class is primarily in the API: the API for the * %Array class provides easy access to coefficient-wise operations, while the * API for the %Matrix class provides easy access to linear-algebra * operations. * * See documentation of class Matrix for detailed information on the template parameters * storage layout. * * This class can be extended with the help of the plugin mechanism described on the page * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_ARRAY_PLUGIN. * * \sa \blank \ref TutorialArrayClass, \ref TopicClassHierarchy */ template class Array : public PlainObjectBase > { public: typedef PlainObjectBase Base; EIGEN_DENSE_PUBLIC_INTERFACE(Array) enum { Options = _Options }; typedef typename Base::PlainObject PlainObject; protected: template friend struct internal::conservative_resize_like_impl; using Base::m_storage; public: using Base::base; using Base::coeff; using Base::coeffRef; /** * The usage of * using Base::operator=; * fails on MSVC. Since the code below is working with GCC and MSVC, we skipped * the usage of 'using'. This should be done only for operator=. */ template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Array& operator=(const EigenBase &other) { return Base::operator=(other); } /** Set all the entries to \a value. * \sa DenseBase::setConstant(), DenseBase::fill() */ /* This overload is needed because the usage of * using Base::operator=; * fails on MSVC. Since the code below is working with GCC and MSVC, we skipped * the usage of 'using'. This should be done only for operator=. */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Array& operator=(const Scalar &value) { Base::setConstant(value); return *this; } /** Copies the value of the expression \a other into \c *this with automatic resizing. * * *this might be resized to match the dimensions of \a other. If *this was a null matrix (not already initialized), * it will be initialized. * * Note that copying a row-vector into a vector (and conversely) is allowed. * The resizing, if any, is then done in the appropriate way so that row-vectors * remain row-vectors and vectors remain vectors. */ template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Array& operator=(const DenseBase& other) { return Base::_set(other); } /** This is a special case of the templated operator=. Its purpose is to * prevent a default operator= from hiding the templated operator=. */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Array& operator=(const Array& other) { return Base::_set(other); } /** Default constructor. * * For fixed-size matrices, does nothing. * * For dynamic-size matrices, creates an empty matrix of size 0. Does not allocate any array. Such a matrix * is called a null matrix. This constructor is the unique way to create null matrices: resizing * a matrix to 0 is not supported. * * \sa resize(Index,Index) */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Array() : Base() { Base::_check_template_params(); EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED } #ifndef EIGEN_PARSED_BY_DOXYGEN // FIXME is it still needed ?? /** \internal */ EIGEN_DEVICE_FUNC Array(internal::constructor_without_unaligned_array_assert) : Base(internal::constructor_without_unaligned_array_assert()) { Base::_check_template_params(); EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED } #endif #if EIGEN_HAS_RVALUE_REFERENCES EIGEN_DEVICE_FUNC Array(Array&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_constructible::value) : Base(std::move(other)) { Base::_check_template_params(); if (RowsAtCompileTime!=Dynamic && ColsAtCompileTime!=Dynamic) Base::_set_noalias(other); } EIGEN_DEVICE_FUNC Array& operator=(Array&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_assignable::value) { other.swap(*this); return *this; } #endif #ifndef EIGEN_PARSED_BY_DOXYGEN template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit Array(const T& x) { Base::_check_template_params(); Base::template _init1(x); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Array(const T0& val0, const T1& val1) { Base::_check_template_params(); this->template _init2(val0, val1); } #else /** \brief Constructs a fixed-sized array initialized with coefficients starting at \a data */ EIGEN_DEVICE_FUNC explicit Array(const Scalar *data); /** Constructs a vector or row-vector with given dimension. \only_for_vectors * * Note that this is only useful for dynamic-size vectors. For fixed-size vectors, * it is redundant to pass the dimension here, so it makes more sense to use the default * constructor Array() instead. */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit Array(Index dim); /** constructs an initialized 1x1 Array with the given coefficient */ Array(const Scalar& value); /** constructs an uninitialized array with \a rows rows and \a cols columns. * * This is useful for dynamic-size arrays. For fixed-size arrays, * it is redundant to pass these parameters, so one should use the default constructor * Array() instead. */ Array(Index rows, Index cols); /** constructs an initialized 2D vector with given coefficients */ Array(const Scalar& val0, const Scalar& val1); #endif /** constructs an initialized 3D vector with given coefficients */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Array(const Scalar& val0, const Scalar& val1, const Scalar& val2) { Base::_check_template_params(); EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Array, 3) m_storage.data()[0] = val0; m_storage.data()[1] = val1; m_storage.data()[2] = val2; } /** constructs an initialized 4D vector with given coefficients */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Array(const Scalar& val0, const Scalar& val1, const Scalar& val2, const Scalar& val3) { Base::_check_template_params(); EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Array, 4) m_storage.data()[0] = val0; m_storage.data()[1] = val1; m_storage.data()[2] = val2; m_storage.data()[3] = val3; } /** Copy constructor */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Array(const Array& other) : Base(other) { } /** \sa MatrixBase::operator=(const EigenBase&) */ template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Array(const EigenBase &other) : Base(other.derived()) { } EIGEN_DEVICE_FUNC inline Index innerStride() const { return 1; } EIGEN_DEVICE_FUNC inline Index outerStride() const { return this->innerSize(); } #ifdef EIGEN_ARRAY_PLUGIN #include EIGEN_ARRAY_PLUGIN #endif private: template friend struct internal::matrix_swap_impl; }; /** \defgroup arraytypedefs Global array typedefs * \ingroup Core_Module * * Eigen defines several typedef shortcuts for most common 1D and 2D array types. * * The general patterns are the following: * * \c ArrayRowsColsType where \c Rows and \c Cols can be \c 2,\c 3,\c 4 for fixed size square matrices or \c X for dynamic size, * and where \c Type can be \c i for integer, \c f for float, \c d for double, \c cf for complex float, \c cd * for complex double. * * For example, \c Array33d is a fixed-size 3x3 array type of doubles, and \c ArrayXXf is a dynamic-size matrix of floats. * * There are also \c ArraySizeType which are self-explanatory. For example, \c Array4cf is * a fixed-size 1D array of 4 complex floats. * * \sa class Array */ #define EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, Size, SizeSuffix) \ /** \ingroup arraytypedefs */ \ typedef Array Array##SizeSuffix##SizeSuffix##TypeSuffix; \ /** \ingroup arraytypedefs */ \ typedef Array Array##SizeSuffix##TypeSuffix; #define EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS(Type, TypeSuffix, Size) \ /** \ingroup arraytypedefs */ \ typedef Array Array##Size##X##TypeSuffix; \ /** \ingroup arraytypedefs */ \ typedef Array Array##X##Size##TypeSuffix; #define EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(Type, TypeSuffix) \ EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, 2, 2) \ EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, 3, 3) \ EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, 4, 4) \ EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, Dynamic, X) \ EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS(Type, TypeSuffix, 2) \ EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS(Type, TypeSuffix, 3) \ EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS(Type, TypeSuffix, 4) EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(int, i) EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(float, f) EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(double, d) EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(std::complex, cf) EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(std::complex, cd) #undef EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES #undef EIGEN_MAKE_ARRAY_TYPEDEFS #undef EIGEN_MAKE_ARRAY_TYPEDEFS_LARGE #define EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, SizeSuffix) \ using Eigen::Matrix##SizeSuffix##TypeSuffix; \ using Eigen::Vector##SizeSuffix##TypeSuffix; \ using Eigen::RowVector##SizeSuffix##TypeSuffix; #define EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(TypeSuffix) \ EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 2) \ EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 3) \ EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 4) \ EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, X) \ #define EIGEN_USING_ARRAY_TYPEDEFS \ EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(i) \ EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(f) \ EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(d) \ EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(cf) \ EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(cd) } // end namespace Eigen #endif // EIGEN_ARRAY_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/ArrayBase.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2009 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_ARRAYBASE_H #define EIGEN_ARRAYBASE_H namespace Eigen { template class MatrixWrapper; /** \class ArrayBase * \ingroup Core_Module * * \brief Base class for all 1D and 2D array, and related expressions * * An array is similar to a dense vector or matrix. While matrices are mathematical * objects with well defined linear algebra operators, an array is just a collection * of scalar values arranged in a one or two dimensionnal fashion. As the main consequence, * all operations applied to an array are performed coefficient wise. Furthermore, * arrays support scalar math functions of the c++ standard library (e.g., std::sin(x)), and convenient * constructors allowing to easily write generic code working for both scalar values * and arrays. * * This class is the base that is inherited by all array expression types. * * \tparam Derived is the derived type, e.g., an array or an expression type. * * This class can be extended with the help of the plugin mechanism described on the page * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_ARRAYBASE_PLUGIN. * * \sa class MatrixBase, \ref TopicClassHierarchy */ template class ArrayBase : public DenseBase { public: #ifndef EIGEN_PARSED_BY_DOXYGEN /** The base class for a given storage type. */ typedef ArrayBase StorageBaseType; typedef ArrayBase Eigen_BaseClassForSpecializationOfGlobalMathFuncImpl; typedef typename internal::traits::StorageKind StorageKind; typedef typename internal::traits::Scalar Scalar; typedef typename internal::packet_traits::type PacketScalar; typedef typename NumTraits::Real RealScalar; typedef DenseBase Base; using Base::RowsAtCompileTime; using Base::ColsAtCompileTime; using Base::SizeAtCompileTime; using Base::MaxRowsAtCompileTime; using Base::MaxColsAtCompileTime; using Base::MaxSizeAtCompileTime; using Base::IsVectorAtCompileTime; using Base::Flags; using Base::derived; using Base::const_cast_derived; using Base::rows; using Base::cols; using Base::size; using Base::coeff; using Base::coeffRef; using Base::lazyAssign; using Base::operator=; using Base::operator+=; using Base::operator-=; using Base::operator*=; using Base::operator/=; typedef typename Base::CoeffReturnType CoeffReturnType; #endif // not EIGEN_PARSED_BY_DOXYGEN #ifndef EIGEN_PARSED_BY_DOXYGEN typedef typename Base::PlainObject PlainObject; /** \internal Represents a matrix with all coefficients equal to one another*/ typedef CwiseNullaryOp,PlainObject> ConstantReturnType; #endif // not EIGEN_PARSED_BY_DOXYGEN #define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::ArrayBase #define EIGEN_DOC_UNARY_ADDONS(X,Y) # include "../plugins/CommonCwiseUnaryOps.h" # include "../plugins/MatrixCwiseUnaryOps.h" # include "../plugins/ArrayCwiseUnaryOps.h" # include "../plugins/CommonCwiseBinaryOps.h" # include "../plugins/MatrixCwiseBinaryOps.h" # include "../plugins/ArrayCwiseBinaryOps.h" # ifdef EIGEN_ARRAYBASE_PLUGIN # include EIGEN_ARRAYBASE_PLUGIN # endif #undef EIGEN_CURRENT_STORAGE_BASE_CLASS #undef EIGEN_DOC_UNARY_ADDONS /** Special case of the template operator=, in order to prevent the compiler * from generating a default operator= (issue hit with g++ 4.1) */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator=(const ArrayBase& other) { internal::call_assignment(derived(), other.derived()); return derived(); } /** Set all the entries to \a value. * \sa DenseBase::setConstant(), DenseBase::fill() */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator=(const Scalar &value) { Base::setConstant(value); return derived(); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator+=(const Scalar& scalar); EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator-=(const Scalar& scalar); template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator+=(const ArrayBase& other); template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator-=(const ArrayBase& other); template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator*=(const ArrayBase& other); template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator/=(const ArrayBase& other); public: EIGEN_DEVICE_FUNC ArrayBase& array() { return *this; } EIGEN_DEVICE_FUNC const ArrayBase& array() const { return *this; } /** \returns an \link Eigen::MatrixBase Matrix \endlink expression of this array * \sa MatrixBase::array() */ EIGEN_DEVICE_FUNC MatrixWrapper matrix() { return MatrixWrapper(derived()); } EIGEN_DEVICE_FUNC const MatrixWrapper matrix() const { return MatrixWrapper(derived()); } // template // inline void evalTo(Dest& dst) const { dst = matrix(); } protected: EIGEN_DEVICE_FUNC ArrayBase() : Base() {} private: explicit ArrayBase(Index); ArrayBase(Index,Index); template explicit ArrayBase(const ArrayBase&); protected: // mixing arrays and matrices is not legal template Derived& operator+=(const MatrixBase& ) {EIGEN_STATIC_ASSERT(std::ptrdiff_t(sizeof(typename OtherDerived::Scalar))==-1,YOU_CANNOT_MIX_ARRAYS_AND_MATRICES); return *this;} // mixing arrays and matrices is not legal template Derived& operator-=(const MatrixBase& ) {EIGEN_STATIC_ASSERT(std::ptrdiff_t(sizeof(typename OtherDerived::Scalar))==-1,YOU_CANNOT_MIX_ARRAYS_AND_MATRICES); return *this;} }; /** replaces \c *this by \c *this - \a other. * * \returns a reference to \c *this */ template template EIGEN_STRONG_INLINE Derived & ArrayBase::operator-=(const ArrayBase &other) { call_assignment(derived(), other.derived(), internal::sub_assign_op()); return derived(); } /** replaces \c *this by \c *this + \a other. * * \returns a reference to \c *this */ template template EIGEN_STRONG_INLINE Derived & ArrayBase::operator+=(const ArrayBase& other) { call_assignment(derived(), other.derived(), internal::add_assign_op()); return derived(); } /** replaces \c *this by \c *this * \a other coefficient wise. * * \returns a reference to \c *this */ template template EIGEN_STRONG_INLINE Derived & ArrayBase::operator*=(const ArrayBase& other) { call_assignment(derived(), other.derived(), internal::mul_assign_op()); return derived(); } /** replaces \c *this by \c *this / \a other coefficient wise. * * \returns a reference to \c *this */ template template EIGEN_STRONG_INLINE Derived & ArrayBase::operator/=(const ArrayBase& other) { call_assignment(derived(), other.derived(), internal::div_assign_op()); return derived(); } } // end namespace Eigen #endif // EIGEN_ARRAYBASE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/ArrayWrapper.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2009-2010 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_ARRAYWRAPPER_H #define EIGEN_ARRAYWRAPPER_H namespace Eigen { /** \class ArrayWrapper * \ingroup Core_Module * * \brief Expression of a mathematical vector or matrix as an array object * * This class is the return type of MatrixBase::array(), and most of the time * this is the only way it is use. * * \sa MatrixBase::array(), class MatrixWrapper */ namespace internal { template struct traits > : public traits::type > { typedef ArrayXpr XprKind; // Let's remove NestByRefBit enum { Flags0 = traits::type >::Flags, Flags = Flags0 & ~NestByRefBit }; }; } template class ArrayWrapper : public ArrayBase > { public: typedef ArrayBase Base; EIGEN_DENSE_PUBLIC_INTERFACE(ArrayWrapper) EIGEN_INHERIT_ASSIGNMENT_OPERATORS(ArrayWrapper) typedef typename internal::remove_all::type NestedExpression; typedef typename internal::conditional< internal::is_lvalue::value, Scalar, const Scalar >::type ScalarWithConstIfNotLvalue; typedef typename internal::ref_selector::non_const_type NestedExpressionType; using Base::coeffRef; EIGEN_DEVICE_FUNC explicit EIGEN_STRONG_INLINE ArrayWrapper(ExpressionType& matrix) : m_expression(matrix) {} EIGEN_DEVICE_FUNC inline Index rows() const { return m_expression.rows(); } EIGEN_DEVICE_FUNC inline Index cols() const { return m_expression.cols(); } EIGEN_DEVICE_FUNC inline Index outerStride() const { return m_expression.outerStride(); } EIGEN_DEVICE_FUNC inline Index innerStride() const { return m_expression.innerStride(); } EIGEN_DEVICE_FUNC inline ScalarWithConstIfNotLvalue* data() { return m_expression.data(); } EIGEN_DEVICE_FUNC inline const Scalar* data() const { return m_expression.data(); } EIGEN_DEVICE_FUNC inline const Scalar& coeffRef(Index rowId, Index colId) const { return m_expression.coeffRef(rowId, colId); } EIGEN_DEVICE_FUNC inline const Scalar& coeffRef(Index index) const { return m_expression.coeffRef(index); } template EIGEN_DEVICE_FUNC inline void evalTo(Dest& dst) const { dst = m_expression; } const typename internal::remove_all::type& EIGEN_DEVICE_FUNC nestedExpression() const { return m_expression; } /** Forwards the resizing request to the nested expression * \sa DenseBase::resize(Index) */ EIGEN_DEVICE_FUNC void resize(Index newSize) { m_expression.resize(newSize); } /** Forwards the resizing request to the nested expression * \sa DenseBase::resize(Index,Index)*/ EIGEN_DEVICE_FUNC void resize(Index rows, Index cols) { m_expression.resize(rows,cols); } protected: NestedExpressionType m_expression; }; /** \class MatrixWrapper * \ingroup Core_Module * * \brief Expression of an array as a mathematical vector or matrix * * This class is the return type of ArrayBase::matrix(), and most of the time * this is the only way it is use. * * \sa MatrixBase::matrix(), class ArrayWrapper */ namespace internal { template struct traits > : public traits::type > { typedef MatrixXpr XprKind; // Let's remove NestByRefBit enum { Flags0 = traits::type >::Flags, Flags = Flags0 & ~NestByRefBit }; }; } template class MatrixWrapper : public MatrixBase > { public: typedef MatrixBase > Base; EIGEN_DENSE_PUBLIC_INTERFACE(MatrixWrapper) EIGEN_INHERIT_ASSIGNMENT_OPERATORS(MatrixWrapper) typedef typename internal::remove_all::type NestedExpression; typedef typename internal::conditional< internal::is_lvalue::value, Scalar, const Scalar >::type ScalarWithConstIfNotLvalue; typedef typename internal::ref_selector::non_const_type NestedExpressionType; using Base::coeffRef; EIGEN_DEVICE_FUNC explicit inline MatrixWrapper(ExpressionType& matrix) : m_expression(matrix) {} EIGEN_DEVICE_FUNC inline Index rows() const { return m_expression.rows(); } EIGEN_DEVICE_FUNC inline Index cols() const { return m_expression.cols(); } EIGEN_DEVICE_FUNC inline Index outerStride() const { return m_expression.outerStride(); } EIGEN_DEVICE_FUNC inline Index innerStride() const { return m_expression.innerStride(); } EIGEN_DEVICE_FUNC inline ScalarWithConstIfNotLvalue* data() { return m_expression.data(); } EIGEN_DEVICE_FUNC inline const Scalar* data() const { return m_expression.data(); } EIGEN_DEVICE_FUNC inline const Scalar& coeffRef(Index rowId, Index colId) const { return m_expression.derived().coeffRef(rowId, colId); } EIGEN_DEVICE_FUNC inline const Scalar& coeffRef(Index index) const { return m_expression.coeffRef(index); } EIGEN_DEVICE_FUNC const typename internal::remove_all::type& nestedExpression() const { return m_expression; } /** Forwards the resizing request to the nested expression * \sa DenseBase::resize(Index) */ EIGEN_DEVICE_FUNC void resize(Index newSize) { m_expression.resize(newSize); } /** Forwards the resizing request to the nested expression * \sa DenseBase::resize(Index,Index)*/ EIGEN_DEVICE_FUNC void resize(Index rows, Index cols) { m_expression.resize(rows,cols); } protected: NestedExpressionType m_expression; }; } // end namespace Eigen #endif // EIGEN_ARRAYWRAPPER_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/Assign.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2007 Michael Olbrich // Copyright (C) 2006-2010 Benoit Jacob // Copyright (C) 2008 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_ASSIGN_H #define EIGEN_ASSIGN_H namespace Eigen { template template EIGEN_STRONG_INLINE Derived& DenseBase ::lazyAssign(const DenseBase& other) { enum{ SameType = internal::is_same::value }; EIGEN_STATIC_ASSERT_LVALUE(Derived) EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Derived,OtherDerived) EIGEN_STATIC_ASSERT(SameType,YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY) eigen_assert(rows() == other.rows() && cols() == other.cols()); internal::call_assignment_no_alias(derived(),other.derived()); return derived(); } template template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& DenseBase::operator=(const DenseBase& other) { internal::call_assignment(derived(), other.derived()); return derived(); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& DenseBase::operator=(const DenseBase& other) { internal::call_assignment(derived(), other.derived()); return derived(); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& MatrixBase::operator=(const MatrixBase& other) { internal::call_assignment(derived(), other.derived()); return derived(); } template template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& MatrixBase::operator=(const DenseBase& other) { internal::call_assignment(derived(), other.derived()); return derived(); } template template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& MatrixBase::operator=(const EigenBase& other) { internal::call_assignment(derived(), other.derived()); return derived(); } template template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& MatrixBase::operator=(const ReturnByValue& other) { other.derived().evalTo(derived()); return derived(); } } // end namespace Eigen #endif // EIGEN_ASSIGN_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/AssignEvaluator.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2011 Benoit Jacob // Copyright (C) 2011-2014 Gael Guennebaud // Copyright (C) 2011-2012 Jitse Niesen // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_ASSIGN_EVALUATOR_H #define EIGEN_ASSIGN_EVALUATOR_H namespace Eigen { // This implementation is based on Assign.h namespace internal { /*************************************************************************** * Part 1 : the logic deciding a strategy for traversal and unrolling * ***************************************************************************/ // copy_using_evaluator_traits is based on assign_traits template struct copy_using_evaluator_traits { typedef typename DstEvaluator::XprType Dst; typedef typename Dst::Scalar DstScalar; enum { DstFlags = DstEvaluator::Flags, SrcFlags = SrcEvaluator::Flags }; public: enum { DstAlignment = DstEvaluator::Alignment, SrcAlignment = SrcEvaluator::Alignment, DstHasDirectAccess = DstFlags & DirectAccessBit, JointAlignment = EIGEN_PLAIN_ENUM_MIN(DstAlignment,SrcAlignment) }; private: enum { InnerSize = int(Dst::IsVectorAtCompileTime) ? int(Dst::SizeAtCompileTime) : int(DstFlags)&RowMajorBit ? int(Dst::ColsAtCompileTime) : int(Dst::RowsAtCompileTime), InnerMaxSize = int(Dst::IsVectorAtCompileTime) ? int(Dst::MaxSizeAtCompileTime) : int(DstFlags)&RowMajorBit ? int(Dst::MaxColsAtCompileTime) : int(Dst::MaxRowsAtCompileTime), OuterStride = int(outer_stride_at_compile_time::ret), MaxSizeAtCompileTime = Dst::SizeAtCompileTime }; // TODO distinguish between linear traversal and inner-traversals typedef typename find_best_packet::type LinearPacketType; typedef typename find_best_packet::type InnerPacketType; enum { LinearPacketSize = unpacket_traits::size, InnerPacketSize = unpacket_traits::size }; public: enum { LinearRequiredAlignment = unpacket_traits::alignment, InnerRequiredAlignment = unpacket_traits::alignment }; private: enum { DstIsRowMajor = DstFlags&RowMajorBit, SrcIsRowMajor = SrcFlags&RowMajorBit, StorageOrdersAgree = (int(DstIsRowMajor) == int(SrcIsRowMajor)), MightVectorize = bool(StorageOrdersAgree) && (int(DstFlags) & int(SrcFlags) & ActualPacketAccessBit) && bool(functor_traits::PacketAccess), MayInnerVectorize = MightVectorize && int(InnerSize)!=Dynamic && int(InnerSize)%int(InnerPacketSize)==0 && int(OuterStride)!=Dynamic && int(OuterStride)%int(InnerPacketSize)==0 && (EIGEN_UNALIGNED_VECTORIZE || int(JointAlignment)>=int(InnerRequiredAlignment)), MayLinearize = bool(StorageOrdersAgree) && (int(DstFlags) & int(SrcFlags) & LinearAccessBit), MayLinearVectorize = bool(MightVectorize) && MayLinearize && DstHasDirectAccess && (EIGEN_UNALIGNED_VECTORIZE || (int(DstAlignment)>=int(LinearRequiredAlignment)) || MaxSizeAtCompileTime == Dynamic), /* If the destination isn't aligned, we have to do runtime checks and we don't unroll, so it's only good for large enough sizes. */ MaySliceVectorize = bool(MightVectorize) && bool(DstHasDirectAccess) && (int(InnerMaxSize)==Dynamic || int(InnerMaxSize)>=(EIGEN_UNALIGNED_VECTORIZE?InnerPacketSize:(3*InnerPacketSize))) /* slice vectorization can be slow, so we only want it if the slices are big, which is indicated by InnerMaxSize rather than InnerSize, think of the case of a dynamic block in a fixed-size matrix However, with EIGEN_UNALIGNED_VECTORIZE and unrolling, slice vectorization is still worth it */ }; public: enum { Traversal = int(MayLinearVectorize) && (LinearPacketSize>InnerPacketSize) ? int(LinearVectorizedTraversal) : int(MayInnerVectorize) ? int(InnerVectorizedTraversal) : int(MayLinearVectorize) ? int(LinearVectorizedTraversal) : int(MaySliceVectorize) ? int(SliceVectorizedTraversal) : int(MayLinearize) ? int(LinearTraversal) : int(DefaultTraversal), Vectorized = int(Traversal) == InnerVectorizedTraversal || int(Traversal) == LinearVectorizedTraversal || int(Traversal) == SliceVectorizedTraversal }; typedef typename conditional::type PacketType; private: enum { ActualPacketSize = int(Traversal)==LinearVectorizedTraversal ? LinearPacketSize : Vectorized ? InnerPacketSize : 1, UnrollingLimit = EIGEN_UNROLLING_LIMIT * ActualPacketSize, MayUnrollCompletely = int(Dst::SizeAtCompileTime) != Dynamic && int(Dst::SizeAtCompileTime) * (int(DstEvaluator::CoeffReadCost)+int(SrcEvaluator::CoeffReadCost)) <= int(UnrollingLimit), MayUnrollInner = int(InnerSize) != Dynamic && int(InnerSize) * (int(DstEvaluator::CoeffReadCost)+int(SrcEvaluator::CoeffReadCost)) <= int(UnrollingLimit) }; public: enum { Unrolling = (int(Traversal) == int(InnerVectorizedTraversal) || int(Traversal) == int(DefaultTraversal)) ? ( int(MayUnrollCompletely) ? int(CompleteUnrolling) : int(MayUnrollInner) ? int(InnerUnrolling) : int(NoUnrolling) ) : int(Traversal) == int(LinearVectorizedTraversal) ? ( bool(MayUnrollCompletely) && ( EIGEN_UNALIGNED_VECTORIZE || (int(DstAlignment)>=int(LinearRequiredAlignment))) ? int(CompleteUnrolling) : int(NoUnrolling) ) : int(Traversal) == int(LinearTraversal) ? ( bool(MayUnrollCompletely) ? int(CompleteUnrolling) : int(NoUnrolling) ) #if EIGEN_UNALIGNED_VECTORIZE : int(Traversal) == int(SliceVectorizedTraversal) ? ( bool(MayUnrollInner) ? int(InnerUnrolling) : int(NoUnrolling) ) #endif : int(NoUnrolling) }; #ifdef EIGEN_DEBUG_ASSIGN static void debug() { std::cerr << "DstXpr: " << typeid(typename DstEvaluator::XprType).name() << std::endl; std::cerr << "SrcXpr: " << typeid(typename SrcEvaluator::XprType).name() << std::endl; std::cerr.setf(std::ios::hex, std::ios::basefield); std::cerr << "DstFlags" << " = " << DstFlags << " (" << demangle_flags(DstFlags) << " )" << std::endl; std::cerr << "SrcFlags" << " = " << SrcFlags << " (" << demangle_flags(SrcFlags) << " )" << std::endl; std::cerr.unsetf(std::ios::hex); EIGEN_DEBUG_VAR(DstAlignment) EIGEN_DEBUG_VAR(SrcAlignment) EIGEN_DEBUG_VAR(LinearRequiredAlignment) EIGEN_DEBUG_VAR(InnerRequiredAlignment) EIGEN_DEBUG_VAR(JointAlignment) EIGEN_DEBUG_VAR(InnerSize) EIGEN_DEBUG_VAR(InnerMaxSize) EIGEN_DEBUG_VAR(LinearPacketSize) EIGEN_DEBUG_VAR(InnerPacketSize) EIGEN_DEBUG_VAR(ActualPacketSize) EIGEN_DEBUG_VAR(StorageOrdersAgree) EIGEN_DEBUG_VAR(MightVectorize) EIGEN_DEBUG_VAR(MayLinearize) EIGEN_DEBUG_VAR(MayInnerVectorize) EIGEN_DEBUG_VAR(MayLinearVectorize) EIGEN_DEBUG_VAR(MaySliceVectorize) std::cerr << "Traversal" << " = " << Traversal << " (" << demangle_traversal(Traversal) << ")" << std::endl; EIGEN_DEBUG_VAR(SrcEvaluator::CoeffReadCost) EIGEN_DEBUG_VAR(UnrollingLimit) EIGEN_DEBUG_VAR(MayUnrollCompletely) EIGEN_DEBUG_VAR(MayUnrollInner) std::cerr << "Unrolling" << " = " << Unrolling << " (" << demangle_unrolling(Unrolling) << ")" << std::endl; std::cerr << std::endl; } #endif }; /*************************************************************************** * Part 2 : meta-unrollers ***************************************************************************/ /************************ *** Default traversal *** ************************/ template struct copy_using_evaluator_DefaultTraversal_CompleteUnrolling { // FIXME: this is not very clean, perhaps this information should be provided by the kernel? typedef typename Kernel::DstEvaluatorType DstEvaluatorType; typedef typename DstEvaluatorType::XprType DstXprType; enum { outer = Index / DstXprType::InnerSizeAtCompileTime, inner = Index % DstXprType::InnerSizeAtCompileTime }; EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel) { kernel.assignCoeffByOuterInner(outer, inner); copy_using_evaluator_DefaultTraversal_CompleteUnrolling::run(kernel); } }; template struct copy_using_evaluator_DefaultTraversal_CompleteUnrolling { EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&) { } }; template struct copy_using_evaluator_DefaultTraversal_InnerUnrolling { EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel, Index outer) { kernel.assignCoeffByOuterInner(outer, Index_); copy_using_evaluator_DefaultTraversal_InnerUnrolling::run(kernel, outer); } }; template struct copy_using_evaluator_DefaultTraversal_InnerUnrolling { EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&, Index) { } }; /*********************** *** Linear traversal *** ***********************/ template struct copy_using_evaluator_LinearTraversal_CompleteUnrolling { EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel& kernel) { kernel.assignCoeff(Index); copy_using_evaluator_LinearTraversal_CompleteUnrolling::run(kernel); } }; template struct copy_using_evaluator_LinearTraversal_CompleteUnrolling { EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&) { } }; /************************** *** Inner vectorization *** **************************/ template struct copy_using_evaluator_innervec_CompleteUnrolling { // FIXME: this is not very clean, perhaps this information should be provided by the kernel? typedef typename Kernel::DstEvaluatorType DstEvaluatorType; typedef typename DstEvaluatorType::XprType DstXprType; typedef typename Kernel::PacketType PacketType; enum { outer = Index / DstXprType::InnerSizeAtCompileTime, inner = Index % DstXprType::InnerSizeAtCompileTime, SrcAlignment = Kernel::AssignmentTraits::SrcAlignment, DstAlignment = Kernel::AssignmentTraits::DstAlignment }; EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel) { kernel.template assignPacketByOuterInner(outer, inner); enum { NextIndex = Index + unpacket_traits::size }; copy_using_evaluator_innervec_CompleteUnrolling::run(kernel); } }; template struct copy_using_evaluator_innervec_CompleteUnrolling { EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&) { } }; template struct copy_using_evaluator_innervec_InnerUnrolling { typedef typename Kernel::PacketType PacketType; EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel, Index outer) { kernel.template assignPacketByOuterInner(outer, Index_); enum { NextIndex = Index_ + unpacket_traits::size }; copy_using_evaluator_innervec_InnerUnrolling::run(kernel, outer); } }; template struct copy_using_evaluator_innervec_InnerUnrolling { EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &, Index) { } }; /*************************************************************************** * Part 3 : implementation of all cases ***************************************************************************/ // dense_assignment_loop is based on assign_impl template struct dense_assignment_loop; /************************ *** Default traversal *** ************************/ template struct dense_assignment_loop { EIGEN_DEVICE_FUNC static void EIGEN_STRONG_INLINE run(Kernel &kernel) { for(Index outer = 0; outer < kernel.outerSize(); ++outer) { for(Index inner = 0; inner < kernel.innerSize(); ++inner) { kernel.assignCoeffByOuterInner(outer, inner); } } } }; template struct dense_assignment_loop { EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel) { typedef typename Kernel::DstEvaluatorType::XprType DstXprType; copy_using_evaluator_DefaultTraversal_CompleteUnrolling::run(kernel); } }; template struct dense_assignment_loop { EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel) { typedef typename Kernel::DstEvaluatorType::XprType DstXprType; const Index outerSize = kernel.outerSize(); for(Index outer = 0; outer < outerSize; ++outer) copy_using_evaluator_DefaultTraversal_InnerUnrolling::run(kernel, outer); } }; /*************************** *** Linear vectorization *** ***************************/ // The goal of unaligned_dense_assignment_loop is simply to factorize the handling // of the non vectorizable beginning and ending parts template struct unaligned_dense_assignment_loop { // if IsAligned = true, then do nothing template EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&, Index, Index) {} }; template <> struct unaligned_dense_assignment_loop { // MSVC must not inline this functions. If it does, it fails to optimize the // packet access path. // FIXME check which version exhibits this issue #if EIGEN_COMP_MSVC template static EIGEN_DONT_INLINE void run(Kernel &kernel, Index start, Index end) #else template EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel, Index start, Index end) #endif { for (Index index = start; index < end; ++index) kernel.assignCoeff(index); } }; template struct dense_assignment_loop { EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel) { const Index size = kernel.size(); typedef typename Kernel::Scalar Scalar; typedef typename Kernel::PacketType PacketType; enum { requestedAlignment = Kernel::AssignmentTraits::LinearRequiredAlignment, packetSize = unpacket_traits::size, dstIsAligned = int(Kernel::AssignmentTraits::DstAlignment)>=int(requestedAlignment), dstAlignment = packet_traits::AlignedOnScalar ? int(requestedAlignment) : int(Kernel::AssignmentTraits::DstAlignment), srcAlignment = Kernel::AssignmentTraits::JointAlignment }; const Index alignedStart = dstIsAligned ? 0 : internal::first_aligned(kernel.dstDataPtr(), size); const Index alignedEnd = alignedStart + ((size-alignedStart)/packetSize)*packetSize; unaligned_dense_assignment_loop::run(kernel, 0, alignedStart); for(Index index = alignedStart; index < alignedEnd; index += packetSize) kernel.template assignPacket(index); unaligned_dense_assignment_loop<>::run(kernel, alignedEnd, size); } }; template struct dense_assignment_loop { EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel) { typedef typename Kernel::DstEvaluatorType::XprType DstXprType; typedef typename Kernel::PacketType PacketType; enum { size = DstXprType::SizeAtCompileTime, packetSize =unpacket_traits::size, alignedSize = (size/packetSize)*packetSize }; copy_using_evaluator_innervec_CompleteUnrolling::run(kernel); copy_using_evaluator_DefaultTraversal_CompleteUnrolling::run(kernel); } }; /************************** *** Inner vectorization *** **************************/ template struct dense_assignment_loop { typedef typename Kernel::PacketType PacketType; enum { SrcAlignment = Kernel::AssignmentTraits::SrcAlignment, DstAlignment = Kernel::AssignmentTraits::DstAlignment }; EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel) { const Index innerSize = kernel.innerSize(); const Index outerSize = kernel.outerSize(); const Index packetSize = unpacket_traits::size; for(Index outer = 0; outer < outerSize; ++outer) for(Index inner = 0; inner < innerSize; inner+=packetSize) kernel.template assignPacketByOuterInner(outer, inner); } }; template struct dense_assignment_loop { EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel) { typedef typename Kernel::DstEvaluatorType::XprType DstXprType; copy_using_evaluator_innervec_CompleteUnrolling::run(kernel); } }; template struct dense_assignment_loop { EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel) { typedef typename Kernel::DstEvaluatorType::XprType DstXprType; typedef typename Kernel::AssignmentTraits Traits; const Index outerSize = kernel.outerSize(); for(Index outer = 0; outer < outerSize; ++outer) copy_using_evaluator_innervec_InnerUnrolling::run(kernel, outer); } }; /*********************** *** Linear traversal *** ***********************/ template struct dense_assignment_loop { EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel) { const Index size = kernel.size(); for(Index i = 0; i < size; ++i) kernel.assignCoeff(i); } }; template struct dense_assignment_loop { EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel) { typedef typename Kernel::DstEvaluatorType::XprType DstXprType; copy_using_evaluator_LinearTraversal_CompleteUnrolling::run(kernel); } }; /************************** *** Slice vectorization *** ***************************/ template struct dense_assignment_loop { EIGEN_DEVICE_FUNC static inline void run(Kernel &kernel) { typedef typename Kernel::Scalar Scalar; typedef typename Kernel::PacketType PacketType; enum { packetSize = unpacket_traits::size, requestedAlignment = int(Kernel::AssignmentTraits::InnerRequiredAlignment), alignable = packet_traits::AlignedOnScalar || int(Kernel::AssignmentTraits::DstAlignment)>=sizeof(Scalar), dstIsAligned = int(Kernel::AssignmentTraits::DstAlignment)>=int(requestedAlignment), dstAlignment = alignable ? int(requestedAlignment) : int(Kernel::AssignmentTraits::DstAlignment) }; const Scalar *dst_ptr = kernel.dstDataPtr(); if((!bool(dstIsAligned)) && (UIntPtr(dst_ptr) % sizeof(Scalar))>0) { // the pointer is not aligend-on scalar, so alignment is not possible return dense_assignment_loop::run(kernel); } const Index packetAlignedMask = packetSize - 1; const Index innerSize = kernel.innerSize(); const Index outerSize = kernel.outerSize(); const Index alignedStep = alignable ? (packetSize - kernel.outerStride() % packetSize) & packetAlignedMask : 0; Index alignedStart = ((!alignable) || bool(dstIsAligned)) ? 0 : internal::first_aligned(dst_ptr, innerSize); for(Index outer = 0; outer < outerSize; ++outer) { const Index alignedEnd = alignedStart + ((innerSize-alignedStart) & ~packetAlignedMask); // do the non-vectorizable part of the assignment for(Index inner = 0; inner(outer, inner); // do the non-vectorizable part of the assignment for(Index inner = alignedEnd; inner struct dense_assignment_loop { EIGEN_DEVICE_FUNC static inline void run(Kernel &kernel) { typedef typename Kernel::DstEvaluatorType::XprType DstXprType; typedef typename Kernel::PacketType PacketType; enum { size = DstXprType::InnerSizeAtCompileTime, packetSize =unpacket_traits::size, vectorizableSize = (size/packetSize)*packetSize }; for(Index outer = 0; outer < kernel.outerSize(); ++outer) { copy_using_evaluator_innervec_InnerUnrolling::run(kernel, outer); copy_using_evaluator_DefaultTraversal_InnerUnrolling::run(kernel, outer); } } }; #endif /*************************************************************************** * Part 4 : Generic dense assignment kernel ***************************************************************************/ // This class generalize the assignment of a coefficient (or packet) from one dense evaluator // to another dense writable evaluator. // It is parametrized by the two evaluators, and the actual assignment functor. // This abstraction level permits to keep the evaluation loops as simple and as generic as possible. // One can customize the assignment using this generic dense_assignment_kernel with different // functors, or by completely overloading it, by-passing a functor. template class generic_dense_assignment_kernel { protected: typedef typename DstEvaluatorTypeT::XprType DstXprType; typedef typename SrcEvaluatorTypeT::XprType SrcXprType; public: typedef DstEvaluatorTypeT DstEvaluatorType; typedef SrcEvaluatorTypeT SrcEvaluatorType; typedef typename DstEvaluatorType::Scalar Scalar; typedef copy_using_evaluator_traits AssignmentTraits; typedef typename AssignmentTraits::PacketType PacketType; EIGEN_DEVICE_FUNC generic_dense_assignment_kernel(DstEvaluatorType &dst, const SrcEvaluatorType &src, const Functor &func, DstXprType& dstExpr) : m_dst(dst), m_src(src), m_functor(func), m_dstExpr(dstExpr) { #ifdef EIGEN_DEBUG_ASSIGN AssignmentTraits::debug(); #endif } EIGEN_DEVICE_FUNC Index size() const { return m_dstExpr.size(); } EIGEN_DEVICE_FUNC Index innerSize() const { return m_dstExpr.innerSize(); } EIGEN_DEVICE_FUNC Index outerSize() const { return m_dstExpr.outerSize(); } EIGEN_DEVICE_FUNC Index rows() const { return m_dstExpr.rows(); } EIGEN_DEVICE_FUNC Index cols() const { return m_dstExpr.cols(); } EIGEN_DEVICE_FUNC Index outerStride() const { return m_dstExpr.outerStride(); } EIGEN_DEVICE_FUNC DstEvaluatorType& dstEvaluator() { return m_dst; } EIGEN_DEVICE_FUNC const SrcEvaluatorType& srcEvaluator() const { return m_src; } /// Assign src(row,col) to dst(row,col) through the assignment functor. EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(Index row, Index col) { m_functor.assignCoeff(m_dst.coeffRef(row,col), m_src.coeff(row,col)); } /// \sa assignCoeff(Index,Index) EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(Index index) { m_functor.assignCoeff(m_dst.coeffRef(index), m_src.coeff(index)); } /// \sa assignCoeff(Index,Index) EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeffByOuterInner(Index outer, Index inner) { Index row = rowIndexByOuterInner(outer, inner); Index col = colIndexByOuterInner(outer, inner); assignCoeff(row, col); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignPacket(Index row, Index col) { m_functor.template assignPacket(&m_dst.coeffRef(row,col), m_src.template packet(row,col)); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignPacket(Index index) { m_functor.template assignPacket(&m_dst.coeffRef(index), m_src.template packet(index)); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignPacketByOuterInner(Index outer, Index inner) { Index row = rowIndexByOuterInner(outer, inner); Index col = colIndexByOuterInner(outer, inner); assignPacket(row, col); } EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Index rowIndexByOuterInner(Index outer, Index inner) { typedef typename DstEvaluatorType::ExpressionTraits Traits; return int(Traits::RowsAtCompileTime) == 1 ? 0 : int(Traits::ColsAtCompileTime) == 1 ? inner : int(DstEvaluatorType::Flags)&RowMajorBit ? outer : inner; } EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Index colIndexByOuterInner(Index outer, Index inner) { typedef typename DstEvaluatorType::ExpressionTraits Traits; return int(Traits::ColsAtCompileTime) == 1 ? 0 : int(Traits::RowsAtCompileTime) == 1 ? inner : int(DstEvaluatorType::Flags)&RowMajorBit ? inner : outer; } EIGEN_DEVICE_FUNC const Scalar* dstDataPtr() const { return m_dstExpr.data(); } protected: DstEvaluatorType& m_dst; const SrcEvaluatorType& m_src; const Functor &m_functor; // TODO find a way to avoid the needs of the original expression DstXprType& m_dstExpr; }; /*************************************************************************** * Part 5 : Entry point for dense rectangular assignment ***************************************************************************/ template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_dense_assignment_loop(DstXprType& dst, const SrcXprType& src, const Functor &func) { typedef evaluator DstEvaluatorType; typedef evaluator SrcEvaluatorType; SrcEvaluatorType srcEvaluator(src); // NOTE To properly handle A = (A*A.transpose())/s with A rectangular, // we need to resize the destination after the source evaluator has been created. Index dstRows = src.rows(); Index dstCols = src.cols(); if((dst.rows()!=dstRows) || (dst.cols()!=dstCols)) dst.resize(dstRows, dstCols); DstEvaluatorType dstEvaluator(dst); typedef generic_dense_assignment_kernel Kernel; Kernel kernel(dstEvaluator, srcEvaluator, func, dst.const_cast_derived()); dense_assignment_loop::run(kernel); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_dense_assignment_loop(DstXprType& dst, const SrcXprType& src) { call_dense_assignment_loop(dst, src, internal::assign_op()); } /*************************************************************************** * Part 6 : Generic assignment ***************************************************************************/ // Based on the respective shapes of the destination and source, // the class AssignmentKind determine the kind of assignment mechanism. // AssignmentKind must define a Kind typedef. template struct AssignmentKind; // Assignement kind defined in this file: struct Dense2Dense {}; struct EigenBase2EigenBase {}; template struct AssignmentKind { typedef EigenBase2EigenBase Kind; }; template<> struct AssignmentKind { typedef Dense2Dense Kind; }; // This is the main assignment class template< typename DstXprType, typename SrcXprType, typename Functor, typename Kind = typename AssignmentKind< typename evaluator_traits::Shape , typename evaluator_traits::Shape >::Kind, typename EnableIf = void> struct Assignment; // The only purpose of this call_assignment() function is to deal with noalias() / "assume-aliasing" and automatic transposition. // Indeed, I (Gael) think that this concept of "assume-aliasing" was a mistake, and it makes thing quite complicated. // So this intermediate function removes everything related to "assume-aliasing" such that Assignment // does not has to bother about these annoying details. template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_assignment(Dst& dst, const Src& src) { call_assignment(dst, src, internal::assign_op()); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_assignment(const Dst& dst, const Src& src) { call_assignment(dst, src, internal::assign_op()); } // Deal with "assume-aliasing" template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_assignment(Dst& dst, const Src& src, const Func& func, typename enable_if< evaluator_assume_aliasing::value, void*>::type = 0) { typename plain_matrix_type::type tmp(src); call_assignment_no_alias(dst, tmp, func); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_assignment(Dst& dst, const Src& src, const Func& func, typename enable_if::value, void*>::type = 0) { call_assignment_no_alias(dst, src, func); } // by-pass "assume-aliasing" // When there is no aliasing, we require that 'dst' has been properly resized template class StorageBase, typename Src, typename Func> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_assignment(NoAlias& dst, const Src& src, const Func& func) { call_assignment_no_alias(dst.expression(), src, func); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_assignment_no_alias(Dst& dst, const Src& src, const Func& func) { enum { NeedToTranspose = ( (int(Dst::RowsAtCompileTime) == 1 && int(Src::ColsAtCompileTime) == 1) || (int(Dst::ColsAtCompileTime) == 1 && int(Src::RowsAtCompileTime) == 1) ) && int(Dst::SizeAtCompileTime) != 1 }; typedef typename internal::conditional, Dst>::type ActualDstTypeCleaned; typedef typename internal::conditional, Dst&>::type ActualDstType; ActualDstType actualDst(dst); // TODO check whether this is the right place to perform these checks: EIGEN_STATIC_ASSERT_LVALUE(Dst) EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(ActualDstTypeCleaned,Src) EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename ActualDstTypeCleaned::Scalar,typename Src::Scalar); Assignment::run(actualDst, src, func); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_assignment_no_alias(Dst& dst, const Src& src) { call_assignment_no_alias(dst, src, internal::assign_op()); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_assignment_no_alias_no_transpose(Dst& dst, const Src& src, const Func& func) { // TODO check whether this is the right place to perform these checks: EIGEN_STATIC_ASSERT_LVALUE(Dst) EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Dst,Src) EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename Dst::Scalar,typename Src::Scalar); Assignment::run(dst, src, func); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_assignment_no_alias_no_transpose(Dst& dst, const Src& src) { call_assignment_no_alias_no_transpose(dst, src, internal::assign_op()); } // forward declaration template void check_for_aliasing(const Dst &dst, const Src &src); // Generic Dense to Dense assignment // Note that the last template argument "Weak" is needed to make it possible to perform // both partial specialization+SFINAE without ambiguous specialization template< typename DstXprType, typename SrcXprType, typename Functor, typename Weak> struct Assignment { EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const Functor &func) { #ifndef EIGEN_NO_DEBUG internal::check_for_aliasing(dst, src); #endif call_dense_assignment_loop(dst, src, func); } }; // Generic assignment through evalTo. // TODO: not sure we have to keep that one, but it helps porting current code to new evaluator mechanism. // Note that the last template argument "Weak" is needed to make it possible to perform // both partial specialization+SFINAE without ambiguous specialization template< typename DstXprType, typename SrcXprType, typename Functor, typename Weak> struct Assignment { EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op &/*func*/) { Index dstRows = src.rows(); Index dstCols = src.cols(); if((dst.rows()!=dstRows) || (dst.cols()!=dstCols)) dst.resize(dstRows, dstCols); eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols()); src.evalTo(dst); } // NOTE The following two functions are templated to avoid their instanciation if not needed // This is needed because some expressions supports evalTo only and/or have 'void' as scalar type. template EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op &/*func*/) { Index dstRows = src.rows(); Index dstCols = src.cols(); if((dst.rows()!=dstRows) || (dst.cols()!=dstCols)) dst.resize(dstRows, dstCols); eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols()); src.addTo(dst); } template EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op &/*func*/) { Index dstRows = src.rows(); Index dstCols = src.cols(); if((dst.rows()!=dstRows) || (dst.cols()!=dstCols)) dst.resize(dstRows, dstCols); eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols()); src.subTo(dst); } }; } // namespace internal } // end namespace Eigen #endif // EIGEN_ASSIGN_EVALUATOR_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/Assign_MKL.h ================================================ /* Copyright (c) 2011, Intel Corporation. All rights reserved. Copyright (C) 2015 Gael Guennebaud Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of Intel Corporation nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ******************************************************************************** * Content : Eigen bindings to Intel(R) MKL * MKL VML support for coefficient-wise unary Eigen expressions like a=b.sin() ******************************************************************************** */ #ifndef EIGEN_ASSIGN_VML_H #define EIGEN_ASSIGN_VML_H namespace Eigen { namespace internal { template class vml_assign_traits { private: enum { DstHasDirectAccess = Dst::Flags & DirectAccessBit, SrcHasDirectAccess = Src::Flags & DirectAccessBit, StorageOrdersAgree = (int(Dst::IsRowMajor) == int(Src::IsRowMajor)), InnerSize = int(Dst::IsVectorAtCompileTime) ? int(Dst::SizeAtCompileTime) : int(Dst::Flags)&RowMajorBit ? int(Dst::ColsAtCompileTime) : int(Dst::RowsAtCompileTime), InnerMaxSize = int(Dst::IsVectorAtCompileTime) ? int(Dst::MaxSizeAtCompileTime) : int(Dst::Flags)&RowMajorBit ? int(Dst::MaxColsAtCompileTime) : int(Dst::MaxRowsAtCompileTime), MaxSizeAtCompileTime = Dst::SizeAtCompileTime, MightEnableVml = StorageOrdersAgree && DstHasDirectAccess && SrcHasDirectAccess && Src::InnerStrideAtCompileTime==1 && Dst::InnerStrideAtCompileTime==1, MightLinearize = MightEnableVml && (int(Dst::Flags) & int(Src::Flags) & LinearAccessBit), VmlSize = MightLinearize ? MaxSizeAtCompileTime : InnerMaxSize, LargeEnough = VmlSize==Dynamic || VmlSize>=EIGEN_MKL_VML_THRESHOLD }; public: enum { EnableVml = MightEnableVml && LargeEnough, Traversal = MightLinearize ? LinearTraversal : DefaultTraversal }; }; #define EIGEN_PP_EXPAND(ARG) ARG #if !defined (EIGEN_FAST_MATH) || (EIGEN_FAST_MATH != 1) #define EIGEN_VMLMODE_EXPAND_LA , VML_HA #else #define EIGEN_VMLMODE_EXPAND_LA , VML_LA #endif #define EIGEN_VMLMODE_EXPAND__ #define EIGEN_VMLMODE_PREFIX_LA vm #define EIGEN_VMLMODE_PREFIX__ v #define EIGEN_VMLMODE_PREFIX(VMLMODE) EIGEN_CAT(EIGEN_VMLMODE_PREFIX_,VMLMODE) #define EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, VMLOP, EIGENTYPE, VMLTYPE, VMLMODE) \ template< typename DstXprType, typename SrcXprNested> \ struct Assignment, SrcXprNested>, assign_op, \ Dense2Dense, typename enable_if::EnableVml>::type> { \ typedef CwiseUnaryOp, SrcXprNested> SrcXprType; \ static void run(DstXprType &dst, const SrcXprType &src, const assign_op &/*func*/) { \ eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols()); \ if(vml_assign_traits::Traversal==LinearTraversal) { \ VMLOP(dst.size(), (const VMLTYPE*)src.nestedExpression().data(), \ (VMLTYPE*)dst.data() EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE) ); \ } else { \ const Index outerSize = dst.outerSize(); \ for(Index outer = 0; outer < outerSize; ++outer) { \ const EIGENTYPE *src_ptr = src.IsRowMajor ? &(src.nestedExpression().coeffRef(outer,0)) : \ &(src.nestedExpression().coeffRef(0, outer)); \ EIGENTYPE *dst_ptr = dst.IsRowMajor ? &(dst.coeffRef(outer,0)) : &(dst.coeffRef(0, outer)); \ VMLOP( dst.innerSize(), (const VMLTYPE*)src_ptr, \ (VMLTYPE*)dst_ptr EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE)); \ } \ } \ } \ }; \ #define EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(EIGENOP, VMLOP, VMLMODE) \ EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),s##VMLOP), float, float, VMLMODE) \ EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),d##VMLOP), double, double, VMLMODE) #define EIGEN_MKL_VML_DECLARE_UNARY_CALLS_CPLX(EIGENOP, VMLOP, VMLMODE) \ EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),c##VMLOP), scomplex, MKL_Complex8, VMLMODE) \ EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),z##VMLOP), dcomplex, MKL_Complex16, VMLMODE) #define EIGEN_MKL_VML_DECLARE_UNARY_CALLS(EIGENOP, VMLOP, VMLMODE) \ EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(EIGENOP, VMLOP, VMLMODE) \ EIGEN_MKL_VML_DECLARE_UNARY_CALLS_CPLX(EIGENOP, VMLOP, VMLMODE) EIGEN_MKL_VML_DECLARE_UNARY_CALLS(sin, Sin, LA) EIGEN_MKL_VML_DECLARE_UNARY_CALLS(asin, Asin, LA) EIGEN_MKL_VML_DECLARE_UNARY_CALLS(sinh, Sinh, LA) EIGEN_MKL_VML_DECLARE_UNARY_CALLS(cos, Cos, LA) EIGEN_MKL_VML_DECLARE_UNARY_CALLS(acos, Acos, LA) EIGEN_MKL_VML_DECLARE_UNARY_CALLS(cosh, Cosh, LA) EIGEN_MKL_VML_DECLARE_UNARY_CALLS(tan, Tan, LA) EIGEN_MKL_VML_DECLARE_UNARY_CALLS(atan, Atan, LA) EIGEN_MKL_VML_DECLARE_UNARY_CALLS(tanh, Tanh, LA) // EIGEN_MKL_VML_DECLARE_UNARY_CALLS(abs, Abs, _) EIGEN_MKL_VML_DECLARE_UNARY_CALLS(exp, Exp, LA) EIGEN_MKL_VML_DECLARE_UNARY_CALLS(log, Ln, LA) EIGEN_MKL_VML_DECLARE_UNARY_CALLS(log10, Log10, LA) EIGEN_MKL_VML_DECLARE_UNARY_CALLS(sqrt, Sqrt, _) EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(square, Sqr, _) EIGEN_MKL_VML_DECLARE_UNARY_CALLS_CPLX(arg, Arg, _) EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(round, Round, _) EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(floor, Floor, _) EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(ceil, Ceil, _) #define EIGEN_MKL_VML_DECLARE_POW_CALL(EIGENOP, VMLOP, EIGENTYPE, VMLTYPE, VMLMODE) \ template< typename DstXprType, typename SrcXprNested, typename Plain> \ struct Assignment, SrcXprNested, \ const CwiseNullaryOp,Plain> >, assign_op, \ Dense2Dense, typename enable_if::EnableVml>::type> { \ typedef CwiseBinaryOp, SrcXprNested, \ const CwiseNullaryOp,Plain> > SrcXprType; \ static void run(DstXprType &dst, const SrcXprType &src, const assign_op &/*func*/) { \ eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols()); \ VMLTYPE exponent = reinterpret_cast(src.rhs().functor().m_other); \ if(vml_assign_traits::Traversal==LinearTraversal) \ { \ VMLOP( dst.size(), (const VMLTYPE*)src.lhs().data(), exponent, \ (VMLTYPE*)dst.data() EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE) ); \ } else { \ const Index outerSize = dst.outerSize(); \ for(Index outer = 0; outer < outerSize; ++outer) { \ const EIGENTYPE *src_ptr = src.IsRowMajor ? &(src.lhs().coeffRef(outer,0)) : \ &(src.lhs().coeffRef(0, outer)); \ EIGENTYPE *dst_ptr = dst.IsRowMajor ? &(dst.coeffRef(outer,0)) : &(dst.coeffRef(0, outer)); \ VMLOP( dst.innerSize(), (const VMLTYPE*)src_ptr, exponent, \ (VMLTYPE*)dst_ptr EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE)); \ } \ } \ } \ }; EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmsPowx, float, float, LA) EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmdPowx, double, double, LA) EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmcPowx, scomplex, MKL_Complex8, LA) EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmzPowx, dcomplex, MKL_Complex16, LA) } // end namespace internal } // end namespace Eigen #endif // EIGEN_ASSIGN_VML_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/BandMatrix.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2009 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_BANDMATRIX_H #define EIGEN_BANDMATRIX_H namespace Eigen { namespace internal { template class BandMatrixBase : public EigenBase { public: enum { Flags = internal::traits::Flags, CoeffReadCost = internal::traits::CoeffReadCost, RowsAtCompileTime = internal::traits::RowsAtCompileTime, ColsAtCompileTime = internal::traits::ColsAtCompileTime, MaxRowsAtCompileTime = internal::traits::MaxRowsAtCompileTime, MaxColsAtCompileTime = internal::traits::MaxColsAtCompileTime, Supers = internal::traits::Supers, Subs = internal::traits::Subs, Options = internal::traits::Options }; typedef typename internal::traits::Scalar Scalar; typedef Matrix DenseMatrixType; typedef typename DenseMatrixType::StorageIndex StorageIndex; typedef typename internal::traits::CoefficientsType CoefficientsType; typedef EigenBase Base; protected: enum { DataRowsAtCompileTime = ((Supers!=Dynamic) && (Subs!=Dynamic)) ? 1 + Supers + Subs : Dynamic, SizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_DYNAMIC(RowsAtCompileTime,ColsAtCompileTime) }; public: using Base::derived; using Base::rows; using Base::cols; /** \returns the number of super diagonals */ inline Index supers() const { return derived().supers(); } /** \returns the number of sub diagonals */ inline Index subs() const { return derived().subs(); } /** \returns an expression of the underlying coefficient matrix */ inline const CoefficientsType& coeffs() const { return derived().coeffs(); } /** \returns an expression of the underlying coefficient matrix */ inline CoefficientsType& coeffs() { return derived().coeffs(); } /** \returns a vector expression of the \a i -th column, * only the meaningful part is returned. * \warning the internal storage must be column major. */ inline Block col(Index i) { EIGEN_STATIC_ASSERT((Options&RowMajor)==0,THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES); Index start = 0; Index len = coeffs().rows(); if (i<=supers()) { start = supers()-i; len = (std::min)(rows(),std::max(0,coeffs().rows() - (supers()-i))); } else if (i>=rows()-subs()) len = std::max(0,coeffs().rows() - (i + 1 - rows() + subs())); return Block(coeffs(), start, i, len, 1); } /** \returns a vector expression of the main diagonal */ inline Block diagonal() { return Block(coeffs(),supers(),0,1,(std::min)(rows(),cols())); } /** \returns a vector expression of the main diagonal (const version) */ inline const Block diagonal() const { return Block(coeffs(),supers(),0,1,(std::min)(rows(),cols())); } template struct DiagonalIntReturnType { enum { ReturnOpposite = (Options&SelfAdjoint) && (((Index)>0 && Supers==0) || ((Index)<0 && Subs==0)), Conjugate = ReturnOpposite && NumTraits::IsComplex, ActualIndex = ReturnOpposite ? -Index : Index, DiagonalSize = (RowsAtCompileTime==Dynamic || ColsAtCompileTime==Dynamic) ? Dynamic : (ActualIndex<0 ? EIGEN_SIZE_MIN_PREFER_DYNAMIC(ColsAtCompileTime, RowsAtCompileTime + ActualIndex) : EIGEN_SIZE_MIN_PREFER_DYNAMIC(RowsAtCompileTime, ColsAtCompileTime - ActualIndex)) }; typedef Block BuildType; typedef typename internal::conditional,BuildType >, BuildType>::type Type; }; /** \returns a vector expression of the \a N -th sub or super diagonal */ template inline typename DiagonalIntReturnType::Type diagonal() { return typename DiagonalIntReturnType::BuildType(coeffs(), supers()-N, (std::max)(0,N), 1, diagonalLength(N)); } /** \returns a vector expression of the \a N -th sub or super diagonal */ template inline const typename DiagonalIntReturnType::Type diagonal() const { return typename DiagonalIntReturnType::BuildType(coeffs(), supers()-N, (std::max)(0,N), 1, diagonalLength(N)); } /** \returns a vector expression of the \a i -th sub or super diagonal */ inline Block diagonal(Index i) { eigen_assert((i<0 && -i<=subs()) || (i>=0 && i<=supers())); return Block(coeffs(), supers()-i, std::max(0,i), 1, diagonalLength(i)); } /** \returns a vector expression of the \a i -th sub or super diagonal */ inline const Block diagonal(Index i) const { eigen_assert((i<0 && -i<=subs()) || (i>=0 && i<=supers())); return Block(coeffs(), supers()-i, std::max(0,i), 1, diagonalLength(i)); } template inline void evalTo(Dest& dst) const { dst.resize(rows(),cols()); dst.setZero(); dst.diagonal() = diagonal(); for (Index i=1; i<=supers();++i) dst.diagonal(i) = diagonal(i); for (Index i=1; i<=subs();++i) dst.diagonal(-i) = diagonal(-i); } DenseMatrixType toDenseMatrix() const { DenseMatrixType res(rows(),cols()); evalTo(res); return res; } protected: inline Index diagonalLength(Index i) const { return i<0 ? (std::min)(cols(),rows()+i) : (std::min)(rows(),cols()-i); } }; /** * \class BandMatrix * \ingroup Core_Module * * \brief Represents a rectangular matrix with a banded storage * * \tparam _Scalar Numeric type, i.e. float, double, int * \tparam _Rows Number of rows, or \b Dynamic * \tparam _Cols Number of columns, or \b Dynamic * \tparam _Supers Number of super diagonal * \tparam _Subs Number of sub diagonal * \tparam _Options A combination of either \b #RowMajor or \b #ColMajor, and of \b #SelfAdjoint * The former controls \ref TopicStorageOrders "storage order", and defaults to * column-major. The latter controls whether the matrix represents a selfadjoint * matrix in which case either Supers of Subs have to be null. * * \sa class TridiagonalMatrix */ template struct traits > { typedef _Scalar Scalar; typedef Dense StorageKind; typedef Eigen::Index StorageIndex; enum { CoeffReadCost = NumTraits::ReadCost, RowsAtCompileTime = _Rows, ColsAtCompileTime = _Cols, MaxRowsAtCompileTime = _Rows, MaxColsAtCompileTime = _Cols, Flags = LvalueBit, Supers = _Supers, Subs = _Subs, Options = _Options, DataRowsAtCompileTime = ((Supers!=Dynamic) && (Subs!=Dynamic)) ? 1 + Supers + Subs : Dynamic }; typedef Matrix CoefficientsType; }; template class BandMatrix : public BandMatrixBase > { public: typedef typename internal::traits::Scalar Scalar; typedef typename internal::traits::StorageIndex StorageIndex; typedef typename internal::traits::CoefficientsType CoefficientsType; explicit inline BandMatrix(Index rows=Rows, Index cols=Cols, Index supers=Supers, Index subs=Subs) : m_coeffs(1+supers+subs,cols), m_rows(rows), m_supers(supers), m_subs(subs) { } /** \returns the number of columns */ inline Index rows() const { return m_rows.value(); } /** \returns the number of rows */ inline Index cols() const { return m_coeffs.cols(); } /** \returns the number of super diagonals */ inline Index supers() const { return m_supers.value(); } /** \returns the number of sub diagonals */ inline Index subs() const { return m_subs.value(); } inline const CoefficientsType& coeffs() const { return m_coeffs; } inline CoefficientsType& coeffs() { return m_coeffs; } protected: CoefficientsType m_coeffs; internal::variable_if_dynamic m_rows; internal::variable_if_dynamic m_supers; internal::variable_if_dynamic m_subs; }; template class BandMatrixWrapper; template struct traits > { typedef typename _CoefficientsType::Scalar Scalar; typedef typename _CoefficientsType::StorageKind StorageKind; typedef typename _CoefficientsType::StorageIndex StorageIndex; enum { CoeffReadCost = internal::traits<_CoefficientsType>::CoeffReadCost, RowsAtCompileTime = _Rows, ColsAtCompileTime = _Cols, MaxRowsAtCompileTime = _Rows, MaxColsAtCompileTime = _Cols, Flags = LvalueBit, Supers = _Supers, Subs = _Subs, Options = _Options, DataRowsAtCompileTime = ((Supers!=Dynamic) && (Subs!=Dynamic)) ? 1 + Supers + Subs : Dynamic }; typedef _CoefficientsType CoefficientsType; }; template class BandMatrixWrapper : public BandMatrixBase > { public: typedef typename internal::traits::Scalar Scalar; typedef typename internal::traits::CoefficientsType CoefficientsType; typedef typename internal::traits::StorageIndex StorageIndex; explicit inline BandMatrixWrapper(const CoefficientsType& coeffs, Index rows=_Rows, Index cols=_Cols, Index supers=_Supers, Index subs=_Subs) : m_coeffs(coeffs), m_rows(rows), m_supers(supers), m_subs(subs) { EIGEN_UNUSED_VARIABLE(cols); //internal::assert(coeffs.cols()==cols() && (supers()+subs()+1)==coeffs.rows()); } /** \returns the number of columns */ inline Index rows() const { return m_rows.value(); } /** \returns the number of rows */ inline Index cols() const { return m_coeffs.cols(); } /** \returns the number of super diagonals */ inline Index supers() const { return m_supers.value(); } /** \returns the number of sub diagonals */ inline Index subs() const { return m_subs.value(); } inline const CoefficientsType& coeffs() const { return m_coeffs; } protected: const CoefficientsType& m_coeffs; internal::variable_if_dynamic m_rows; internal::variable_if_dynamic m_supers; internal::variable_if_dynamic m_subs; }; /** * \class TridiagonalMatrix * \ingroup Core_Module * * \brief Represents a tridiagonal matrix with a compact banded storage * * \tparam Scalar Numeric type, i.e. float, double, int * \tparam Size Number of rows and cols, or \b Dynamic * \tparam Options Can be 0 or \b SelfAdjoint * * \sa class BandMatrix */ template class TridiagonalMatrix : public BandMatrix { typedef BandMatrix Base; typedef typename Base::StorageIndex StorageIndex; public: explicit TridiagonalMatrix(Index size = Size) : Base(size,size,Options&SelfAdjoint?0:1,1) {} inline typename Base::template DiagonalIntReturnType<1>::Type super() { return Base::template diagonal<1>(); } inline const typename Base::template DiagonalIntReturnType<1>::Type super() const { return Base::template diagonal<1>(); } inline typename Base::template DiagonalIntReturnType<-1>::Type sub() { return Base::template diagonal<-1>(); } inline const typename Base::template DiagonalIntReturnType<-1>::Type sub() const { return Base::template diagonal<-1>(); } protected: }; struct BandShape {}; template struct evaluator_traits > : public evaluator_traits_base > { typedef BandShape Shape; }; template struct evaluator_traits > : public evaluator_traits_base > { typedef BandShape Shape; }; template<> struct AssignmentKind { typedef EigenBase2EigenBase Kind; }; } // end namespace internal } // end namespace Eigen #endif // EIGEN_BANDMATRIX_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/Block.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2008 Gael Guennebaud // Copyright (C) 2006-2010 Benoit Jacob // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_BLOCK_H #define EIGEN_BLOCK_H namespace Eigen { namespace internal { template struct traits > : traits { typedef typename traits::Scalar Scalar; typedef typename traits::StorageKind StorageKind; typedef typename traits::XprKind XprKind; typedef typename ref_selector::type XprTypeNested; typedef typename remove_reference::type _XprTypeNested; enum{ MatrixRows = traits::RowsAtCompileTime, MatrixCols = traits::ColsAtCompileTime, RowsAtCompileTime = MatrixRows == 0 ? 0 : BlockRows, ColsAtCompileTime = MatrixCols == 0 ? 0 : BlockCols, MaxRowsAtCompileTime = BlockRows==0 ? 0 : RowsAtCompileTime != Dynamic ? int(RowsAtCompileTime) : int(traits::MaxRowsAtCompileTime), MaxColsAtCompileTime = BlockCols==0 ? 0 : ColsAtCompileTime != Dynamic ? int(ColsAtCompileTime) : int(traits::MaxColsAtCompileTime), XprTypeIsRowMajor = (int(traits::Flags)&RowMajorBit) != 0, IsRowMajor = (MaxRowsAtCompileTime==1&&MaxColsAtCompileTime!=1) ? 1 : (MaxColsAtCompileTime==1&&MaxRowsAtCompileTime!=1) ? 0 : XprTypeIsRowMajor, HasSameStorageOrderAsXprType = (IsRowMajor == XprTypeIsRowMajor), InnerSize = IsRowMajor ? int(ColsAtCompileTime) : int(RowsAtCompileTime), InnerStrideAtCompileTime = HasSameStorageOrderAsXprType ? int(inner_stride_at_compile_time::ret) : int(outer_stride_at_compile_time::ret), OuterStrideAtCompileTime = HasSameStorageOrderAsXprType ? int(outer_stride_at_compile_time::ret) : int(inner_stride_at_compile_time::ret), // FIXME, this traits is rather specialized for dense object and it needs to be cleaned further FlagsLvalueBit = is_lvalue::value ? LvalueBit : 0, FlagsRowMajorBit = IsRowMajor ? RowMajorBit : 0, Flags = (traits::Flags & (DirectAccessBit | (InnerPanel?CompressedAccessBit:0))) | FlagsLvalueBit | FlagsRowMajorBit, // FIXME DirectAccessBit should not be handled by expressions // // Alignment is needed by MapBase's assertions // We can sefely set it to false here. Internal alignment errors will be detected by an eigen_internal_assert in the respective evaluator Alignment = 0 }; }; template::ret> class BlockImpl_dense; } // end namespace internal template class BlockImpl; /** \class Block * \ingroup Core_Module * * \brief Expression of a fixed-size or dynamic-size block * * \tparam XprType the type of the expression in which we are taking a block * \tparam BlockRows the number of rows of the block we are taking at compile time (optional) * \tparam BlockCols the number of columns of the block we are taking at compile time (optional) * \tparam InnerPanel is true, if the block maps to a set of rows of a row major matrix or * to set of columns of a column major matrix (optional). The parameter allows to determine * at compile time whether aligned access is possible on the block expression. * * This class represents an expression of either a fixed-size or dynamic-size block. It is the return * type of DenseBase::block(Index,Index,Index,Index) and DenseBase::block(Index,Index) and * most of the time this is the only way it is used. * * However, if you want to directly maniputate block expressions, * for instance if you want to write a function returning such an expression, you * will need to use this class. * * Here is an example illustrating the dynamic case: * \include class_Block.cpp * Output: \verbinclude class_Block.out * * \note Even though this expression has dynamic size, in the case where \a XprType * has fixed size, this expression inherits a fixed maximal size which means that evaluating * it does not cause a dynamic memory allocation. * * Here is an example illustrating the fixed-size case: * \include class_FixedBlock.cpp * Output: \verbinclude class_FixedBlock.out * * \sa DenseBase::block(Index,Index,Index,Index), DenseBase::block(Index,Index), class VectorBlock */ template class Block : public BlockImpl::StorageKind> { typedef BlockImpl::StorageKind> Impl; public: //typedef typename Impl::Base Base; typedef Impl Base; EIGEN_GENERIC_PUBLIC_INTERFACE(Block) EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Block) typedef typename internal::remove_all::type NestedExpression; /** Column or Row constructor */ EIGEN_DEVICE_FUNC inline Block(XprType& xpr, Index i) : Impl(xpr,i) { eigen_assert( (i>=0) && ( ((BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) && i= 0 && BlockRows >= 0 && startRow + BlockRows <= xpr.rows() && startCol >= 0 && BlockCols >= 0 && startCol + BlockCols <= xpr.cols()); } /** Dynamic-size constructor */ EIGEN_DEVICE_FUNC inline Block(XprType& xpr, Index startRow, Index startCol, Index blockRows, Index blockCols) : Impl(xpr, startRow, startCol, blockRows, blockCols) { eigen_assert((RowsAtCompileTime==Dynamic || RowsAtCompileTime==blockRows) && (ColsAtCompileTime==Dynamic || ColsAtCompileTime==blockCols)); eigen_assert(startRow >= 0 && blockRows >= 0 && startRow <= xpr.rows() - blockRows && startCol >= 0 && blockCols >= 0 && startCol <= xpr.cols() - blockCols); } }; // The generic default implementation for dense block simplu forward to the internal::BlockImpl_dense // that must be specialized for direct and non-direct access... template class BlockImpl : public internal::BlockImpl_dense { typedef internal::BlockImpl_dense Impl; typedef typename XprType::StorageIndex StorageIndex; public: typedef Impl Base; EIGEN_INHERIT_ASSIGNMENT_OPERATORS(BlockImpl) EIGEN_DEVICE_FUNC inline BlockImpl(XprType& xpr, Index i) : Impl(xpr,i) {} EIGEN_DEVICE_FUNC inline BlockImpl(XprType& xpr, Index startRow, Index startCol) : Impl(xpr, startRow, startCol) {} EIGEN_DEVICE_FUNC inline BlockImpl(XprType& xpr, Index startRow, Index startCol, Index blockRows, Index blockCols) : Impl(xpr, startRow, startCol, blockRows, blockCols) {} }; namespace internal { /** \internal Internal implementation of dense Blocks in the general case. */ template class BlockImpl_dense : public internal::dense_xpr_base >::type { typedef Block BlockType; typedef typename internal::ref_selector::non_const_type XprTypeNested; public: typedef typename internal::dense_xpr_base::type Base; EIGEN_DENSE_PUBLIC_INTERFACE(BlockType) EIGEN_INHERIT_ASSIGNMENT_OPERATORS(BlockImpl_dense) // class InnerIterator; // FIXME apparently never used /** Column or Row constructor */ EIGEN_DEVICE_FUNC inline BlockImpl_dense(XprType& xpr, Index i) : m_xpr(xpr), // It is a row if and only if BlockRows==1 and BlockCols==XprType::ColsAtCompileTime, // and it is a column if and only if BlockRows==XprType::RowsAtCompileTime and BlockCols==1, // all other cases are invalid. // The case a 1x1 matrix seems ambiguous, but the result is the same anyway. m_startRow( (BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) ? i : 0), m_startCol( (BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) ? i : 0), m_blockRows(BlockRows==1 ? 1 : xpr.rows()), m_blockCols(BlockCols==1 ? 1 : xpr.cols()) {} /** Fixed-size constructor */ EIGEN_DEVICE_FUNC inline BlockImpl_dense(XprType& xpr, Index startRow, Index startCol) : m_xpr(xpr), m_startRow(startRow), m_startCol(startCol), m_blockRows(BlockRows), m_blockCols(BlockCols) {} /** Dynamic-size constructor */ EIGEN_DEVICE_FUNC inline BlockImpl_dense(XprType& xpr, Index startRow, Index startCol, Index blockRows, Index blockCols) : m_xpr(xpr), m_startRow(startRow), m_startCol(startCol), m_blockRows(blockRows), m_blockCols(blockCols) {} EIGEN_DEVICE_FUNC inline Index rows() const { return m_blockRows.value(); } EIGEN_DEVICE_FUNC inline Index cols() const { return m_blockCols.value(); } EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index rowId, Index colId) { EIGEN_STATIC_ASSERT_LVALUE(XprType) return m_xpr.coeffRef(rowId + m_startRow.value(), colId + m_startCol.value()); } EIGEN_DEVICE_FUNC inline const Scalar& coeffRef(Index rowId, Index colId) const { return m_xpr.derived().coeffRef(rowId + m_startRow.value(), colId + m_startCol.value()); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const CoeffReturnType coeff(Index rowId, Index colId) const { return m_xpr.coeff(rowId + m_startRow.value(), colId + m_startCol.value()); } EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index index) { EIGEN_STATIC_ASSERT_LVALUE(XprType) return m_xpr.coeffRef(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index), m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0)); } EIGEN_DEVICE_FUNC inline const Scalar& coeffRef(Index index) const { return m_xpr.coeffRef(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index), m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0)); } EIGEN_DEVICE_FUNC inline const CoeffReturnType coeff(Index index) const { return m_xpr.coeff(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index), m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0)); } template inline PacketScalar packet(Index rowId, Index colId) const { return m_xpr.template packet(rowId + m_startRow.value(), colId + m_startCol.value()); } template inline void writePacket(Index rowId, Index colId, const PacketScalar& val) { m_xpr.template writePacket(rowId + m_startRow.value(), colId + m_startCol.value(), val); } template inline PacketScalar packet(Index index) const { return m_xpr.template packet (m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index), m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0)); } template inline void writePacket(Index index, const PacketScalar& val) { m_xpr.template writePacket (m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index), m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0), val); } #ifdef EIGEN_PARSED_BY_DOXYGEN /** \sa MapBase::data() */ EIGEN_DEVICE_FUNC inline const Scalar* data() const; EIGEN_DEVICE_FUNC inline Index innerStride() const; EIGEN_DEVICE_FUNC inline Index outerStride() const; #endif EIGEN_DEVICE_FUNC const typename internal::remove_all::type& nestedExpression() const { return m_xpr; } EIGEN_DEVICE_FUNC XprType& nestedExpression() { return m_xpr; } EIGEN_DEVICE_FUNC StorageIndex startRow() const { return m_startRow.value(); } EIGEN_DEVICE_FUNC StorageIndex startCol() const { return m_startCol.value(); } protected: XprTypeNested m_xpr; const internal::variable_if_dynamic m_startRow; const internal::variable_if_dynamic m_startCol; const internal::variable_if_dynamic m_blockRows; const internal::variable_if_dynamic m_blockCols; }; /** \internal Internal implementation of dense Blocks in the direct access case.*/ template class BlockImpl_dense : public MapBase > { typedef Block BlockType; typedef typename internal::ref_selector::non_const_type XprTypeNested; enum { XprTypeIsRowMajor = (int(traits::Flags)&RowMajorBit) != 0 }; public: typedef MapBase Base; EIGEN_DENSE_PUBLIC_INTERFACE(BlockType) EIGEN_INHERIT_ASSIGNMENT_OPERATORS(BlockImpl_dense) /** Column or Row constructor */ EIGEN_DEVICE_FUNC inline BlockImpl_dense(XprType& xpr, Index i) : Base(xpr.data() + i * ( ((BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) && (!XprTypeIsRowMajor)) || ((BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) && ( XprTypeIsRowMajor)) ? xpr.innerStride() : xpr.outerStride()), BlockRows==1 ? 1 : xpr.rows(), BlockCols==1 ? 1 : xpr.cols()), m_xpr(xpr), m_startRow( (BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) ? i : 0), m_startCol( (BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) ? i : 0) { init(); } /** Fixed-size constructor */ EIGEN_DEVICE_FUNC inline BlockImpl_dense(XprType& xpr, Index startRow, Index startCol) : Base(xpr.data()+xpr.innerStride()*(XprTypeIsRowMajor?startCol:startRow) + xpr.outerStride()*(XprTypeIsRowMajor?startRow:startCol)), m_xpr(xpr), m_startRow(startRow), m_startCol(startCol) { init(); } /** Dynamic-size constructor */ EIGEN_DEVICE_FUNC inline BlockImpl_dense(XprType& xpr, Index startRow, Index startCol, Index blockRows, Index blockCols) : Base(xpr.data()+xpr.innerStride()*(XprTypeIsRowMajor?startCol:startRow) + xpr.outerStride()*(XprTypeIsRowMajor?startRow:startCol), blockRows, blockCols), m_xpr(xpr), m_startRow(startRow), m_startCol(startCol) { init(); } EIGEN_DEVICE_FUNC const typename internal::remove_all::type& nestedExpression() const { return m_xpr; } EIGEN_DEVICE_FUNC XprType& nestedExpression() { return m_xpr; } /** \sa MapBase::innerStride() */ EIGEN_DEVICE_FUNC inline Index innerStride() const { return internal::traits::HasSameStorageOrderAsXprType ? m_xpr.innerStride() : m_xpr.outerStride(); } /** \sa MapBase::outerStride() */ EIGEN_DEVICE_FUNC inline Index outerStride() const { return m_outerStride; } EIGEN_DEVICE_FUNC StorageIndex startRow() const { return m_startRow.value(); } EIGEN_DEVICE_FUNC StorageIndex startCol() const { return m_startCol.value(); } #ifndef __SUNPRO_CC // FIXME sunstudio is not friendly with the above friend... // META-FIXME there is no 'friend' keyword around here. Is this obsolete? protected: #endif #ifndef EIGEN_PARSED_BY_DOXYGEN /** \internal used by allowAligned() */ EIGEN_DEVICE_FUNC inline BlockImpl_dense(XprType& xpr, const Scalar* data, Index blockRows, Index blockCols) : Base(data, blockRows, blockCols), m_xpr(xpr) { init(); } #endif protected: EIGEN_DEVICE_FUNC void init() { m_outerStride = internal::traits::HasSameStorageOrderAsXprType ? m_xpr.outerStride() : m_xpr.innerStride(); } XprTypeNested m_xpr; const internal::variable_if_dynamic m_startRow; const internal::variable_if_dynamic m_startCol; Index m_outerStride; }; } // end namespace internal } // end namespace Eigen #endif // EIGEN_BLOCK_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/BooleanRedux.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2008 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_ALLANDANY_H #define EIGEN_ALLANDANY_H namespace Eigen { namespace internal { template struct all_unroller { typedef typename Derived::ExpressionTraits Traits; enum { col = (UnrollCount-1) / Traits::RowsAtCompileTime, row = (UnrollCount-1) % Traits::RowsAtCompileTime }; static inline bool run(const Derived &mat) { return all_unroller::run(mat) && mat.coeff(row, col); } }; template struct all_unroller { static inline bool run(const Derived &/*mat*/) { return true; } }; template struct all_unroller { static inline bool run(const Derived &) { return false; } }; template struct any_unroller { typedef typename Derived::ExpressionTraits Traits; enum { col = (UnrollCount-1) / Traits::RowsAtCompileTime, row = (UnrollCount-1) % Traits::RowsAtCompileTime }; static inline bool run(const Derived &mat) { return any_unroller::run(mat) || mat.coeff(row, col); } }; template struct any_unroller { static inline bool run(const Derived & /*mat*/) { return false; } }; template struct any_unroller { static inline bool run(const Derived &) { return false; } }; } // end namespace internal /** \returns true if all coefficients are true * * Example: \include MatrixBase_all.cpp * Output: \verbinclude MatrixBase_all.out * * \sa any(), Cwise::operator<() */ template inline bool DenseBase::all() const { typedef internal::evaluator Evaluator; enum { unroll = SizeAtCompileTime != Dynamic && SizeAtCompileTime * (Evaluator::CoeffReadCost + NumTraits::AddCost) <= EIGEN_UNROLLING_LIMIT }; Evaluator evaluator(derived()); if(unroll) return internal::all_unroller::run(evaluator); else { for(Index j = 0; j < cols(); ++j) for(Index i = 0; i < rows(); ++i) if (!evaluator.coeff(i, j)) return false; return true; } } /** \returns true if at least one coefficient is true * * \sa all() */ template inline bool DenseBase::any() const { typedef internal::evaluator Evaluator; enum { unroll = SizeAtCompileTime != Dynamic && SizeAtCompileTime * (Evaluator::CoeffReadCost + NumTraits::AddCost) <= EIGEN_UNROLLING_LIMIT }; Evaluator evaluator(derived()); if(unroll) return internal::any_unroller::run(evaluator); else { for(Index j = 0; j < cols(); ++j) for(Index i = 0; i < rows(); ++i) if (evaluator.coeff(i, j)) return true; return false; } } /** \returns the number of coefficients which evaluate to true * * \sa all(), any() */ template inline Eigen::Index DenseBase::count() const { return derived().template cast().template cast().sum(); } /** \returns true is \c *this contains at least one Not A Number (NaN). * * \sa allFinite() */ template inline bool DenseBase::hasNaN() const { #if EIGEN_COMP_MSVC || (defined __FAST_MATH__) return derived().array().isNaN().any(); #else return !((derived().array()==derived().array()).all()); #endif } /** \returns true if \c *this contains only finite numbers, i.e., no NaN and no +/-INF values. * * \sa hasNaN() */ template inline bool DenseBase::allFinite() const { #if EIGEN_COMP_MSVC || (defined __FAST_MATH__) return derived().array().isFinite().all(); #else return !((derived()-derived()).hasNaN()); #endif } } // end namespace Eigen #endif // EIGEN_ALLANDANY_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/CommaInitializer.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2008 Gael Guennebaud // Copyright (C) 2006-2008 Benoit Jacob // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_COMMAINITIALIZER_H #define EIGEN_COMMAINITIALIZER_H namespace Eigen { /** \class CommaInitializer * \ingroup Core_Module * * \brief Helper class used by the comma initializer operator * * This class is internally used to implement the comma initializer feature. It is * the return type of MatrixBase::operator<<, and most of the time this is the only * way it is used. * * \sa \blank \ref MatrixBaseCommaInitRef "MatrixBase::operator<<", CommaInitializer::finished() */ template struct CommaInitializer { typedef typename XprType::Scalar Scalar; EIGEN_DEVICE_FUNC inline CommaInitializer(XprType& xpr, const Scalar& s) : m_xpr(xpr), m_row(0), m_col(1), m_currentBlockRows(1) { m_xpr.coeffRef(0,0) = s; } template EIGEN_DEVICE_FUNC inline CommaInitializer(XprType& xpr, const DenseBase& other) : m_xpr(xpr), m_row(0), m_col(other.cols()), m_currentBlockRows(other.rows()) { m_xpr.block(0, 0, other.rows(), other.cols()) = other; } /* Copy/Move constructor which transfers ownership. This is crucial in * absence of return value optimization to avoid assertions during destruction. */ // FIXME in C++11 mode this could be replaced by a proper RValue constructor EIGEN_DEVICE_FUNC inline CommaInitializer(const CommaInitializer& o) : m_xpr(o.m_xpr), m_row(o.m_row), m_col(o.m_col), m_currentBlockRows(o.m_currentBlockRows) { // Mark original object as finished. In absence of R-value references we need to const_cast: const_cast(o).m_row = m_xpr.rows(); const_cast(o).m_col = m_xpr.cols(); const_cast(o).m_currentBlockRows = 0; } /* inserts a scalar value in the target matrix */ EIGEN_DEVICE_FUNC CommaInitializer& operator,(const Scalar& s) { if (m_col==m_xpr.cols()) { m_row+=m_currentBlockRows; m_col = 0; m_currentBlockRows = 1; eigen_assert(m_row EIGEN_DEVICE_FUNC CommaInitializer& operator,(const DenseBase& other) { if (m_col==m_xpr.cols() && (other.cols()!=0 || other.rows()!=m_currentBlockRows)) { m_row+=m_currentBlockRows; m_col = 0; m_currentBlockRows = other.rows(); eigen_assert(m_row+m_currentBlockRows<=m_xpr.rows() && "Too many rows passed to comma initializer (operator<<)"); } eigen_assert((m_col + other.cols() <= m_xpr.cols()) && "Too many coefficients passed to comma initializer (operator<<)"); eigen_assert(m_currentBlockRows==other.rows()); m_xpr.template block (m_row, m_col, other.rows(), other.cols()) = other; m_col += other.cols(); return *this; } EIGEN_DEVICE_FUNC inline ~CommaInitializer() #if defined VERIFY_RAISES_ASSERT && (!defined EIGEN_NO_ASSERTION_CHECKING) && defined EIGEN_EXCEPTIONS EIGEN_EXCEPTION_SPEC(Eigen::eigen_assert_exception) #endif { finished(); } /** \returns the built matrix once all its coefficients have been set. * Calling finished is 100% optional. Its purpose is to write expressions * like this: * \code * quaternion.fromRotationMatrix((Matrix3f() << axis0, axis1, axis2).finished()); * \endcode */ EIGEN_DEVICE_FUNC inline XprType& finished() { eigen_assert(((m_row+m_currentBlockRows) == m_xpr.rows() || m_xpr.cols() == 0) && m_col == m_xpr.cols() && "Too few coefficients passed to comma initializer (operator<<)"); return m_xpr; } XprType& m_xpr; // target expression Index m_row; // current row id Index m_col; // current col id Index m_currentBlockRows; // current block height }; /** \anchor MatrixBaseCommaInitRef * Convenient operator to set the coefficients of a matrix. * * The coefficients must be provided in a row major order and exactly match * the size of the matrix. Otherwise an assertion is raised. * * Example: \include MatrixBase_set.cpp * Output: \verbinclude MatrixBase_set.out * * \note According the c++ standard, the argument expressions of this comma initializer are evaluated in arbitrary order. * * \sa CommaInitializer::finished(), class CommaInitializer */ template inline CommaInitializer DenseBase::operator<< (const Scalar& s) { return CommaInitializer(*static_cast(this), s); } /** \sa operator<<(const Scalar&) */ template template inline CommaInitializer DenseBase::operator<<(const DenseBase& other) { return CommaInitializer(*static_cast(this), other); } } // end namespace Eigen #endif // EIGEN_COMMAINITIALIZER_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/ConditionEstimator.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2016 Rasmus Munk Larsen (rmlarsen@google.com) // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_CONDITIONESTIMATOR_H #define EIGEN_CONDITIONESTIMATOR_H namespace Eigen { namespace internal { template struct rcond_compute_sign { static inline Vector run(const Vector& v) { const RealVector v_abs = v.cwiseAbs(); return (v_abs.array() == static_cast(0)) .select(Vector::Ones(v.size()), v.cwiseQuotient(v_abs)); } }; // Partial specialization to avoid elementwise division for real vectors. template struct rcond_compute_sign { static inline Vector run(const Vector& v) { return (v.array() < static_cast(0)) .select(-Vector::Ones(v.size()), Vector::Ones(v.size())); } }; /** * \returns an estimate of ||inv(matrix)||_1 given a decomposition of * \a matrix that implements .solve() and .adjoint().solve() methods. * * This function implements Algorithms 4.1 and 5.1 from * http://www.maths.manchester.ac.uk/~higham/narep/narep135.pdf * which also forms the basis for the condition number estimators in * LAPACK. Since at most 10 calls to the solve method of dec are * performed, the total cost is O(dims^2), as opposed to O(dims^3) * needed to compute the inverse matrix explicitly. * * The most common usage is in estimating the condition number * ||matrix||_1 * ||inv(matrix)||_1. The first term ||matrix||_1 can be * computed directly in O(n^2) operations. * * Supports the following decompositions: FullPivLU, PartialPivLU, LDLT, and * LLT. * * \sa FullPivLU, PartialPivLU, LDLT, LLT. */ template typename Decomposition::RealScalar rcond_invmatrix_L1_norm_estimate(const Decomposition& dec) { typedef typename Decomposition::MatrixType MatrixType; typedef typename Decomposition::Scalar Scalar; typedef typename Decomposition::RealScalar RealScalar; typedef typename internal::plain_col_type::type Vector; typedef typename internal::plain_col_type::type RealVector; const bool is_complex = (NumTraits::IsComplex != 0); eigen_assert(dec.rows() == dec.cols()); const Index n = dec.rows(); if (n == 0) return 0; // Disable Index to float conversion warning #ifdef __INTEL_COMPILER #pragma warning push #pragma warning ( disable : 2259 ) #endif Vector v = dec.solve(Vector::Ones(n) / Scalar(n)); #ifdef __INTEL_COMPILER #pragma warning pop #endif // lower_bound is a lower bound on // ||inv(matrix)||_1 = sup_v ||inv(matrix) v||_1 / ||v||_1 // and is the objective maximized by the ("super-") gradient ascent // algorithm below. RealScalar lower_bound = v.template lpNorm<1>(); if (n == 1) return lower_bound; // Gradient ascent algorithm follows: We know that the optimum is achieved at // one of the simplices v = e_i, so in each iteration we follow a // super-gradient to move towards the optimal one. RealScalar old_lower_bound = lower_bound; Vector sign_vector(n); Vector old_sign_vector; Index v_max_abs_index = -1; Index old_v_max_abs_index = v_max_abs_index; for (int k = 0; k < 4; ++k) { sign_vector = internal::rcond_compute_sign::run(v); if (k > 0 && !is_complex && sign_vector == old_sign_vector) { // Break if the solution stagnated. break; } // v_max_abs_index = argmax |real( inv(matrix)^T * sign_vector )| v = dec.adjoint().solve(sign_vector); v.real().cwiseAbs().maxCoeff(&v_max_abs_index); if (v_max_abs_index == old_v_max_abs_index) { // Break if the solution stagnated. break; } // Move to the new simplex e_j, where j = v_max_abs_index. v = dec.solve(Vector::Unit(n, v_max_abs_index)); // v = inv(matrix) * e_j. lower_bound = v.template lpNorm<1>(); if (lower_bound <= old_lower_bound) { // Break if the gradient step did not increase the lower_bound. break; } if (!is_complex) { old_sign_vector = sign_vector; } old_v_max_abs_index = v_max_abs_index; old_lower_bound = lower_bound; } // The following calculates an independent estimate of ||matrix||_1 by // multiplying matrix by a vector with entries of slowly increasing // magnitude and alternating sign: // v_i = (-1)^{i} (1 + (i / (dim-1))), i = 0,...,dim-1. // This improvement to Hager's algorithm above is due to Higham. It was // added to make the algorithm more robust in certain corner cases where // large elements in the matrix might otherwise escape detection due to // exact cancellation (especially when op and op_adjoint correspond to a // sequence of backsubstitutions and permutations), which could cause // Hager's algorithm to vastly underestimate ||matrix||_1. Scalar alternating_sign(RealScalar(1)); for (Index i = 0; i < n; ++i) { // The static_cast is needed when Scalar is a complex and RealScalar implements expression templates v[i] = alternating_sign * static_cast(RealScalar(1) + (RealScalar(i) / (RealScalar(n - 1)))); alternating_sign = -alternating_sign; } v = dec.solve(v); const RealScalar alternate_lower_bound = (2 * v.template lpNorm<1>()) / (3 * RealScalar(n)); return numext::maxi(lower_bound, alternate_lower_bound); } /** \brief Reciprocal condition number estimator. * * Computing a decomposition of a dense matrix takes O(n^3) operations, while * this method estimates the condition number quickly and reliably in O(n^2) * operations. * * \returns an estimate of the reciprocal condition number * (1 / (||matrix||_1 * ||inv(matrix)||_1)) of matrix, given ||matrix||_1 and * its decomposition. Supports the following decompositions: FullPivLU, * PartialPivLU, LDLT, and LLT. * * \sa FullPivLU, PartialPivLU, LDLT, LLT. */ template typename Decomposition::RealScalar rcond_estimate_helper(typename Decomposition::RealScalar matrix_norm, const Decomposition& dec) { typedef typename Decomposition::RealScalar RealScalar; eigen_assert(dec.rows() == dec.cols()); if (dec.rows() == 0) return RealScalar(1); if (matrix_norm == RealScalar(0)) return RealScalar(0); if (dec.rows() == 1) return RealScalar(1); const RealScalar inverse_matrix_norm = rcond_invmatrix_L1_norm_estimate(dec); return (inverse_matrix_norm == RealScalar(0) ? RealScalar(0) : (RealScalar(1) / inverse_matrix_norm) / matrix_norm); } } // namespace internal } // namespace Eigen #endif ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/CoreEvaluators.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2011 Benoit Jacob // Copyright (C) 2011-2014 Gael Guennebaud // Copyright (C) 2011-2012 Jitse Niesen // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_COREEVALUATORS_H #define EIGEN_COREEVALUATORS_H namespace Eigen { namespace internal { // This class returns the evaluator kind from the expression storage kind. // Default assumes index based accessors template struct storage_kind_to_evaluator_kind { typedef IndexBased Kind; }; // This class returns the evaluator shape from the expression storage kind. // It can be Dense, Sparse, Triangular, Diagonal, SelfAdjoint, Band, etc. template struct storage_kind_to_shape; template<> struct storage_kind_to_shape { typedef DenseShape Shape; }; template<> struct storage_kind_to_shape { typedef SolverShape Shape; }; template<> struct storage_kind_to_shape { typedef PermutationShape Shape; }; template<> struct storage_kind_to_shape { typedef TranspositionsShape Shape; }; // Evaluators have to be specialized with respect to various criteria such as: // - storage/structure/shape // - scalar type // - etc. // Therefore, we need specialization of evaluator providing additional template arguments for each kind of evaluators. // We currently distinguish the following kind of evaluators: // - unary_evaluator for expressions taking only one arguments (CwiseUnaryOp, CwiseUnaryView, Transpose, MatrixWrapper, ArrayWrapper, Reverse, Replicate) // - binary_evaluator for expression taking two arguments (CwiseBinaryOp) // - ternary_evaluator for expression taking three arguments (CwiseTernaryOp) // - product_evaluator for linear algebra products (Product); special case of binary_evaluator because it requires additional tags for dispatching. // - mapbase_evaluator for Map, Block, Ref // - block_evaluator for Block (special dispatching to a mapbase_evaluator or unary_evaluator) template< typename T, typename Arg1Kind = typename evaluator_traits::Kind, typename Arg2Kind = typename evaluator_traits::Kind, typename Arg3Kind = typename evaluator_traits::Kind, typename Arg1Scalar = typename traits::Scalar, typename Arg2Scalar = typename traits::Scalar, typename Arg3Scalar = typename traits::Scalar> struct ternary_evaluator; template< typename T, typename LhsKind = typename evaluator_traits::Kind, typename RhsKind = typename evaluator_traits::Kind, typename LhsScalar = typename traits::Scalar, typename RhsScalar = typename traits::Scalar> struct binary_evaluator; template< typename T, typename Kind = typename evaluator_traits::Kind, typename Scalar = typename T::Scalar> struct unary_evaluator; // evaluator_traits contains traits for evaluator template struct evaluator_traits_base { // by default, get evaluator kind and shape from storage typedef typename storage_kind_to_evaluator_kind::StorageKind>::Kind Kind; typedef typename storage_kind_to_shape::StorageKind>::Shape Shape; }; // Default evaluator traits template struct evaluator_traits : public evaluator_traits_base { }; template::Shape > struct evaluator_assume_aliasing { static const bool value = false; }; // By default, we assume a unary expression: template struct evaluator : public unary_evaluator { typedef unary_evaluator Base; EIGEN_DEVICE_FUNC explicit evaluator(const T& xpr) : Base(xpr) {} }; // TODO: Think about const-correctness template struct evaluator : evaluator { EIGEN_DEVICE_FUNC explicit evaluator(const T& xpr) : evaluator(xpr) {} }; // ---------- base class for all evaluators ---------- template struct evaluator_base : public noncopyable { // TODO that's not very nice to have to propagate all these traits. They are currently only needed to handle outer,inner indices. typedef traits ExpressionTraits; enum { Alignment = 0 }; }; // -------------------- Matrix and Array -------------------- // // evaluator is a common base class for the // Matrix and Array evaluators. // Here we directly specialize evaluator. This is not really a unary expression, and it is, by definition, dense, // so no need for more sophisticated dispatching. template struct evaluator > : evaluator_base { typedef PlainObjectBase PlainObjectType; typedef typename PlainObjectType::Scalar Scalar; typedef typename PlainObjectType::CoeffReturnType CoeffReturnType; enum { IsRowMajor = PlainObjectType::IsRowMajor, IsVectorAtCompileTime = PlainObjectType::IsVectorAtCompileTime, RowsAtCompileTime = PlainObjectType::RowsAtCompileTime, ColsAtCompileTime = PlainObjectType::ColsAtCompileTime, CoeffReadCost = NumTraits::ReadCost, Flags = traits::EvaluatorFlags, Alignment = traits::Alignment }; EIGEN_DEVICE_FUNC evaluator() : m_data(0), m_outerStride(IsVectorAtCompileTime ? 0 : int(IsRowMajor) ? ColsAtCompileTime : RowsAtCompileTime) { EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost); } EIGEN_DEVICE_FUNC explicit evaluator(const PlainObjectType& m) : m_data(m.data()), m_outerStride(IsVectorAtCompileTime ? 0 : m.outerStride()) { EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index row, Index col) const { if (IsRowMajor) return m_data[row * m_outerStride.value() + col]; else return m_data[row + col * m_outerStride.value()]; } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const { return m_data[index]; } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(Index row, Index col) { if (IsRowMajor) return const_cast(m_data)[row * m_outerStride.value() + col]; else return const_cast(m_data)[row + col * m_outerStride.value()]; } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(Index index) { return const_cast(m_data)[index]; } template EIGEN_STRONG_INLINE PacketType packet(Index row, Index col) const { if (IsRowMajor) return ploadt(m_data + row * m_outerStride.value() + col); else return ploadt(m_data + row + col * m_outerStride.value()); } template EIGEN_STRONG_INLINE PacketType packet(Index index) const { return ploadt(m_data + index); } template EIGEN_STRONG_INLINE void writePacket(Index row, Index col, const PacketType& x) { if (IsRowMajor) return pstoret (const_cast(m_data) + row * m_outerStride.value() + col, x); else return pstoret (const_cast(m_data) + row + col * m_outerStride.value(), x); } template EIGEN_STRONG_INLINE void writePacket(Index index, const PacketType& x) { return pstoret(const_cast(m_data) + index, x); } protected: const Scalar *m_data; // We do not need to know the outer stride for vectors variable_if_dynamic m_outerStride; }; template struct evaluator > : evaluator > > { typedef Matrix XprType; EIGEN_DEVICE_FUNC evaluator() {} EIGEN_DEVICE_FUNC explicit evaluator(const XprType& m) : evaluator >(m) { } }; template struct evaluator > : evaluator > > { typedef Array XprType; EIGEN_DEVICE_FUNC evaluator() {} EIGEN_DEVICE_FUNC explicit evaluator(const XprType& m) : evaluator >(m) { } }; // -------------------- Transpose -------------------- template struct unary_evaluator, IndexBased> : evaluator_base > { typedef Transpose XprType; enum { CoeffReadCost = evaluator::CoeffReadCost, Flags = evaluator::Flags ^ RowMajorBit, Alignment = evaluator::Alignment }; EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& t) : m_argImpl(t.nestedExpression()) {} typedef typename XprType::Scalar Scalar; typedef typename XprType::CoeffReturnType CoeffReturnType; EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index row, Index col) const { return m_argImpl.coeff(col, row); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const { return m_argImpl.coeff(index); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(Index row, Index col) { return m_argImpl.coeffRef(col, row); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename XprType::Scalar& coeffRef(Index index) { return m_argImpl.coeffRef(index); } template EIGEN_STRONG_INLINE PacketType packet(Index row, Index col) const { return m_argImpl.template packet(col, row); } template EIGEN_STRONG_INLINE PacketType packet(Index index) const { return m_argImpl.template packet(index); } template EIGEN_STRONG_INLINE void writePacket(Index row, Index col, const PacketType& x) { m_argImpl.template writePacket(col, row, x); } template EIGEN_STRONG_INLINE void writePacket(Index index, const PacketType& x) { m_argImpl.template writePacket(index, x); } protected: evaluator m_argImpl; }; // -------------------- CwiseNullaryOp -------------------- // Like Matrix and Array, this is not really a unary expression, so we directly specialize evaluator. // Likewise, there is not need to more sophisticated dispatching here. template::value, bool has_unary = has_unary_operator::value, bool has_binary = has_binary_operator::value> struct nullary_wrapper { template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i, IndexType j) const { return op(i,j); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i) const { return op(i); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i, IndexType j) const { return op.template packetOp(i,j); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i) const { return op.template packetOp(i); } }; template struct nullary_wrapper { template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType=0, IndexType=0) const { return op(); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType=0, IndexType=0) const { return op.template packetOp(); } }; template struct nullary_wrapper { template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i, IndexType j=0) const { return op(i,j); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i, IndexType j=0) const { return op.template packetOp(i,j); } }; // We need the following specialization for vector-only functors assigned to a runtime vector, // for instance, using linspace and assigning a RowVectorXd to a MatrixXd or even a row of a MatrixXd. // In this case, i==0 and j is used for the actual iteration. template struct nullary_wrapper { template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i, IndexType j) const { eigen_assert(i==0 || j==0); return op(i+j); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i, IndexType j) const { eigen_assert(i==0 || j==0); return op.template packetOp(i+j); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i) const { return op(i); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i) const { return op.template packetOp(i); } }; template struct nullary_wrapper {}; #if 0 && EIGEN_COMP_MSVC>0 // Disable this ugly workaround. This is now handled in traits::match, // but this piece of code might still become handly if some other weird compilation // erros pop up again. // MSVC exhibits a weird compilation error when // compiling: // Eigen::MatrixXf A = MatrixXf::Random(3,3); // Ref R = 2.f*A; // and that has_*ary_operator> have not been instantiated yet. // The "problem" is that evaluator<2.f*A> is instantiated by traits::match<2.f*A> // and at that time has_*ary_operator returns true regardless of T. // Then nullary_wrapper is badly instantiated as nullary_wrapper<.,.,true,true,true>. // The trick is thus to defer the proper instantiation of nullary_wrapper when coeff(), // and packet() are really instantiated as implemented below: // This is a simple wrapper around Index to enforce the re-instantiation of // has_*ary_operator when needed. template struct nullary_wrapper_workaround_msvc { nullary_wrapper_workaround_msvc(const T&); operator T()const; }; template struct nullary_wrapper { template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i, IndexType j) const { return nullary_wrapper >::value, has_unary_operator >::value, has_binary_operator >::value>().operator()(op,i,j); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i) const { return nullary_wrapper >::value, has_unary_operator >::value, has_binary_operator >::value>().operator()(op,i); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i, IndexType j) const { return nullary_wrapper >::value, has_unary_operator >::value, has_binary_operator >::value>().template packetOp(op,i,j); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i) const { return nullary_wrapper >::value, has_unary_operator >::value, has_binary_operator >::value>().template packetOp(op,i); } }; #endif // MSVC workaround template struct evaluator > : evaluator_base > { typedef CwiseNullaryOp XprType; typedef typename internal::remove_all::type PlainObjectTypeCleaned; enum { CoeffReadCost = internal::functor_traits::Cost, Flags = (evaluator::Flags & ( HereditaryBits | (functor_has_linear_access::ret ? LinearAccessBit : 0) | (functor_traits::PacketAccess ? PacketAccessBit : 0))) | (functor_traits::IsRepeatable ? 0 : EvalBeforeNestingBit), Alignment = AlignedMax }; EIGEN_DEVICE_FUNC explicit evaluator(const XprType& n) : m_functor(n.functor()), m_wrapper() { EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost); } typedef typename XprType::CoeffReturnType CoeffReturnType; template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(IndexType row, IndexType col) const { return m_wrapper(m_functor, row, col); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(IndexType index) const { return m_wrapper(m_functor,index); } template EIGEN_STRONG_INLINE PacketType packet(IndexType row, IndexType col) const { return m_wrapper.template packetOp(m_functor, row, col); } template EIGEN_STRONG_INLINE PacketType packet(IndexType index) const { return m_wrapper.template packetOp(m_functor, index); } protected: const NullaryOp m_functor; const internal::nullary_wrapper m_wrapper; }; // -------------------- CwiseUnaryOp -------------------- template struct unary_evaluator, IndexBased > : evaluator_base > { typedef CwiseUnaryOp XprType; enum { CoeffReadCost = evaluator::CoeffReadCost + functor_traits::Cost, Flags = evaluator::Flags & (HereditaryBits | LinearAccessBit | (functor_traits::PacketAccess ? PacketAccessBit : 0)), Alignment = evaluator::Alignment }; EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit unary_evaluator(const XprType& op) : m_functor(op.functor()), m_argImpl(op.nestedExpression()) { EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits::Cost); EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost); } typedef typename XprType::CoeffReturnType CoeffReturnType; EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index row, Index col) const { return m_functor(m_argImpl.coeff(row, col)); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const { return m_functor(m_argImpl.coeff(index)); } template EIGEN_STRONG_INLINE PacketType packet(Index row, Index col) const { return m_functor.packetOp(m_argImpl.template packet(row, col)); } template EIGEN_STRONG_INLINE PacketType packet(Index index) const { return m_functor.packetOp(m_argImpl.template packet(index)); } protected: const UnaryOp m_functor; evaluator m_argImpl; }; // -------------------- CwiseTernaryOp -------------------- // this is a ternary expression template struct evaluator > : public ternary_evaluator > { typedef CwiseTernaryOp XprType; typedef ternary_evaluator > Base; EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) : Base(xpr) {} }; template struct ternary_evaluator, IndexBased, IndexBased> : evaluator_base > { typedef CwiseTernaryOp XprType; enum { CoeffReadCost = evaluator::CoeffReadCost + evaluator::CoeffReadCost + evaluator::CoeffReadCost + functor_traits::Cost, Arg1Flags = evaluator::Flags, Arg2Flags = evaluator::Flags, Arg3Flags = evaluator::Flags, SameType = is_same::value && is_same::value, StorageOrdersAgree = (int(Arg1Flags)&RowMajorBit)==(int(Arg2Flags)&RowMajorBit) && (int(Arg1Flags)&RowMajorBit)==(int(Arg3Flags)&RowMajorBit), Flags0 = (int(Arg1Flags) | int(Arg2Flags) | int(Arg3Flags)) & ( HereditaryBits | (int(Arg1Flags) & int(Arg2Flags) & int(Arg3Flags) & ( (StorageOrdersAgree ? LinearAccessBit : 0) | (functor_traits::PacketAccess && StorageOrdersAgree && SameType ? PacketAccessBit : 0) ) ) ), Flags = (Flags0 & ~RowMajorBit) | (Arg1Flags & RowMajorBit), Alignment = EIGEN_PLAIN_ENUM_MIN( EIGEN_PLAIN_ENUM_MIN(evaluator::Alignment, evaluator::Alignment), evaluator::Alignment) }; EIGEN_DEVICE_FUNC explicit ternary_evaluator(const XprType& xpr) : m_functor(xpr.functor()), m_arg1Impl(xpr.arg1()), m_arg2Impl(xpr.arg2()), m_arg3Impl(xpr.arg3()) { EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits::Cost); EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost); } typedef typename XprType::CoeffReturnType CoeffReturnType; EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index row, Index col) const { return m_functor(m_arg1Impl.coeff(row, col), m_arg2Impl.coeff(row, col), m_arg3Impl.coeff(row, col)); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const { return m_functor(m_arg1Impl.coeff(index), m_arg2Impl.coeff(index), m_arg3Impl.coeff(index)); } template EIGEN_STRONG_INLINE PacketType packet(Index row, Index col) const { return m_functor.packetOp(m_arg1Impl.template packet(row, col), m_arg2Impl.template packet(row, col), m_arg3Impl.template packet(row, col)); } template EIGEN_STRONG_INLINE PacketType packet(Index index) const { return m_functor.packetOp(m_arg1Impl.template packet(index), m_arg2Impl.template packet(index), m_arg3Impl.template packet(index)); } protected: const TernaryOp m_functor; evaluator m_arg1Impl; evaluator m_arg2Impl; evaluator m_arg3Impl; }; // -------------------- CwiseBinaryOp -------------------- // this is a binary expression template struct evaluator > : public binary_evaluator > { typedef CwiseBinaryOp XprType; typedef binary_evaluator > Base; EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) : Base(xpr) {} }; template struct binary_evaluator, IndexBased, IndexBased> : evaluator_base > { typedef CwiseBinaryOp XprType; enum { CoeffReadCost = evaluator::CoeffReadCost + evaluator::CoeffReadCost + functor_traits::Cost, LhsFlags = evaluator::Flags, RhsFlags = evaluator::Flags, SameType = is_same::value, StorageOrdersAgree = (int(LhsFlags)&RowMajorBit)==(int(RhsFlags)&RowMajorBit), Flags0 = (int(LhsFlags) | int(RhsFlags)) & ( HereditaryBits | (int(LhsFlags) & int(RhsFlags) & ( (StorageOrdersAgree ? LinearAccessBit : 0) | (functor_traits::PacketAccess && StorageOrdersAgree && SameType ? PacketAccessBit : 0) ) ) ), Flags = (Flags0 & ~RowMajorBit) | (LhsFlags & RowMajorBit), Alignment = EIGEN_PLAIN_ENUM_MIN(evaluator::Alignment,evaluator::Alignment) }; EIGEN_DEVICE_FUNC explicit binary_evaluator(const XprType& xpr) : m_functor(xpr.functor()), m_lhsImpl(xpr.lhs()), m_rhsImpl(xpr.rhs()) { EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits::Cost); EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost); } typedef typename XprType::CoeffReturnType CoeffReturnType; EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index row, Index col) const { return m_functor(m_lhsImpl.coeff(row, col), m_rhsImpl.coeff(row, col)); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const { return m_functor(m_lhsImpl.coeff(index), m_rhsImpl.coeff(index)); } template EIGEN_STRONG_INLINE PacketType packet(Index row, Index col) const { return m_functor.packetOp(m_lhsImpl.template packet(row, col), m_rhsImpl.template packet(row, col)); } template EIGEN_STRONG_INLINE PacketType packet(Index index) const { return m_functor.packetOp(m_lhsImpl.template packet(index), m_rhsImpl.template packet(index)); } protected: const BinaryOp m_functor; evaluator m_lhsImpl; evaluator m_rhsImpl; }; // -------------------- CwiseUnaryView -------------------- template struct unary_evaluator, IndexBased> : evaluator_base > { typedef CwiseUnaryView XprType; enum { CoeffReadCost = evaluator::CoeffReadCost + functor_traits::Cost, Flags = (evaluator::Flags & (HereditaryBits | LinearAccessBit | DirectAccessBit)), Alignment = 0 // FIXME it is not very clear why alignment is necessarily lost... }; EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& op) : m_unaryOp(op.functor()), m_argImpl(op.nestedExpression()) { EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits::Cost); EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost); } typedef typename XprType::Scalar Scalar; typedef typename XprType::CoeffReturnType CoeffReturnType; EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index row, Index col) const { return m_unaryOp(m_argImpl.coeff(row, col)); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const { return m_unaryOp(m_argImpl.coeff(index)); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(Index row, Index col) { return m_unaryOp(m_argImpl.coeffRef(row, col)); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(Index index) { return m_unaryOp(m_argImpl.coeffRef(index)); } protected: const UnaryOp m_unaryOp; evaluator m_argImpl; }; // -------------------- Map -------------------- // FIXME perhaps the PlainObjectType could be provided by Derived::PlainObject ? // but that might complicate template specialization template struct mapbase_evaluator; template struct mapbase_evaluator : evaluator_base { typedef Derived XprType; typedef typename XprType::PointerType PointerType; typedef typename XprType::Scalar Scalar; typedef typename XprType::CoeffReturnType CoeffReturnType; enum { IsRowMajor = XprType::RowsAtCompileTime, ColsAtCompileTime = XprType::ColsAtCompileTime, CoeffReadCost = NumTraits::ReadCost }; EIGEN_DEVICE_FUNC explicit mapbase_evaluator(const XprType& map) : m_data(const_cast(map.data())), m_innerStride(map.innerStride()), m_outerStride(map.outerStride()) { EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(evaluator::Flags&PacketAccessBit, internal::inner_stride_at_compile_time::ret==1), PACKET_ACCESS_REQUIRES_TO_HAVE_INNER_STRIDE_FIXED_TO_1); EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index row, Index col) const { return m_data[col * colStride() + row * rowStride()]; } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const { return m_data[index * m_innerStride.value()]; } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(Index row, Index col) { return m_data[col * colStride() + row * rowStride()]; } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(Index index) { return m_data[index * m_innerStride.value()]; } template EIGEN_STRONG_INLINE PacketType packet(Index row, Index col) const { PointerType ptr = m_data + row * rowStride() + col * colStride(); return internal::ploadt(ptr); } template EIGEN_STRONG_INLINE PacketType packet(Index index) const { return internal::ploadt(m_data + index * m_innerStride.value()); } template EIGEN_STRONG_INLINE void writePacket(Index row, Index col, const PacketType& x) { PointerType ptr = m_data + row * rowStride() + col * colStride(); return internal::pstoret(ptr, x); } template EIGEN_STRONG_INLINE void writePacket(Index index, const PacketType& x) { internal::pstoret(m_data + index * m_innerStride.value(), x); } protected: EIGEN_DEVICE_FUNC inline Index rowStride() const { return XprType::IsRowMajor ? m_outerStride.value() : m_innerStride.value(); } EIGEN_DEVICE_FUNC inline Index colStride() const { return XprType::IsRowMajor ? m_innerStride.value() : m_outerStride.value(); } PointerType m_data; const internal::variable_if_dynamic m_innerStride; const internal::variable_if_dynamic m_outerStride; }; template struct evaluator > : public mapbase_evaluator, PlainObjectType> { typedef Map XprType; typedef typename XprType::Scalar Scalar; // TODO: should check for smaller packet types once we can handle multi-sized packet types typedef typename packet_traits::type PacketScalar; enum { InnerStrideAtCompileTime = StrideType::InnerStrideAtCompileTime == 0 ? int(PlainObjectType::InnerStrideAtCompileTime) : int(StrideType::InnerStrideAtCompileTime), OuterStrideAtCompileTime = StrideType::OuterStrideAtCompileTime == 0 ? int(PlainObjectType::OuterStrideAtCompileTime) : int(StrideType::OuterStrideAtCompileTime), HasNoInnerStride = InnerStrideAtCompileTime == 1, HasNoOuterStride = StrideType::OuterStrideAtCompileTime == 0, HasNoStride = HasNoInnerStride && HasNoOuterStride, IsDynamicSize = PlainObjectType::SizeAtCompileTime==Dynamic, PacketAccessMask = bool(HasNoInnerStride) ? ~int(0) : ~int(PacketAccessBit), LinearAccessMask = bool(HasNoStride) || bool(PlainObjectType::IsVectorAtCompileTime) ? ~int(0) : ~int(LinearAccessBit), Flags = int( evaluator::Flags) & (LinearAccessMask&PacketAccessMask), Alignment = int(MapOptions)&int(AlignedMask) }; EIGEN_DEVICE_FUNC explicit evaluator(const XprType& map) : mapbase_evaluator(map) { } }; // -------------------- Ref -------------------- template struct evaluator > : public mapbase_evaluator, PlainObjectType> { typedef Ref XprType; enum { Flags = evaluator >::Flags, Alignment = evaluator >::Alignment }; EIGEN_DEVICE_FUNC explicit evaluator(const XprType& ref) : mapbase_evaluator(ref) { } }; // -------------------- Block -------------------- template::ret> struct block_evaluator; template struct evaluator > : block_evaluator { typedef Block XprType; typedef typename XprType::Scalar Scalar; // TODO: should check for smaller packet types once we can handle multi-sized packet types typedef typename packet_traits::type PacketScalar; enum { CoeffReadCost = evaluator::CoeffReadCost, RowsAtCompileTime = traits::RowsAtCompileTime, ColsAtCompileTime = traits::ColsAtCompileTime, MaxRowsAtCompileTime = traits::MaxRowsAtCompileTime, MaxColsAtCompileTime = traits::MaxColsAtCompileTime, ArgTypeIsRowMajor = (int(evaluator::Flags)&RowMajorBit) != 0, IsRowMajor = (MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1) ? 1 : (MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1) ? 0 : ArgTypeIsRowMajor, HasSameStorageOrderAsArgType = (IsRowMajor == ArgTypeIsRowMajor), InnerSize = IsRowMajor ? int(ColsAtCompileTime) : int(RowsAtCompileTime), InnerStrideAtCompileTime = HasSameStorageOrderAsArgType ? int(inner_stride_at_compile_time::ret) : int(outer_stride_at_compile_time::ret), OuterStrideAtCompileTime = HasSameStorageOrderAsArgType ? int(outer_stride_at_compile_time::ret) : int(inner_stride_at_compile_time::ret), MaskPacketAccessBit = (InnerStrideAtCompileTime == 1) ? PacketAccessBit : 0, FlagsLinearAccessBit = (RowsAtCompileTime == 1 || ColsAtCompileTime == 1 || (InnerPanel && (evaluator::Flags&LinearAccessBit))) ? LinearAccessBit : 0, FlagsRowMajorBit = XprType::Flags&RowMajorBit, Flags0 = evaluator::Flags & ( (HereditaryBits & ~RowMajorBit) | DirectAccessBit | MaskPacketAccessBit), Flags = Flags0 | FlagsLinearAccessBit | FlagsRowMajorBit, PacketAlignment = unpacket_traits::alignment, Alignment0 = (InnerPanel && (OuterStrideAtCompileTime!=Dynamic) && (((OuterStrideAtCompileTime * int(sizeof(Scalar))) % int(PacketAlignment)) == 0)) ? int(PacketAlignment) : 0, Alignment = EIGEN_PLAIN_ENUM_MIN(evaluator::Alignment, Alignment0) }; typedef block_evaluator block_evaluator_type; EIGEN_DEVICE_FUNC explicit evaluator(const XprType& block) : block_evaluator_type(block) { EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost); } }; // no direct-access => dispatch to a unary evaluator template struct block_evaluator : unary_evaluator > { typedef Block XprType; EIGEN_DEVICE_FUNC explicit block_evaluator(const XprType& block) : unary_evaluator(block) {} }; template struct unary_evaluator, IndexBased> : evaluator_base > { typedef Block XprType; EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& block) : m_argImpl(block.nestedExpression()), m_startRow(block.startRow()), m_startCol(block.startCol()) { } typedef typename XprType::Scalar Scalar; typedef typename XprType::CoeffReturnType CoeffReturnType; enum { RowsAtCompileTime = XprType::RowsAtCompileTime }; EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index row, Index col) const { return m_argImpl.coeff(m_startRow.value() + row, m_startCol.value() + col); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const { return coeff(RowsAtCompileTime == 1 ? 0 : index, RowsAtCompileTime == 1 ? index : 0); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(Index row, Index col) { return m_argImpl.coeffRef(m_startRow.value() + row, m_startCol.value() + col); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(Index index) { return coeffRef(RowsAtCompileTime == 1 ? 0 : index, RowsAtCompileTime == 1 ? index : 0); } template EIGEN_STRONG_INLINE PacketType packet(Index row, Index col) const { return m_argImpl.template packet(m_startRow.value() + row, m_startCol.value() + col); } template EIGEN_STRONG_INLINE PacketType packet(Index index) const { return packet(RowsAtCompileTime == 1 ? 0 : index, RowsAtCompileTime == 1 ? index : 0); } template EIGEN_STRONG_INLINE void writePacket(Index row, Index col, const PacketType& x) { return m_argImpl.template writePacket(m_startRow.value() + row, m_startCol.value() + col, x); } template EIGEN_STRONG_INLINE void writePacket(Index index, const PacketType& x) { return writePacket(RowsAtCompileTime == 1 ? 0 : index, RowsAtCompileTime == 1 ? index : 0, x); } protected: evaluator m_argImpl; const variable_if_dynamic m_startRow; const variable_if_dynamic m_startCol; }; // TODO: This evaluator does not actually use the child evaluator; // all action is via the data() as returned by the Block expression. template struct block_evaluator : mapbase_evaluator, typename Block::PlainObject> { typedef Block XprType; typedef typename XprType::Scalar Scalar; EIGEN_DEVICE_FUNC explicit block_evaluator(const XprType& block) : mapbase_evaluator(block) { // TODO: for the 3.3 release, this should be turned to an internal assertion, but let's keep it as is for the beta lifetime eigen_assert(((internal::UIntPtr(block.data()) % EIGEN_PLAIN_ENUM_MAX(1,evaluator::Alignment)) == 0) && "data is not aligned"); } }; // -------------------- Select -------------------- // NOTE shall we introduce a ternary_evaluator? // TODO enable vectorization for Select template struct evaluator > : evaluator_base > { typedef Select XprType; enum { CoeffReadCost = evaluator::CoeffReadCost + EIGEN_PLAIN_ENUM_MAX(evaluator::CoeffReadCost, evaluator::CoeffReadCost), Flags = (unsigned int)evaluator::Flags & evaluator::Flags & HereditaryBits, Alignment = EIGEN_PLAIN_ENUM_MIN(evaluator::Alignment, evaluator::Alignment) }; EIGEN_DEVICE_FUNC explicit evaluator(const XprType& select) : m_conditionImpl(select.conditionMatrix()), m_thenImpl(select.thenMatrix()), m_elseImpl(select.elseMatrix()) { EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost); } typedef typename XprType::CoeffReturnType CoeffReturnType; EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index row, Index col) const { if (m_conditionImpl.coeff(row, col)) return m_thenImpl.coeff(row, col); else return m_elseImpl.coeff(row, col); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const { if (m_conditionImpl.coeff(index)) return m_thenImpl.coeff(index); else return m_elseImpl.coeff(index); } protected: evaluator m_conditionImpl; evaluator m_thenImpl; evaluator m_elseImpl; }; // -------------------- Replicate -------------------- template struct unary_evaluator > : evaluator_base > { typedef Replicate XprType; typedef typename XprType::CoeffReturnType CoeffReturnType; enum { Factor = (RowFactor==Dynamic || ColFactor==Dynamic) ? Dynamic : RowFactor*ColFactor }; typedef typename internal::nested_eval::type ArgTypeNested; typedef typename internal::remove_all::type ArgTypeNestedCleaned; enum { CoeffReadCost = evaluator::CoeffReadCost, LinearAccessMask = XprType::IsVectorAtCompileTime ? LinearAccessBit : 0, Flags = (evaluator::Flags & (HereditaryBits|LinearAccessMask) & ~RowMajorBit) | (traits::Flags & RowMajorBit), Alignment = evaluator::Alignment }; EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& replicate) : m_arg(replicate.nestedExpression()), m_argImpl(m_arg), m_rows(replicate.nestedExpression().rows()), m_cols(replicate.nestedExpression().cols()) {} EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index row, Index col) const { // try to avoid using modulo; this is a pure optimization strategy const Index actual_row = internal::traits::RowsAtCompileTime==1 ? 0 : RowFactor==1 ? row : row % m_rows.value(); const Index actual_col = internal::traits::ColsAtCompileTime==1 ? 0 : ColFactor==1 ? col : col % m_cols.value(); return m_argImpl.coeff(actual_row, actual_col); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const { // try to avoid using modulo; this is a pure optimization strategy const Index actual_index = internal::traits::RowsAtCompileTime==1 ? (ColFactor==1 ? index : index%m_cols.value()) : (RowFactor==1 ? index : index%m_rows.value()); return m_argImpl.coeff(actual_index); } template EIGEN_STRONG_INLINE PacketType packet(Index row, Index col) const { const Index actual_row = internal::traits::RowsAtCompileTime==1 ? 0 : RowFactor==1 ? row : row % m_rows.value(); const Index actual_col = internal::traits::ColsAtCompileTime==1 ? 0 : ColFactor==1 ? col : col % m_cols.value(); return m_argImpl.template packet(actual_row, actual_col); } template EIGEN_STRONG_INLINE PacketType packet(Index index) const { const Index actual_index = internal::traits::RowsAtCompileTime==1 ? (ColFactor==1 ? index : index%m_cols.value()) : (RowFactor==1 ? index : index%m_rows.value()); return m_argImpl.template packet(actual_index); } protected: const ArgTypeNested m_arg; evaluator m_argImpl; const variable_if_dynamic m_rows; const variable_if_dynamic m_cols; }; // -------------------- PartialReduxExpr -------------------- template< typename ArgType, typename MemberOp, int Direction> struct evaluator > : evaluator_base > { typedef PartialReduxExpr XprType; typedef typename internal::nested_eval::type ArgTypeNested; typedef typename internal::remove_all::type ArgTypeNestedCleaned; typedef typename ArgType::Scalar InputScalar; typedef typename XprType::Scalar Scalar; enum { TraversalSize = Direction==int(Vertical) ? int(ArgType::RowsAtCompileTime) : int(ArgType::ColsAtCompileTime) }; typedef typename MemberOp::template Cost CostOpType; enum { CoeffReadCost = TraversalSize==Dynamic ? HugeCost : TraversalSize * evaluator::CoeffReadCost + int(CostOpType::value), Flags = (traits::Flags&RowMajorBit) | (evaluator::Flags&(HereditaryBits&(~RowMajorBit))) | LinearAccessBit, Alignment = 0 // FIXME this will need to be improved once PartialReduxExpr is vectorized }; EIGEN_DEVICE_FUNC explicit evaluator(const XprType xpr) : m_arg(xpr.nestedExpression()), m_functor(xpr.functor()) { EIGEN_INTERNAL_CHECK_COST_VALUE(TraversalSize==Dynamic ? HugeCost : int(CostOpType::value)); EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost); } typedef typename XprType::CoeffReturnType CoeffReturnType; EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar coeff(Index i, Index j) const { if (Direction==Vertical) return m_functor(m_arg.col(j)); else return m_functor(m_arg.row(i)); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar coeff(Index index) const { if (Direction==Vertical) return m_functor(m_arg.col(index)); else return m_functor(m_arg.row(index)); } protected: typename internal::add_const_on_value_type::type m_arg; const MemberOp m_functor; }; // -------------------- MatrixWrapper and ArrayWrapper -------------------- // // evaluator_wrapper_base is a common base class for the // MatrixWrapper and ArrayWrapper evaluators. template struct evaluator_wrapper_base : evaluator_base { typedef typename remove_all::type ArgType; enum { CoeffReadCost = evaluator::CoeffReadCost, Flags = evaluator::Flags, Alignment = evaluator::Alignment }; EIGEN_DEVICE_FUNC explicit evaluator_wrapper_base(const ArgType& arg) : m_argImpl(arg) {} typedef typename ArgType::Scalar Scalar; typedef typename ArgType::CoeffReturnType CoeffReturnType; EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index row, Index col) const { return m_argImpl.coeff(row, col); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const { return m_argImpl.coeff(index); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(Index row, Index col) { return m_argImpl.coeffRef(row, col); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(Index index) { return m_argImpl.coeffRef(index); } template EIGEN_STRONG_INLINE PacketType packet(Index row, Index col) const { return m_argImpl.template packet(row, col); } template EIGEN_STRONG_INLINE PacketType packet(Index index) const { return m_argImpl.template packet(index); } template EIGEN_STRONG_INLINE void writePacket(Index row, Index col, const PacketType& x) { m_argImpl.template writePacket(row, col, x); } template EIGEN_STRONG_INLINE void writePacket(Index index, const PacketType& x) { m_argImpl.template writePacket(index, x); } protected: evaluator m_argImpl; }; template struct unary_evaluator > : evaluator_wrapper_base > { typedef MatrixWrapper XprType; EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& wrapper) : evaluator_wrapper_base >(wrapper.nestedExpression()) { } }; template struct unary_evaluator > : evaluator_wrapper_base > { typedef ArrayWrapper XprType; EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& wrapper) : evaluator_wrapper_base >(wrapper.nestedExpression()) { } }; // -------------------- Reverse -------------------- // defined in Reverse.h: template struct reverse_packet_cond; template struct unary_evaluator > : evaluator_base > { typedef Reverse XprType; typedef typename XprType::Scalar Scalar; typedef typename XprType::CoeffReturnType CoeffReturnType; enum { IsRowMajor = XprType::IsRowMajor, IsColMajor = !IsRowMajor, ReverseRow = (Direction == Vertical) || (Direction == BothDirections), ReverseCol = (Direction == Horizontal) || (Direction == BothDirections), ReversePacket = (Direction == BothDirections) || ((Direction == Vertical) && IsColMajor) || ((Direction == Horizontal) && IsRowMajor), CoeffReadCost = evaluator::CoeffReadCost, // let's enable LinearAccess only with vectorization because of the product overhead // FIXME enable DirectAccess with negative strides? Flags0 = evaluator::Flags, LinearAccess = ( (Direction==BothDirections) && (int(Flags0)&PacketAccessBit) ) || ((ReverseRow && XprType::ColsAtCompileTime==1) || (ReverseCol && XprType::RowsAtCompileTime==1)) ? LinearAccessBit : 0, Flags = int(Flags0) & (HereditaryBits | PacketAccessBit | LinearAccess), Alignment = 0 // FIXME in some rare cases, Alignment could be preserved, like a Vector4f. }; EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& reverse) : m_argImpl(reverse.nestedExpression()), m_rows(ReverseRow ? reverse.nestedExpression().rows() : 1), m_cols(ReverseCol ? reverse.nestedExpression().cols() : 1) { } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index row, Index col) const { return m_argImpl.coeff(ReverseRow ? m_rows.value() - row - 1 : row, ReverseCol ? m_cols.value() - col - 1 : col); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const { return m_argImpl.coeff(m_rows.value() * m_cols.value() - index - 1); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(Index row, Index col) { return m_argImpl.coeffRef(ReverseRow ? m_rows.value() - row - 1 : row, ReverseCol ? m_cols.value() - col - 1 : col); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(Index index) { return m_argImpl.coeffRef(m_rows.value() * m_cols.value() - index - 1); } template EIGEN_STRONG_INLINE PacketType packet(Index row, Index col) const { enum { PacketSize = unpacket_traits::size, OffsetRow = ReverseRow && IsColMajor ? PacketSize : 1, OffsetCol = ReverseCol && IsRowMajor ? PacketSize : 1 }; typedef internal::reverse_packet_cond reverse_packet; return reverse_packet::run(m_argImpl.template packet( ReverseRow ? m_rows.value() - row - OffsetRow : row, ReverseCol ? m_cols.value() - col - OffsetCol : col)); } template EIGEN_STRONG_INLINE PacketType packet(Index index) const { enum { PacketSize = unpacket_traits::size }; return preverse(m_argImpl.template packet(m_rows.value() * m_cols.value() - index - PacketSize)); } template EIGEN_STRONG_INLINE void writePacket(Index row, Index col, const PacketType& x) { // FIXME we could factorize some code with packet(i,j) enum { PacketSize = unpacket_traits::size, OffsetRow = ReverseRow && IsColMajor ? PacketSize : 1, OffsetCol = ReverseCol && IsRowMajor ? PacketSize : 1 }; typedef internal::reverse_packet_cond reverse_packet; m_argImpl.template writePacket( ReverseRow ? m_rows.value() - row - OffsetRow : row, ReverseCol ? m_cols.value() - col - OffsetCol : col, reverse_packet::run(x)); } template EIGEN_STRONG_INLINE void writePacket(Index index, const PacketType& x) { enum { PacketSize = unpacket_traits::size }; m_argImpl.template writePacket (m_rows.value() * m_cols.value() - index - PacketSize, preverse(x)); } protected: evaluator m_argImpl; // If we do not reverse rows, then we do not need to know the number of rows; same for columns // Nonetheless, in this case it is important to set to 1 such that the coeff(index) method works fine for vectors. const variable_if_dynamic m_rows; const variable_if_dynamic m_cols; }; // -------------------- Diagonal -------------------- template struct evaluator > : evaluator_base > { typedef Diagonal XprType; enum { CoeffReadCost = evaluator::CoeffReadCost, Flags = (unsigned int)(evaluator::Flags & (HereditaryBits | DirectAccessBit) & ~RowMajorBit) | LinearAccessBit, Alignment = 0 }; EIGEN_DEVICE_FUNC explicit evaluator(const XprType& diagonal) : m_argImpl(diagonal.nestedExpression()), m_index(diagonal.index()) { } typedef typename XprType::Scalar Scalar; // FIXME having to check whether ArgType is sparse here i not very nice. typedef typename internal::conditional::value, typename XprType::CoeffReturnType,Scalar>::type CoeffReturnType; EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index row, Index) const { return m_argImpl.coeff(row + rowOffset(), row + colOffset()); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const { return m_argImpl.coeff(index + rowOffset(), index + colOffset()); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(Index row, Index) { return m_argImpl.coeffRef(row + rowOffset(), row + colOffset()); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(Index index) { return m_argImpl.coeffRef(index + rowOffset(), index + colOffset()); } protected: evaluator m_argImpl; const internal::variable_if_dynamicindex m_index; private: EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index rowOffset() const { return m_index.value() > 0 ? 0 : -m_index.value(); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index colOffset() const { return m_index.value() > 0 ? m_index.value() : 0; } }; //---------------------------------------------------------------------- // deprecated code //---------------------------------------------------------------------- // -------------------- EvalToTemp -------------------- // expression class for evaluating nested expression to a temporary template class EvalToTemp; template struct traits > : public traits { }; template class EvalToTemp : public dense_xpr_base >::type { public: typedef typename dense_xpr_base::type Base; EIGEN_GENERIC_PUBLIC_INTERFACE(EvalToTemp) explicit EvalToTemp(const ArgType& arg) : m_arg(arg) { } const ArgType& arg() const { return m_arg; } Index rows() const { return m_arg.rows(); } Index cols() const { return m_arg.cols(); } private: const ArgType& m_arg; }; template struct evaluator > : public evaluator { typedef EvalToTemp XprType; typedef typename ArgType::PlainObject PlainObject; typedef evaluator Base; EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) : m_result(xpr.arg()) { ::new (static_cast(this)) Base(m_result); } // This constructor is used when nesting an EvalTo evaluator in another evaluator EIGEN_DEVICE_FUNC evaluator(const ArgType& arg) : m_result(arg) { ::new (static_cast(this)) Base(m_result); } protected: PlainObject m_result; }; } // namespace internal } // end namespace Eigen #endif // EIGEN_COREEVALUATORS_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/CoreIterators.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2008-2014 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_COREITERATORS_H #define EIGEN_COREITERATORS_H namespace Eigen { /* This file contains the respective InnerIterator definition of the expressions defined in Eigen/Core */ namespace internal { template class inner_iterator_selector; } /** \class InnerIterator * \brief An InnerIterator allows to loop over the element of any matrix expression. * * \warning To be used with care because an evaluator is constructed every time an InnerIterator iterator is constructed. * * TODO: add a usage example */ template class InnerIterator { protected: typedef internal::inner_iterator_selector::Kind> IteratorType; typedef internal::evaluator EvaluatorType; typedef typename internal::traits::Scalar Scalar; public: /** Construct an iterator over the \a outerId -th row or column of \a xpr */ InnerIterator(const XprType &xpr, const Index &outerId) : m_eval(xpr), m_iter(m_eval, outerId, xpr.innerSize()) {} /// \returns the value of the current coefficient. EIGEN_STRONG_INLINE Scalar value() const { return m_iter.value(); } /** Increment the iterator \c *this to the next non-zero coefficient. * Explicit zeros are not skipped over. To skip explicit zeros, see class SparseView */ EIGEN_STRONG_INLINE InnerIterator& operator++() { m_iter.operator++(); return *this; } /// \returns the column or row index of the current coefficient. EIGEN_STRONG_INLINE Index index() const { return m_iter.index(); } /// \returns the row index of the current coefficient. EIGEN_STRONG_INLINE Index row() const { return m_iter.row(); } /// \returns the column index of the current coefficient. EIGEN_STRONG_INLINE Index col() const { return m_iter.col(); } /// \returns \c true if the iterator \c *this still references a valid coefficient. EIGEN_STRONG_INLINE operator bool() const { return m_iter; } protected: EvaluatorType m_eval; IteratorType m_iter; private: // If you get here, then you're not using the right InnerIterator type, e.g.: // SparseMatrix A; // SparseMatrix::InnerIterator it(A,0); template InnerIterator(const EigenBase&,Index outer); }; namespace internal { // Generic inner iterator implementation for dense objects template class inner_iterator_selector { protected: typedef evaluator EvaluatorType; typedef typename traits::Scalar Scalar; enum { IsRowMajor = (XprType::Flags&RowMajorBit)==RowMajorBit }; public: EIGEN_STRONG_INLINE inner_iterator_selector(const EvaluatorType &eval, const Index &outerId, const Index &innerSize) : m_eval(eval), m_inner(0), m_outer(outerId), m_end(innerSize) {} EIGEN_STRONG_INLINE Scalar value() const { return (IsRowMajor) ? m_eval.coeff(m_outer, m_inner) : m_eval.coeff(m_inner, m_outer); } EIGEN_STRONG_INLINE inner_iterator_selector& operator++() { m_inner++; return *this; } EIGEN_STRONG_INLINE Index index() const { return m_inner; } inline Index row() const { return IsRowMajor ? m_outer : index(); } inline Index col() const { return IsRowMajor ? index() : m_outer; } EIGEN_STRONG_INLINE operator bool() const { return m_inner < m_end && m_inner>=0; } protected: const EvaluatorType& m_eval; Index m_inner; const Index m_outer; const Index m_end; }; // For iterator-based evaluator, inner-iterator is already implemented as // evaluator<>::InnerIterator template class inner_iterator_selector : public evaluator::InnerIterator { protected: typedef typename evaluator::InnerIterator Base; typedef evaluator EvaluatorType; public: EIGEN_STRONG_INLINE inner_iterator_selector(const EvaluatorType &eval, const Index &outerId, const Index &/*innerSize*/) : Base(eval, outerId) {} }; } // end namespace internal } // end namespace Eigen #endif // EIGEN_COREITERATORS_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/CwiseBinaryOp.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2008-2014 Gael Guennebaud // Copyright (C) 2006-2008 Benoit Jacob // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_CWISE_BINARY_OP_H #define EIGEN_CWISE_BINARY_OP_H namespace Eigen { namespace internal { template struct traits > { // we must not inherit from traits since it has // the potential to cause problems with MSVC typedef typename remove_all::type Ancestor; typedef typename traits::XprKind XprKind; enum { RowsAtCompileTime = traits::RowsAtCompileTime, ColsAtCompileTime = traits::ColsAtCompileTime, MaxRowsAtCompileTime = traits::MaxRowsAtCompileTime, MaxColsAtCompileTime = traits::MaxColsAtCompileTime }; // even though we require Lhs and Rhs to have the same scalar type (see CwiseBinaryOp constructor), // we still want to handle the case when the result type is different. typedef typename result_of< BinaryOp( const typename Lhs::Scalar&, const typename Rhs::Scalar& ) >::type Scalar; typedef typename cwise_promote_storage_type::StorageKind, typename traits::StorageKind, BinaryOp>::ret StorageKind; typedef typename promote_index_type::StorageIndex, typename traits::StorageIndex>::type StorageIndex; typedef typename Lhs::Nested LhsNested; typedef typename Rhs::Nested RhsNested; typedef typename remove_reference::type _LhsNested; typedef typename remove_reference::type _RhsNested; enum { Flags = _LhsNested::Flags & RowMajorBit }; }; } // end namespace internal template class CwiseBinaryOpImpl; /** \class CwiseBinaryOp * \ingroup Core_Module * * \brief Generic expression where a coefficient-wise binary operator is applied to two expressions * * \tparam BinaryOp template functor implementing the operator * \tparam LhsType the type of the left-hand side * \tparam RhsType the type of the right-hand side * * This class represents an expression where a coefficient-wise binary operator is applied to two expressions. * It is the return type of binary operators, by which we mean only those binary operators where * both the left-hand side and the right-hand side are Eigen expressions. * For example, the return type of matrix1+matrix2 is a CwiseBinaryOp. * * Most of the time, this is the only way that it is used, so you typically don't have to name * CwiseBinaryOp types explicitly. * * \sa MatrixBase::binaryExpr(const MatrixBase &,const CustomBinaryOp &) const, class CwiseUnaryOp, class CwiseNullaryOp */ template class CwiseBinaryOp : public CwiseBinaryOpImpl< BinaryOp, LhsType, RhsType, typename internal::cwise_promote_storage_type::StorageKind, typename internal::traits::StorageKind, BinaryOp>::ret>, internal::no_assignment_operator { public: typedef typename internal::remove_all::type Functor; typedef typename internal::remove_all::type Lhs; typedef typename internal::remove_all::type Rhs; typedef typename CwiseBinaryOpImpl< BinaryOp, LhsType, RhsType, typename internal::cwise_promote_storage_type::StorageKind, typename internal::traits::StorageKind, BinaryOp>::ret>::Base Base; EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseBinaryOp) typedef typename internal::ref_selector::type LhsNested; typedef typename internal::ref_selector::type RhsNested; typedef typename internal::remove_reference::type _LhsNested; typedef typename internal::remove_reference::type _RhsNested; EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CwiseBinaryOp(const Lhs& aLhs, const Rhs& aRhs, const BinaryOp& func = BinaryOp()) : m_lhs(aLhs), m_rhs(aRhs), m_functor(func) { EIGEN_CHECK_BINARY_COMPATIBILIY(BinaryOp,typename Lhs::Scalar,typename Rhs::Scalar); // require the sizes to match EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Lhs, Rhs) eigen_assert(aLhs.rows() == aRhs.rows() && aLhs.cols() == aRhs.cols()); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index rows() const { // return the fixed size type if available to enable compile time optimizations if (internal::traits::type>::RowsAtCompileTime==Dynamic) return m_rhs.rows(); else return m_lhs.rows(); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index cols() const { // return the fixed size type if available to enable compile time optimizations if (internal::traits::type>::ColsAtCompileTime==Dynamic) return m_rhs.cols(); else return m_lhs.cols(); } /** \returns the left hand side nested expression */ EIGEN_DEVICE_FUNC const _LhsNested& lhs() const { return m_lhs; } /** \returns the right hand side nested expression */ EIGEN_DEVICE_FUNC const _RhsNested& rhs() const { return m_rhs; } /** \returns the functor representing the binary operation */ EIGEN_DEVICE_FUNC const BinaryOp& functor() const { return m_functor; } protected: LhsNested m_lhs; RhsNested m_rhs; const BinaryOp m_functor; }; // Generic API dispatcher template class CwiseBinaryOpImpl : public internal::generic_xpr_base >::type { public: typedef typename internal::generic_xpr_base >::type Base; }; /** replaces \c *this by \c *this - \a other. * * \returns a reference to \c *this */ template template EIGEN_STRONG_INLINE Derived & MatrixBase::operator-=(const MatrixBase &other) { call_assignment(derived(), other.derived(), internal::sub_assign_op()); return derived(); } /** replaces \c *this by \c *this + \a other. * * \returns a reference to \c *this */ template template EIGEN_STRONG_INLINE Derived & MatrixBase::operator+=(const MatrixBase& other) { call_assignment(derived(), other.derived(), internal::add_assign_op()); return derived(); } } // end namespace Eigen #endif // EIGEN_CWISE_BINARY_OP_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/CwiseNullaryOp.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2008-2010 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_CWISE_NULLARY_OP_H #define EIGEN_CWISE_NULLARY_OP_H namespace Eigen { namespace internal { template struct traits > : traits { enum { Flags = traits::Flags & RowMajorBit }; }; } // namespace internal /** \class CwiseNullaryOp * \ingroup Core_Module * * \brief Generic expression of a matrix where all coefficients are defined by a functor * * \tparam NullaryOp template functor implementing the operator * \tparam PlainObjectType the underlying plain matrix/array type * * This class represents an expression of a generic nullary operator. * It is the return type of the Ones(), Zero(), Constant(), Identity() and Random() methods, * and most of the time this is the only way it is used. * * However, if you want to write a function returning such an expression, you * will need to use this class. * * The functor NullaryOp must expose one of the following method:
\c operator()() if the procedural generation does not depend on the coefficient entries (e.g., random numbers)
\c operator()(Index i)if the procedural generation makes sense for vectors only and that it depends on the coefficient index \c i (e.g., linspace)
\c operator()(Index i,Index j)if the procedural generation depends on the matrix coordinates \c i, \c j (e.g., to generate a checkerboard with 0 and 1)
* It is also possible to expose the last two operators if the generation makes sense for matrices but can be optimized for vectors. * * See DenseBase::NullaryExpr(Index,const CustomNullaryOp&) for an example binding * C++11 random number generators. * * A nullary expression can also be used to implement custom sophisticated matrix manipulations * that cannot be covered by the existing set of natively supported matrix manipulations. * See this \ref TopicCustomizing_NullaryExpr "page" for some examples and additional explanations * on the behavior of CwiseNullaryOp. * * \sa class CwiseUnaryOp, class CwiseBinaryOp, DenseBase::NullaryExpr */ template class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp >::type, internal::no_assignment_operator { public: typedef typename internal::dense_xpr_base::type Base; EIGEN_DENSE_PUBLIC_INTERFACE(CwiseNullaryOp) EIGEN_DEVICE_FUNC CwiseNullaryOp(Index rows, Index cols, const NullaryOp& func = NullaryOp()) : m_rows(rows), m_cols(cols), m_functor(func) { eigen_assert(rows >= 0 && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows) && cols >= 0 && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols)); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index rows() const { return m_rows.value(); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index cols() const { return m_cols.value(); } /** \returns the functor representing the nullary operation */ EIGEN_DEVICE_FUNC const NullaryOp& functor() const { return m_functor; } protected: const internal::variable_if_dynamic m_rows; const internal::variable_if_dynamic m_cols; const NullaryOp m_functor; }; /** \returns an expression of a matrix defined by a custom functor \a func * * The parameters \a rows and \a cols are the number of rows and of columns of * the returned matrix. Must be compatible with this MatrixBase type. * * This variant is meant to be used for dynamic-size matrix types. For fixed-size types, * it is redundant to pass \a rows and \a cols as arguments, so Zero() should be used * instead. * * The template parameter \a CustomNullaryOp is the type of the functor. * * \sa class CwiseNullaryOp */ template template EIGEN_STRONG_INLINE const CwiseNullaryOp::PlainObject> DenseBase::NullaryExpr(Index rows, Index cols, const CustomNullaryOp& func) { return CwiseNullaryOp(rows, cols, func); } /** \returns an expression of a matrix defined by a custom functor \a func * * The parameter \a size is the size of the returned vector. * Must be compatible with this MatrixBase type. * * \only_for_vectors * * This variant is meant to be used for dynamic-size vector types. For fixed-size types, * it is redundant to pass \a size as argument, so Zero() should be used * instead. * * The template parameter \a CustomNullaryOp is the type of the functor. * * Here is an example with C++11 random generators: \include random_cpp11.cpp * Output: \verbinclude random_cpp11.out * * \sa class CwiseNullaryOp */ template template EIGEN_STRONG_INLINE const CwiseNullaryOp::PlainObject> DenseBase::NullaryExpr(Index size, const CustomNullaryOp& func) { EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived) if(RowsAtCompileTime == 1) return CwiseNullaryOp(1, size, func); else return CwiseNullaryOp(size, 1, func); } /** \returns an expression of a matrix defined by a custom functor \a func * * This variant is only for fixed-size DenseBase types. For dynamic-size types, you * need to use the variants taking size arguments. * * The template parameter \a CustomNullaryOp is the type of the functor. * * \sa class CwiseNullaryOp */ template template EIGEN_STRONG_INLINE const CwiseNullaryOp::PlainObject> DenseBase::NullaryExpr(const CustomNullaryOp& func) { return CwiseNullaryOp(RowsAtCompileTime, ColsAtCompileTime, func); } /** \returns an expression of a constant matrix of value \a value * * The parameters \a rows and \a cols are the number of rows and of columns of * the returned matrix. Must be compatible with this DenseBase type. * * This variant is meant to be used for dynamic-size matrix types. For fixed-size types, * it is redundant to pass \a rows and \a cols as arguments, so Zero() should be used * instead. * * The template parameter \a CustomNullaryOp is the type of the functor. * * \sa class CwiseNullaryOp */ template EIGEN_STRONG_INLINE const typename DenseBase::ConstantReturnType DenseBase::Constant(Index rows, Index cols, const Scalar& value) { return DenseBase::NullaryExpr(rows, cols, internal::scalar_constant_op(value)); } /** \returns an expression of a constant matrix of value \a value * * The parameter \a size is the size of the returned vector. * Must be compatible with this DenseBase type. * * \only_for_vectors * * This variant is meant to be used for dynamic-size vector types. For fixed-size types, * it is redundant to pass \a size as argument, so Zero() should be used * instead. * * The template parameter \a CustomNullaryOp is the type of the functor. * * \sa class CwiseNullaryOp */ template EIGEN_STRONG_INLINE const typename DenseBase::ConstantReturnType DenseBase::Constant(Index size, const Scalar& value) { return DenseBase::NullaryExpr(size, internal::scalar_constant_op(value)); } /** \returns an expression of a constant matrix of value \a value * * This variant is only for fixed-size DenseBase types. For dynamic-size types, you * need to use the variants taking size arguments. * * The template parameter \a CustomNullaryOp is the type of the functor. * * \sa class CwiseNullaryOp */ template EIGEN_STRONG_INLINE const typename DenseBase::ConstantReturnType DenseBase::Constant(const Scalar& value) { EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived) return DenseBase::NullaryExpr(RowsAtCompileTime, ColsAtCompileTime, internal::scalar_constant_op(value)); } /** \deprecated because of accuracy loss. In Eigen 3.3, it is an alias for LinSpaced(Index,const Scalar&,const Scalar&) * * \sa LinSpaced(Index,Scalar,Scalar), setLinSpaced(Index,const Scalar&,const Scalar&) */ template EIGEN_STRONG_INLINE const typename DenseBase::RandomAccessLinSpacedReturnType DenseBase::LinSpaced(Sequential_t, Index size, const Scalar& low, const Scalar& high) { EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived) return DenseBase::NullaryExpr(size, internal::linspaced_op(low,high,size)); } /** \deprecated because of accuracy loss. In Eigen 3.3, it is an alias for LinSpaced(const Scalar&,const Scalar&) * * \sa LinSpaced(Scalar,Scalar) */ template EIGEN_STRONG_INLINE const typename DenseBase::RandomAccessLinSpacedReturnType DenseBase::LinSpaced(Sequential_t, const Scalar& low, const Scalar& high) { EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived) EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived) return DenseBase::NullaryExpr(Derived::SizeAtCompileTime, internal::linspaced_op(low,high,Derived::SizeAtCompileTime)); } /** * \brief Sets a linearly spaced vector. * * The function generates 'size' equally spaced values in the closed interval [low,high]. * When size is set to 1, a vector of length 1 containing 'high' is returned. * * \only_for_vectors * * Example: \include DenseBase_LinSpaced.cpp * Output: \verbinclude DenseBase_LinSpaced.out * * For integer scalar types, an even spacing is possible if and only if the length of the range, * i.e., \c high-low is a scalar multiple of \c size-1, or if \c size is a scalar multiple of the * number of values \c high-low+1 (meaning each value can be repeated the same number of time). * If one of these two considions is not satisfied, then \c high is lowered to the largest value * satisfying one of this constraint. * Here are some examples: * * Example: \include DenseBase_LinSpacedInt.cpp * Output: \verbinclude DenseBase_LinSpacedInt.out * * \sa setLinSpaced(Index,const Scalar&,const Scalar&), CwiseNullaryOp */ template EIGEN_STRONG_INLINE const typename DenseBase::RandomAccessLinSpacedReturnType DenseBase::LinSpaced(Index size, const Scalar& low, const Scalar& high) { EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived) return DenseBase::NullaryExpr(size, internal::linspaced_op(low,high,size)); } /** * \copydoc DenseBase::LinSpaced(Index, const Scalar&, const Scalar&) * Special version for fixed size types which does not require the size parameter. */ template EIGEN_STRONG_INLINE const typename DenseBase::RandomAccessLinSpacedReturnType DenseBase::LinSpaced(const Scalar& low, const Scalar& high) { EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived) EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived) return DenseBase::NullaryExpr(Derived::SizeAtCompileTime, internal::linspaced_op(low,high,Derived::SizeAtCompileTime)); } /** \returns true if all coefficients in this matrix are approximately equal to \a val, to within precision \a prec */ template bool DenseBase::isApproxToConstant (const Scalar& val, const RealScalar& prec) const { typename internal::nested_eval::type self(derived()); for(Index j = 0; j < cols(); ++j) for(Index i = 0; i < rows(); ++i) if(!internal::isApprox(self.coeff(i, j), val, prec)) return false; return true; } /** This is just an alias for isApproxToConstant(). * * \returns true if all coefficients in this matrix are approximately equal to \a value, to within precision \a prec */ template bool DenseBase::isConstant (const Scalar& val, const RealScalar& prec) const { return isApproxToConstant(val, prec); } /** Alias for setConstant(): sets all coefficients in this expression to \a val. * * \sa setConstant(), Constant(), class CwiseNullaryOp */ template EIGEN_STRONG_INLINE void DenseBase::fill(const Scalar& val) { setConstant(val); } /** Sets all coefficients in this expression to value \a val. * * \sa fill(), setConstant(Index,const Scalar&), setConstant(Index,Index,const Scalar&), setZero(), setOnes(), Constant(), class CwiseNullaryOp, setZero(), setOnes() */ template EIGEN_STRONG_INLINE Derived& DenseBase::setConstant(const Scalar& val) { return derived() = Constant(rows(), cols(), val); } /** Resizes to the given \a size, and sets all coefficients in this expression to the given value \a val. * * \only_for_vectors * * Example: \include Matrix_setConstant_int.cpp * Output: \verbinclude Matrix_setConstant_int.out * * \sa MatrixBase::setConstant(const Scalar&), setConstant(Index,Index,const Scalar&), class CwiseNullaryOp, MatrixBase::Constant(const Scalar&) */ template EIGEN_STRONG_INLINE Derived& PlainObjectBase::setConstant(Index size, const Scalar& val) { resize(size); return setConstant(val); } /** Resizes to the given size, and sets all coefficients in this expression to the given value \a val. * * \param rows the new number of rows * \param cols the new number of columns * \param val the value to which all coefficients are set * * Example: \include Matrix_setConstant_int_int.cpp * Output: \verbinclude Matrix_setConstant_int_int.out * * \sa MatrixBase::setConstant(const Scalar&), setConstant(Index,const Scalar&), class CwiseNullaryOp, MatrixBase::Constant(const Scalar&) */ template EIGEN_STRONG_INLINE Derived& PlainObjectBase::setConstant(Index rows, Index cols, const Scalar& val) { resize(rows, cols); return setConstant(val); } /** * \brief Sets a linearly spaced vector. * * The function generates 'size' equally spaced values in the closed interval [low,high]. * When size is set to 1, a vector of length 1 containing 'high' is returned. * * \only_for_vectors * * Example: \include DenseBase_setLinSpaced.cpp * Output: \verbinclude DenseBase_setLinSpaced.out * * For integer scalar types, do not miss the explanations on the definition * of \link LinSpaced(Index,const Scalar&,const Scalar&) even spacing \endlink. * * \sa LinSpaced(Index,const Scalar&,const Scalar&), CwiseNullaryOp */ template EIGEN_STRONG_INLINE Derived& DenseBase::setLinSpaced(Index newSize, const Scalar& low, const Scalar& high) { EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived) return derived() = Derived::NullaryExpr(newSize, internal::linspaced_op(low,high,newSize)); } /** * \brief Sets a linearly spaced vector. * * The function fills \c *this with equally spaced values in the closed interval [low,high]. * When size is set to 1, a vector of length 1 containing 'high' is returned. * * \only_for_vectors * * For integer scalar types, do not miss the explanations on the definition * of \link LinSpaced(Index,const Scalar&,const Scalar&) even spacing \endlink. * * \sa LinSpaced(Index,const Scalar&,const Scalar&), setLinSpaced(Index, const Scalar&, const Scalar&), CwiseNullaryOp */ template EIGEN_STRONG_INLINE Derived& DenseBase::setLinSpaced(const Scalar& low, const Scalar& high) { EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived) return setLinSpaced(size(), low, high); } // zero: /** \returns an expression of a zero matrix. * * The parameters \a rows and \a cols are the number of rows and of columns of * the returned matrix. Must be compatible with this MatrixBase type. * * This variant is meant to be used for dynamic-size matrix types. For fixed-size types, * it is redundant to pass \a rows and \a cols as arguments, so Zero() should be used * instead. * * Example: \include MatrixBase_zero_int_int.cpp * Output: \verbinclude MatrixBase_zero_int_int.out * * \sa Zero(), Zero(Index) */ template EIGEN_STRONG_INLINE const typename DenseBase::ConstantReturnType DenseBase::Zero(Index rows, Index cols) { return Constant(rows, cols, Scalar(0)); } /** \returns an expression of a zero vector. * * The parameter \a size is the size of the returned vector. * Must be compatible with this MatrixBase type. * * \only_for_vectors * * This variant is meant to be used for dynamic-size vector types. For fixed-size types, * it is redundant to pass \a size as argument, so Zero() should be used * instead. * * Example: \include MatrixBase_zero_int.cpp * Output: \verbinclude MatrixBase_zero_int.out * * \sa Zero(), Zero(Index,Index) */ template EIGEN_STRONG_INLINE const typename DenseBase::ConstantReturnType DenseBase::Zero(Index size) { return Constant(size, Scalar(0)); } /** \returns an expression of a fixed-size zero matrix or vector. * * This variant is only for fixed-size MatrixBase types. For dynamic-size types, you * need to use the variants taking size arguments. * * Example: \include MatrixBase_zero.cpp * Output: \verbinclude MatrixBase_zero.out * * \sa Zero(Index), Zero(Index,Index) */ template EIGEN_STRONG_INLINE const typename DenseBase::ConstantReturnType DenseBase::Zero() { return Constant(Scalar(0)); } /** \returns true if *this is approximately equal to the zero matrix, * within the precision given by \a prec. * * Example: \include MatrixBase_isZero.cpp * Output: \verbinclude MatrixBase_isZero.out * * \sa class CwiseNullaryOp, Zero() */ template bool DenseBase::isZero(const RealScalar& prec) const { typename internal::nested_eval::type self(derived()); for(Index j = 0; j < cols(); ++j) for(Index i = 0; i < rows(); ++i) if(!internal::isMuchSmallerThan(self.coeff(i, j), static_cast(1), prec)) return false; return true; } /** Sets all coefficients in this expression to zero. * * Example: \include MatrixBase_setZero.cpp * Output: \verbinclude MatrixBase_setZero.out * * \sa class CwiseNullaryOp, Zero() */ template EIGEN_STRONG_INLINE Derived& DenseBase::setZero() { return setConstant(Scalar(0)); } /** Resizes to the given \a size, and sets all coefficients in this expression to zero. * * \only_for_vectors * * Example: \include Matrix_setZero_int.cpp * Output: \verbinclude Matrix_setZero_int.out * * \sa DenseBase::setZero(), setZero(Index,Index), class CwiseNullaryOp, DenseBase::Zero() */ template EIGEN_STRONG_INLINE Derived& PlainObjectBase::setZero(Index newSize) { resize(newSize); return setConstant(Scalar(0)); } /** Resizes to the given size, and sets all coefficients in this expression to zero. * * \param rows the new number of rows * \param cols the new number of columns * * Example: \include Matrix_setZero_int_int.cpp * Output: \verbinclude Matrix_setZero_int_int.out * * \sa DenseBase::setZero(), setZero(Index), class CwiseNullaryOp, DenseBase::Zero() */ template EIGEN_STRONG_INLINE Derived& PlainObjectBase::setZero(Index rows, Index cols) { resize(rows, cols); return setConstant(Scalar(0)); } // ones: /** \returns an expression of a matrix where all coefficients equal one. * * The parameters \a rows and \a cols are the number of rows and of columns of * the returned matrix. Must be compatible with this MatrixBase type. * * This variant is meant to be used for dynamic-size matrix types. For fixed-size types, * it is redundant to pass \a rows and \a cols as arguments, so Ones() should be used * instead. * * Example: \include MatrixBase_ones_int_int.cpp * Output: \verbinclude MatrixBase_ones_int_int.out * * \sa Ones(), Ones(Index), isOnes(), class Ones */ template EIGEN_STRONG_INLINE const typename DenseBase::ConstantReturnType DenseBase::Ones(Index rows, Index cols) { return Constant(rows, cols, Scalar(1)); } /** \returns an expression of a vector where all coefficients equal one. * * The parameter \a newSize is the size of the returned vector. * Must be compatible with this MatrixBase type. * * \only_for_vectors * * This variant is meant to be used for dynamic-size vector types. For fixed-size types, * it is redundant to pass \a size as argument, so Ones() should be used * instead. * * Example: \include MatrixBase_ones_int.cpp * Output: \verbinclude MatrixBase_ones_int.out * * \sa Ones(), Ones(Index,Index), isOnes(), class Ones */ template EIGEN_STRONG_INLINE const typename DenseBase::ConstantReturnType DenseBase::Ones(Index newSize) { return Constant(newSize, Scalar(1)); } /** \returns an expression of a fixed-size matrix or vector where all coefficients equal one. * * This variant is only for fixed-size MatrixBase types. For dynamic-size types, you * need to use the variants taking size arguments. * * Example: \include MatrixBase_ones.cpp * Output: \verbinclude MatrixBase_ones.out * * \sa Ones(Index), Ones(Index,Index), isOnes(), class Ones */ template EIGEN_STRONG_INLINE const typename DenseBase::ConstantReturnType DenseBase::Ones() { return Constant(Scalar(1)); } /** \returns true if *this is approximately equal to the matrix where all coefficients * are equal to 1, within the precision given by \a prec. * * Example: \include MatrixBase_isOnes.cpp * Output: \verbinclude MatrixBase_isOnes.out * * \sa class CwiseNullaryOp, Ones() */ template bool DenseBase::isOnes (const RealScalar& prec) const { return isApproxToConstant(Scalar(1), prec); } /** Sets all coefficients in this expression to one. * * Example: \include MatrixBase_setOnes.cpp * Output: \verbinclude MatrixBase_setOnes.out * * \sa class CwiseNullaryOp, Ones() */ template EIGEN_STRONG_INLINE Derived& DenseBase::setOnes() { return setConstant(Scalar(1)); } /** Resizes to the given \a newSize, and sets all coefficients in this expression to one. * * \only_for_vectors * * Example: \include Matrix_setOnes_int.cpp * Output: \verbinclude Matrix_setOnes_int.out * * \sa MatrixBase::setOnes(), setOnes(Index,Index), class CwiseNullaryOp, MatrixBase::Ones() */ template EIGEN_STRONG_INLINE Derived& PlainObjectBase::setOnes(Index newSize) { resize(newSize); return setConstant(Scalar(1)); } /** Resizes to the given size, and sets all coefficients in this expression to one. * * \param rows the new number of rows * \param cols the new number of columns * * Example: \include Matrix_setOnes_int_int.cpp * Output: \verbinclude Matrix_setOnes_int_int.out * * \sa MatrixBase::setOnes(), setOnes(Index), class CwiseNullaryOp, MatrixBase::Ones() */ template EIGEN_STRONG_INLINE Derived& PlainObjectBase::setOnes(Index rows, Index cols) { resize(rows, cols); return setConstant(Scalar(1)); } // Identity: /** \returns an expression of the identity matrix (not necessarily square). * * The parameters \a rows and \a cols are the number of rows and of columns of * the returned matrix. Must be compatible with this MatrixBase type. * * This variant is meant to be used for dynamic-size matrix types. For fixed-size types, * it is redundant to pass \a rows and \a cols as arguments, so Identity() should be used * instead. * * Example: \include MatrixBase_identity_int_int.cpp * Output: \verbinclude MatrixBase_identity_int_int.out * * \sa Identity(), setIdentity(), isIdentity() */ template EIGEN_STRONG_INLINE const typename MatrixBase::IdentityReturnType MatrixBase::Identity(Index rows, Index cols) { return DenseBase::NullaryExpr(rows, cols, internal::scalar_identity_op()); } /** \returns an expression of the identity matrix (not necessarily square). * * This variant is only for fixed-size MatrixBase types. For dynamic-size types, you * need to use the variant taking size arguments. * * Example: \include MatrixBase_identity.cpp * Output: \verbinclude MatrixBase_identity.out * * \sa Identity(Index,Index), setIdentity(), isIdentity() */ template EIGEN_STRONG_INLINE const typename MatrixBase::IdentityReturnType MatrixBase::Identity() { EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived) return MatrixBase::NullaryExpr(RowsAtCompileTime, ColsAtCompileTime, internal::scalar_identity_op()); } /** \returns true if *this is approximately equal to the identity matrix * (not necessarily square), * within the precision given by \a prec. * * Example: \include MatrixBase_isIdentity.cpp * Output: \verbinclude MatrixBase_isIdentity.out * * \sa class CwiseNullaryOp, Identity(), Identity(Index,Index), setIdentity() */ template bool MatrixBase::isIdentity (const RealScalar& prec) const { typename internal::nested_eval::type self(derived()); for(Index j = 0; j < cols(); ++j) { for(Index i = 0; i < rows(); ++i) { if(i == j) { if(!internal::isApprox(self.coeff(i, j), static_cast(1), prec)) return false; } else { if(!internal::isMuchSmallerThan(self.coeff(i, j), static_cast(1), prec)) return false; } } } return true; } namespace internal { template=16)> struct setIdentity_impl { EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Derived& run(Derived& m) { return m = Derived::Identity(m.rows(), m.cols()); } }; template struct setIdentity_impl { EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Derived& run(Derived& m) { m.setZero(); const Index size = numext::mini(m.rows(), m.cols()); for(Index i = 0; i < size; ++i) m.coeffRef(i,i) = typename Derived::Scalar(1); return m; } }; } // end namespace internal /** Writes the identity expression (not necessarily square) into *this. * * Example: \include MatrixBase_setIdentity.cpp * Output: \verbinclude MatrixBase_setIdentity.out * * \sa class CwiseNullaryOp, Identity(), Identity(Index,Index), isIdentity() */ template EIGEN_STRONG_INLINE Derived& MatrixBase::setIdentity() { return internal::setIdentity_impl::run(derived()); } /** \brief Resizes to the given size, and writes the identity expression (not necessarily square) into *this. * * \param rows the new number of rows * \param cols the new number of columns * * Example: \include Matrix_setIdentity_int_int.cpp * Output: \verbinclude Matrix_setIdentity_int_int.out * * \sa MatrixBase::setIdentity(), class CwiseNullaryOp, MatrixBase::Identity() */ template EIGEN_STRONG_INLINE Derived& MatrixBase::setIdentity(Index rows, Index cols) { derived().resize(rows, cols); return setIdentity(); } /** \returns an expression of the i-th unit (basis) vector. * * \only_for_vectors * * \sa MatrixBase::Unit(Index), MatrixBase::UnitX(), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW() */ template EIGEN_STRONG_INLINE const typename MatrixBase::BasisReturnType MatrixBase::Unit(Index newSize, Index i) { EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived) return BasisReturnType(SquareMatrixType::Identity(newSize,newSize), i); } /** \returns an expression of the i-th unit (basis) vector. * * \only_for_vectors * * This variant is for fixed-size vector only. * * \sa MatrixBase::Unit(Index,Index), MatrixBase::UnitX(), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW() */ template EIGEN_STRONG_INLINE const typename MatrixBase::BasisReturnType MatrixBase::Unit(Index i) { EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived) return BasisReturnType(SquareMatrixType::Identity(),i); } /** \returns an expression of the X axis unit vector (1{,0}^*) * * \only_for_vectors * * \sa MatrixBase::Unit(Index,Index), MatrixBase::Unit(Index), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW() */ template EIGEN_STRONG_INLINE const typename MatrixBase::BasisReturnType MatrixBase::UnitX() { return Derived::Unit(0); } /** \returns an expression of the Y axis unit vector (0,1{,0}^*) * * \only_for_vectors * * \sa MatrixBase::Unit(Index,Index), MatrixBase::Unit(Index), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW() */ template EIGEN_STRONG_INLINE const typename MatrixBase::BasisReturnType MatrixBase::UnitY() { return Derived::Unit(1); } /** \returns an expression of the Z axis unit vector (0,0,1{,0}^*) * * \only_for_vectors * * \sa MatrixBase::Unit(Index,Index), MatrixBase::Unit(Index), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW() */ template EIGEN_STRONG_INLINE const typename MatrixBase::BasisReturnType MatrixBase::UnitZ() { return Derived::Unit(2); } /** \returns an expression of the W axis unit vector (0,0,0,1) * * \only_for_vectors * * \sa MatrixBase::Unit(Index,Index), MatrixBase::Unit(Index), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW() */ template EIGEN_STRONG_INLINE const typename MatrixBase::BasisReturnType MatrixBase::UnitW() { return Derived::Unit(3); } } // end namespace Eigen #endif // EIGEN_CWISE_NULLARY_OP_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/CwiseTernaryOp.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2008-2014 Gael Guennebaud // Copyright (C) 2006-2008 Benoit Jacob // Copyright (C) 2016 Eugene Brevdo // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_CWISE_TERNARY_OP_H #define EIGEN_CWISE_TERNARY_OP_H namespace Eigen { namespace internal { template struct traits > { // we must not inherit from traits since it has // the potential to cause problems with MSVC typedef typename remove_all::type Ancestor; typedef typename traits::XprKind XprKind; enum { RowsAtCompileTime = traits::RowsAtCompileTime, ColsAtCompileTime = traits::ColsAtCompileTime, MaxRowsAtCompileTime = traits::MaxRowsAtCompileTime, MaxColsAtCompileTime = traits::MaxColsAtCompileTime }; // even though we require Arg1, Arg2, and Arg3 to have the same scalar type // (see CwiseTernaryOp constructor), // we still want to handle the case when the result type is different. typedef typename result_of::type Scalar; typedef typename internal::traits::StorageKind StorageKind; typedef typename internal::traits::StorageIndex StorageIndex; typedef typename Arg1::Nested Arg1Nested; typedef typename Arg2::Nested Arg2Nested; typedef typename Arg3::Nested Arg3Nested; typedef typename remove_reference::type _Arg1Nested; typedef typename remove_reference::type _Arg2Nested; typedef typename remove_reference::type _Arg3Nested; enum { Flags = _Arg1Nested::Flags & RowMajorBit }; }; } // end namespace internal template class CwiseTernaryOpImpl; /** \class CwiseTernaryOp * \ingroup Core_Module * * \brief Generic expression where a coefficient-wise ternary operator is * applied to two expressions * * \tparam TernaryOp template functor implementing the operator * \tparam Arg1Type the type of the first argument * \tparam Arg2Type the type of the second argument * \tparam Arg3Type the type of the third argument * * This class represents an expression where a coefficient-wise ternary * operator is applied to three expressions. * It is the return type of ternary operators, by which we mean only those * ternary operators where * all three arguments are Eigen expressions. * For example, the return type of betainc(matrix1, matrix2, matrix3) is a * CwiseTernaryOp. * * Most of the time, this is the only way that it is used, so you typically * don't have to name * CwiseTernaryOp types explicitly. * * \sa MatrixBase::ternaryExpr(const MatrixBase &, const * MatrixBase &, const CustomTernaryOp &) const, class CwiseBinaryOp, * class CwiseUnaryOp, class CwiseNullaryOp */ template class CwiseTernaryOp : public CwiseTernaryOpImpl< TernaryOp, Arg1Type, Arg2Type, Arg3Type, typename internal::traits::StorageKind>, internal::no_assignment_operator { public: typedef typename internal::remove_all::type Arg1; typedef typename internal::remove_all::type Arg2; typedef typename internal::remove_all::type Arg3; typedef typename CwiseTernaryOpImpl< TernaryOp, Arg1Type, Arg2Type, Arg3Type, typename internal::traits::StorageKind>::Base Base; EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseTernaryOp) typedef typename internal::ref_selector::type Arg1Nested; typedef typename internal::ref_selector::type Arg2Nested; typedef typename internal::ref_selector::type Arg3Nested; typedef typename internal::remove_reference::type _Arg1Nested; typedef typename internal::remove_reference::type _Arg2Nested; typedef typename internal::remove_reference::type _Arg3Nested; EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CwiseTernaryOp(const Arg1& a1, const Arg2& a2, const Arg3& a3, const TernaryOp& func = TernaryOp()) : m_arg1(a1), m_arg2(a2), m_arg3(a3), m_functor(func) { // require the sizes to match EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Arg1, Arg2) EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Arg1, Arg3) // The index types should match EIGEN_STATIC_ASSERT((internal::is_same< typename internal::traits::StorageKind, typename internal::traits::StorageKind>::value), STORAGE_KIND_MUST_MATCH) EIGEN_STATIC_ASSERT((internal::is_same< typename internal::traits::StorageKind, typename internal::traits::StorageKind>::value), STORAGE_KIND_MUST_MATCH) eigen_assert(a1.rows() == a2.rows() && a1.cols() == a2.cols() && a1.rows() == a3.rows() && a1.cols() == a3.cols()); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index rows() const { // return the fixed size type if available to enable compile time // optimizations if (internal::traits::type>:: RowsAtCompileTime == Dynamic && internal::traits::type>:: RowsAtCompileTime == Dynamic) return m_arg3.rows(); else if (internal::traits::type>:: RowsAtCompileTime == Dynamic && internal::traits::type>:: RowsAtCompileTime == Dynamic) return m_arg2.rows(); else return m_arg1.rows(); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index cols() const { // return the fixed size type if available to enable compile time // optimizations if (internal::traits::type>:: ColsAtCompileTime == Dynamic && internal::traits::type>:: ColsAtCompileTime == Dynamic) return m_arg3.cols(); else if (internal::traits::type>:: ColsAtCompileTime == Dynamic && internal::traits::type>:: ColsAtCompileTime == Dynamic) return m_arg2.cols(); else return m_arg1.cols(); } /** \returns the first argument nested expression */ EIGEN_DEVICE_FUNC const _Arg1Nested& arg1() const { return m_arg1; } /** \returns the first argument nested expression */ EIGEN_DEVICE_FUNC const _Arg2Nested& arg2() const { return m_arg2; } /** \returns the third argument nested expression */ EIGEN_DEVICE_FUNC const _Arg3Nested& arg3() const { return m_arg3; } /** \returns the functor representing the ternary operation */ EIGEN_DEVICE_FUNC const TernaryOp& functor() const { return m_functor; } protected: Arg1Nested m_arg1; Arg2Nested m_arg2; Arg3Nested m_arg3; const TernaryOp m_functor; }; // Generic API dispatcher template class CwiseTernaryOpImpl : public internal::generic_xpr_base< CwiseTernaryOp >::type { public: typedef typename internal::generic_xpr_base< CwiseTernaryOp >::type Base; }; } // end namespace Eigen #endif // EIGEN_CWISE_TERNARY_OP_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/CwiseUnaryOp.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2008-2014 Gael Guennebaud // Copyright (C) 2006-2008 Benoit Jacob // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_CWISE_UNARY_OP_H #define EIGEN_CWISE_UNARY_OP_H namespace Eigen { namespace internal { template struct traits > : traits { typedef typename result_of< UnaryOp(const typename XprType::Scalar&) >::type Scalar; typedef typename XprType::Nested XprTypeNested; typedef typename remove_reference::type _XprTypeNested; enum { Flags = _XprTypeNested::Flags & RowMajorBit }; }; } template class CwiseUnaryOpImpl; /** \class CwiseUnaryOp * \ingroup Core_Module * * \brief Generic expression where a coefficient-wise unary operator is applied to an expression * * \tparam UnaryOp template functor implementing the operator * \tparam XprType the type of the expression to which we are applying the unary operator * * This class represents an expression where a unary operator is applied to an expression. * It is the return type of all operations taking exactly 1 input expression, regardless of the * presence of other inputs such as scalars. For example, the operator* in the expression 3*matrix * is considered unary, because only the right-hand side is an expression, and its * return type is a specialization of CwiseUnaryOp. * * Most of the time, this is the only way that it is used, so you typically don't have to name * CwiseUnaryOp types explicitly. * * \sa MatrixBase::unaryExpr(const CustomUnaryOp &) const, class CwiseBinaryOp, class CwiseNullaryOp */ template class CwiseUnaryOp : public CwiseUnaryOpImpl::StorageKind>, internal::no_assignment_operator { public: typedef typename CwiseUnaryOpImpl::StorageKind>::Base Base; EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseUnaryOp) typedef typename internal::ref_selector::type XprTypeNested; typedef typename internal::remove_all::type NestedExpression; EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit CwiseUnaryOp(const XprType& xpr, const UnaryOp& func = UnaryOp()) : m_xpr(xpr), m_functor(func) {} EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index rows() const { return m_xpr.rows(); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index cols() const { return m_xpr.cols(); } /** \returns the functor representing the unary operation */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const UnaryOp& functor() const { return m_functor; } /** \returns the nested expression */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename internal::remove_all::type& nestedExpression() const { return m_xpr; } /** \returns the nested expression */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename internal::remove_all::type& nestedExpression() { return m_xpr; } protected: XprTypeNested m_xpr; const UnaryOp m_functor; }; // Generic API dispatcher template class CwiseUnaryOpImpl : public internal::generic_xpr_base >::type { public: typedef typename internal::generic_xpr_base >::type Base; }; } // end namespace Eigen #endif // EIGEN_CWISE_UNARY_OP_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/CwiseUnaryView.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2009-2010 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_CWISE_UNARY_VIEW_H #define EIGEN_CWISE_UNARY_VIEW_H namespace Eigen { namespace internal { template struct traits > : traits { typedef typename result_of< ViewOp(const typename traits::Scalar&) >::type Scalar; typedef typename MatrixType::Nested MatrixTypeNested; typedef typename remove_all::type _MatrixTypeNested; enum { FlagsLvalueBit = is_lvalue::value ? LvalueBit : 0, Flags = traits<_MatrixTypeNested>::Flags & (RowMajorBit | FlagsLvalueBit | DirectAccessBit), // FIXME DirectAccessBit should not be handled by expressions MatrixTypeInnerStride = inner_stride_at_compile_time::ret, // need to cast the sizeof's from size_t to int explicitly, otherwise: // "error: no integral type can represent all of the enumerator values InnerStrideAtCompileTime = MatrixTypeInnerStride == Dynamic ? int(Dynamic) : int(MatrixTypeInnerStride) * int(sizeof(typename traits::Scalar) / sizeof(Scalar)), OuterStrideAtCompileTime = outer_stride_at_compile_time::ret == Dynamic ? int(Dynamic) : outer_stride_at_compile_time::ret * int(sizeof(typename traits::Scalar) / sizeof(Scalar)) }; }; } template class CwiseUnaryViewImpl; /** \class CwiseUnaryView * \ingroup Core_Module * * \brief Generic lvalue expression of a coefficient-wise unary operator of a matrix or a vector * * \tparam ViewOp template functor implementing the view * \tparam MatrixType the type of the matrix we are applying the unary operator * * This class represents a lvalue expression of a generic unary view operator of a matrix or a vector. * It is the return type of real() and imag(), and most of the time this is the only way it is used. * * \sa MatrixBase::unaryViewExpr(const CustomUnaryOp &) const, class CwiseUnaryOp */ template class CwiseUnaryView : public CwiseUnaryViewImpl::StorageKind> { public: typedef typename CwiseUnaryViewImpl::StorageKind>::Base Base; EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseUnaryView) typedef typename internal::ref_selector::non_const_type MatrixTypeNested; typedef typename internal::remove_all::type NestedExpression; explicit inline CwiseUnaryView(MatrixType& mat, const ViewOp& func = ViewOp()) : m_matrix(mat), m_functor(func) {} EIGEN_INHERIT_ASSIGNMENT_OPERATORS(CwiseUnaryView) EIGEN_STRONG_INLINE Index rows() const { return m_matrix.rows(); } EIGEN_STRONG_INLINE Index cols() const { return m_matrix.cols(); } /** \returns the functor representing unary operation */ const ViewOp& functor() const { return m_functor; } /** \returns the nested expression */ const typename internal::remove_all::type& nestedExpression() const { return m_matrix; } /** \returns the nested expression */ typename internal::remove_reference::type& nestedExpression() { return m_matrix.const_cast_derived(); } protected: MatrixTypeNested m_matrix; ViewOp m_functor; }; // Generic API dispatcher template class CwiseUnaryViewImpl : public internal::generic_xpr_base >::type { public: typedef typename internal::generic_xpr_base >::type Base; }; template class CwiseUnaryViewImpl : public internal::dense_xpr_base< CwiseUnaryView >::type { public: typedef CwiseUnaryView Derived; typedef typename internal::dense_xpr_base< CwiseUnaryView >::type Base; EIGEN_DENSE_PUBLIC_INTERFACE(Derived) EIGEN_INHERIT_ASSIGNMENT_OPERATORS(CwiseUnaryViewImpl) EIGEN_DEVICE_FUNC inline Scalar* data() { return &(this->coeffRef(0)); } EIGEN_DEVICE_FUNC inline const Scalar* data() const { return &(this->coeff(0)); } EIGEN_DEVICE_FUNC inline Index innerStride() const { return derived().nestedExpression().innerStride() * sizeof(typename internal::traits::Scalar) / sizeof(Scalar); } EIGEN_DEVICE_FUNC inline Index outerStride() const { return derived().nestedExpression().outerStride() * sizeof(typename internal::traits::Scalar) / sizeof(Scalar); } }; } // end namespace Eigen #endif // EIGEN_CWISE_UNARY_VIEW_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/DenseBase.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2007-2010 Benoit Jacob // Copyright (C) 2008-2010 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_DENSEBASE_H #define EIGEN_DENSEBASE_H namespace Eigen { namespace internal { // The index type defined by EIGEN_DEFAULT_DENSE_INDEX_TYPE must be a signed type. // This dummy function simply aims at checking that at compile time. static inline void check_DenseIndex_is_signed() { EIGEN_STATIC_ASSERT(NumTraits::IsSigned,THE_INDEX_TYPE_MUST_BE_A_SIGNED_TYPE); } } // end namespace internal /** \class DenseBase * \ingroup Core_Module * * \brief Base class for all dense matrices, vectors, and arrays * * This class is the base that is inherited by all dense objects (matrix, vector, arrays, * and related expression types). The common Eigen API for dense objects is contained in this class. * * \tparam Derived is the derived type, e.g., a matrix type or an expression. * * This class can be extended with the help of the plugin mechanism described on the page * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_DENSEBASE_PLUGIN. * * \sa \blank \ref TopicClassHierarchy */ template class DenseBase #ifndef EIGEN_PARSED_BY_DOXYGEN : public DenseCoeffsBase #else : public DenseCoeffsBase #endif // not EIGEN_PARSED_BY_DOXYGEN { public: /** Inner iterator type to iterate over the coefficients of a row or column. * \sa class InnerIterator */ typedef Eigen::InnerIterator InnerIterator; typedef typename internal::traits::StorageKind StorageKind; /** * \brief The type used to store indices * \details This typedef is relevant for types that store multiple indices such as * PermutationMatrix or Transpositions, otherwise it defaults to Eigen::Index * \sa \blank \ref TopicPreprocessorDirectives, Eigen::Index, SparseMatrixBase. */ typedef typename internal::traits::StorageIndex StorageIndex; /** The numeric type of the expression' coefficients, e.g. float, double, int or std::complex, etc. */ typedef typename internal::traits::Scalar Scalar; /** The numeric type of the expression' coefficients, e.g. float, double, int or std::complex, etc. * * It is an alias for the Scalar type */ typedef Scalar value_type; typedef typename NumTraits::Real RealScalar; typedef DenseCoeffsBase Base; using Base::derived; using Base::const_cast_derived; using Base::rows; using Base::cols; using Base::size; using Base::rowIndexByOuterInner; using Base::colIndexByOuterInner; using Base::coeff; using Base::coeffByOuterInner; using Base::operator(); using Base::operator[]; using Base::x; using Base::y; using Base::z; using Base::w; using Base::stride; using Base::innerStride; using Base::outerStride; using Base::rowStride; using Base::colStride; typedef typename Base::CoeffReturnType CoeffReturnType; enum { RowsAtCompileTime = internal::traits::RowsAtCompileTime, /**< The number of rows at compile-time. This is just a copy of the value provided * by the \a Derived type. If a value is not known at compile-time, * it is set to the \a Dynamic constant. * \sa MatrixBase::rows(), MatrixBase::cols(), ColsAtCompileTime, SizeAtCompileTime */ ColsAtCompileTime = internal::traits::ColsAtCompileTime, /**< The number of columns at compile-time. This is just a copy of the value provided * by the \a Derived type. If a value is not known at compile-time, * it is set to the \a Dynamic constant. * \sa MatrixBase::rows(), MatrixBase::cols(), RowsAtCompileTime, SizeAtCompileTime */ SizeAtCompileTime = (internal::size_at_compile_time::RowsAtCompileTime, internal::traits::ColsAtCompileTime>::ret), /**< This is equal to the number of coefficients, i.e. the number of * rows times the number of columns, or to \a Dynamic if this is not * known at compile-time. \sa RowsAtCompileTime, ColsAtCompileTime */ MaxRowsAtCompileTime = internal::traits::MaxRowsAtCompileTime, /**< This value is equal to the maximum possible number of rows that this expression * might have. If this expression might have an arbitrarily high number of rows, * this value is set to \a Dynamic. * * This value is useful to know when evaluating an expression, in order to determine * whether it is possible to avoid doing a dynamic memory allocation. * * \sa RowsAtCompileTime, MaxColsAtCompileTime, MaxSizeAtCompileTime */ MaxColsAtCompileTime = internal::traits::MaxColsAtCompileTime, /**< This value is equal to the maximum possible number of columns that this expression * might have. If this expression might have an arbitrarily high number of columns, * this value is set to \a Dynamic. * * This value is useful to know when evaluating an expression, in order to determine * whether it is possible to avoid doing a dynamic memory allocation. * * \sa ColsAtCompileTime, MaxRowsAtCompileTime, MaxSizeAtCompileTime */ MaxSizeAtCompileTime = (internal::size_at_compile_time::MaxRowsAtCompileTime, internal::traits::MaxColsAtCompileTime>::ret), /**< This value is equal to the maximum possible number of coefficients that this expression * might have. If this expression might have an arbitrarily high number of coefficients, * this value is set to \a Dynamic. * * This value is useful to know when evaluating an expression, in order to determine * whether it is possible to avoid doing a dynamic memory allocation. * * \sa SizeAtCompileTime, MaxRowsAtCompileTime, MaxColsAtCompileTime */ IsVectorAtCompileTime = internal::traits::MaxRowsAtCompileTime == 1 || internal::traits::MaxColsAtCompileTime == 1, /**< This is set to true if either the number of rows or the number of * columns is known at compile-time to be equal to 1. Indeed, in that case, * we are dealing with a column-vector (if there is only one column) or with * a row-vector (if there is only one row). */ Flags = internal::traits::Flags, /**< This stores expression \ref flags flags which may or may not be inherited by new expressions * constructed from this one. See the \ref flags "list of flags". */ IsRowMajor = int(Flags) & RowMajorBit, /**< True if this expression has row-major storage order. */ InnerSizeAtCompileTime = int(IsVectorAtCompileTime) ? int(SizeAtCompileTime) : int(IsRowMajor) ? int(ColsAtCompileTime) : int(RowsAtCompileTime), InnerStrideAtCompileTime = internal::inner_stride_at_compile_time::ret, OuterStrideAtCompileTime = internal::outer_stride_at_compile_time::ret }; typedef typename internal::find_best_packet::type PacketScalar; enum { IsPlainObjectBase = 0 }; /** The plain matrix type corresponding to this expression. * \sa PlainObject */ typedef Matrix::Scalar, internal::traits::RowsAtCompileTime, internal::traits::ColsAtCompileTime, AutoAlign | (internal::traits::Flags&RowMajorBit ? RowMajor : ColMajor), internal::traits::MaxRowsAtCompileTime, internal::traits::MaxColsAtCompileTime > PlainMatrix; /** The plain array type corresponding to this expression. * \sa PlainObject */ typedef Array::Scalar, internal::traits::RowsAtCompileTime, internal::traits::ColsAtCompileTime, AutoAlign | (internal::traits::Flags&RowMajorBit ? RowMajor : ColMajor), internal::traits::MaxRowsAtCompileTime, internal::traits::MaxColsAtCompileTime > PlainArray; /** \brief The plain matrix or array type corresponding to this expression. * * This is not necessarily exactly the return type of eval(). In the case of plain matrices, * the return type of eval() is a const reference to a matrix, not a matrix! It is however guaranteed * that the return type of eval() is either PlainObject or const PlainObject&. */ typedef typename internal::conditional::XprKind,MatrixXpr >::value, PlainMatrix, PlainArray>::type PlainObject; /** \returns the number of nonzero coefficients which is in practice the number * of stored coefficients. */ EIGEN_DEVICE_FUNC inline Index nonZeros() const { return size(); } /** \returns the outer size. * * \note For a vector, this returns just 1. For a matrix (non-vector), this is the major dimension * with respect to the \ref TopicStorageOrders "storage order", i.e., the number of columns for a * column-major matrix, and the number of rows for a row-major matrix. */ EIGEN_DEVICE_FUNC Index outerSize() const { return IsVectorAtCompileTime ? 1 : int(IsRowMajor) ? this->rows() : this->cols(); } /** \returns the inner size. * * \note For a vector, this is just the size. For a matrix (non-vector), this is the minor dimension * with respect to the \ref TopicStorageOrders "storage order", i.e., the number of rows for a * column-major matrix, and the number of columns for a row-major matrix. */ EIGEN_DEVICE_FUNC Index innerSize() const { return IsVectorAtCompileTime ? this->size() : int(IsRowMajor) ? this->cols() : this->rows(); } /** Only plain matrices/arrays, not expressions, may be resized; therefore the only useful resize methods are * Matrix::resize() and Array::resize(). The present method only asserts that the new size equals the old size, and does * nothing else. */ EIGEN_DEVICE_FUNC void resize(Index newSize) { EIGEN_ONLY_USED_FOR_DEBUG(newSize); eigen_assert(newSize == this->size() && "DenseBase::resize() does not actually allow to resize."); } /** Only plain matrices/arrays, not expressions, may be resized; therefore the only useful resize methods are * Matrix::resize() and Array::resize(). The present method only asserts that the new size equals the old size, and does * nothing else. */ EIGEN_DEVICE_FUNC void resize(Index rows, Index cols) { EIGEN_ONLY_USED_FOR_DEBUG(rows); EIGEN_ONLY_USED_FOR_DEBUG(cols); eigen_assert(rows == this->rows() && cols == this->cols() && "DenseBase::resize() does not actually allow to resize."); } #ifndef EIGEN_PARSED_BY_DOXYGEN /** \internal Represents a matrix with all coefficients equal to one another*/ typedef CwiseNullaryOp,PlainObject> ConstantReturnType; /** \internal \deprecated Represents a vector with linearly spaced coefficients that allows sequential access only. */ typedef CwiseNullaryOp,PlainObject> SequentialLinSpacedReturnType; /** \internal Represents a vector with linearly spaced coefficients that allows random access. */ typedef CwiseNullaryOp,PlainObject> RandomAccessLinSpacedReturnType; /** \internal the return type of MatrixBase::eigenvalues() */ typedef Matrix::Scalar>::Real, internal::traits::ColsAtCompileTime, 1> EigenvaluesReturnType; #endif // not EIGEN_PARSED_BY_DOXYGEN /** Copies \a other into *this. \returns a reference to *this. */ template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator=(const DenseBase& other); /** Special case of the template operator=, in order to prevent the compiler * from generating a default operator= (issue hit with g++ 4.1) */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator=(const DenseBase& other); template EIGEN_DEVICE_FUNC Derived& operator=(const EigenBase &other); template EIGEN_DEVICE_FUNC Derived& operator+=(const EigenBase &other); template EIGEN_DEVICE_FUNC Derived& operator-=(const EigenBase &other); template EIGEN_DEVICE_FUNC Derived& operator=(const ReturnByValue& func); /** \ínternal * Copies \a other into *this without evaluating other. \returns a reference to *this. * \deprecated */ template EIGEN_DEVICE_FUNC Derived& lazyAssign(const DenseBase& other); EIGEN_DEVICE_FUNC CommaInitializer operator<< (const Scalar& s); /** \deprecated it now returns \c *this */ template EIGEN_DEPRECATED const Derived& flagged() const { return derived(); } template EIGEN_DEVICE_FUNC CommaInitializer operator<< (const DenseBase& other); typedef Transpose TransposeReturnType; EIGEN_DEVICE_FUNC TransposeReturnType transpose(); typedef typename internal::add_const >::type ConstTransposeReturnType; EIGEN_DEVICE_FUNC ConstTransposeReturnType transpose() const; EIGEN_DEVICE_FUNC void transposeInPlace(); EIGEN_DEVICE_FUNC static const ConstantReturnType Constant(Index rows, Index cols, const Scalar& value); EIGEN_DEVICE_FUNC static const ConstantReturnType Constant(Index size, const Scalar& value); EIGEN_DEVICE_FUNC static const ConstantReturnType Constant(const Scalar& value); EIGEN_DEVICE_FUNC static const SequentialLinSpacedReturnType LinSpaced(Sequential_t, Index size, const Scalar& low, const Scalar& high); EIGEN_DEVICE_FUNC static const RandomAccessLinSpacedReturnType LinSpaced(Index size, const Scalar& low, const Scalar& high); EIGEN_DEVICE_FUNC static const SequentialLinSpacedReturnType LinSpaced(Sequential_t, const Scalar& low, const Scalar& high); EIGEN_DEVICE_FUNC static const RandomAccessLinSpacedReturnType LinSpaced(const Scalar& low, const Scalar& high); template EIGEN_DEVICE_FUNC static const CwiseNullaryOp NullaryExpr(Index rows, Index cols, const CustomNullaryOp& func); template EIGEN_DEVICE_FUNC static const CwiseNullaryOp NullaryExpr(Index size, const CustomNullaryOp& func); template EIGEN_DEVICE_FUNC static const CwiseNullaryOp NullaryExpr(const CustomNullaryOp& func); EIGEN_DEVICE_FUNC static const ConstantReturnType Zero(Index rows, Index cols); EIGEN_DEVICE_FUNC static const ConstantReturnType Zero(Index size); EIGEN_DEVICE_FUNC static const ConstantReturnType Zero(); EIGEN_DEVICE_FUNC static const ConstantReturnType Ones(Index rows, Index cols); EIGEN_DEVICE_FUNC static const ConstantReturnType Ones(Index size); EIGEN_DEVICE_FUNC static const ConstantReturnType Ones(); EIGEN_DEVICE_FUNC void fill(const Scalar& value); EIGEN_DEVICE_FUNC Derived& setConstant(const Scalar& value); EIGEN_DEVICE_FUNC Derived& setLinSpaced(Index size, const Scalar& low, const Scalar& high); EIGEN_DEVICE_FUNC Derived& setLinSpaced(const Scalar& low, const Scalar& high); EIGEN_DEVICE_FUNC Derived& setZero(); EIGEN_DEVICE_FUNC Derived& setOnes(); EIGEN_DEVICE_FUNC Derived& setRandom(); template EIGEN_DEVICE_FUNC bool isApprox(const DenseBase& other, const RealScalar& prec = NumTraits::dummy_precision()) const; EIGEN_DEVICE_FUNC bool isMuchSmallerThan(const RealScalar& other, const RealScalar& prec = NumTraits::dummy_precision()) const; template EIGEN_DEVICE_FUNC bool isMuchSmallerThan(const DenseBase& other, const RealScalar& prec = NumTraits::dummy_precision()) const; EIGEN_DEVICE_FUNC bool isApproxToConstant(const Scalar& value, const RealScalar& prec = NumTraits::dummy_precision()) const; EIGEN_DEVICE_FUNC bool isConstant(const Scalar& value, const RealScalar& prec = NumTraits::dummy_precision()) const; EIGEN_DEVICE_FUNC bool isZero(const RealScalar& prec = NumTraits::dummy_precision()) const; EIGEN_DEVICE_FUNC bool isOnes(const RealScalar& prec = NumTraits::dummy_precision()) const; inline bool hasNaN() const; inline bool allFinite() const; EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator*=(const Scalar& other); EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator/=(const Scalar& other); typedef typename internal::add_const_on_value_type::type>::type EvalReturnType; /** \returns the matrix or vector obtained by evaluating this expression. * * Notice that in the case of a plain matrix or vector (not an expression) this function just returns * a const reference, in order to avoid a useless copy. * * \warning Be carefull with eval() and the auto C++ keyword, as detailed in this \link TopicPitfalls_auto_keyword page \endlink. */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EvalReturnType eval() const { // Even though MSVC does not honor strong inlining when the return type // is a dynamic matrix, we desperately need strong inlining for fixed // size types on MSVC. return typename internal::eval::type(derived()); } /** swaps *this with the expression \a other. * */ template EIGEN_DEVICE_FUNC void swap(const DenseBase& other) { EIGEN_STATIC_ASSERT(!OtherDerived::IsPlainObjectBase,THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY); eigen_assert(rows()==other.rows() && cols()==other.cols()); call_assignment(derived(), other.const_cast_derived(), internal::swap_assign_op()); } /** swaps *this with the matrix or array \a other. * */ template EIGEN_DEVICE_FUNC void swap(PlainObjectBase& other) { eigen_assert(rows()==other.rows() && cols()==other.cols()); call_assignment(derived(), other.derived(), internal::swap_assign_op()); } EIGEN_DEVICE_FUNC inline const NestByValue nestByValue() const; EIGEN_DEVICE_FUNC inline const ForceAlignedAccess forceAlignedAccess() const; EIGEN_DEVICE_FUNC inline ForceAlignedAccess forceAlignedAccess(); template EIGEN_DEVICE_FUNC inline const typename internal::conditional,Derived&>::type forceAlignedAccessIf() const; template EIGEN_DEVICE_FUNC inline typename internal::conditional,Derived&>::type forceAlignedAccessIf(); EIGEN_DEVICE_FUNC Scalar sum() const; EIGEN_DEVICE_FUNC Scalar mean() const; EIGEN_DEVICE_FUNC Scalar trace() const; EIGEN_DEVICE_FUNC Scalar prod() const; EIGEN_DEVICE_FUNC typename internal::traits::Scalar minCoeff() const; EIGEN_DEVICE_FUNC typename internal::traits::Scalar maxCoeff() const; template EIGEN_DEVICE_FUNC typename internal::traits::Scalar minCoeff(IndexType* row, IndexType* col) const; template EIGEN_DEVICE_FUNC typename internal::traits::Scalar maxCoeff(IndexType* row, IndexType* col) const; template EIGEN_DEVICE_FUNC typename internal::traits::Scalar minCoeff(IndexType* index) const; template EIGEN_DEVICE_FUNC typename internal::traits::Scalar maxCoeff(IndexType* index) const; template EIGEN_DEVICE_FUNC Scalar redux(const BinaryOp& func) const; template EIGEN_DEVICE_FUNC void visit(Visitor& func) const; inline const WithFormat format(const IOFormat& fmt) const; /** \returns the unique coefficient of a 1x1 expression */ EIGEN_DEVICE_FUNC CoeffReturnType value() const { EIGEN_STATIC_ASSERT_SIZE_1x1(Derived) eigen_assert(this->rows() == 1 && this->cols() == 1); return derived().coeff(0,0); } bool all() const; bool any() const; Index count() const; typedef VectorwiseOp RowwiseReturnType; typedef const VectorwiseOp ConstRowwiseReturnType; typedef VectorwiseOp ColwiseReturnType; typedef const VectorwiseOp ConstColwiseReturnType; /** \returns a VectorwiseOp wrapper of *this providing additional partial reduction operations * * Example: \include MatrixBase_rowwise.cpp * Output: \verbinclude MatrixBase_rowwise.out * * \sa colwise(), class VectorwiseOp, \ref TutorialReductionsVisitorsBroadcasting */ //Code moved here due to a CUDA compiler bug EIGEN_DEVICE_FUNC inline ConstRowwiseReturnType rowwise() const { return ConstRowwiseReturnType(derived()); } EIGEN_DEVICE_FUNC RowwiseReturnType rowwise(); /** \returns a VectorwiseOp wrapper of *this providing additional partial reduction operations * * Example: \include MatrixBase_colwise.cpp * Output: \verbinclude MatrixBase_colwise.out * * \sa rowwise(), class VectorwiseOp, \ref TutorialReductionsVisitorsBroadcasting */ EIGEN_DEVICE_FUNC inline ConstColwiseReturnType colwise() const { return ConstColwiseReturnType(derived()); } EIGEN_DEVICE_FUNC ColwiseReturnType colwise(); typedef CwiseNullaryOp,PlainObject> RandomReturnType; static const RandomReturnType Random(Index rows, Index cols); static const RandomReturnType Random(Index size); static const RandomReturnType Random(); template const Select select(const DenseBase& thenMatrix, const DenseBase& elseMatrix) const; template inline const Select select(const DenseBase& thenMatrix, const typename ThenDerived::Scalar& elseScalar) const; template inline const Select select(const typename ElseDerived::Scalar& thenScalar, const DenseBase& elseMatrix) const; template RealScalar lpNorm() const; template EIGEN_DEVICE_FUNC const Replicate replicate() const; /** * \return an expression of the replication of \c *this * * Example: \include MatrixBase_replicate_int_int.cpp * Output: \verbinclude MatrixBase_replicate_int_int.out * * \sa VectorwiseOp::replicate(), DenseBase::replicate(), class Replicate */ //Code moved here due to a CUDA compiler bug EIGEN_DEVICE_FUNC const Replicate replicate(Index rowFactor, Index colFactor) const { return Replicate(derived(), rowFactor, colFactor); } typedef Reverse ReverseReturnType; typedef const Reverse ConstReverseReturnType; EIGEN_DEVICE_FUNC ReverseReturnType reverse(); /** This is the const version of reverse(). */ //Code moved here due to a CUDA compiler bug EIGEN_DEVICE_FUNC ConstReverseReturnType reverse() const { return ConstReverseReturnType(derived()); } EIGEN_DEVICE_FUNC void reverseInPlace(); #define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::DenseBase #define EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL #define EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(COND) # include "../plugins/BlockMethods.h" # ifdef EIGEN_DENSEBASE_PLUGIN # include EIGEN_DENSEBASE_PLUGIN # endif #undef EIGEN_CURRENT_STORAGE_BASE_CLASS #undef EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL #undef EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF // disable the use of evalTo for dense objects with a nice compilation error template EIGEN_DEVICE_FUNC inline void evalTo(Dest& ) const { EIGEN_STATIC_ASSERT((internal::is_same::value),THE_EVAL_EVALTO_FUNCTION_SHOULD_NEVER_BE_CALLED_FOR_DENSE_OBJECTS); } protected: /** Default constructor. Do nothing. */ EIGEN_DEVICE_FUNC DenseBase() { /* Just checks for self-consistency of the flags. * Only do it when debugging Eigen, as this borders on paranoiac and could slow compilation down */ #ifdef EIGEN_INTERNAL_DEBUGGING EIGEN_STATIC_ASSERT((EIGEN_IMPLIES(MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1, int(IsRowMajor)) && EIGEN_IMPLIES(MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1, int(!IsRowMajor))), INVALID_STORAGE_ORDER_FOR_THIS_VECTOR_EXPRESSION) #endif } private: EIGEN_DEVICE_FUNC explicit DenseBase(int); EIGEN_DEVICE_FUNC DenseBase(int,int); template EIGEN_DEVICE_FUNC explicit DenseBase(const DenseBase&); }; } // end namespace Eigen #endif // EIGEN_DENSEBASE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/DenseCoeffsBase.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2006-2010 Benoit Jacob // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_DENSECOEFFSBASE_H #define EIGEN_DENSECOEFFSBASE_H namespace Eigen { namespace internal { template struct add_const_on_value_type_if_arithmetic { typedef typename conditional::value, T, typename add_const_on_value_type::type>::type type; }; } /** \brief Base class providing read-only coefficient access to matrices and arrays. * \ingroup Core_Module * \tparam Derived Type of the derived class * \tparam #ReadOnlyAccessors Constant indicating read-only access * * This class defines the \c operator() \c const function and friends, which can be used to read specific * entries of a matrix or array. * * \sa DenseCoeffsBase, DenseCoeffsBase, * \ref TopicClassHierarchy */ template class DenseCoeffsBase : public EigenBase { public: typedef typename internal::traits::StorageKind StorageKind; typedef typename internal::traits::Scalar Scalar; typedef typename internal::packet_traits::type PacketScalar; // Explanation for this CoeffReturnType typedef. // - This is the return type of the coeff() method. // - The LvalueBit means exactly that we can offer a coeffRef() method, which means exactly that we can get references // to coeffs, which means exactly that we can have coeff() return a const reference (as opposed to returning a value). // - The is_artihmetic check is required since "const int", "const double", etc. will cause warnings on some systems // while the declaration of "const T", where T is a non arithmetic type does not. Always returning "const Scalar&" is // not possible, since the underlying expressions might not offer a valid address the reference could be referring to. typedef typename internal::conditional::Flags&LvalueBit), const Scalar&, typename internal::conditional::value, Scalar, const Scalar>::type >::type CoeffReturnType; typedef typename internal::add_const_on_value_type_if_arithmetic< typename internal::packet_traits::type >::type PacketReturnType; typedef EigenBase Base; using Base::rows; using Base::cols; using Base::size; using Base::derived; EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index rowIndexByOuterInner(Index outer, Index inner) const { return int(Derived::RowsAtCompileTime) == 1 ? 0 : int(Derived::ColsAtCompileTime) == 1 ? inner : int(Derived::Flags)&RowMajorBit ? outer : inner; } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index colIndexByOuterInner(Index outer, Index inner) const { return int(Derived::ColsAtCompileTime) == 1 ? 0 : int(Derived::RowsAtCompileTime) == 1 ? inner : int(Derived::Flags)&RowMajorBit ? inner : outer; } /** Short version: don't use this function, use * \link operator()(Index,Index) const \endlink instead. * * Long version: this function is similar to * \link operator()(Index,Index) const \endlink, but without the assertion. * Use this for limiting the performance cost of debugging code when doing * repeated coefficient access. Only use this when it is guaranteed that the * parameters \a row and \a col are in range. * * If EIGEN_INTERNAL_DEBUGGING is defined, an assertion will be made, making this * function equivalent to \link operator()(Index,Index) const \endlink. * * \sa operator()(Index,Index) const, coeffRef(Index,Index), coeff(Index) const */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index row, Index col) const { eigen_internal_assert(row >= 0 && row < rows() && col >= 0 && col < cols()); return internal::evaluator(derived()).coeff(row,col); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeffByOuterInner(Index outer, Index inner) const { return coeff(rowIndexByOuterInner(outer, inner), colIndexByOuterInner(outer, inner)); } /** \returns the coefficient at given the given row and column. * * \sa operator()(Index,Index), operator[](Index) */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType operator()(Index row, Index col) const { eigen_assert(row >= 0 && row < rows() && col >= 0 && col < cols()); return coeff(row, col); } /** Short version: don't use this function, use * \link operator[](Index) const \endlink instead. * * Long version: this function is similar to * \link operator[](Index) const \endlink, but without the assertion. * Use this for limiting the performance cost of debugging code when doing * repeated coefficient access. Only use this when it is guaranteed that the * parameter \a index is in range. * * If EIGEN_INTERNAL_DEBUGGING is defined, an assertion will be made, making this * function equivalent to \link operator[](Index) const \endlink. * * \sa operator[](Index) const, coeffRef(Index), coeff(Index,Index) const */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const { EIGEN_STATIC_ASSERT(internal::evaluator::Flags & LinearAccessBit, THIS_COEFFICIENT_ACCESSOR_TAKING_ONE_ACCESS_IS_ONLY_FOR_EXPRESSIONS_ALLOWING_LINEAR_ACCESS) eigen_internal_assert(index >= 0 && index < size()); return internal::evaluator(derived()).coeff(index); } /** \returns the coefficient at given index. * * This method is allowed only for vector expressions, and for matrix expressions having the LinearAccessBit. * * \sa operator[](Index), operator()(Index,Index) const, x() const, y() const, * z() const, w() const */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType operator[](Index index) const { EIGEN_STATIC_ASSERT(Derived::IsVectorAtCompileTime, THE_BRACKET_OPERATOR_IS_ONLY_FOR_VECTORS__USE_THE_PARENTHESIS_OPERATOR_INSTEAD) eigen_assert(index >= 0 && index < size()); return coeff(index); } /** \returns the coefficient at given index. * * This is synonymous to operator[](Index) const. * * This method is allowed only for vector expressions, and for matrix expressions having the LinearAccessBit. * * \sa operator[](Index), operator()(Index,Index) const, x() const, y() const, * z() const, w() const */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType operator()(Index index) const { eigen_assert(index >= 0 && index < size()); return coeff(index); } /** equivalent to operator[](0). */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType x() const { return (*this)[0]; } /** equivalent to operator[](1). */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType y() const { EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=2, OUT_OF_RANGE_ACCESS); return (*this)[1]; } /** equivalent to operator[](2). */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType z() const { EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=3, OUT_OF_RANGE_ACCESS); return (*this)[2]; } /** equivalent to operator[](3). */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType w() const { EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=4, OUT_OF_RANGE_ACCESS); return (*this)[3]; } /** \internal * \returns the packet of coefficients starting at the given row and column. It is your responsibility * to ensure that a packet really starts there. This method is only available on expressions having the * PacketAccessBit. * * The \a LoadMode parameter may have the value \a #Aligned or \a #Unaligned. Its effect is to select * the appropriate vectorization instruction. Aligned access is faster, but is only possible for packets * starting at an address which is a multiple of the packet size. */ template EIGEN_STRONG_INLINE PacketReturnType packet(Index row, Index col) const { typedef typename internal::packet_traits::type DefaultPacketType; eigen_internal_assert(row >= 0 && row < rows() && col >= 0 && col < cols()); return internal::evaluator(derived()).template packet(row,col); } /** \internal */ template EIGEN_STRONG_INLINE PacketReturnType packetByOuterInner(Index outer, Index inner) const { return packet(rowIndexByOuterInner(outer, inner), colIndexByOuterInner(outer, inner)); } /** \internal * \returns the packet of coefficients starting at the given index. It is your responsibility * to ensure that a packet really starts there. This method is only available on expressions having the * PacketAccessBit and the LinearAccessBit. * * The \a LoadMode parameter may have the value \a #Aligned or \a #Unaligned. Its effect is to select * the appropriate vectorization instruction. Aligned access is faster, but is only possible for packets * starting at an address which is a multiple of the packet size. */ template EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const { EIGEN_STATIC_ASSERT(internal::evaluator::Flags & LinearAccessBit, THIS_COEFFICIENT_ACCESSOR_TAKING_ONE_ACCESS_IS_ONLY_FOR_EXPRESSIONS_ALLOWING_LINEAR_ACCESS) typedef typename internal::packet_traits::type DefaultPacketType; eigen_internal_assert(index >= 0 && index < size()); return internal::evaluator(derived()).template packet(index); } protected: // explanation: DenseBase is doing "using ..." on the methods from DenseCoeffsBase. // But some methods are only available in the DirectAccess case. // So we add dummy methods here with these names, so that "using... " doesn't fail. // It's not private so that the child class DenseBase can access them, and it's not public // either since it's an implementation detail, so has to be protected. void coeffRef(); void coeffRefByOuterInner(); void writePacket(); void writePacketByOuterInner(); void copyCoeff(); void copyCoeffByOuterInner(); void copyPacket(); void copyPacketByOuterInner(); void stride(); void innerStride(); void outerStride(); void rowStride(); void colStride(); }; /** \brief Base class providing read/write coefficient access to matrices and arrays. * \ingroup Core_Module * \tparam Derived Type of the derived class * \tparam #WriteAccessors Constant indicating read/write access * * This class defines the non-const \c operator() function and friends, which can be used to write specific * entries of a matrix or array. This class inherits DenseCoeffsBase which * defines the const variant for reading specific entries. * * \sa DenseCoeffsBase, \ref TopicClassHierarchy */ template class DenseCoeffsBase : public DenseCoeffsBase { public: typedef DenseCoeffsBase Base; typedef typename internal::traits::StorageKind StorageKind; typedef typename internal::traits::Scalar Scalar; typedef typename internal::packet_traits::type PacketScalar; typedef typename NumTraits::Real RealScalar; using Base::coeff; using Base::rows; using Base::cols; using Base::size; using Base::derived; using Base::rowIndexByOuterInner; using Base::colIndexByOuterInner; using Base::operator[]; using Base::operator(); using Base::x; using Base::y; using Base::z; using Base::w; /** Short version: don't use this function, use * \link operator()(Index,Index) \endlink instead. * * Long version: this function is similar to * \link operator()(Index,Index) \endlink, but without the assertion. * Use this for limiting the performance cost of debugging code when doing * repeated coefficient access. Only use this when it is guaranteed that the * parameters \a row and \a col are in range. * * If EIGEN_INTERNAL_DEBUGGING is defined, an assertion will be made, making this * function equivalent to \link operator()(Index,Index) \endlink. * * \sa operator()(Index,Index), coeff(Index, Index) const, coeffRef(Index) */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(Index row, Index col) { eigen_internal_assert(row >= 0 && row < rows() && col >= 0 && col < cols()); return internal::evaluator(derived()).coeffRef(row,col); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRefByOuterInner(Index outer, Index inner) { return coeffRef(rowIndexByOuterInner(outer, inner), colIndexByOuterInner(outer, inner)); } /** \returns a reference to the coefficient at given the given row and column. * * \sa operator[](Index) */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& operator()(Index row, Index col) { eigen_assert(row >= 0 && row < rows() && col >= 0 && col < cols()); return coeffRef(row, col); } /** Short version: don't use this function, use * \link operator[](Index) \endlink instead. * * Long version: this function is similar to * \link operator[](Index) \endlink, but without the assertion. * Use this for limiting the performance cost of debugging code when doing * repeated coefficient access. Only use this when it is guaranteed that the * parameters \a row and \a col are in range. * * If EIGEN_INTERNAL_DEBUGGING is defined, an assertion will be made, making this * function equivalent to \link operator[](Index) \endlink. * * \sa operator[](Index), coeff(Index) const, coeffRef(Index,Index) */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(Index index) { EIGEN_STATIC_ASSERT(internal::evaluator::Flags & LinearAccessBit, THIS_COEFFICIENT_ACCESSOR_TAKING_ONE_ACCESS_IS_ONLY_FOR_EXPRESSIONS_ALLOWING_LINEAR_ACCESS) eigen_internal_assert(index >= 0 && index < size()); return internal::evaluator(derived()).coeffRef(index); } /** \returns a reference to the coefficient at given index. * * This method is allowed only for vector expressions, and for matrix expressions having the LinearAccessBit. * * \sa operator[](Index) const, operator()(Index,Index), x(), y(), z(), w() */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& operator[](Index index) { EIGEN_STATIC_ASSERT(Derived::IsVectorAtCompileTime, THE_BRACKET_OPERATOR_IS_ONLY_FOR_VECTORS__USE_THE_PARENTHESIS_OPERATOR_INSTEAD) eigen_assert(index >= 0 && index < size()); return coeffRef(index); } /** \returns a reference to the coefficient at given index. * * This is synonymous to operator[](Index). * * This method is allowed only for vector expressions, and for matrix expressions having the LinearAccessBit. * * \sa operator[](Index) const, operator()(Index,Index), x(), y(), z(), w() */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& operator()(Index index) { eigen_assert(index >= 0 && index < size()); return coeffRef(index); } /** equivalent to operator[](0). */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& x() { return (*this)[0]; } /** equivalent to operator[](1). */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& y() { EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=2, OUT_OF_RANGE_ACCESS); return (*this)[1]; } /** equivalent to operator[](2). */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& z() { EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=3, OUT_OF_RANGE_ACCESS); return (*this)[2]; } /** equivalent to operator[](3). */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& w() { EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=4, OUT_OF_RANGE_ACCESS); return (*this)[3]; } }; /** \brief Base class providing direct read-only coefficient access to matrices and arrays. * \ingroup Core_Module * \tparam Derived Type of the derived class * \tparam #DirectAccessors Constant indicating direct access * * This class defines functions to work with strides which can be used to access entries directly. This class * inherits DenseCoeffsBase which defines functions to access entries read-only using * \c operator() . * * \sa \blank \ref TopicClassHierarchy */ template class DenseCoeffsBase : public DenseCoeffsBase { public: typedef DenseCoeffsBase Base; typedef typename internal::traits::Scalar Scalar; typedef typename NumTraits::Real RealScalar; using Base::rows; using Base::cols; using Base::size; using Base::derived; /** \returns the pointer increment between two consecutive elements within a slice in the inner direction. * * \sa outerStride(), rowStride(), colStride() */ EIGEN_DEVICE_FUNC inline Index innerStride() const { return derived().innerStride(); } /** \returns the pointer increment between two consecutive inner slices (for example, between two consecutive columns * in a column-major matrix). * * \sa innerStride(), rowStride(), colStride() */ EIGEN_DEVICE_FUNC inline Index outerStride() const { return derived().outerStride(); } // FIXME shall we remove it ? inline Index stride() const { return Derived::IsVectorAtCompileTime ? innerStride() : outerStride(); } /** \returns the pointer increment between two consecutive rows. * * \sa innerStride(), outerStride(), colStride() */ EIGEN_DEVICE_FUNC inline Index rowStride() const { return Derived::IsRowMajor ? outerStride() : innerStride(); } /** \returns the pointer increment between two consecutive columns. * * \sa innerStride(), outerStride(), rowStride() */ EIGEN_DEVICE_FUNC inline Index colStride() const { return Derived::IsRowMajor ? innerStride() : outerStride(); } }; /** \brief Base class providing direct read/write coefficient access to matrices and arrays. * \ingroup Core_Module * \tparam Derived Type of the derived class * \tparam #DirectWriteAccessors Constant indicating direct access * * This class defines functions to work with strides which can be used to access entries directly. This class * inherits DenseCoeffsBase which defines functions to access entries read/write using * \c operator(). * * \sa \blank \ref TopicClassHierarchy */ template class DenseCoeffsBase : public DenseCoeffsBase { public: typedef DenseCoeffsBase Base; typedef typename internal::traits::Scalar Scalar; typedef typename NumTraits::Real RealScalar; using Base::rows; using Base::cols; using Base::size; using Base::derived; /** \returns the pointer increment between two consecutive elements within a slice in the inner direction. * * \sa outerStride(), rowStride(), colStride() */ EIGEN_DEVICE_FUNC inline Index innerStride() const { return derived().innerStride(); } /** \returns the pointer increment between two consecutive inner slices (for example, between two consecutive columns * in a column-major matrix). * * \sa innerStride(), rowStride(), colStride() */ EIGEN_DEVICE_FUNC inline Index outerStride() const { return derived().outerStride(); } // FIXME shall we remove it ? inline Index stride() const { return Derived::IsVectorAtCompileTime ? innerStride() : outerStride(); } /** \returns the pointer increment between two consecutive rows. * * \sa innerStride(), outerStride(), colStride() */ EIGEN_DEVICE_FUNC inline Index rowStride() const { return Derived::IsRowMajor ? outerStride() : innerStride(); } /** \returns the pointer increment between two consecutive columns. * * \sa innerStride(), outerStride(), rowStride() */ EIGEN_DEVICE_FUNC inline Index colStride() const { return Derived::IsRowMajor ? innerStride() : outerStride(); } }; namespace internal { template struct first_aligned_impl { static inline Index run(const Derived&) { return 0; } }; template struct first_aligned_impl { static inline Index run(const Derived& m) { return internal::first_aligned(m.data(), m.size()); } }; /** \internal \returns the index of the first element of the array stored by \a m that is properly aligned with respect to \a Alignment for vectorization. * * \tparam Alignment requested alignment in Bytes. * * There is also the variant first_aligned(const Scalar*, Integer) defined in Memory.h. See it for more * documentation. */ template static inline Index first_aligned(const DenseBase& m) { enum { ReturnZero = (int(evaluator::Alignment) >= Alignment) || !(Derived::Flags & DirectAccessBit) }; return first_aligned_impl::run(m.derived()); } template static inline Index first_default_aligned(const DenseBase& m) { typedef typename Derived::Scalar Scalar; typedef typename packet_traits::type DefaultPacketType; return internal::first_aligned::alignment),Derived>(m); } template::ret> struct inner_stride_at_compile_time { enum { ret = traits::InnerStrideAtCompileTime }; }; template struct inner_stride_at_compile_time { enum { ret = 0 }; }; template::ret> struct outer_stride_at_compile_time { enum { ret = traits::OuterStrideAtCompileTime }; }; template struct outer_stride_at_compile_time { enum { ret = 0 }; }; } // end namespace internal } // end namespace Eigen #endif // EIGEN_DENSECOEFFSBASE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/DenseStorage.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2008 Gael Guennebaud // Copyright (C) 2006-2009 Benoit Jacob // Copyright (C) 2010-2013 Hauke Heibel // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_MATRIXSTORAGE_H #define EIGEN_MATRIXSTORAGE_H #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN #define EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN EIGEN_DENSE_STORAGE_CTOR_PLUGIN; #else #define EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN #endif namespace Eigen { namespace internal { struct constructor_without_unaligned_array_assert {}; template EIGEN_DEVICE_FUNC void check_static_allocation_size() { // if EIGEN_STACK_ALLOCATION_LIMIT is defined to 0, then no limit #if EIGEN_STACK_ALLOCATION_LIMIT EIGEN_STATIC_ASSERT(Size * sizeof(T) <= EIGEN_STACK_ALLOCATION_LIMIT, OBJECT_ALLOCATED_ON_STACK_IS_TOO_BIG); #endif } /** \internal * Static array. If the MatrixOrArrayOptions require auto-alignment, the array will be automatically aligned: * to 16 bytes boundary if the total size is a multiple of 16 bytes. */ template ::value > struct plain_array { T array[Size]; EIGEN_DEVICE_FUNC plain_array() { check_static_allocation_size(); } EIGEN_DEVICE_FUNC plain_array(constructor_without_unaligned_array_assert) { check_static_allocation_size(); } }; #if defined(EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT) #define EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(sizemask) #elif EIGEN_GNUC_AT_LEAST(4,7) // GCC 4.7 is too aggressive in its optimizations and remove the alignement test based on the fact the array is declared to be aligned. // See this bug report: http://gcc.gnu.org/bugzilla/show_bug.cgi?id=53900 // Hiding the origin of the array pointer behind a function argument seems to do the trick even if the function is inlined: template EIGEN_ALWAYS_INLINE PtrType eigen_unaligned_array_assert_workaround_gcc47(PtrType array) { return array; } #define EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(sizemask) \ eigen_assert((internal::UIntPtr(eigen_unaligned_array_assert_workaround_gcc47(array)) & (sizemask)) == 0 \ && "this assertion is explained here: " \ "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" \ " **** READ THIS WEB PAGE !!! ****"); #else #define EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(sizemask) \ eigen_assert((internal::UIntPtr(array) & (sizemask)) == 0 \ && "this assertion is explained here: " \ "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" \ " **** READ THIS WEB PAGE !!! ****"); #endif template struct plain_array { EIGEN_ALIGN_TO_BOUNDARY(8) T array[Size]; EIGEN_DEVICE_FUNC plain_array() { EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(7); check_static_allocation_size(); } EIGEN_DEVICE_FUNC plain_array(constructor_without_unaligned_array_assert) { check_static_allocation_size(); } }; template struct plain_array { EIGEN_ALIGN_TO_BOUNDARY(16) T array[Size]; EIGEN_DEVICE_FUNC plain_array() { EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(15); check_static_allocation_size(); } EIGEN_DEVICE_FUNC plain_array(constructor_without_unaligned_array_assert) { check_static_allocation_size(); } }; template struct plain_array { EIGEN_ALIGN_TO_BOUNDARY(32) T array[Size]; EIGEN_DEVICE_FUNC plain_array() { EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(31); check_static_allocation_size(); } EIGEN_DEVICE_FUNC plain_array(constructor_without_unaligned_array_assert) { check_static_allocation_size(); } }; template struct plain_array { EIGEN_ALIGN_TO_BOUNDARY(64) T array[Size]; EIGEN_DEVICE_FUNC plain_array() { EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(63); check_static_allocation_size(); } EIGEN_DEVICE_FUNC plain_array(constructor_without_unaligned_array_assert) { check_static_allocation_size(); } }; template struct plain_array { T array[1]; EIGEN_DEVICE_FUNC plain_array() {} EIGEN_DEVICE_FUNC plain_array(constructor_without_unaligned_array_assert) {} }; } // end namespace internal /** \internal * * \class DenseStorage * \ingroup Core_Module * * \brief Stores the data of a matrix * * This class stores the data of fixed-size, dynamic-size or mixed matrices * in a way as compact as possible. * * \sa Matrix */ template class DenseStorage; // purely fixed-size matrix template class DenseStorage { internal::plain_array m_data; public: EIGEN_DEVICE_FUNC DenseStorage() {} EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(internal::constructor_without_unaligned_array_assert()) {} EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) : m_data(other.m_data) {} EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other) { if (this != &other) m_data = other.m_data; return *this; } EIGEN_DEVICE_FUNC DenseStorage(Index size, Index rows, Index cols) { EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN eigen_internal_assert(size==rows*cols && rows==_Rows && cols==_Cols); EIGEN_UNUSED_VARIABLE(size); EIGEN_UNUSED_VARIABLE(rows); EIGEN_UNUSED_VARIABLE(cols); } EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); } EIGEN_DEVICE_FUNC static Index rows(void) {return _Rows;} EIGEN_DEVICE_FUNC static Index cols(void) {return _Cols;} EIGEN_DEVICE_FUNC void conservativeResize(Index,Index,Index) {} EIGEN_DEVICE_FUNC void resize(Index,Index,Index) {} EIGEN_DEVICE_FUNC const T *data() const { return m_data.array; } EIGEN_DEVICE_FUNC T *data() { return m_data.array; } }; // null matrix template class DenseStorage { public: EIGEN_DEVICE_FUNC DenseStorage() {} EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert) {} EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage&) {} EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage&) { return *this; } EIGEN_DEVICE_FUNC DenseStorage(Index,Index,Index) {} EIGEN_DEVICE_FUNC void swap(DenseStorage& ) {} EIGEN_DEVICE_FUNC static Index rows(void) {return _Rows;} EIGEN_DEVICE_FUNC static Index cols(void) {return _Cols;} EIGEN_DEVICE_FUNC void conservativeResize(Index,Index,Index) {} EIGEN_DEVICE_FUNC void resize(Index,Index,Index) {} EIGEN_DEVICE_FUNC const T *data() const { return 0; } EIGEN_DEVICE_FUNC T *data() { return 0; } }; // more specializations for null matrices; these are necessary to resolve ambiguities template class DenseStorage : public DenseStorage { }; template class DenseStorage : public DenseStorage { }; template class DenseStorage : public DenseStorage { }; // dynamic-size matrix with fixed-size storage template class DenseStorage { internal::plain_array m_data; Index m_rows; Index m_cols; public: EIGEN_DEVICE_FUNC DenseStorage() : m_rows(0), m_cols(0) {} EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(internal::constructor_without_unaligned_array_assert()), m_rows(0), m_cols(0) {} EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) : m_data(other.m_data), m_rows(other.m_rows), m_cols(other.m_cols) {} EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other) { if (this != &other) { m_data = other.m_data; m_rows = other.m_rows; m_cols = other.m_cols; } return *this; } EIGEN_DEVICE_FUNC DenseStorage(Index, Index rows, Index cols) : m_rows(rows), m_cols(cols) {} EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); std::swap(m_cols,other.m_cols); } EIGEN_DEVICE_FUNC Index rows() const {return m_rows;} EIGEN_DEVICE_FUNC Index cols() const {return m_cols;} EIGEN_DEVICE_FUNC void conservativeResize(Index, Index rows, Index cols) { m_rows = rows; m_cols = cols; } EIGEN_DEVICE_FUNC void resize(Index, Index rows, Index cols) { m_rows = rows; m_cols = cols; } EIGEN_DEVICE_FUNC const T *data() const { return m_data.array; } EIGEN_DEVICE_FUNC T *data() { return m_data.array; } }; // dynamic-size matrix with fixed-size storage and fixed width template class DenseStorage { internal::plain_array m_data; Index m_rows; public: EIGEN_DEVICE_FUNC DenseStorage() : m_rows(0) {} EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(internal::constructor_without_unaligned_array_assert()), m_rows(0) {} EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) : m_data(other.m_data), m_rows(other.m_rows) {} EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other) { if (this != &other) { m_data = other.m_data; m_rows = other.m_rows; } return *this; } EIGEN_DEVICE_FUNC DenseStorage(Index, Index rows, Index) : m_rows(rows) {} EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); } EIGEN_DEVICE_FUNC Index rows(void) const {return m_rows;} EIGEN_DEVICE_FUNC Index cols(void) const {return _Cols;} EIGEN_DEVICE_FUNC void conservativeResize(Index, Index rows, Index) { m_rows = rows; } EIGEN_DEVICE_FUNC void resize(Index, Index rows, Index) { m_rows = rows; } EIGEN_DEVICE_FUNC const T *data() const { return m_data.array; } EIGEN_DEVICE_FUNC T *data() { return m_data.array; } }; // dynamic-size matrix with fixed-size storage and fixed height template class DenseStorage { internal::plain_array m_data; Index m_cols; public: EIGEN_DEVICE_FUNC DenseStorage() : m_cols(0) {} EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(internal::constructor_without_unaligned_array_assert()), m_cols(0) {} EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) : m_data(other.m_data), m_cols(other.m_cols) {} EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other) { if (this != &other) { m_data = other.m_data; m_cols = other.m_cols; } return *this; } EIGEN_DEVICE_FUNC DenseStorage(Index, Index, Index cols) : m_cols(cols) {} EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_cols,other.m_cols); } EIGEN_DEVICE_FUNC Index rows(void) const {return _Rows;} EIGEN_DEVICE_FUNC Index cols(void) const {return m_cols;} void conservativeResize(Index, Index, Index cols) { m_cols = cols; } void resize(Index, Index, Index cols) { m_cols = cols; } EIGEN_DEVICE_FUNC const T *data() const { return m_data.array; } EIGEN_DEVICE_FUNC T *data() { return m_data.array; } }; // purely dynamic matrix. template class DenseStorage { T *m_data; Index m_rows; Index m_cols; public: EIGEN_DEVICE_FUNC DenseStorage() : m_data(0), m_rows(0), m_cols(0) {} EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(0), m_rows(0), m_cols(0) {} EIGEN_DEVICE_FUNC DenseStorage(Index size, Index rows, Index cols) : m_data(internal::conditional_aligned_new_auto(size)), m_rows(rows), m_cols(cols) { EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN eigen_internal_assert(size==rows*cols && rows>=0 && cols >=0); } EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) : m_data(internal::conditional_aligned_new_auto(other.m_rows*other.m_cols)) , m_rows(other.m_rows) , m_cols(other.m_cols) { internal::smart_copy(other.m_data, other.m_data+other.m_rows*other.m_cols, m_data); } EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other) { if (this != &other) { DenseStorage tmp(other); this->swap(tmp); } return *this; } #if EIGEN_HAS_RVALUE_REFERENCES EIGEN_DEVICE_FUNC DenseStorage(DenseStorage&& other) EIGEN_NOEXCEPT : m_data(std::move(other.m_data)) , m_rows(std::move(other.m_rows)) , m_cols(std::move(other.m_cols)) { other.m_data = nullptr; other.m_rows = 0; other.m_cols = 0; } EIGEN_DEVICE_FUNC DenseStorage& operator=(DenseStorage&& other) EIGEN_NOEXCEPT { using std::swap; swap(m_data, other.m_data); swap(m_rows, other.m_rows); swap(m_cols, other.m_cols); return *this; } #endif EIGEN_DEVICE_FUNC ~DenseStorage() { internal::conditional_aligned_delete_auto(m_data, m_rows*m_cols); } EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); std::swap(m_cols,other.m_cols); } EIGEN_DEVICE_FUNC Index rows(void) const {return m_rows;} EIGEN_DEVICE_FUNC Index cols(void) const {return m_cols;} void conservativeResize(Index size, Index rows, Index cols) { m_data = internal::conditional_aligned_realloc_new_auto(m_data, size, m_rows*m_cols); m_rows = rows; m_cols = cols; } EIGEN_DEVICE_FUNC void resize(Index size, Index rows, Index cols) { if(size != m_rows*m_cols) { internal::conditional_aligned_delete_auto(m_data, m_rows*m_cols); if (size) m_data = internal::conditional_aligned_new_auto(size); else m_data = 0; EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN } m_rows = rows; m_cols = cols; } EIGEN_DEVICE_FUNC const T *data() const { return m_data; } EIGEN_DEVICE_FUNC T *data() { return m_data; } }; // matrix with dynamic width and fixed height (so that matrix has dynamic size). template class DenseStorage { T *m_data; Index m_cols; public: EIGEN_DEVICE_FUNC DenseStorage() : m_data(0), m_cols(0) {} explicit DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(0), m_cols(0) {} EIGEN_DEVICE_FUNC DenseStorage(Index size, Index rows, Index cols) : m_data(internal::conditional_aligned_new_auto(size)), m_cols(cols) { EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN eigen_internal_assert(size==rows*cols && rows==_Rows && cols >=0); EIGEN_UNUSED_VARIABLE(rows); } EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) : m_data(internal::conditional_aligned_new_auto(_Rows*other.m_cols)) , m_cols(other.m_cols) { internal::smart_copy(other.m_data, other.m_data+_Rows*m_cols, m_data); } EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other) { if (this != &other) { DenseStorage tmp(other); this->swap(tmp); } return *this; } #if EIGEN_HAS_RVALUE_REFERENCES EIGEN_DEVICE_FUNC DenseStorage(DenseStorage&& other) EIGEN_NOEXCEPT : m_data(std::move(other.m_data)) , m_cols(std::move(other.m_cols)) { other.m_data = nullptr; other.m_cols = 0; } EIGEN_DEVICE_FUNC DenseStorage& operator=(DenseStorage&& other) EIGEN_NOEXCEPT { using std::swap; swap(m_data, other.m_data); swap(m_cols, other.m_cols); return *this; } #endif EIGEN_DEVICE_FUNC ~DenseStorage() { internal::conditional_aligned_delete_auto(m_data, _Rows*m_cols); } EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_cols,other.m_cols); } EIGEN_DEVICE_FUNC static Index rows(void) {return _Rows;} EIGEN_DEVICE_FUNC Index cols(void) const {return m_cols;} EIGEN_DEVICE_FUNC void conservativeResize(Index size, Index, Index cols) { m_data = internal::conditional_aligned_realloc_new_auto(m_data, size, _Rows*m_cols); m_cols = cols; } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void resize(Index size, Index, Index cols) { if(size != _Rows*m_cols) { internal::conditional_aligned_delete_auto(m_data, _Rows*m_cols); if (size) m_data = internal::conditional_aligned_new_auto(size); else m_data = 0; EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN } m_cols = cols; } EIGEN_DEVICE_FUNC const T *data() const { return m_data; } EIGEN_DEVICE_FUNC T *data() { return m_data; } }; // matrix with dynamic height and fixed width (so that matrix has dynamic size). template class DenseStorage { T *m_data; Index m_rows; public: EIGEN_DEVICE_FUNC DenseStorage() : m_data(0), m_rows(0) {} explicit DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(0), m_rows(0) {} EIGEN_DEVICE_FUNC DenseStorage(Index size, Index rows, Index cols) : m_data(internal::conditional_aligned_new_auto(size)), m_rows(rows) { EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN eigen_internal_assert(size==rows*cols && rows>=0 && cols == _Cols); EIGEN_UNUSED_VARIABLE(cols); } EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) : m_data(internal::conditional_aligned_new_auto(other.m_rows*_Cols)) , m_rows(other.m_rows) { internal::smart_copy(other.m_data, other.m_data+other.m_rows*_Cols, m_data); } EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other) { if (this != &other) { DenseStorage tmp(other); this->swap(tmp); } return *this; } #if EIGEN_HAS_RVALUE_REFERENCES EIGEN_DEVICE_FUNC DenseStorage(DenseStorage&& other) EIGEN_NOEXCEPT : m_data(std::move(other.m_data)) , m_rows(std::move(other.m_rows)) { other.m_data = nullptr; other.m_rows = 0; } EIGEN_DEVICE_FUNC DenseStorage& operator=(DenseStorage&& other) EIGEN_NOEXCEPT { using std::swap; swap(m_data, other.m_data); swap(m_rows, other.m_rows); return *this; } #endif EIGEN_DEVICE_FUNC ~DenseStorage() { internal::conditional_aligned_delete_auto(m_data, _Cols*m_rows); } EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); } EIGEN_DEVICE_FUNC Index rows(void) const {return m_rows;} EIGEN_DEVICE_FUNC static Index cols(void) {return _Cols;} void conservativeResize(Index size, Index rows, Index) { m_data = internal::conditional_aligned_realloc_new_auto(m_data, size, m_rows*_Cols); m_rows = rows; } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void resize(Index size, Index rows, Index) { if(size != m_rows*_Cols) { internal::conditional_aligned_delete_auto(m_data, _Cols*m_rows); if (size) m_data = internal::conditional_aligned_new_auto(size); else m_data = 0; EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN } m_rows = rows; } EIGEN_DEVICE_FUNC const T *data() const { return m_data; } EIGEN_DEVICE_FUNC T *data() { return m_data; } }; } // end namespace Eigen #endif // EIGEN_MATRIX_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/Diagonal.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2007-2009 Benoit Jacob // Copyright (C) 2009-2010 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_DIAGONAL_H #define EIGEN_DIAGONAL_H namespace Eigen { /** \class Diagonal * \ingroup Core_Module * * \brief Expression of a diagonal/subdiagonal/superdiagonal in a matrix * * \param MatrixType the type of the object in which we are taking a sub/main/super diagonal * \param DiagIndex the index of the sub/super diagonal. The default is 0 and it means the main diagonal. * A positive value means a superdiagonal, a negative value means a subdiagonal. * You can also use Dynamic so the index can be set at runtime. * * The matrix is not required to be square. * * This class represents an expression of the main diagonal, or any sub/super diagonal * of a square matrix. It is the return type of MatrixBase::diagonal() and MatrixBase::diagonal(Index) and most of the * time this is the only way it is used. * * \sa MatrixBase::diagonal(), MatrixBase::diagonal(Index) */ namespace internal { template struct traits > : traits { typedef typename ref_selector::type MatrixTypeNested; typedef typename remove_reference::type _MatrixTypeNested; typedef typename MatrixType::StorageKind StorageKind; enum { RowsAtCompileTime = (int(DiagIndex) == DynamicIndex || int(MatrixType::SizeAtCompileTime) == Dynamic) ? Dynamic : (EIGEN_PLAIN_ENUM_MIN(MatrixType::RowsAtCompileTime - EIGEN_PLAIN_ENUM_MAX(-DiagIndex, 0), MatrixType::ColsAtCompileTime - EIGEN_PLAIN_ENUM_MAX( DiagIndex, 0))), ColsAtCompileTime = 1, MaxRowsAtCompileTime = int(MatrixType::MaxSizeAtCompileTime) == Dynamic ? Dynamic : DiagIndex == DynamicIndex ? EIGEN_SIZE_MIN_PREFER_FIXED(MatrixType::MaxRowsAtCompileTime, MatrixType::MaxColsAtCompileTime) : (EIGEN_PLAIN_ENUM_MIN(MatrixType::MaxRowsAtCompileTime - EIGEN_PLAIN_ENUM_MAX(-DiagIndex, 0), MatrixType::MaxColsAtCompileTime - EIGEN_PLAIN_ENUM_MAX( DiagIndex, 0))), MaxColsAtCompileTime = 1, MaskLvalueBit = is_lvalue::value ? LvalueBit : 0, Flags = (unsigned int)_MatrixTypeNested::Flags & (RowMajorBit | MaskLvalueBit | DirectAccessBit) & ~RowMajorBit, // FIXME DirectAccessBit should not be handled by expressions MatrixTypeOuterStride = outer_stride_at_compile_time::ret, InnerStrideAtCompileTime = MatrixTypeOuterStride == Dynamic ? Dynamic : MatrixTypeOuterStride+1, OuterStrideAtCompileTime = 0 }; }; } template class Diagonal : public internal::dense_xpr_base< Diagonal >::type { public: enum { DiagIndex = _DiagIndex }; typedef typename internal::dense_xpr_base::type Base; EIGEN_DENSE_PUBLIC_INTERFACE(Diagonal) EIGEN_DEVICE_FUNC explicit inline Diagonal(MatrixType& matrix, Index a_index = DiagIndex) : m_matrix(matrix), m_index(a_index) {} EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Diagonal) EIGEN_DEVICE_FUNC inline Index rows() const { return m_index.value()<0 ? numext::mini(m_matrix.cols(),m_matrix.rows()+m_index.value()) : numext::mini(m_matrix.rows(),m_matrix.cols()-m_index.value()); } EIGEN_DEVICE_FUNC inline Index cols() const { return 1; } EIGEN_DEVICE_FUNC inline Index innerStride() const { return m_matrix.outerStride() + 1; } EIGEN_DEVICE_FUNC inline Index outerStride() const { return 0; } typedef typename internal::conditional< internal::is_lvalue::value, Scalar, const Scalar >::type ScalarWithConstIfNotLvalue; EIGEN_DEVICE_FUNC inline ScalarWithConstIfNotLvalue* data() { return &(m_matrix.coeffRef(rowOffset(), colOffset())); } EIGEN_DEVICE_FUNC inline const Scalar* data() const { return &(m_matrix.coeffRef(rowOffset(), colOffset())); } EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index row, Index) { EIGEN_STATIC_ASSERT_LVALUE(MatrixType) return m_matrix.coeffRef(row+rowOffset(), row+colOffset()); } EIGEN_DEVICE_FUNC inline const Scalar& coeffRef(Index row, Index) const { return m_matrix.coeffRef(row+rowOffset(), row+colOffset()); } EIGEN_DEVICE_FUNC inline CoeffReturnType coeff(Index row, Index) const { return m_matrix.coeff(row+rowOffset(), row+colOffset()); } EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index idx) { EIGEN_STATIC_ASSERT_LVALUE(MatrixType) return m_matrix.coeffRef(idx+rowOffset(), idx+colOffset()); } EIGEN_DEVICE_FUNC inline const Scalar& coeffRef(Index idx) const { return m_matrix.coeffRef(idx+rowOffset(), idx+colOffset()); } EIGEN_DEVICE_FUNC inline CoeffReturnType coeff(Index idx) const { return m_matrix.coeff(idx+rowOffset(), idx+colOffset()); } EIGEN_DEVICE_FUNC inline const typename internal::remove_all::type& nestedExpression() const { return m_matrix; } EIGEN_DEVICE_FUNC inline Index index() const { return m_index.value(); } protected: typename internal::ref_selector::non_const_type m_matrix; const internal::variable_if_dynamicindex m_index; private: // some compilers may fail to optimize std::max etc in case of compile-time constants... EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index absDiagIndex() const { return m_index.value()>0 ? m_index.value() : -m_index.value(); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index rowOffset() const { return m_index.value()>0 ? 0 : -m_index.value(); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index colOffset() const { return m_index.value()>0 ? m_index.value() : 0; } // trigger a compile-time error if someone try to call packet template typename MatrixType::PacketReturnType packet(Index) const; template typename MatrixType::PacketReturnType packet(Index,Index) const; }; /** \returns an expression of the main diagonal of the matrix \c *this * * \c *this is not required to be square. * * Example: \include MatrixBase_diagonal.cpp * Output: \verbinclude MatrixBase_diagonal.out * * \sa class Diagonal */ template inline typename MatrixBase::DiagonalReturnType MatrixBase::diagonal() { return DiagonalReturnType(derived()); } /** This is the const version of diagonal(). */ template inline typename MatrixBase::ConstDiagonalReturnType MatrixBase::diagonal() const { return ConstDiagonalReturnType(derived()); } /** \returns an expression of the \a DiagIndex-th sub or super diagonal of the matrix \c *this * * \c *this is not required to be square. * * The template parameter \a DiagIndex represent a super diagonal if \a DiagIndex > 0 * and a sub diagonal otherwise. \a DiagIndex == 0 is equivalent to the main diagonal. * * Example: \include MatrixBase_diagonal_int.cpp * Output: \verbinclude MatrixBase_diagonal_int.out * * \sa MatrixBase::diagonal(), class Diagonal */ template inline typename MatrixBase::DiagonalDynamicIndexReturnType MatrixBase::diagonal(Index index) { return DiagonalDynamicIndexReturnType(derived(), index); } /** This is the const version of diagonal(Index). */ template inline typename MatrixBase::ConstDiagonalDynamicIndexReturnType MatrixBase::diagonal(Index index) const { return ConstDiagonalDynamicIndexReturnType(derived(), index); } /** \returns an expression of the \a DiagIndex-th sub or super diagonal of the matrix \c *this * * \c *this is not required to be square. * * The template parameter \a DiagIndex represent a super diagonal if \a DiagIndex > 0 * and a sub diagonal otherwise. \a DiagIndex == 0 is equivalent to the main diagonal. * * Example: \include MatrixBase_diagonal_template_int.cpp * Output: \verbinclude MatrixBase_diagonal_template_int.out * * \sa MatrixBase::diagonal(), class Diagonal */ template template inline typename MatrixBase::template DiagonalIndexReturnType::Type MatrixBase::diagonal() { return typename DiagonalIndexReturnType::Type(derived()); } /** This is the const version of diagonal(). */ template template inline typename MatrixBase::template ConstDiagonalIndexReturnType::Type MatrixBase::diagonal() const { return typename ConstDiagonalIndexReturnType::Type(derived()); } } // end namespace Eigen #endif // EIGEN_DIAGONAL_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/DiagonalMatrix.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2009 Gael Guennebaud // Copyright (C) 2007-2009 Benoit Jacob // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_DIAGONALMATRIX_H #define EIGEN_DIAGONALMATRIX_H namespace Eigen { #ifndef EIGEN_PARSED_BY_DOXYGEN template class DiagonalBase : public EigenBase { public: typedef typename internal::traits::DiagonalVectorType DiagonalVectorType; typedef typename DiagonalVectorType::Scalar Scalar; typedef typename DiagonalVectorType::RealScalar RealScalar; typedef typename internal::traits::StorageKind StorageKind; typedef typename internal::traits::StorageIndex StorageIndex; enum { RowsAtCompileTime = DiagonalVectorType::SizeAtCompileTime, ColsAtCompileTime = DiagonalVectorType::SizeAtCompileTime, MaxRowsAtCompileTime = DiagonalVectorType::MaxSizeAtCompileTime, MaxColsAtCompileTime = DiagonalVectorType::MaxSizeAtCompileTime, IsVectorAtCompileTime = 0, Flags = NoPreferredStorageOrderBit }; typedef Matrix DenseMatrixType; typedef DenseMatrixType DenseType; typedef DiagonalMatrix PlainObject; EIGEN_DEVICE_FUNC inline const Derived& derived() const { return *static_cast(this); } EIGEN_DEVICE_FUNC inline Derived& derived() { return *static_cast(this); } EIGEN_DEVICE_FUNC DenseMatrixType toDenseMatrix() const { return derived(); } EIGEN_DEVICE_FUNC inline const DiagonalVectorType& diagonal() const { return derived().diagonal(); } EIGEN_DEVICE_FUNC inline DiagonalVectorType& diagonal() { return derived().diagonal(); } EIGEN_DEVICE_FUNC inline Index rows() const { return diagonal().size(); } EIGEN_DEVICE_FUNC inline Index cols() const { return diagonal().size(); } template EIGEN_DEVICE_FUNC const Product operator*(const MatrixBase &matrix) const { return Product(derived(),matrix.derived()); } typedef DiagonalWrapper, const DiagonalVectorType> > InverseReturnType; EIGEN_DEVICE_FUNC inline const InverseReturnType inverse() const { return InverseReturnType(diagonal().cwiseInverse()); } EIGEN_DEVICE_FUNC inline const DiagonalWrapper operator*(const Scalar& scalar) const { return DiagonalWrapper(diagonal() * scalar); } EIGEN_DEVICE_FUNC friend inline const DiagonalWrapper operator*(const Scalar& scalar, const DiagonalBase& other) { return DiagonalWrapper(scalar * other.diagonal()); } }; #endif /** \class DiagonalMatrix * \ingroup Core_Module * * \brief Represents a diagonal matrix with its storage * * \param _Scalar the type of coefficients * \param SizeAtCompileTime the dimension of the matrix, or Dynamic * \param MaxSizeAtCompileTime the dimension of the matrix, or Dynamic. This parameter is optional and defaults * to SizeAtCompileTime. Most of the time, you do not need to specify it. * * \sa class DiagonalWrapper */ namespace internal { template struct traits > : traits > { typedef Matrix<_Scalar,SizeAtCompileTime,1,0,MaxSizeAtCompileTime,1> DiagonalVectorType; typedef DiagonalShape StorageKind; enum { Flags = LvalueBit | NoPreferredStorageOrderBit }; }; } template class DiagonalMatrix : public DiagonalBase > { public: #ifndef EIGEN_PARSED_BY_DOXYGEN typedef typename internal::traits::DiagonalVectorType DiagonalVectorType; typedef const DiagonalMatrix& Nested; typedef _Scalar Scalar; typedef typename internal::traits::StorageKind StorageKind; typedef typename internal::traits::StorageIndex StorageIndex; #endif protected: DiagonalVectorType m_diagonal; public: /** const version of diagonal(). */ EIGEN_DEVICE_FUNC inline const DiagonalVectorType& diagonal() const { return m_diagonal; } /** \returns a reference to the stored vector of diagonal coefficients. */ EIGEN_DEVICE_FUNC inline DiagonalVectorType& diagonal() { return m_diagonal; } /** Default constructor without initialization */ EIGEN_DEVICE_FUNC inline DiagonalMatrix() {} /** Constructs a diagonal matrix with given dimension */ EIGEN_DEVICE_FUNC explicit inline DiagonalMatrix(Index dim) : m_diagonal(dim) {} /** 2D constructor. */ EIGEN_DEVICE_FUNC inline DiagonalMatrix(const Scalar& x, const Scalar& y) : m_diagonal(x,y) {} /** 3D constructor. */ EIGEN_DEVICE_FUNC inline DiagonalMatrix(const Scalar& x, const Scalar& y, const Scalar& z) : m_diagonal(x,y,z) {} /** Copy constructor. */ template EIGEN_DEVICE_FUNC inline DiagonalMatrix(const DiagonalBase& other) : m_diagonal(other.diagonal()) {} #ifndef EIGEN_PARSED_BY_DOXYGEN /** copy constructor. prevent a default copy constructor from hiding the other templated constructor */ inline DiagonalMatrix(const DiagonalMatrix& other) : m_diagonal(other.diagonal()) {} #endif /** generic constructor from expression of the diagonal coefficients */ template EIGEN_DEVICE_FUNC explicit inline DiagonalMatrix(const MatrixBase& other) : m_diagonal(other) {} /** Copy operator. */ template EIGEN_DEVICE_FUNC DiagonalMatrix& operator=(const DiagonalBase& other) { m_diagonal = other.diagonal(); return *this; } #ifndef EIGEN_PARSED_BY_DOXYGEN /** This is a special case of the templated operator=. Its purpose is to * prevent a default operator= from hiding the templated operator=. */ EIGEN_DEVICE_FUNC DiagonalMatrix& operator=(const DiagonalMatrix& other) { m_diagonal = other.diagonal(); return *this; } #endif /** Resizes to given size. */ EIGEN_DEVICE_FUNC inline void resize(Index size) { m_diagonal.resize(size); } /** Sets all coefficients to zero. */ EIGEN_DEVICE_FUNC inline void setZero() { m_diagonal.setZero(); } /** Resizes and sets all coefficients to zero. */ EIGEN_DEVICE_FUNC inline void setZero(Index size) { m_diagonal.setZero(size); } /** Sets this matrix to be the identity matrix of the current size. */ EIGEN_DEVICE_FUNC inline void setIdentity() { m_diagonal.setOnes(); } /** Sets this matrix to be the identity matrix of the given size. */ EIGEN_DEVICE_FUNC inline void setIdentity(Index size) { m_diagonal.setOnes(size); } }; /** \class DiagonalWrapper * \ingroup Core_Module * * \brief Expression of a diagonal matrix * * \param _DiagonalVectorType the type of the vector of diagonal coefficients * * This class is an expression of a diagonal matrix, but not storing its own vector of diagonal coefficients, * instead wrapping an existing vector expression. It is the return type of MatrixBase::asDiagonal() * and most of the time this is the only way that it is used. * * \sa class DiagonalMatrix, class DiagonalBase, MatrixBase::asDiagonal() */ namespace internal { template struct traits > { typedef _DiagonalVectorType DiagonalVectorType; typedef typename DiagonalVectorType::Scalar Scalar; typedef typename DiagonalVectorType::StorageIndex StorageIndex; typedef DiagonalShape StorageKind; typedef typename traits::XprKind XprKind; enum { RowsAtCompileTime = DiagonalVectorType::SizeAtCompileTime, ColsAtCompileTime = DiagonalVectorType::SizeAtCompileTime, MaxRowsAtCompileTime = DiagonalVectorType::MaxSizeAtCompileTime, MaxColsAtCompileTime = DiagonalVectorType::MaxSizeAtCompileTime, Flags = (traits::Flags & LvalueBit) | NoPreferredStorageOrderBit }; }; } template class DiagonalWrapper : public DiagonalBase >, internal::no_assignment_operator { public: #ifndef EIGEN_PARSED_BY_DOXYGEN typedef _DiagonalVectorType DiagonalVectorType; typedef DiagonalWrapper Nested; #endif /** Constructor from expression of diagonal coefficients to wrap. */ EIGEN_DEVICE_FUNC explicit inline DiagonalWrapper(DiagonalVectorType& a_diagonal) : m_diagonal(a_diagonal) {} /** \returns a const reference to the wrapped expression of diagonal coefficients. */ EIGEN_DEVICE_FUNC const DiagonalVectorType& diagonal() const { return m_diagonal; } protected: typename DiagonalVectorType::Nested m_diagonal; }; /** \returns a pseudo-expression of a diagonal matrix with *this as vector of diagonal coefficients * * \only_for_vectors * * Example: \include MatrixBase_asDiagonal.cpp * Output: \verbinclude MatrixBase_asDiagonal.out * * \sa class DiagonalWrapper, class DiagonalMatrix, diagonal(), isDiagonal() **/ template inline const DiagonalWrapper MatrixBase::asDiagonal() const { return DiagonalWrapper(derived()); } /** \returns true if *this is approximately equal to a diagonal matrix, * within the precision given by \a prec. * * Example: \include MatrixBase_isDiagonal.cpp * Output: \verbinclude MatrixBase_isDiagonal.out * * \sa asDiagonal() */ template bool MatrixBase::isDiagonal(const RealScalar& prec) const { if(cols() != rows()) return false; RealScalar maxAbsOnDiagonal = static_cast(-1); for(Index j = 0; j < cols(); ++j) { RealScalar absOnDiagonal = numext::abs(coeff(j,j)); if(absOnDiagonal > maxAbsOnDiagonal) maxAbsOnDiagonal = absOnDiagonal; } for(Index j = 0; j < cols(); ++j) for(Index i = 0; i < j; ++i) { if(!internal::isMuchSmallerThan(coeff(i, j), maxAbsOnDiagonal, prec)) return false; if(!internal::isMuchSmallerThan(coeff(j, i), maxAbsOnDiagonal, prec)) return false; } return true; } namespace internal { template<> struct storage_kind_to_shape { typedef DiagonalShape Shape; }; struct Diagonal2Dense {}; template<> struct AssignmentKind { typedef Diagonal2Dense Kind; }; // Diagonal matrix to Dense assignment template< typename DstXprType, typename SrcXprType, typename Functor> struct Assignment { static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op &/*func*/) { Index dstRows = src.rows(); Index dstCols = src.cols(); if((dst.rows()!=dstRows) || (dst.cols()!=dstCols)) dst.resize(dstRows, dstCols); dst.setZero(); dst.diagonal() = src.diagonal(); } static void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op &/*func*/) { dst.diagonal() += src.diagonal(); } static void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op &/*func*/) { dst.diagonal() -= src.diagonal(); } }; } // namespace internal } // end namespace Eigen #endif // EIGEN_DIAGONALMATRIX_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/DiagonalProduct.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2008 Gael Guennebaud // Copyright (C) 2007-2009 Benoit Jacob // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_DIAGONALPRODUCT_H #define EIGEN_DIAGONALPRODUCT_H namespace Eigen { /** \returns the diagonal matrix product of \c *this by the diagonal matrix \a diagonal. */ template template inline const Product MatrixBase::operator*(const DiagonalBase &a_diagonal) const { return Product(derived(),a_diagonal.derived()); } } // end namespace Eigen #endif // EIGEN_DIAGONALPRODUCT_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/Dot.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2006-2008, 2010 Benoit Jacob // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_DOT_H #define EIGEN_DOT_H namespace Eigen { namespace internal { // helper function for dot(). The problem is that if we put that in the body of dot(), then upon calling dot // with mismatched types, the compiler emits errors about failing to instantiate cwiseProduct BEFORE // looking at the static assertions. Thus this is a trick to get better compile errors. template struct dot_nocheck { typedef scalar_conj_product_op::Scalar,typename traits::Scalar> conj_prod; typedef typename conj_prod::result_type ResScalar; EIGEN_DEVICE_FUNC static inline ResScalar run(const MatrixBase& a, const MatrixBase& b) { return a.template binaryExpr(b).sum(); } }; template struct dot_nocheck { typedef scalar_conj_product_op::Scalar,typename traits::Scalar> conj_prod; typedef typename conj_prod::result_type ResScalar; EIGEN_DEVICE_FUNC static inline ResScalar run(const MatrixBase& a, const MatrixBase& b) { return a.transpose().template binaryExpr(b).sum(); } }; } // end namespace internal /** \returns the dot product of *this with other. * * \only_for_vectors * * \note If the scalar type is complex numbers, then this function returns the hermitian * (sesquilinear) dot product, conjugate-linear in the first variable and linear in the * second variable. * * \sa squaredNorm(), norm() */ template template EIGEN_DEVICE_FUNC typename ScalarBinaryOpTraits::Scalar,typename internal::traits::Scalar>::ReturnType MatrixBase::dot(const MatrixBase& other) const { EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived) EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived) EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Derived,OtherDerived) #if !(defined(EIGEN_NO_STATIC_ASSERT) && defined(EIGEN_NO_DEBUG)) typedef internal::scalar_conj_product_op func; EIGEN_CHECK_BINARY_COMPATIBILIY(func,Scalar,typename OtherDerived::Scalar); #endif eigen_assert(size() == other.size()); return internal::dot_nocheck::run(*this, other); } //---------- implementation of L2 norm and related functions ---------- /** \returns, for vectors, the squared \em l2 norm of \c *this, and for matrices the Frobenius norm. * In both cases, it consists in the sum of the square of all the matrix entries. * For vectors, this is also equals to the dot product of \c *this with itself. * * \sa dot(), norm(), lpNorm() */ template EIGEN_STRONG_INLINE typename NumTraits::Scalar>::Real MatrixBase::squaredNorm() const { return numext::real((*this).cwiseAbs2().sum()); } /** \returns, for vectors, the \em l2 norm of \c *this, and for matrices the Frobenius norm. * In both cases, it consists in the square root of the sum of the square of all the matrix entries. * For vectors, this is also equals to the square root of the dot product of \c *this with itself. * * \sa lpNorm(), dot(), squaredNorm() */ template inline typename NumTraits::Scalar>::Real MatrixBase::norm() const { return numext::sqrt(squaredNorm()); } /** \returns an expression of the quotient of \c *this by its own norm. * * \warning If the input vector is too small (i.e., this->norm()==0), * then this function returns a copy of the input. * * \only_for_vectors * * \sa norm(), normalize() */ template inline const typename MatrixBase::PlainObject MatrixBase::normalized() const { typedef typename internal::nested_eval::type _Nested; _Nested n(derived()); RealScalar z = n.squaredNorm(); // NOTE: after extensive benchmarking, this conditional does not impact performance, at least on recent x86 CPU if(z>RealScalar(0)) return n / numext::sqrt(z); else return n; } /** Normalizes the vector, i.e. divides it by its own norm. * * \only_for_vectors * * \warning If the input vector is too small (i.e., this->norm()==0), then \c *this is left unchanged. * * \sa norm(), normalized() */ template inline void MatrixBase::normalize() { RealScalar z = squaredNorm(); // NOTE: after extensive benchmarking, this conditional does not impact performance, at least on recent x86 CPU if(z>RealScalar(0)) derived() /= numext::sqrt(z); } /** \returns an expression of the quotient of \c *this by its own norm while avoiding underflow and overflow. * * \only_for_vectors * * This method is analogue to the normalized() method, but it reduces the risk of * underflow and overflow when computing the norm. * * \warning If the input vector is too small (i.e., this->norm()==0), * then this function returns a copy of the input. * * \sa stableNorm(), stableNormalize(), normalized() */ template inline const typename MatrixBase::PlainObject MatrixBase::stableNormalized() const { typedef typename internal::nested_eval::type _Nested; _Nested n(derived()); RealScalar w = n.cwiseAbs().maxCoeff(); RealScalar z = (n/w).squaredNorm(); if(z>RealScalar(0)) return n / (numext::sqrt(z)*w); else return n; } /** Normalizes the vector while avoid underflow and overflow * * \only_for_vectors * * This method is analogue to the normalize() method, but it reduces the risk of * underflow and overflow when computing the norm. * * \warning If the input vector is too small (i.e., this->norm()==0), then \c *this is left unchanged. * * \sa stableNorm(), stableNormalized(), normalize() */ template inline void MatrixBase::stableNormalize() { RealScalar w = cwiseAbs().maxCoeff(); RealScalar z = (derived()/w).squaredNorm(); if(z>RealScalar(0)) derived() /= numext::sqrt(z)*w; } //---------- implementation of other norms ---------- namespace internal { template struct lpNorm_selector { typedef typename NumTraits::Scalar>::Real RealScalar; EIGEN_DEVICE_FUNC static inline RealScalar run(const MatrixBase& m) { EIGEN_USING_STD_MATH(pow) return pow(m.cwiseAbs().array().pow(p).sum(), RealScalar(1)/p); } }; template struct lpNorm_selector { EIGEN_DEVICE_FUNC static inline typename NumTraits::Scalar>::Real run(const MatrixBase& m) { return m.cwiseAbs().sum(); } }; template struct lpNorm_selector { EIGEN_DEVICE_FUNC static inline typename NumTraits::Scalar>::Real run(const MatrixBase& m) { return m.norm(); } }; template struct lpNorm_selector { typedef typename NumTraits::Scalar>::Real RealScalar; EIGEN_DEVICE_FUNC static inline RealScalar run(const MatrixBase& m) { if(Derived::SizeAtCompileTime==0 || (Derived::SizeAtCompileTime==Dynamic && m.size()==0)) return RealScalar(0); return m.cwiseAbs().maxCoeff(); } }; } // end namespace internal /** \returns the \b coefficient-wise \f$ \ell^p \f$ norm of \c *this, that is, returns the p-th root of the sum of the p-th powers of the absolute values * of the coefficients of \c *this. If \a p is the special value \a Eigen::Infinity, this function returns the \f$ \ell^\infty \f$ * norm, that is the maximum of the absolute values of the coefficients of \c *this. * * In all cases, if \c *this is empty, then the value 0 is returned. * * \note For matrices, this function does not compute the operator-norm. That is, if \c *this is a matrix, then its coefficients are interpreted as a 1D vector. Nonetheless, you can easily compute the 1-norm and \f$\infty\f$-norm matrix operator norms using \link TutorialReductionsVisitorsBroadcastingReductionsNorm partial reductions \endlink. * * \sa norm() */ template template #ifndef EIGEN_PARSED_BY_DOXYGEN inline typename NumTraits::Scalar>::Real #else MatrixBase::RealScalar #endif MatrixBase::lpNorm() const { return internal::lpNorm_selector::run(*this); } //---------- implementation of isOrthogonal / isUnitary ---------- /** \returns true if *this is approximately orthogonal to \a other, * within the precision given by \a prec. * * Example: \include MatrixBase_isOrthogonal.cpp * Output: \verbinclude MatrixBase_isOrthogonal.out */ template template bool MatrixBase::isOrthogonal (const MatrixBase& other, const RealScalar& prec) const { typename internal::nested_eval::type nested(derived()); typename internal::nested_eval::type otherNested(other.derived()); return numext::abs2(nested.dot(otherNested)) <= prec * prec * nested.squaredNorm() * otherNested.squaredNorm(); } /** \returns true if *this is approximately an unitary matrix, * within the precision given by \a prec. In the case where the \a Scalar * type is real numbers, a unitary matrix is an orthogonal matrix, whence the name. * * \note This can be used to check whether a family of vectors forms an orthonormal basis. * Indeed, \c m.isUnitary() returns true if and only if the columns (equivalently, the rows) of m form an * orthonormal basis. * * Example: \include MatrixBase_isUnitary.cpp * Output: \verbinclude MatrixBase_isUnitary.out */ template bool MatrixBase::isUnitary(const RealScalar& prec) const { typename internal::nested_eval::type self(derived()); for(Index i = 0; i < cols(); ++i) { if(!internal::isApprox(self.col(i).squaredNorm(), static_cast(1), prec)) return false; for(Index j = 0; j < i; ++j) if(!internal::isMuchSmallerThan(self.col(i).dot(self.col(j)), static_cast(1), prec)) return false; } return true; } } // end namespace Eigen #endif // EIGEN_DOT_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/EigenBase.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2009 Benoit Jacob // Copyright (C) 2009 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_EIGENBASE_H #define EIGEN_EIGENBASE_H namespace Eigen { /** \class EigenBase * * Common base class for all classes T such that MatrixBase has an operator=(T) and a constructor MatrixBase(T). * * In other words, an EigenBase object is an object that can be copied into a MatrixBase. * * Besides MatrixBase-derived classes, this also includes special matrix classes such as diagonal matrices, etc. * * Notice that this class is trivial, it is only used to disambiguate overloaded functions. * * \sa \blank \ref TopicClassHierarchy */ template struct EigenBase { // typedef typename internal::plain_matrix_type::type PlainObject; /** \brief The interface type of indices * \details To change this, \c \#define the preprocessor symbol \c EIGEN_DEFAULT_DENSE_INDEX_TYPE. * \deprecated Since Eigen 3.3, its usage is deprecated. Use Eigen::Index instead. * \sa StorageIndex, \ref TopicPreprocessorDirectives. */ typedef Eigen::Index Index; // FIXME is it needed? typedef typename internal::traits::StorageKind StorageKind; /** \returns a reference to the derived object */ EIGEN_DEVICE_FUNC Derived& derived() { return *static_cast(this); } /** \returns a const reference to the derived object */ EIGEN_DEVICE_FUNC const Derived& derived() const { return *static_cast(this); } EIGEN_DEVICE_FUNC inline Derived& const_cast_derived() const { return *static_cast(const_cast(this)); } EIGEN_DEVICE_FUNC inline const Derived& const_derived() const { return *static_cast(this); } /** \returns the number of rows. \sa cols(), RowsAtCompileTime */ EIGEN_DEVICE_FUNC inline Index rows() const { return derived().rows(); } /** \returns the number of columns. \sa rows(), ColsAtCompileTime*/ EIGEN_DEVICE_FUNC inline Index cols() const { return derived().cols(); } /** \returns the number of coefficients, which is rows()*cols(). * \sa rows(), cols(), SizeAtCompileTime. */ EIGEN_DEVICE_FUNC inline Index size() const { return rows() * cols(); } /** \internal Don't use it, but do the equivalent: \code dst = *this; \endcode */ template EIGEN_DEVICE_FUNC inline void evalTo(Dest& dst) const { derived().evalTo(dst); } /** \internal Don't use it, but do the equivalent: \code dst += *this; \endcode */ template EIGEN_DEVICE_FUNC inline void addTo(Dest& dst) const { // This is the default implementation, // derived class can reimplement it in a more optimized way. typename Dest::PlainObject res(rows(),cols()); evalTo(res); dst += res; } /** \internal Don't use it, but do the equivalent: \code dst -= *this; \endcode */ template EIGEN_DEVICE_FUNC inline void subTo(Dest& dst) const { // This is the default implementation, // derived class can reimplement it in a more optimized way. typename Dest::PlainObject res(rows(),cols()); evalTo(res); dst -= res; } /** \internal Don't use it, but do the equivalent: \code dst.applyOnTheRight(*this); \endcode */ template EIGEN_DEVICE_FUNC inline void applyThisOnTheRight(Dest& dst) const { // This is the default implementation, // derived class can reimplement it in a more optimized way. dst = dst * this->derived(); } /** \internal Don't use it, but do the equivalent: \code dst.applyOnTheLeft(*this); \endcode */ template EIGEN_DEVICE_FUNC inline void applyThisOnTheLeft(Dest& dst) const { // This is the default implementation, // derived class can reimplement it in a more optimized way. dst = this->derived() * dst; } }; /*************************************************************************** * Implementation of matrix base methods ***************************************************************************/ /** \brief Copies the generic expression \a other into *this. * * \details The expression must provide a (templated) evalTo(Derived& dst) const * function which does the actual job. In practice, this allows any user to write * its own special matrix without having to modify MatrixBase * * \returns a reference to *this. */ template template Derived& DenseBase::operator=(const EigenBase &other) { call_assignment(derived(), other.derived()); return derived(); } template template Derived& DenseBase::operator+=(const EigenBase &other) { call_assignment(derived(), other.derived(), internal::add_assign_op()); return derived(); } template template Derived& DenseBase::operator-=(const EigenBase &other) { call_assignment(derived(), other.derived(), internal::sub_assign_op()); return derived(); } } // end namespace Eigen #endif // EIGEN_EIGENBASE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/ForceAlignedAccess.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2009-2010 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_FORCEALIGNEDACCESS_H #define EIGEN_FORCEALIGNEDACCESS_H namespace Eigen { /** \class ForceAlignedAccess * \ingroup Core_Module * * \brief Enforce aligned packet loads and stores regardless of what is requested * * \param ExpressionType the type of the object of which we are forcing aligned packet access * * This class is the return type of MatrixBase::forceAlignedAccess() * and most of the time this is the only way it is used. * * \sa MatrixBase::forceAlignedAccess() */ namespace internal { template struct traits > : public traits {}; } template class ForceAlignedAccess : public internal::dense_xpr_base< ForceAlignedAccess >::type { public: typedef typename internal::dense_xpr_base::type Base; EIGEN_DENSE_PUBLIC_INTERFACE(ForceAlignedAccess) EIGEN_DEVICE_FUNC explicit inline ForceAlignedAccess(const ExpressionType& matrix) : m_expression(matrix) {} EIGEN_DEVICE_FUNC inline Index rows() const { return m_expression.rows(); } EIGEN_DEVICE_FUNC inline Index cols() const { return m_expression.cols(); } EIGEN_DEVICE_FUNC inline Index outerStride() const { return m_expression.outerStride(); } EIGEN_DEVICE_FUNC inline Index innerStride() const { return m_expression.innerStride(); } EIGEN_DEVICE_FUNC inline const CoeffReturnType coeff(Index row, Index col) const { return m_expression.coeff(row, col); } EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index row, Index col) { return m_expression.const_cast_derived().coeffRef(row, col); } EIGEN_DEVICE_FUNC inline const CoeffReturnType coeff(Index index) const { return m_expression.coeff(index); } EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index index) { return m_expression.const_cast_derived().coeffRef(index); } template inline const PacketScalar packet(Index row, Index col) const { return m_expression.template packet(row, col); } template inline void writePacket(Index row, Index col, const PacketScalar& x) { m_expression.const_cast_derived().template writePacket(row, col, x); } template inline const PacketScalar packet(Index index) const { return m_expression.template packet(index); } template inline void writePacket(Index index, const PacketScalar& x) { m_expression.const_cast_derived().template writePacket(index, x); } EIGEN_DEVICE_FUNC operator const ExpressionType&() const { return m_expression; } protected: const ExpressionType& m_expression; private: ForceAlignedAccess& operator=(const ForceAlignedAccess&); }; /** \returns an expression of *this with forced aligned access * \sa forceAlignedAccessIf(),class ForceAlignedAccess */ template inline const ForceAlignedAccess MatrixBase::forceAlignedAccess() const { return ForceAlignedAccess(derived()); } /** \returns an expression of *this with forced aligned access * \sa forceAlignedAccessIf(), class ForceAlignedAccess */ template inline ForceAlignedAccess MatrixBase::forceAlignedAccess() { return ForceAlignedAccess(derived()); } /** \returns an expression of *this with forced aligned access if \a Enable is true. * \sa forceAlignedAccess(), class ForceAlignedAccess */ template template inline typename internal::add_const_on_value_type,Derived&>::type>::type MatrixBase::forceAlignedAccessIf() const { return derived(); // FIXME This should not work but apparently is never used } /** \returns an expression of *this with forced aligned access if \a Enable is true. * \sa forceAlignedAccess(), class ForceAlignedAccess */ template template inline typename internal::conditional,Derived&>::type MatrixBase::forceAlignedAccessIf() { return derived(); // FIXME This should not work but apparently is never used } } // end namespace Eigen #endif // EIGEN_FORCEALIGNEDACCESS_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/Fuzzy.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2006-2008 Benoit Jacob // Copyright (C) 2008 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_FUZZY_H #define EIGEN_FUZZY_H namespace Eigen { namespace internal { template::IsInteger> struct isApprox_selector { EIGEN_DEVICE_FUNC static bool run(const Derived& x, const OtherDerived& y, const typename Derived::RealScalar& prec) { typename internal::nested_eval::type nested(x); typename internal::nested_eval::type otherNested(y); return (nested - otherNested).cwiseAbs2().sum() <= prec * prec * numext::mini(nested.cwiseAbs2().sum(), otherNested.cwiseAbs2().sum()); } }; template struct isApprox_selector { EIGEN_DEVICE_FUNC static bool run(const Derived& x, const OtherDerived& y, const typename Derived::RealScalar&) { return x.matrix() == y.matrix(); } }; template::IsInteger> struct isMuchSmallerThan_object_selector { EIGEN_DEVICE_FUNC static bool run(const Derived& x, const OtherDerived& y, const typename Derived::RealScalar& prec) { return x.cwiseAbs2().sum() <= numext::abs2(prec) * y.cwiseAbs2().sum(); } }; template struct isMuchSmallerThan_object_selector { EIGEN_DEVICE_FUNC static bool run(const Derived& x, const OtherDerived&, const typename Derived::RealScalar&) { return x.matrix() == Derived::Zero(x.rows(), x.cols()).matrix(); } }; template::IsInteger> struct isMuchSmallerThan_scalar_selector { EIGEN_DEVICE_FUNC static bool run(const Derived& x, const typename Derived::RealScalar& y, const typename Derived::RealScalar& prec) { return x.cwiseAbs2().sum() <= numext::abs2(prec * y); } }; template struct isMuchSmallerThan_scalar_selector { EIGEN_DEVICE_FUNC static bool run(const Derived& x, const typename Derived::RealScalar&, const typename Derived::RealScalar&) { return x.matrix() == Derived::Zero(x.rows(), x.cols()).matrix(); } }; } // end namespace internal /** \returns \c true if \c *this is approximately equal to \a other, within the precision * determined by \a prec. * * \note The fuzzy compares are done multiplicatively. Two vectors \f$ v \f$ and \f$ w \f$ * are considered to be approximately equal within precision \f$ p \f$ if * \f[ \Vert v - w \Vert \leqslant p\,\min(\Vert v\Vert, \Vert w\Vert). \f] * For matrices, the comparison is done using the Hilbert-Schmidt norm (aka Frobenius norm * L2 norm). * * \note Because of the multiplicativeness of this comparison, one can't use this function * to check whether \c *this is approximately equal to the zero matrix or vector. * Indeed, \c isApprox(zero) returns false unless \c *this itself is exactly the zero matrix * or vector. If you want to test whether \c *this is zero, use internal::isMuchSmallerThan(const * RealScalar&, RealScalar) instead. * * \sa internal::isMuchSmallerThan(const RealScalar&, RealScalar) const */ template template bool DenseBase::isApprox( const DenseBase& other, const RealScalar& prec ) const { return internal::isApprox_selector::run(derived(), other.derived(), prec); } /** \returns \c true if the norm of \c *this is much smaller than \a other, * within the precision determined by \a prec. * * \note The fuzzy compares are done multiplicatively. A vector \f$ v \f$ is * considered to be much smaller than \f$ x \f$ within precision \f$ p \f$ if * \f[ \Vert v \Vert \leqslant p\,\vert x\vert. \f] * * For matrices, the comparison is done using the Hilbert-Schmidt norm. For this reason, * the value of the reference scalar \a other should come from the Hilbert-Schmidt norm * of a reference matrix of same dimensions. * * \sa isApprox(), isMuchSmallerThan(const DenseBase&, RealScalar) const */ template bool DenseBase::isMuchSmallerThan( const typename NumTraits::Real& other, const RealScalar& prec ) const { return internal::isMuchSmallerThan_scalar_selector::run(derived(), other, prec); } /** \returns \c true if the norm of \c *this is much smaller than the norm of \a other, * within the precision determined by \a prec. * * \note The fuzzy compares are done multiplicatively. A vector \f$ v \f$ is * considered to be much smaller than a vector \f$ w \f$ within precision \f$ p \f$ if * \f[ \Vert v \Vert \leqslant p\,\Vert w\Vert. \f] * For matrices, the comparison is done using the Hilbert-Schmidt norm. * * \sa isApprox(), isMuchSmallerThan(const RealScalar&, RealScalar) const */ template template bool DenseBase::isMuchSmallerThan( const DenseBase& other, const RealScalar& prec ) const { return internal::isMuchSmallerThan_object_selector::run(derived(), other.derived(), prec); } } // end namespace Eigen #endif // EIGEN_FUZZY_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/GeneralProduct.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2006-2008 Benoit Jacob // Copyright (C) 2008-2011 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_GENERAL_PRODUCT_H #define EIGEN_GENERAL_PRODUCT_H namespace Eigen { enum { Large = 2, Small = 3 }; namespace internal { template struct product_type_selector; template struct product_size_category { enum { is_large = MaxSize == Dynamic || Size >= EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD || (Size==Dynamic && MaxSize>=EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD), value = is_large ? Large : Size == 1 ? 1 : Small }; }; template struct product_type { typedef typename remove_all::type _Lhs; typedef typename remove_all::type _Rhs; enum { MaxRows = traits<_Lhs>::MaxRowsAtCompileTime, Rows = traits<_Lhs>::RowsAtCompileTime, MaxCols = traits<_Rhs>::MaxColsAtCompileTime, Cols = traits<_Rhs>::ColsAtCompileTime, MaxDepth = EIGEN_SIZE_MIN_PREFER_FIXED(traits<_Lhs>::MaxColsAtCompileTime, traits<_Rhs>::MaxRowsAtCompileTime), Depth = EIGEN_SIZE_MIN_PREFER_FIXED(traits<_Lhs>::ColsAtCompileTime, traits<_Rhs>::RowsAtCompileTime) }; // the splitting into different lines of code here, introducing the _select enums and the typedef below, // is to work around an internal compiler error with gcc 4.1 and 4.2. private: enum { rows_select = product_size_category::value, cols_select = product_size_category::value, depth_select = product_size_category::value }; typedef product_type_selector selector; public: enum { value = selector::ret, ret = selector::ret }; #ifdef EIGEN_DEBUG_PRODUCT static void debug() { EIGEN_DEBUG_VAR(Rows); EIGEN_DEBUG_VAR(Cols); EIGEN_DEBUG_VAR(Depth); EIGEN_DEBUG_VAR(rows_select); EIGEN_DEBUG_VAR(cols_select); EIGEN_DEBUG_VAR(depth_select); EIGEN_DEBUG_VAR(value); } #endif }; /* The following allows to select the kind of product at compile time * based on the three dimensions of the product. * This is a compile time mapping from {1,Small,Large}^3 -> {product types} */ // FIXME I'm not sure the current mapping is the ideal one. template struct product_type_selector { enum { ret = OuterProduct }; }; template struct product_type_selector { enum { ret = LazyCoeffBasedProductMode }; }; template struct product_type_selector<1, N, 1> { enum { ret = LazyCoeffBasedProductMode }; }; template struct product_type_selector<1, 1, Depth> { enum { ret = InnerProduct }; }; template<> struct product_type_selector<1, 1, 1> { enum { ret = InnerProduct }; }; template<> struct product_type_selector { enum { ret = CoeffBasedProductMode }; }; template<> struct product_type_selector<1, Small,Small> { enum { ret = CoeffBasedProductMode }; }; template<> struct product_type_selector { enum { ret = CoeffBasedProductMode }; }; template<> struct product_type_selector { enum { ret = LazyCoeffBasedProductMode }; }; template<> struct product_type_selector { enum { ret = LazyCoeffBasedProductMode }; }; template<> struct product_type_selector { enum { ret = LazyCoeffBasedProductMode }; }; template<> struct product_type_selector<1, Large,Small> { enum { ret = CoeffBasedProductMode }; }; template<> struct product_type_selector<1, Large,Large> { enum { ret = GemvProduct }; }; template<> struct product_type_selector<1, Small,Large> { enum { ret = CoeffBasedProductMode }; }; template<> struct product_type_selector { enum { ret = CoeffBasedProductMode }; }; template<> struct product_type_selector { enum { ret = GemvProduct }; }; template<> struct product_type_selector { enum { ret = CoeffBasedProductMode }; }; template<> struct product_type_selector { enum { ret = GemmProduct }; }; template<> struct product_type_selector { enum { ret = GemmProduct }; }; template<> struct product_type_selector { enum { ret = GemmProduct }; }; template<> struct product_type_selector { enum { ret = GemmProduct }; }; template<> struct product_type_selector { enum { ret = CoeffBasedProductMode }; }; template<> struct product_type_selector { enum { ret = CoeffBasedProductMode }; }; template<> struct product_type_selector { enum { ret = GemmProduct }; }; } // end namespace internal /*********************************************************************** * Implementation of Inner Vector Vector Product ***********************************************************************/ // FIXME : maybe the "inner product" could return a Scalar // instead of a 1x1 matrix ?? // Pro: more natural for the user // Cons: this could be a problem if in a meta unrolled algorithm a matrix-matrix // product ends up to a row-vector times col-vector product... To tackle this use // case, we could have a specialization for Block with: operator=(Scalar x); /*********************************************************************** * Implementation of Outer Vector Vector Product ***********************************************************************/ /*********************************************************************** * Implementation of General Matrix Vector Product ***********************************************************************/ /* According to the shape/flags of the matrix we have to distinghish 3 different cases: * 1 - the matrix is col-major, BLAS compatible and M is large => call fast BLAS-like colmajor routine * 2 - the matrix is row-major, BLAS compatible and N is large => call fast BLAS-like rowmajor routine * 3 - all other cases are handled using a simple loop along the outer-storage direction. * Therefore we need a lower level meta selector. * Furthermore, if the matrix is the rhs, then the product has to be transposed. */ namespace internal { template struct gemv_dense_selector; } // end namespace internal namespace internal { template struct gemv_static_vector_if; template struct gemv_static_vector_if { EIGEN_STRONG_INLINE Scalar* data() { eigen_internal_assert(false && "should never be called"); return 0; } }; template struct gemv_static_vector_if { EIGEN_STRONG_INLINE Scalar* data() { return 0; } }; template struct gemv_static_vector_if { enum { ForceAlignment = internal::packet_traits::Vectorizable, PacketSize = internal::packet_traits::size }; #if EIGEN_MAX_STATIC_ALIGN_BYTES!=0 internal::plain_array m_data; EIGEN_STRONG_INLINE Scalar* data() { return m_data.array; } #else // Some architectures cannot align on the stack, // => let's manually enforce alignment by allocating more data and return the address of the first aligned element. internal::plain_array m_data; EIGEN_STRONG_INLINE Scalar* data() { return ForceAlignment ? reinterpret_cast((internal::UIntPtr(m_data.array) & ~(std::size_t(EIGEN_MAX_ALIGN_BYTES-1))) + EIGEN_MAX_ALIGN_BYTES) : m_data.array; } #endif }; // The vector is on the left => transposition template struct gemv_dense_selector { template static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha) { Transpose destT(dest); enum { OtherStorageOrder = StorageOrder == RowMajor ? ColMajor : RowMajor }; gemv_dense_selector ::run(rhs.transpose(), lhs.transpose(), destT, alpha); } }; template<> struct gemv_dense_selector { template static inline void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha) { typedef typename Lhs::Scalar LhsScalar; typedef typename Rhs::Scalar RhsScalar; typedef typename Dest::Scalar ResScalar; typedef typename Dest::RealScalar RealScalar; typedef internal::blas_traits LhsBlasTraits; typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType; typedef internal::blas_traits RhsBlasTraits; typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType; typedef Map, EIGEN_PLAIN_ENUM_MIN(AlignedMax,internal::packet_traits::size)> MappedDest; ActualLhsType actualLhs = LhsBlasTraits::extract(lhs); ActualRhsType actualRhs = RhsBlasTraits::extract(rhs); ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(lhs) * RhsBlasTraits::extractScalarFactor(rhs); // make sure Dest is a compile-time vector type (bug 1166) typedef typename conditional::type ActualDest; enum { // FIXME find a way to allow an inner stride on the result if packet_traits::size==1 // on, the other hand it is good for the cache to pack the vector anyways... EvalToDestAtCompileTime = (ActualDest::InnerStrideAtCompileTime==1), ComplexByReal = (NumTraits::IsComplex) && (!NumTraits::IsComplex), MightCannotUseDest = (ActualDest::InnerStrideAtCompileTime!=1) || ComplexByReal }; gemv_static_vector_if static_dest; const bool alphaIsCompatible = (!ComplexByReal) || (numext::imag(actualAlpha)==RealScalar(0)); const bool evalToDest = EvalToDestAtCompileTime && alphaIsCompatible; RhsScalar compatibleAlpha = get_factor::run(actualAlpha); ei_declare_aligned_stack_constructed_variable(ResScalar,actualDestPtr,dest.size(), evalToDest ? dest.data() : static_dest.data()); if(!evalToDest) { #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN Index size = dest.size(); EIGEN_DENSE_STORAGE_CTOR_PLUGIN #endif if(!alphaIsCompatible) { MappedDest(actualDestPtr, dest.size()).setZero(); compatibleAlpha = RhsScalar(1); } else MappedDest(actualDestPtr, dest.size()) = dest; } typedef const_blas_data_mapper LhsMapper; typedef const_blas_data_mapper RhsMapper; general_matrix_vector_product ::run( actualLhs.rows(), actualLhs.cols(), LhsMapper(actualLhs.data(), actualLhs.outerStride()), RhsMapper(actualRhs.data(), actualRhs.innerStride()), actualDestPtr, 1, compatibleAlpha); if (!evalToDest) { if(!alphaIsCompatible) dest.matrix() += actualAlpha * MappedDest(actualDestPtr, dest.size()); else dest = MappedDest(actualDestPtr, dest.size()); } } }; template<> struct gemv_dense_selector { template static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha) { typedef typename Lhs::Scalar LhsScalar; typedef typename Rhs::Scalar RhsScalar; typedef typename Dest::Scalar ResScalar; typedef internal::blas_traits LhsBlasTraits; typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType; typedef internal::blas_traits RhsBlasTraits; typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType; typedef typename internal::remove_all::type ActualRhsTypeCleaned; typename add_const::type actualLhs = LhsBlasTraits::extract(lhs); typename add_const::type actualRhs = RhsBlasTraits::extract(rhs); ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(lhs) * RhsBlasTraits::extractScalarFactor(rhs); enum { // FIXME find a way to allow an inner stride on the result if packet_traits::size==1 // on, the other hand it is good for the cache to pack the vector anyways... DirectlyUseRhs = ActualRhsTypeCleaned::InnerStrideAtCompileTime==1 }; gemv_static_vector_if static_rhs; ei_declare_aligned_stack_constructed_variable(RhsScalar,actualRhsPtr,actualRhs.size(), DirectlyUseRhs ? const_cast(actualRhs.data()) : static_rhs.data()); if(!DirectlyUseRhs) { #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN Index size = actualRhs.size(); EIGEN_DENSE_STORAGE_CTOR_PLUGIN #endif Map(actualRhsPtr, actualRhs.size()) = actualRhs; } typedef const_blas_data_mapper LhsMapper; typedef const_blas_data_mapper RhsMapper; general_matrix_vector_product ::run( actualLhs.rows(), actualLhs.cols(), LhsMapper(actualLhs.data(), actualLhs.outerStride()), RhsMapper(actualRhsPtr, 1), dest.data(), dest.col(0).innerStride(), //NOTE if dest is not a vector at compile-time, then dest.innerStride() might be wrong. (bug 1166) actualAlpha); } }; template<> struct gemv_dense_selector { template static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha) { EIGEN_STATIC_ASSERT((!nested_eval::Evaluate),EIGEN_INTERNAL_COMPILATION_ERROR_OR_YOU_MADE_A_PROGRAMMING_MISTAKE); // TODO if rhs is large enough it might be beneficial to make sure that dest is sequentially stored in memory, otherwise use a temp typename nested_eval::type actual_rhs(rhs); const Index size = rhs.rows(); for(Index k=0; k struct gemv_dense_selector { template static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha) { EIGEN_STATIC_ASSERT((!nested_eval::Evaluate),EIGEN_INTERNAL_COMPILATION_ERROR_OR_YOU_MADE_A_PROGRAMMING_MISTAKE); typename nested_eval::type actual_rhs(rhs); const Index rows = dest.rows(); for(Index i=0; i template inline const Product MatrixBase::operator*(const MatrixBase &other) const { // A note regarding the function declaration: In MSVC, this function will sometimes // not be inlined since DenseStorage is an unwindable object for dynamic // matrices and product types are holding a member to store the result. // Thus it does not help tagging this function with EIGEN_STRONG_INLINE. enum { ProductIsValid = Derived::ColsAtCompileTime==Dynamic || OtherDerived::RowsAtCompileTime==Dynamic || int(Derived::ColsAtCompileTime)==int(OtherDerived::RowsAtCompileTime), AreVectors = Derived::IsVectorAtCompileTime && OtherDerived::IsVectorAtCompileTime, SameSizes = EIGEN_PREDICATE_SAME_MATRIX_SIZE(Derived,OtherDerived) }; // note to the lost user: // * for a dot product use: v1.dot(v2) // * for a coeff-wise product use: v1.cwiseProduct(v2) EIGEN_STATIC_ASSERT(ProductIsValid || !(AreVectors && SameSizes), INVALID_VECTOR_VECTOR_PRODUCT__IF_YOU_WANTED_A_DOT_OR_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTIONS) EIGEN_STATIC_ASSERT(ProductIsValid || !(SameSizes && !AreVectors), INVALID_MATRIX_PRODUCT__IF_YOU_WANTED_A_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTION) EIGEN_STATIC_ASSERT(ProductIsValid || SameSizes, INVALID_MATRIX_PRODUCT) #ifdef EIGEN_DEBUG_PRODUCT internal::product_type::debug(); #endif return Product(derived(), other.derived()); } #endif // __CUDACC__ /** \returns an expression of the matrix product of \c *this and \a other without implicit evaluation. * * The returned product will behave like any other expressions: the coefficients of the product will be * computed once at a time as requested. This might be useful in some extremely rare cases when only * a small and no coherent fraction of the result's coefficients have to be computed. * * \warning This version of the matrix product can be much much slower. So use it only if you know * what you are doing and that you measured a true speed improvement. * * \sa operator*(const MatrixBase&) */ template template const Product MatrixBase::lazyProduct(const MatrixBase &other) const { enum { ProductIsValid = Derived::ColsAtCompileTime==Dynamic || OtherDerived::RowsAtCompileTime==Dynamic || int(Derived::ColsAtCompileTime)==int(OtherDerived::RowsAtCompileTime), AreVectors = Derived::IsVectorAtCompileTime && OtherDerived::IsVectorAtCompileTime, SameSizes = EIGEN_PREDICATE_SAME_MATRIX_SIZE(Derived,OtherDerived) }; // note to the lost user: // * for a dot product use: v1.dot(v2) // * for a coeff-wise product use: v1.cwiseProduct(v2) EIGEN_STATIC_ASSERT(ProductIsValid || !(AreVectors && SameSizes), INVALID_VECTOR_VECTOR_PRODUCT__IF_YOU_WANTED_A_DOT_OR_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTIONS) EIGEN_STATIC_ASSERT(ProductIsValid || !(SameSizes && !AreVectors), INVALID_MATRIX_PRODUCT__IF_YOU_WANTED_A_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTION) EIGEN_STATIC_ASSERT(ProductIsValid || SameSizes, INVALID_MATRIX_PRODUCT) return Product(derived(), other.derived()); } } // end namespace Eigen #endif // EIGEN_PRODUCT_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/GenericPacketMath.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2008 Gael Guennebaud // Copyright (C) 2006-2008 Benoit Jacob // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_GENERIC_PACKET_MATH_H #define EIGEN_GENERIC_PACKET_MATH_H namespace Eigen { namespace internal { /** \internal * \file GenericPacketMath.h * * Default implementation for types not supported by the vectorization. * In practice these functions are provided to make easier the writing * of generic vectorized code. */ #ifndef EIGEN_DEBUG_ALIGNED_LOAD #define EIGEN_DEBUG_ALIGNED_LOAD #endif #ifndef EIGEN_DEBUG_UNALIGNED_LOAD #define EIGEN_DEBUG_UNALIGNED_LOAD #endif #ifndef EIGEN_DEBUG_ALIGNED_STORE #define EIGEN_DEBUG_ALIGNED_STORE #endif #ifndef EIGEN_DEBUG_UNALIGNED_STORE #define EIGEN_DEBUG_UNALIGNED_STORE #endif struct default_packet_traits { enum { HasHalfPacket = 0, HasAdd = 1, HasSub = 1, HasMul = 1, HasNegate = 1, HasAbs = 1, HasArg = 0, HasAbs2 = 1, HasMin = 1, HasMax = 1, HasConj = 1, HasSetLinear = 1, HasBlend = 0, HasDiv = 0, HasSqrt = 0, HasRsqrt = 0, HasExp = 0, HasLog = 0, HasLog1p = 0, HasLog10 = 0, HasPow = 0, HasSin = 0, HasCos = 0, HasTan = 0, HasASin = 0, HasACos = 0, HasATan = 0, HasSinh = 0, HasCosh = 0, HasTanh = 0, HasLGamma = 0, HasDiGamma = 0, HasZeta = 0, HasPolygamma = 0, HasErf = 0, HasErfc = 0, HasIGamma = 0, HasIGammac = 0, HasBetaInc = 0, HasRound = 0, HasFloor = 0, HasCeil = 0, HasSign = 0 }; }; template struct packet_traits : default_packet_traits { typedef T type; typedef T half; enum { Vectorizable = 0, size = 1, AlignedOnScalar = 0, HasHalfPacket = 0 }; enum { HasAdd = 0, HasSub = 0, HasMul = 0, HasNegate = 0, HasAbs = 0, HasAbs2 = 0, HasMin = 0, HasMax = 0, HasConj = 0, HasSetLinear = 0 }; }; template struct packet_traits : packet_traits { }; template struct type_casting_traits { enum { VectorizedCast = 0, SrcCoeffRatio = 1, TgtCoeffRatio = 1 }; }; /** \internal \returns static_cast(a) (coeff-wise) */ template EIGEN_DEVICE_FUNC inline TgtPacket pcast(const SrcPacket& a) { return static_cast(a); } template EIGEN_DEVICE_FUNC inline TgtPacket pcast(const SrcPacket& a, const SrcPacket& /*b*/) { return static_cast(a); } template EIGEN_DEVICE_FUNC inline TgtPacket pcast(const SrcPacket& a, const SrcPacket& /*b*/, const SrcPacket& /*c*/, const SrcPacket& /*d*/) { return static_cast(a); } /** \internal \returns a + b (coeff-wise) */ template EIGEN_DEVICE_FUNC inline Packet padd(const Packet& a, const Packet& b) { return a+b; } /** \internal \returns a - b (coeff-wise) */ template EIGEN_DEVICE_FUNC inline Packet psub(const Packet& a, const Packet& b) { return a-b; } /** \internal \returns -a (coeff-wise) */ template EIGEN_DEVICE_FUNC inline Packet pnegate(const Packet& a) { return -a; } /** \internal \returns conj(a) (coeff-wise) */ template EIGEN_DEVICE_FUNC inline Packet pconj(const Packet& a) { return numext::conj(a); } /** \internal \returns a * b (coeff-wise) */ template EIGEN_DEVICE_FUNC inline Packet pmul(const Packet& a, const Packet& b) { return a*b; } /** \internal \returns a / b (coeff-wise) */ template EIGEN_DEVICE_FUNC inline Packet pdiv(const Packet& a, const Packet& b) { return a/b; } /** \internal \returns the min of \a a and \a b (coeff-wise) */ template EIGEN_DEVICE_FUNC inline Packet pmin(const Packet& a, const Packet& b) { return numext::mini(a, b); } /** \internal \returns the max of \a a and \a b (coeff-wise) */ template EIGEN_DEVICE_FUNC inline Packet pmax(const Packet& a, const Packet& b) { return numext::maxi(a, b); } /** \internal \returns the absolute value of \a a */ template EIGEN_DEVICE_FUNC inline Packet pabs(const Packet& a) { using std::abs; return abs(a); } /** \internal \returns the phase angle of \a a */ template EIGEN_DEVICE_FUNC inline Packet parg(const Packet& a) { using numext::arg; return arg(a); } /** \internal \returns the bitwise and of \a a and \a b */ template EIGEN_DEVICE_FUNC inline Packet pand(const Packet& a, const Packet& b) { return a & b; } /** \internal \returns the bitwise or of \a a and \a b */ template EIGEN_DEVICE_FUNC inline Packet por(const Packet& a, const Packet& b) { return a | b; } /** \internal \returns the bitwise xor of \a a and \a b */ template EIGEN_DEVICE_FUNC inline Packet pxor(const Packet& a, const Packet& b) { return a ^ b; } /** \internal \returns the bitwise andnot of \a a and \a b */ template EIGEN_DEVICE_FUNC inline Packet pandnot(const Packet& a, const Packet& b) { return a & (!b); } /** \internal \returns a packet version of \a *from, from must be 16 bytes aligned */ template EIGEN_DEVICE_FUNC inline Packet pload(const typename unpacket_traits::type* from) { return *from; } /** \internal \returns a packet version of \a *from, (un-aligned load) */ template EIGEN_DEVICE_FUNC inline Packet ploadu(const typename unpacket_traits::type* from) { return *from; } /** \internal \returns a packet with constant coefficients \a a, e.g.: (a,a,a,a) */ template EIGEN_DEVICE_FUNC inline Packet pset1(const typename unpacket_traits::type& a) { return a; } /** \internal \returns a packet with constant coefficients \a a[0], e.g.: (a[0],a[0],a[0],a[0]) */ template EIGEN_DEVICE_FUNC inline Packet pload1(const typename unpacket_traits::type *a) { return pset1(*a); } /** \internal \returns a packet with elements of \a *from duplicated. * For instance, for a packet of 8 elements, 4 scalars will be read from \a *from and * duplicated to form: {from[0],from[0],from[1],from[1],from[2],from[2],from[3],from[3]} * Currently, this function is only used for scalar * complex products. */ template EIGEN_DEVICE_FUNC inline Packet ploaddup(const typename unpacket_traits::type* from) { return *from; } /** \internal \returns a packet with elements of \a *from quadrupled. * For instance, for a packet of 8 elements, 2 scalars will be read from \a *from and * replicated to form: {from[0],from[0],from[0],from[0],from[1],from[1],from[1],from[1]} * Currently, this function is only used in matrix products. * For packet-size smaller or equal to 4, this function is equivalent to pload1 */ template EIGEN_DEVICE_FUNC inline Packet ploadquad(const typename unpacket_traits::type* from) { return pload1(from); } /** \internal equivalent to * \code * a0 = pload1(a+0); * a1 = pload1(a+1); * a2 = pload1(a+2); * a3 = pload1(a+3); * \endcode * \sa pset1, pload1, ploaddup, pbroadcast2 */ template EIGEN_DEVICE_FUNC inline void pbroadcast4(const typename unpacket_traits::type *a, Packet& a0, Packet& a1, Packet& a2, Packet& a3) { a0 = pload1(a+0); a1 = pload1(a+1); a2 = pload1(a+2); a3 = pload1(a+3); } /** \internal equivalent to * \code * a0 = pload1(a+0); * a1 = pload1(a+1); * \endcode * \sa pset1, pload1, ploaddup, pbroadcast4 */ template EIGEN_DEVICE_FUNC inline void pbroadcast2(const typename unpacket_traits::type *a, Packet& a0, Packet& a1) { a0 = pload1(a+0); a1 = pload1(a+1); } /** \internal \brief Returns a packet with coefficients (a,a+1,...,a+packet_size-1). */ template inline Packet plset(const typename unpacket_traits::type& a) { return a; } /** \internal copy the packet \a from to \a *to, \a to must be 16 bytes aligned */ template EIGEN_DEVICE_FUNC inline void pstore(Scalar* to, const Packet& from) { (*to) = from; } /** \internal copy the packet \a from to \a *to, (un-aligned store) */ template EIGEN_DEVICE_FUNC inline void pstoreu(Scalar* to, const Packet& from) { (*to) = from; } template EIGEN_DEVICE_FUNC inline Packet pgather(const Scalar* from, Index /*stride*/) { return ploadu(from); } template EIGEN_DEVICE_FUNC inline void pscatter(Scalar* to, const Packet& from, Index /*stride*/) { pstore(to, from); } /** \internal tries to do cache prefetching of \a addr */ template EIGEN_DEVICE_FUNC inline void prefetch(const Scalar* addr) { #ifdef __CUDA_ARCH__ #if defined(__LP64__) // 64-bit pointer operand constraint for inlined asm asm(" prefetch.L1 [ %1 ];" : "=l"(addr) : "l"(addr)); #else // 32-bit pointer operand constraint for inlined asm asm(" prefetch.L1 [ %1 ];" : "=r"(addr) : "r"(addr)); #endif #elif (!EIGEN_COMP_MSVC) && (EIGEN_COMP_GNUC || EIGEN_COMP_CLANG || EIGEN_COMP_ICC) __builtin_prefetch(addr); #endif } /** \internal \returns the first element of a packet */ template EIGEN_DEVICE_FUNC inline typename unpacket_traits::type pfirst(const Packet& a) { return a; } /** \internal \returns a packet where the element i contains the sum of the packet of \a vec[i] */ template EIGEN_DEVICE_FUNC inline Packet preduxp(const Packet* vecs) { return vecs[0]; } /** \internal \returns the sum of the elements of \a a*/ template EIGEN_DEVICE_FUNC inline typename unpacket_traits::type predux(const Packet& a) { return a; } /** \internal \returns the sum of the elements of \a a by block of 4 elements. * For a packet {a0, a1, a2, a3, a4, a5, a6, a7}, it returns a half packet {a0+a4, a1+a5, a2+a6, a3+a7} * For packet-size smaller or equal to 4, this boils down to a noop. */ template EIGEN_DEVICE_FUNC inline typename conditional<(unpacket_traits::size%8)==0,typename unpacket_traits::half,Packet>::type predux_downto4(const Packet& a) { return a; } /** \internal \returns the product of the elements of \a a*/ template EIGEN_DEVICE_FUNC inline typename unpacket_traits::type predux_mul(const Packet& a) { return a; } /** \internal \returns the min of the elements of \a a*/ template EIGEN_DEVICE_FUNC inline typename unpacket_traits::type predux_min(const Packet& a) { return a; } /** \internal \returns the max of the elements of \a a*/ template EIGEN_DEVICE_FUNC inline typename unpacket_traits::type predux_max(const Packet& a) { return a; } /** \internal \returns the reversed elements of \a a*/ template EIGEN_DEVICE_FUNC inline Packet preverse(const Packet& a) { return a; } /** \internal \returns \a a with real and imaginary part flipped (for complex type only) */ template EIGEN_DEVICE_FUNC inline Packet pcplxflip(const Packet& a) { // FIXME: uncomment the following in case we drop the internal imag and real functions. // using std::imag; // using std::real; return Packet(imag(a),real(a)); } /************************** * Special math functions ***************************/ /** \internal \returns the sine of \a a (coeff-wise) */ template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS Packet psin(const Packet& a) { using std::sin; return sin(a); } /** \internal \returns the cosine of \a a (coeff-wise) */ template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS Packet pcos(const Packet& a) { using std::cos; return cos(a); } /** \internal \returns the tan of \a a (coeff-wise) */ template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS Packet ptan(const Packet& a) { using std::tan; return tan(a); } /** \internal \returns the arc sine of \a a (coeff-wise) */ template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS Packet pasin(const Packet& a) { using std::asin; return asin(a); } /** \internal \returns the arc cosine of \a a (coeff-wise) */ template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS Packet pacos(const Packet& a) { using std::acos; return acos(a); } /** \internal \returns the arc tangent of \a a (coeff-wise) */ template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS Packet patan(const Packet& a) { using std::atan; return atan(a); } /** \internal \returns the hyperbolic sine of \a a (coeff-wise) */ template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS Packet psinh(const Packet& a) { using std::sinh; return sinh(a); } /** \internal \returns the hyperbolic cosine of \a a (coeff-wise) */ template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS Packet pcosh(const Packet& a) { using std::cosh; return cosh(a); } /** \internal \returns the hyperbolic tan of \a a (coeff-wise) */ template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS Packet ptanh(const Packet& a) { using std::tanh; return tanh(a); } /** \internal \returns the exp of \a a (coeff-wise) */ template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS Packet pexp(const Packet& a) { using std::exp; return exp(a); } /** \internal \returns the log of \a a (coeff-wise) */ template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS Packet plog(const Packet& a) { using std::log; return log(a); } /** \internal \returns the log1p of \a a (coeff-wise) */ template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS Packet plog1p(const Packet& a) { return numext::log1p(a); } /** \internal \returns the log10 of \a a (coeff-wise) */ template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS Packet plog10(const Packet& a) { using std::log10; return log10(a); } /** \internal \returns the square-root of \a a (coeff-wise) */ template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS Packet psqrt(const Packet& a) { using std::sqrt; return sqrt(a); } /** \internal \returns the reciprocal square-root of \a a (coeff-wise) */ template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS Packet prsqrt(const Packet& a) { return pdiv(pset1(1), psqrt(a)); } /** \internal \returns the rounded value of \a a (coeff-wise) */ template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS Packet pround(const Packet& a) { using numext::round; return round(a); } /** \internal \returns the floor of \a a (coeff-wise) */ template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS Packet pfloor(const Packet& a) { using numext::floor; return floor(a); } /** \internal \returns the ceil of \a a (coeff-wise) */ template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS Packet pceil(const Packet& a) { using numext::ceil; return ceil(a); } /*************************************************************************** * The following functions might not have to be overwritten for vectorized types ***************************************************************************/ /** \internal copy a packet with constant coeficient \a a (e.g., [a,a,a,a]) to \a *to. \a to must be 16 bytes aligned */ // NOTE: this function must really be templated on the packet type (think about different packet types for the same scalar type) template inline void pstore1(typename unpacket_traits::type* to, const typename unpacket_traits::type& a) { pstore(to, pset1(a)); } /** \internal \returns a * b + c (coeff-wise) */ template EIGEN_DEVICE_FUNC inline Packet pmadd(const Packet& a, const Packet& b, const Packet& c) { return padd(pmul(a, b),c); } /** \internal \returns a packet version of \a *from. * The pointer \a from must be aligned on a \a Alignment bytes boundary. */ template EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet ploadt(const typename unpacket_traits::type* from) { if(Alignment >= unpacket_traits::alignment) return pload(from); else return ploadu(from); } /** \internal copy the packet \a from to \a *to. * The pointer \a from must be aligned on a \a Alignment bytes boundary. */ template EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void pstoret(Scalar* to, const Packet& from) { if(Alignment >= unpacket_traits::alignment) pstore(to, from); else pstoreu(to, from); } /** \internal \returns a packet version of \a *from. * Unlike ploadt, ploadt_ro takes advantage of the read-only memory path on the * hardware if available to speedup the loading of data that won't be modified * by the current computation. */ template inline Packet ploadt_ro(const typename unpacket_traits::type* from) { return ploadt(from); } /** \internal default implementation of palign() allowing partial specialization */ template struct palign_impl { // by default data are aligned, so there is nothing to be done :) static inline void run(PacketType&, const PacketType&) {} }; /** \internal update \a first using the concatenation of the packet_size minus \a Offset last elements * of \a first and \a Offset first elements of \a second. * * This function is currently only used to optimize matrix-vector products on unligned matrices. * It takes 2 packets that represent a contiguous memory array, and returns a packet starting * at the position \a Offset. For instance, for packets of 4 elements, we have: * Input: * - first = {f0,f1,f2,f3} * - second = {s0,s1,s2,s3} * Output: * - if Offset==0 then {f0,f1,f2,f3} * - if Offset==1 then {f1,f2,f3,s0} * - if Offset==2 then {f2,f3,s0,s1} * - if Offset==3 then {f3,s0,s1,s3} */ template inline void palign(PacketType& first, const PacketType& second) { palign_impl::run(first,second); } /*************************************************************************** * Fast complex products (GCC generates a function call which is very slow) ***************************************************************************/ // Eigen+CUDA does not support complexes. #ifndef __CUDACC__ template<> inline std::complex pmul(const std::complex& a, const std::complex& b) { return std::complex(real(a)*real(b) - imag(a)*imag(b), imag(a)*real(b) + real(a)*imag(b)); } template<> inline std::complex pmul(const std::complex& a, const std::complex& b) { return std::complex(real(a)*real(b) - imag(a)*imag(b), imag(a)*real(b) + real(a)*imag(b)); } #endif /*************************************************************************** * PacketBlock, that is a collection of N packets where the number of words * in the packet is a multiple of N. ***************************************************************************/ template ::size> struct PacketBlock { Packet packet[N]; }; template EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock& /*kernel*/) { // Nothing to do in the scalar case, i.e. a 1x1 matrix. } /*************************************************************************** * Selector, i.e. vector of N boolean values used to select (i.e. blend) * words from 2 packets. ***************************************************************************/ template struct Selector { bool select[N]; }; template EIGEN_DEVICE_FUNC inline Packet pblend(const Selector::size>& ifPacket, const Packet& thenPacket, const Packet& elsePacket) { return ifPacket.select[0] ? thenPacket : elsePacket; } /** \internal \returns \a a with the first coefficient replaced by the scalar b */ template EIGEN_DEVICE_FUNC inline Packet pinsertfirst(const Packet& a, typename unpacket_traits::type b) { // Default implementation based on pblend. // It must be specialized for higher performance. Selector::size> mask; mask.select[0] = true; // This for loop should be optimized away by the compiler. for(Index i=1; i::size; ++i) mask.select[i] = false; return pblend(mask, pset1(b), a); } /** \internal \returns \a a with the last coefficient replaced by the scalar b */ template EIGEN_DEVICE_FUNC inline Packet pinsertlast(const Packet& a, typename unpacket_traits::type b) { // Default implementation based on pblend. // It must be specialized for higher performance. Selector::size> mask; // This for loop should be optimized away by the compiler. for(Index i=0; i::size-1; ++i) mask.select[i] = false; mask.select[unpacket_traits::size-1] = true; return pblend(mask, pset1(b), a); } } // end namespace internal } // end namespace Eigen #endif // EIGEN_GENERIC_PACKET_MATH_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/GlobalFunctions.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2010-2016 Gael Guennebaud // Copyright (C) 2010 Benoit Jacob // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_GLOBAL_FUNCTIONS_H #define EIGEN_GLOBAL_FUNCTIONS_H #ifdef EIGEN_PARSED_BY_DOXYGEN #define EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(NAME,FUNCTOR,DOC_OP,DOC_DETAILS) \ /** \returns an expression of the coefficient-wise DOC_OP of \a x DOC_DETAILS \sa Math functions, class CwiseUnaryOp */ \ template \ inline const Eigen::CwiseUnaryOp, const Derived> \ NAME(const Eigen::ArrayBase& x); #else #define EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(NAME,FUNCTOR,DOC_OP,DOC_DETAILS) \ template \ inline const Eigen::CwiseUnaryOp, const Derived> \ (NAME)(const Eigen::ArrayBase& x) { \ return Eigen::CwiseUnaryOp, const Derived>(x.derived()); \ } #endif // EIGEN_PARSED_BY_DOXYGEN #define EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(NAME,FUNCTOR) \ \ template \ struct NAME##_retval > \ { \ typedef const Eigen::CwiseUnaryOp, const Derived> type; \ }; \ template \ struct NAME##_impl > \ { \ static inline typename NAME##_retval >::type run(const Eigen::ArrayBase& x) \ { \ return typename NAME##_retval >::type(x.derived()); \ } \ }; namespace Eigen { EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(real,scalar_real_op,real part,\sa ArrayBase::real) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(imag,scalar_imag_op,imaginary part,\sa ArrayBase::imag) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(conj,scalar_conjugate_op,complex conjugate,\sa ArrayBase::conjugate) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(inverse,scalar_inverse_op,inverse,\sa ArrayBase::inverse) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sin,scalar_sin_op,sine,\sa ArrayBase::sin) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(cos,scalar_cos_op,cosine,\sa ArrayBase::cos) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(tan,scalar_tan_op,tangent,\sa ArrayBase::tan) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(atan,scalar_atan_op,arc-tangent,\sa ArrayBase::atan) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(asin,scalar_asin_op,arc-sine,\sa ArrayBase::asin) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(acos,scalar_acos_op,arc-consine,\sa ArrayBase::acos) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sinh,scalar_sinh_op,hyperbolic sine,\sa ArrayBase::sinh) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(cosh,scalar_cosh_op,hyperbolic cosine,\sa ArrayBase::cosh) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(tanh,scalar_tanh_op,hyperbolic tangent,\sa ArrayBase::tanh) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(lgamma,scalar_lgamma_op,natural logarithm of the gamma function,\sa ArrayBase::lgamma) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(digamma,scalar_digamma_op,derivative of lgamma,\sa ArrayBase::digamma) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(erf,scalar_erf_op,error function,\sa ArrayBase::erf) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(erfc,scalar_erfc_op,complement error function,\sa ArrayBase::erfc) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(exp,scalar_exp_op,exponential,\sa ArrayBase::exp) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(log,scalar_log_op,natural logarithm,\sa Eigen::log10 DOXCOMMA ArrayBase::log) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(log1p,scalar_log1p_op,natural logarithm of 1 plus the value,\sa ArrayBase::log1p) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(log10,scalar_log10_op,base 10 logarithm,\sa Eigen::log DOXCOMMA ArrayBase::log) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(abs,scalar_abs_op,absolute value,\sa ArrayBase::abs DOXCOMMA MatrixBase::cwiseAbs) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(abs2,scalar_abs2_op,squared absolute value,\sa ArrayBase::abs2 DOXCOMMA MatrixBase::cwiseAbs2) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(arg,scalar_arg_op,complex argument,\sa ArrayBase::arg) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sqrt,scalar_sqrt_op,square root,\sa ArrayBase::sqrt DOXCOMMA MatrixBase::cwiseSqrt) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(rsqrt,scalar_rsqrt_op,reciprocal square root,\sa ArrayBase::rsqrt) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(square,scalar_square_op,square (power 2),\sa Eigen::abs2 DOXCOMMA Eigen::pow DOXCOMMA ArrayBase::square) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(cube,scalar_cube_op,cube (power 3),\sa Eigen::pow DOXCOMMA ArrayBase::cube) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(round,scalar_round_op,nearest integer,\sa Eigen::floor DOXCOMMA Eigen::ceil DOXCOMMA ArrayBase::round) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(floor,scalar_floor_op,nearest integer not greater than the giben value,\sa Eigen::ceil DOXCOMMA ArrayBase::floor) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(ceil,scalar_ceil_op,nearest integer not less than the giben value,\sa Eigen::floor DOXCOMMA ArrayBase::ceil) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(isnan,scalar_isnan_op,not-a-number test,\sa Eigen::isinf DOXCOMMA Eigen::isfinite DOXCOMMA ArrayBase::isnan) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(isinf,scalar_isinf_op,infinite value test,\sa Eigen::isnan DOXCOMMA Eigen::isfinite DOXCOMMA ArrayBase::isinf) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(isfinite,scalar_isfinite_op,finite value test,\sa Eigen::isinf DOXCOMMA Eigen::isnan DOXCOMMA ArrayBase::isfinite) EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sign,scalar_sign_op,sign (or 0),\sa ArrayBase::sign) /** \returns an expression of the coefficient-wise power of \a x to the given constant \a exponent. * * \tparam ScalarExponent is the scalar type of \a exponent. It must be compatible with the scalar type of the given expression (\c Derived::Scalar). * * \sa ArrayBase::pow() * * \relates ArrayBase */ #ifdef EIGEN_PARSED_BY_DOXYGEN template inline const CwiseBinaryOp,Derived,Constant > pow(const Eigen::ArrayBase& x, const ScalarExponent& exponent); #else template inline typename internal::enable_if< !(internal::is_same::value) && EIGEN_SCALAR_BINARY_SUPPORTED(pow,typename Derived::Scalar,ScalarExponent), const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,ScalarExponent,pow) >::type pow(const Eigen::ArrayBase& x, const ScalarExponent& exponent) { return x.derived().pow(exponent); } template inline const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,typename Derived::Scalar,pow) pow(const Eigen::ArrayBase& x, const typename Derived::Scalar& exponent) { return x.derived().pow(exponent); } #endif /** \returns an expression of the coefficient-wise power of \a x to the given array of \a exponents. * * This function computes the coefficient-wise power. * * Example: \include Cwise_array_power_array.cpp * Output: \verbinclude Cwise_array_power_array.out * * \sa ArrayBase::pow() * * \relates ArrayBase */ template inline const Eigen::CwiseBinaryOp, const Derived, const ExponentDerived> pow(const Eigen::ArrayBase& x, const Eigen::ArrayBase& exponents) { return Eigen::CwiseBinaryOp, const Derived, const ExponentDerived>( x.derived(), exponents.derived() ); } /** \returns an expression of the coefficient-wise power of the scalar \a x to the given array of \a exponents. * * This function computes the coefficient-wise power between a scalar and an array of exponents. * * \tparam Scalar is the scalar type of \a x. It must be compatible with the scalar type of the given array expression (\c Derived::Scalar). * * Example: \include Cwise_scalar_power_array.cpp * Output: \verbinclude Cwise_scalar_power_array.out * * \sa ArrayBase::pow() * * \relates ArrayBase */ #ifdef EIGEN_PARSED_BY_DOXYGEN template inline const CwiseBinaryOp,Constant,Derived> pow(const Scalar& x,const Eigen::ArrayBase& x); #else template inline typename internal::enable_if< !(internal::is_same::value) && EIGEN_SCALAR_BINARY_SUPPORTED(pow,Scalar,typename Derived::Scalar), const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar,Derived,pow) >::type pow(const Scalar& x, const Eigen::ArrayBase& exponents) { return EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar,Derived,pow)( typename internal::plain_constant_type::type(exponents.rows(), exponents.cols(), x), exponents.derived() ); } template inline const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(typename Derived::Scalar,Derived,pow) pow(const typename Derived::Scalar& x, const Eigen::ArrayBase& exponents) { return EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(typename Derived::Scalar,Derived,pow)( typename internal::plain_constant_type::type(exponents.rows(), exponents.cols(), x), exponents.derived() ); } #endif namespace internal { EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(real,scalar_real_op) EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(imag,scalar_imag_op) EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(abs2,scalar_abs2_op) } } // TODO: cleanly disable those functions that are not supported on Array (numext::real_ref, internal::random, internal::isApprox...) #endif // EIGEN_GLOBAL_FUNCTIONS_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/IO.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2006-2008 Benoit Jacob // Copyright (C) 2008 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_IO_H #define EIGEN_IO_H namespace Eigen { enum { DontAlignCols = 1 }; enum { StreamPrecision = -1, FullPrecision = -2 }; namespace internal { template std::ostream & print_matrix(std::ostream & s, const Derived& _m, const IOFormat& fmt); } /** \class IOFormat * \ingroup Core_Module * * \brief Stores a set of parameters controlling the way matrices are printed * * List of available parameters: * - \b precision number of digits for floating point values, or one of the special constants \c StreamPrecision and \c FullPrecision. * The default is the special value \c StreamPrecision which means to use the * stream's own precision setting, as set for instance using \c cout.precision(3). The other special value * \c FullPrecision means that the number of digits will be computed to match the full precision of each floating-point * type. * - \b flags an OR-ed combination of flags, the default value is 0, the only currently available flag is \c DontAlignCols which * allows to disable the alignment of columns, resulting in faster code. * - \b coeffSeparator string printed between two coefficients of the same row * - \b rowSeparator string printed between two rows * - \b rowPrefix string printed at the beginning of each row * - \b rowSuffix string printed at the end of each row * - \b matPrefix string printed at the beginning of the matrix * - \b matSuffix string printed at the end of the matrix * * Example: \include IOFormat.cpp * Output: \verbinclude IOFormat.out * * \sa DenseBase::format(), class WithFormat */ struct IOFormat { /** Default constructor, see class IOFormat for the meaning of the parameters */ IOFormat(int _precision = StreamPrecision, int _flags = 0, const std::string& _coeffSeparator = " ", const std::string& _rowSeparator = "\n", const std::string& _rowPrefix="", const std::string& _rowSuffix="", const std::string& _matPrefix="", const std::string& _matSuffix="") : matPrefix(_matPrefix), matSuffix(_matSuffix), rowPrefix(_rowPrefix), rowSuffix(_rowSuffix), rowSeparator(_rowSeparator), rowSpacer(""), coeffSeparator(_coeffSeparator), precision(_precision), flags(_flags) { // TODO check if rowPrefix, rowSuffix or rowSeparator contains a newline // don't add rowSpacer if columns are not to be aligned if((flags & DontAlignCols)) return; int i = int(matSuffix.length())-1; while (i>=0 && matSuffix[i]!='\n') { rowSpacer += ' '; i--; } } std::string matPrefix, matSuffix; std::string rowPrefix, rowSuffix, rowSeparator, rowSpacer; std::string coeffSeparator; int precision; int flags; }; /** \class WithFormat * \ingroup Core_Module * * \brief Pseudo expression providing matrix output with given format * * \tparam ExpressionType the type of the object on which IO stream operations are performed * * This class represents an expression with stream operators controlled by a given IOFormat. * It is the return type of DenseBase::format() * and most of the time this is the only way it is used. * * See class IOFormat for some examples. * * \sa DenseBase::format(), class IOFormat */ template class WithFormat { public: WithFormat(const ExpressionType& matrix, const IOFormat& format) : m_matrix(matrix), m_format(format) {} friend std::ostream & operator << (std::ostream & s, const WithFormat& wf) { return internal::print_matrix(s, wf.m_matrix.eval(), wf.m_format); } protected: const typename ExpressionType::Nested m_matrix; IOFormat m_format; }; /** \returns a WithFormat proxy object allowing to print a matrix the with given * format \a fmt. * * See class IOFormat for some examples. * * \sa class IOFormat, class WithFormat */ template inline const WithFormat DenseBase::format(const IOFormat& fmt) const { return WithFormat(derived(), fmt); } namespace internal { // NOTE: This helper is kept for backward compatibility with previous code specializing // this internal::significant_decimals_impl structure. In the future we should directly // call digits10() which has been introduced in July 2016 in 3.3. template struct significant_decimals_impl { static inline int run() { return NumTraits::digits10(); } }; /** \internal * print the matrix \a _m to the output stream \a s using the output format \a fmt */ template std::ostream & print_matrix(std::ostream & s, const Derived& _m, const IOFormat& fmt) { if(_m.size() == 0) { s << fmt.matPrefix << fmt.matSuffix; return s; } typename Derived::Nested m = _m; typedef typename Derived::Scalar Scalar; Index width = 0; std::streamsize explicit_precision; if(fmt.precision == StreamPrecision) { explicit_precision = 0; } else if(fmt.precision == FullPrecision) { if (NumTraits::IsInteger) { explicit_precision = 0; } else { explicit_precision = significant_decimals_impl::run(); } } else { explicit_precision = fmt.precision; } std::streamsize old_precision = 0; if(explicit_precision) old_precision = s.precision(explicit_precision); bool align_cols = !(fmt.flags & DontAlignCols); if(align_cols) { // compute the largest width for(Index j = 0; j < m.cols(); ++j) for(Index i = 0; i < m.rows(); ++i) { std::stringstream sstr; sstr.copyfmt(s); sstr << m.coeff(i,j); width = std::max(width, Index(sstr.str().length())); } } s << fmt.matPrefix; for(Index i = 0; i < m.rows(); ++i) { if (i) s << fmt.rowSpacer; s << fmt.rowPrefix; if(width) s.width(width); s << m.coeff(i, 0); for(Index j = 1; j < m.cols(); ++j) { s << fmt.coeffSeparator; if (width) s.width(width); s << m.coeff(i, j); } s << fmt.rowSuffix; if( i < m.rows() - 1) s << fmt.rowSeparator; } s << fmt.matSuffix; if(explicit_precision) s.precision(old_precision); return s; } } // end namespace internal /** \relates DenseBase * * Outputs the matrix, to the given stream. * * If you wish to print the matrix with a format different than the default, use DenseBase::format(). * * It is also possible to change the default format by defining EIGEN_DEFAULT_IO_FORMAT before including Eigen headers. * If not defined, this will automatically be defined to Eigen::IOFormat(), that is the Eigen::IOFormat with default parameters. * * \sa DenseBase::format() */ template std::ostream & operator << (std::ostream & s, const DenseBase & m) { return internal::print_matrix(s, m.eval(), EIGEN_DEFAULT_IO_FORMAT); } } // end namespace Eigen #endif // EIGEN_IO_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/Inverse.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2014 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_INVERSE_H #define EIGEN_INVERSE_H namespace Eigen { template class InverseImpl; namespace internal { template struct traits > : traits { typedef typename XprType::PlainObject PlainObject; typedef traits BaseTraits; enum { Flags = BaseTraits::Flags & RowMajorBit }; }; } // end namespace internal /** \class Inverse * * \brief Expression of the inverse of another expression * * \tparam XprType the type of the expression we are taking the inverse * * This class represents an abstract expression of A.inverse() * and most of the time this is the only way it is used. * */ template class Inverse : public InverseImpl::StorageKind> { public: typedef typename XprType::StorageIndex StorageIndex; typedef typename XprType::PlainObject PlainObject; typedef typename internal::ref_selector::type XprTypeNested; typedef typename internal::remove_all::type XprTypeNestedCleaned; typedef typename internal::ref_selector::type Nested; typedef typename internal::remove_all::type NestedExpression; explicit EIGEN_DEVICE_FUNC Inverse(const XprType &xpr) : m_xpr(xpr) {} EIGEN_DEVICE_FUNC Index rows() const { return m_xpr.rows(); } EIGEN_DEVICE_FUNC Index cols() const { return m_xpr.cols(); } EIGEN_DEVICE_FUNC const XprTypeNestedCleaned& nestedExpression() const { return m_xpr; } protected: XprTypeNested m_xpr; }; // Generic API dispatcher template class InverseImpl : public internal::generic_xpr_base >::type { public: typedef typename internal::generic_xpr_base >::type Base; typedef typename XprType::Scalar Scalar; private: Scalar coeff(Index row, Index col) const; Scalar coeff(Index i) const; }; namespace internal { /** \internal * \brief Default evaluator for Inverse expression. * * This default evaluator for Inverse expression simply evaluate the inverse into a temporary * by a call to internal::call_assignment_no_alias. * Therefore, inverse implementers only have to specialize Assignment, ...> for * there own nested expression. * * \sa class Inverse */ template struct unary_evaluator > : public evaluator::PlainObject> { typedef Inverse InverseType; typedef typename InverseType::PlainObject PlainObject; typedef evaluator Base; enum { Flags = Base::Flags | EvalBeforeNestingBit }; unary_evaluator(const InverseType& inv_xpr) : m_result(inv_xpr.rows(), inv_xpr.cols()) { ::new (static_cast(this)) Base(m_result); internal::call_assignment_no_alias(m_result, inv_xpr); } protected: PlainObject m_result; }; } // end namespace internal } // end namespace Eigen #endif // EIGEN_INVERSE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/Map.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2007-2010 Benoit Jacob // Copyright (C) 2008 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_MAP_H #define EIGEN_MAP_H namespace Eigen { namespace internal { template struct traits > : public traits { typedef traits TraitsBase; enum { InnerStrideAtCompileTime = StrideType::InnerStrideAtCompileTime == 0 ? int(PlainObjectType::InnerStrideAtCompileTime) : int(StrideType::InnerStrideAtCompileTime), OuterStrideAtCompileTime = StrideType::OuterStrideAtCompileTime == 0 ? int(PlainObjectType::OuterStrideAtCompileTime) : int(StrideType::OuterStrideAtCompileTime), Alignment = int(MapOptions)&int(AlignedMask), Flags0 = TraitsBase::Flags & (~NestByRefBit), Flags = is_lvalue::value ? int(Flags0) : (int(Flags0) & ~LvalueBit) }; private: enum { Options }; // Expressions don't have Options }; } /** \class Map * \ingroup Core_Module * * \brief A matrix or vector expression mapping an existing array of data. * * \tparam PlainObjectType the equivalent matrix type of the mapped data * \tparam MapOptions specifies the pointer alignment in bytes. It can be: \c #Aligned128, , \c #Aligned64, \c #Aligned32, \c #Aligned16, \c #Aligned8 or \c #Unaligned. * The default is \c #Unaligned. * \tparam StrideType optionally specifies strides. By default, Map assumes the memory layout * of an ordinary, contiguous array. This can be overridden by specifying strides. * The type passed here must be a specialization of the Stride template, see examples below. * * This class represents a matrix or vector expression mapping an existing array of data. * It can be used to let Eigen interface without any overhead with non-Eigen data structures, * such as plain C arrays or structures from other libraries. By default, it assumes that the * data is laid out contiguously in memory. You can however override this by explicitly specifying * inner and outer strides. * * Here's an example of simply mapping a contiguous array as a \ref TopicStorageOrders "column-major" matrix: * \include Map_simple.cpp * Output: \verbinclude Map_simple.out * * If you need to map non-contiguous arrays, you can do so by specifying strides: * * Here's an example of mapping an array as a vector, specifying an inner stride, that is, the pointer * increment between two consecutive coefficients. Here, we're specifying the inner stride as a compile-time * fixed value. * \include Map_inner_stride.cpp * Output: \verbinclude Map_inner_stride.out * * Here's an example of mapping an array while specifying an outer stride. Here, since we're mapping * as a column-major matrix, 'outer stride' means the pointer increment between two consecutive columns. * Here, we're specifying the outer stride as a runtime parameter. Note that here \c OuterStride<> is * a short version of \c OuterStride because the default template parameter of OuterStride * is \c Dynamic * \include Map_outer_stride.cpp * Output: \verbinclude Map_outer_stride.out * * For more details and for an example of specifying both an inner and an outer stride, see class Stride. * * \b Tip: to change the array of data mapped by a Map object, you can use the C++ * placement new syntax: * * Example: \include Map_placement_new.cpp * Output: \verbinclude Map_placement_new.out * * This class is the return type of PlainObjectBase::Map() but can also be used directly. * * \sa PlainObjectBase::Map(), \ref TopicStorageOrders */ template class Map : public MapBase > { public: typedef MapBase Base; EIGEN_DENSE_PUBLIC_INTERFACE(Map) typedef typename Base::PointerType PointerType; typedef PointerType PointerArgType; EIGEN_DEVICE_FUNC inline PointerType cast_to_pointer_type(PointerArgType ptr) { return ptr; } EIGEN_DEVICE_FUNC inline Index innerStride() const { return StrideType::InnerStrideAtCompileTime != 0 ? m_stride.inner() : 1; } EIGEN_DEVICE_FUNC inline Index outerStride() const { return StrideType::OuterStrideAtCompileTime != 0 ? m_stride.outer() : IsVectorAtCompileTime ? this->size() : int(Flags)&RowMajorBit ? this->cols() : this->rows(); } /** Constructor in the fixed-size case. * * \param dataPtr pointer to the array to map * \param stride optional Stride object, passing the strides. */ EIGEN_DEVICE_FUNC explicit inline Map(PointerArgType dataPtr, const StrideType& stride = StrideType()) : Base(cast_to_pointer_type(dataPtr)), m_stride(stride) { PlainObjectType::Base::_check_template_params(); } /** Constructor in the dynamic-size vector case. * * \param dataPtr pointer to the array to map * \param size the size of the vector expression * \param stride optional Stride object, passing the strides. */ EIGEN_DEVICE_FUNC inline Map(PointerArgType dataPtr, Index size, const StrideType& stride = StrideType()) : Base(cast_to_pointer_type(dataPtr), size), m_stride(stride) { PlainObjectType::Base::_check_template_params(); } /** Constructor in the dynamic-size matrix case. * * \param dataPtr pointer to the array to map * \param rows the number of rows of the matrix expression * \param cols the number of columns of the matrix expression * \param stride optional Stride object, passing the strides. */ EIGEN_DEVICE_FUNC inline Map(PointerArgType dataPtr, Index rows, Index cols, const StrideType& stride = StrideType()) : Base(cast_to_pointer_type(dataPtr), rows, cols), m_stride(stride) { PlainObjectType::Base::_check_template_params(); } EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Map) protected: StrideType m_stride; }; } // end namespace Eigen #endif // EIGEN_MAP_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/MapBase.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2007-2010 Benoit Jacob // Copyright (C) 2008 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_MAPBASE_H #define EIGEN_MAPBASE_H #define EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived) \ EIGEN_STATIC_ASSERT((int(internal::evaluator::Flags) & LinearAccessBit) || Derived::IsVectorAtCompileTime, \ YOU_ARE_TRYING_TO_USE_AN_INDEX_BASED_ACCESSOR_ON_AN_EXPRESSION_THAT_DOES_NOT_SUPPORT_THAT) namespace Eigen { /** \ingroup Core_Module * * \brief Base class for dense Map and Block expression with direct access * * This base class provides the const low-level accessors (e.g. coeff, coeffRef) of dense * Map and Block objects with direct access. * Typical users do not have to directly deal with this class. * * This class can be extended by through the macro plugin \c EIGEN_MAPBASE_PLUGIN. * See \link TopicCustomizing_Plugins customizing Eigen \endlink for details. * * The \c Derived class has to provide the following two methods describing the memory layout: * \code Index innerStride() const; \endcode * \code Index outerStride() const; \endcode * * \sa class Map, class Block */ template class MapBase : public internal::dense_xpr_base::type { public: typedef typename internal::dense_xpr_base::type Base; enum { RowsAtCompileTime = internal::traits::RowsAtCompileTime, ColsAtCompileTime = internal::traits::ColsAtCompileTime, SizeAtCompileTime = Base::SizeAtCompileTime }; typedef typename internal::traits::StorageKind StorageKind; typedef typename internal::traits::Scalar Scalar; typedef typename internal::packet_traits::type PacketScalar; typedef typename NumTraits::Real RealScalar; typedef typename internal::conditional< bool(internal::is_lvalue::value), Scalar *, const Scalar *>::type PointerType; using Base::derived; // using Base::RowsAtCompileTime; // using Base::ColsAtCompileTime; // using Base::SizeAtCompileTime; using Base::MaxRowsAtCompileTime; using Base::MaxColsAtCompileTime; using Base::MaxSizeAtCompileTime; using Base::IsVectorAtCompileTime; using Base::Flags; using Base::IsRowMajor; using Base::rows; using Base::cols; using Base::size; using Base::coeff; using Base::coeffRef; using Base::lazyAssign; using Base::eval; using Base::innerStride; using Base::outerStride; using Base::rowStride; using Base::colStride; // bug 217 - compile error on ICC 11.1 using Base::operator=; typedef typename Base::CoeffReturnType CoeffReturnType; /** \copydoc DenseBase::rows() */ EIGEN_DEVICE_FUNC inline Index rows() const { return m_rows.value(); } /** \copydoc DenseBase::cols() */ EIGEN_DEVICE_FUNC inline Index cols() const { return m_cols.value(); } /** Returns a pointer to the first coefficient of the matrix or vector. * * \note When addressing this data, make sure to honor the strides returned by innerStride() and outerStride(). * * \sa innerStride(), outerStride() */ EIGEN_DEVICE_FUNC inline const Scalar* data() const { return m_data; } /** \copydoc PlainObjectBase::coeff(Index,Index) const */ EIGEN_DEVICE_FUNC inline const Scalar& coeff(Index rowId, Index colId) const { return m_data[colId * colStride() + rowId * rowStride()]; } /** \copydoc PlainObjectBase::coeff(Index) const */ EIGEN_DEVICE_FUNC inline const Scalar& coeff(Index index) const { EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived) return m_data[index * innerStride()]; } /** \copydoc PlainObjectBase::coeffRef(Index,Index) const */ EIGEN_DEVICE_FUNC inline const Scalar& coeffRef(Index rowId, Index colId) const { return this->m_data[colId * colStride() + rowId * rowStride()]; } /** \copydoc PlainObjectBase::coeffRef(Index) const */ EIGEN_DEVICE_FUNC inline const Scalar& coeffRef(Index index) const { EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived) return this->m_data[index * innerStride()]; } /** \internal */ template inline PacketScalar packet(Index rowId, Index colId) const { return internal::ploadt (m_data + (colId * colStride() + rowId * rowStride())); } /** \internal */ template inline PacketScalar packet(Index index) const { EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived) return internal::ploadt(m_data + index * innerStride()); } /** \internal Constructor for fixed size matrices or vectors */ EIGEN_DEVICE_FUNC explicit inline MapBase(PointerType dataPtr) : m_data(dataPtr), m_rows(RowsAtCompileTime), m_cols(ColsAtCompileTime) { EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived) checkSanity(); } /** \internal Constructor for dynamically sized vectors */ EIGEN_DEVICE_FUNC inline MapBase(PointerType dataPtr, Index vecSize) : m_data(dataPtr), m_rows(RowsAtCompileTime == Dynamic ? vecSize : Index(RowsAtCompileTime)), m_cols(ColsAtCompileTime == Dynamic ? vecSize : Index(ColsAtCompileTime)) { EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived) eigen_assert(vecSize >= 0); eigen_assert(dataPtr == 0 || SizeAtCompileTime == Dynamic || SizeAtCompileTime == vecSize); checkSanity(); } /** \internal Constructor for dynamically sized matrices */ EIGEN_DEVICE_FUNC inline MapBase(PointerType dataPtr, Index rows, Index cols) : m_data(dataPtr), m_rows(rows), m_cols(cols) { eigen_assert( (dataPtr == 0) || ( rows >= 0 && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows) && cols >= 0 && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols))); checkSanity(); } #ifdef EIGEN_MAPBASE_PLUGIN #include EIGEN_MAPBASE_PLUGIN #endif protected: template EIGEN_DEVICE_FUNC void checkSanity(typename internal::enable_if<(internal::traits::Alignment>0),void*>::type = 0) const { #if EIGEN_MAX_ALIGN_BYTES>0 eigen_assert(( ((internal::UIntPtr(m_data) % internal::traits::Alignment) == 0) || (cols() * rows() * innerStride() * sizeof(Scalar)) < internal::traits::Alignment ) && "data is not aligned"); #endif } template EIGEN_DEVICE_FUNC void checkSanity(typename internal::enable_if::Alignment==0,void*>::type = 0) const {} PointerType m_data; const internal::variable_if_dynamic m_rows; const internal::variable_if_dynamic m_cols; }; /** \ingroup Core_Module * * \brief Base class for non-const dense Map and Block expression with direct access * * This base class provides the non-const low-level accessors (e.g. coeff and coeffRef) of * dense Map and Block objects with direct access. * It inherits MapBase which defines the const variant for reading specific entries. * * \sa class Map, class Block */ template class MapBase : public MapBase { typedef MapBase ReadOnlyMapBase; public: typedef MapBase Base; typedef typename Base::Scalar Scalar; typedef typename Base::PacketScalar PacketScalar; typedef typename Base::StorageIndex StorageIndex; typedef typename Base::PointerType PointerType; using Base::derived; using Base::rows; using Base::cols; using Base::size; using Base::coeff; using Base::coeffRef; using Base::innerStride; using Base::outerStride; using Base::rowStride; using Base::colStride; typedef typename internal::conditional< internal::is_lvalue::value, Scalar, const Scalar >::type ScalarWithConstIfNotLvalue; EIGEN_DEVICE_FUNC inline const Scalar* data() const { return this->m_data; } EIGEN_DEVICE_FUNC inline ScalarWithConstIfNotLvalue* data() { return this->m_data; } // no const-cast here so non-const-correct code will give a compile error EIGEN_DEVICE_FUNC inline ScalarWithConstIfNotLvalue& coeffRef(Index row, Index col) { return this->m_data[col * colStride() + row * rowStride()]; } EIGEN_DEVICE_FUNC inline ScalarWithConstIfNotLvalue& coeffRef(Index index) { EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived) return this->m_data[index * innerStride()]; } template inline void writePacket(Index row, Index col, const PacketScalar& val) { internal::pstoret (this->m_data + (col * colStride() + row * rowStride()), val); } template inline void writePacket(Index index, const PacketScalar& val) { EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived) internal::pstoret (this->m_data + index * innerStride(), val); } EIGEN_DEVICE_FUNC explicit inline MapBase(PointerType dataPtr) : Base(dataPtr) {} EIGEN_DEVICE_FUNC inline MapBase(PointerType dataPtr, Index vecSize) : Base(dataPtr, vecSize) {} EIGEN_DEVICE_FUNC inline MapBase(PointerType dataPtr, Index rows, Index cols) : Base(dataPtr, rows, cols) {} EIGEN_DEVICE_FUNC Derived& operator=(const MapBase& other) { ReadOnlyMapBase::Base::operator=(other); return derived(); } // In theory we could simply refer to Base:Base::operator=, but MSVC does not like Base::Base, // see bugs 821 and 920. using ReadOnlyMapBase::Base::operator=; }; #undef EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS } // end namespace Eigen #endif // EIGEN_MAPBASE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/MathFunctions.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2006-2010 Benoit Jacob // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_MATHFUNCTIONS_H #define EIGEN_MATHFUNCTIONS_H // source: http://www.geom.uiuc.edu/~huberty/math5337/groupe/digits.html // TODO this should better be moved to NumTraits #define EIGEN_PI 3.141592653589793238462643383279502884197169399375105820974944592307816406L namespace Eigen { // On WINCE, std::abs is defined for int only, so let's defined our own overloads: // This issue has been confirmed with MSVC 2008 only, but the issue might exist for more recent versions too. #if EIGEN_OS_WINCE && EIGEN_COMP_MSVC && EIGEN_COMP_MSVC<=1500 long abs(long x) { return (labs(x)); } double abs(double x) { return (fabs(x)); } float abs(float x) { return (fabsf(x)); } long double abs(long double x) { return (fabsl(x)); } #endif namespace internal { /** \internal \class global_math_functions_filtering_base * * What it does: * Defines a typedef 'type' as follows: * - if type T has a member typedef Eigen_BaseClassForSpecializationOfGlobalMathFuncImpl, then * global_math_functions_filtering_base::type is a typedef for it. * - otherwise, global_math_functions_filtering_base::type is a typedef for T. * * How it's used: * To allow to defined the global math functions (like sin...) in certain cases, like the Array expressions. * When you do sin(array1+array2), the object array1+array2 has a complicated expression type, all what you want to know * is that it inherits ArrayBase. So we implement a partial specialization of sin_impl for ArrayBase. * So we must make sure to use sin_impl > and not sin_impl, otherwise our partial specialization * won't be used. How does sin know that? That's exactly what global_math_functions_filtering_base tells it. * * How it's implemented: * SFINAE in the style of enable_if. Highly susceptible of breaking compilers. With GCC, it sure does work, but if you replace * the typename dummy by an integer template parameter, it doesn't work anymore! */ template struct global_math_functions_filtering_base { typedef T type; }; template struct always_void { typedef void type; }; template struct global_math_functions_filtering_base ::type > { typedef typename T::Eigen_BaseClassForSpecializationOfGlobalMathFuncImpl type; }; #define EIGEN_MATHFUNC_IMPL(func, scalar) Eigen::internal::func##_impl::type> #define EIGEN_MATHFUNC_RETVAL(func, scalar) typename Eigen::internal::func##_retval::type>::type /**************************************************************************** * Implementation of real * ****************************************************************************/ template::IsComplex> struct real_default_impl { typedef typename NumTraits::Real RealScalar; EIGEN_DEVICE_FUNC static inline RealScalar run(const Scalar& x) { return x; } }; template struct real_default_impl { typedef typename NumTraits::Real RealScalar; EIGEN_DEVICE_FUNC static inline RealScalar run(const Scalar& x) { using std::real; return real(x); } }; template struct real_impl : real_default_impl {}; #ifdef __CUDA_ARCH__ template struct real_impl > { typedef T RealScalar; EIGEN_DEVICE_FUNC static inline T run(const std::complex& x) { return x.real(); } }; #endif template struct real_retval { typedef typename NumTraits::Real type; }; /**************************************************************************** * Implementation of imag * ****************************************************************************/ template::IsComplex> struct imag_default_impl { typedef typename NumTraits::Real RealScalar; EIGEN_DEVICE_FUNC static inline RealScalar run(const Scalar&) { return RealScalar(0); } }; template struct imag_default_impl { typedef typename NumTraits::Real RealScalar; EIGEN_DEVICE_FUNC static inline RealScalar run(const Scalar& x) { using std::imag; return imag(x); } }; template struct imag_impl : imag_default_impl {}; #ifdef __CUDA_ARCH__ template struct imag_impl > { typedef T RealScalar; EIGEN_DEVICE_FUNC static inline T run(const std::complex& x) { return x.imag(); } }; #endif template struct imag_retval { typedef typename NumTraits::Real type; }; /**************************************************************************** * Implementation of real_ref * ****************************************************************************/ template struct real_ref_impl { typedef typename NumTraits::Real RealScalar; EIGEN_DEVICE_FUNC static inline RealScalar& run(Scalar& x) { return reinterpret_cast(&x)[0]; } EIGEN_DEVICE_FUNC static inline const RealScalar& run(const Scalar& x) { return reinterpret_cast(&x)[0]; } }; template struct real_ref_retval { typedef typename NumTraits::Real & type; }; /**************************************************************************** * Implementation of imag_ref * ****************************************************************************/ template struct imag_ref_default_impl { typedef typename NumTraits::Real RealScalar; EIGEN_DEVICE_FUNC static inline RealScalar& run(Scalar& x) { return reinterpret_cast(&x)[1]; } EIGEN_DEVICE_FUNC static inline const RealScalar& run(const Scalar& x) { return reinterpret_cast(&x)[1]; } }; template struct imag_ref_default_impl { EIGEN_DEVICE_FUNC static inline Scalar run(Scalar&) { return Scalar(0); } EIGEN_DEVICE_FUNC static inline const Scalar run(const Scalar&) { return Scalar(0); } }; template struct imag_ref_impl : imag_ref_default_impl::IsComplex> {}; template struct imag_ref_retval { typedef typename NumTraits::Real & type; }; /**************************************************************************** * Implementation of conj * ****************************************************************************/ template::IsComplex> struct conj_impl { EIGEN_DEVICE_FUNC static inline Scalar run(const Scalar& x) { return x; } }; template struct conj_impl { EIGEN_DEVICE_FUNC static inline Scalar run(const Scalar& x) { using std::conj; return conj(x); } }; template struct conj_retval { typedef Scalar type; }; /**************************************************************************** * Implementation of abs2 * ****************************************************************************/ template struct abs2_impl_default { typedef typename NumTraits::Real RealScalar; EIGEN_DEVICE_FUNC static inline RealScalar run(const Scalar& x) { return x*x; } }; template struct abs2_impl_default // IsComplex { typedef typename NumTraits::Real RealScalar; EIGEN_DEVICE_FUNC static inline RealScalar run(const Scalar& x) { return real(x)*real(x) + imag(x)*imag(x); } }; template struct abs2_impl { typedef typename NumTraits::Real RealScalar; EIGEN_DEVICE_FUNC static inline RealScalar run(const Scalar& x) { return abs2_impl_default::IsComplex>::run(x); } }; template struct abs2_retval { typedef typename NumTraits::Real type; }; /**************************************************************************** * Implementation of norm1 * ****************************************************************************/ template struct norm1_default_impl { typedef typename NumTraits::Real RealScalar; EIGEN_DEVICE_FUNC static inline RealScalar run(const Scalar& x) { EIGEN_USING_STD_MATH(abs); return abs(real(x)) + abs(imag(x)); } }; template struct norm1_default_impl { EIGEN_DEVICE_FUNC static inline Scalar run(const Scalar& x) { EIGEN_USING_STD_MATH(abs); return abs(x); } }; template struct norm1_impl : norm1_default_impl::IsComplex> {}; template struct norm1_retval { typedef typename NumTraits::Real type; }; /**************************************************************************** * Implementation of hypot * ****************************************************************************/ template struct hypot_impl { typedef typename NumTraits::Real RealScalar; static inline RealScalar run(const Scalar& x, const Scalar& y) { EIGEN_USING_STD_MATH(abs); EIGEN_USING_STD_MATH(sqrt); RealScalar _x = abs(x); RealScalar _y = abs(y); Scalar p, qp; if(_x>_y) { p = _x; qp = _y / p; } else { p = _y; qp = _x / p; } if(p==RealScalar(0)) return RealScalar(0); return p * sqrt(RealScalar(1) + qp*qp); } }; template struct hypot_retval { typedef typename NumTraits::Real type; }; /**************************************************************************** * Implementation of cast * ****************************************************************************/ template struct cast_impl { EIGEN_DEVICE_FUNC static inline NewType run(const OldType& x) { return static_cast(x); } }; // here, for once, we're plainly returning NewType: we don't want cast to do weird things. template EIGEN_DEVICE_FUNC inline NewType cast(const OldType& x) { return cast_impl::run(x); } /**************************************************************************** * Implementation of round * ****************************************************************************/ #if EIGEN_HAS_CXX11_MATH template struct round_impl { static inline Scalar run(const Scalar& x) { EIGEN_STATIC_ASSERT((!NumTraits::IsComplex), NUMERIC_TYPE_MUST_BE_REAL) using std::round; return round(x); } }; #else template struct round_impl { static inline Scalar run(const Scalar& x) { EIGEN_STATIC_ASSERT((!NumTraits::IsComplex), NUMERIC_TYPE_MUST_BE_REAL) EIGEN_USING_STD_MATH(floor); EIGEN_USING_STD_MATH(ceil); return (x > Scalar(0)) ? floor(x + Scalar(0.5)) : ceil(x - Scalar(0.5)); } }; #endif template struct round_retval { typedef Scalar type; }; /**************************************************************************** * Implementation of arg * ****************************************************************************/ #if EIGEN_HAS_CXX11_MATH template struct arg_impl { static inline Scalar run(const Scalar& x) { EIGEN_USING_STD_MATH(arg); return arg(x); } }; #else template::IsComplex> struct arg_default_impl { typedef typename NumTraits::Real RealScalar; EIGEN_DEVICE_FUNC static inline RealScalar run(const Scalar& x) { return (x < Scalar(0)) ? Scalar(EIGEN_PI) : Scalar(0); } }; template struct arg_default_impl { typedef typename NumTraits::Real RealScalar; EIGEN_DEVICE_FUNC static inline RealScalar run(const Scalar& x) { EIGEN_USING_STD_MATH(arg); return arg(x); } }; template struct arg_impl : arg_default_impl {}; #endif template struct arg_retval { typedef typename NumTraits::Real type; }; /**************************************************************************** * Implementation of log1p * ****************************************************************************/ namespace std_fallback { // fallback log1p implementation in case there is no log1p(Scalar) function in namespace of Scalar, // or that there is no suitable std::log1p function available template EIGEN_DEVICE_FUNC inline Scalar log1p(const Scalar& x) { EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar) typedef typename NumTraits::Real RealScalar; EIGEN_USING_STD_MATH(log); Scalar x1p = RealScalar(1) + x; return ( x1p == Scalar(1) ) ? x : x * ( log(x1p) / (x1p - RealScalar(1)) ); } } template struct log1p_impl { static inline Scalar run(const Scalar& x) { EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar) #if EIGEN_HAS_CXX11_MATH using std::log1p; #endif using std_fallback::log1p; return log1p(x); } }; template struct log1p_retval { typedef Scalar type; }; /**************************************************************************** * Implementation of pow * ****************************************************************************/ template::IsInteger&&NumTraits::IsInteger> struct pow_impl { //typedef Scalar retval; typedef typename ScalarBinaryOpTraits >::ReturnType result_type; static EIGEN_DEVICE_FUNC inline result_type run(const ScalarX& x, const ScalarY& y) { EIGEN_USING_STD_MATH(pow); return pow(x, y); } }; template struct pow_impl { typedef ScalarX result_type; static EIGEN_DEVICE_FUNC inline ScalarX run(ScalarX x, ScalarY y) { ScalarX res(1); eigen_assert(!NumTraits::IsSigned || y >= 0); if(y & 1) res *= x; y >>= 1; while(y) { x *= x; if(y&1) res *= x; y >>= 1; } return res; } }; /**************************************************************************** * Implementation of random * ****************************************************************************/ template struct random_default_impl {}; template struct random_impl : random_default_impl::IsComplex, NumTraits::IsInteger> {}; template struct random_retval { typedef Scalar type; }; template inline EIGEN_MATHFUNC_RETVAL(random, Scalar) random(const Scalar& x, const Scalar& y); template inline EIGEN_MATHFUNC_RETVAL(random, Scalar) random(); template struct random_default_impl { static inline Scalar run(const Scalar& x, const Scalar& y) { return x + (y-x) * Scalar(std::rand()) / Scalar(RAND_MAX); } static inline Scalar run() { return run(Scalar(NumTraits::IsSigned ? -1 : 0), Scalar(1)); } }; enum { meta_floor_log2_terminate, meta_floor_log2_move_up, meta_floor_log2_move_down, meta_floor_log2_bogus }; template struct meta_floor_log2_selector { enum { middle = (lower + upper) / 2, value = (upper <= lower + 1) ? int(meta_floor_log2_terminate) : (n < (1 << middle)) ? int(meta_floor_log2_move_down) : (n==0) ? int(meta_floor_log2_bogus) : int(meta_floor_log2_move_up) }; }; template::value> struct meta_floor_log2 {}; template struct meta_floor_log2 { enum { value = meta_floor_log2::middle>::value }; }; template struct meta_floor_log2 { enum { value = meta_floor_log2::middle, upper>::value }; }; template struct meta_floor_log2 { enum { value = (n >= ((unsigned int)(1) << (lower+1))) ? lower+1 : lower }; }; template struct meta_floor_log2 { // no value, error at compile time }; template struct random_default_impl { static inline Scalar run(const Scalar& x, const Scalar& y) { typedef typename conditional::IsSigned,std::ptrdiff_t,std::size_t>::type ScalarX; if(y=x the result converted to an unsigned long is still correct. std::size_t range = ScalarX(y)-ScalarX(x); std::size_t offset = 0; // rejection sampling std::size_t divisor = 1; std::size_t multiplier = 1; if(range range); return Scalar(ScalarX(x) + offset); } static inline Scalar run() { #ifdef EIGEN_MAKING_DOCS return run(Scalar(NumTraits::IsSigned ? -10 : 0), Scalar(10)); #else enum { rand_bits = meta_floor_log2<(unsigned int)(RAND_MAX)+1>::value, scalar_bits = sizeof(Scalar) * CHAR_BIT, shift = EIGEN_PLAIN_ENUM_MAX(0, int(rand_bits) - int(scalar_bits)), offset = NumTraits::IsSigned ? (1 << (EIGEN_PLAIN_ENUM_MIN(rand_bits,scalar_bits)-1)) : 0 }; return Scalar((std::rand() >> shift) - offset); #endif } }; template struct random_default_impl { static inline Scalar run(const Scalar& x, const Scalar& y) { return Scalar(random(real(x), real(y)), random(imag(x), imag(y))); } static inline Scalar run() { typedef typename NumTraits::Real RealScalar; return Scalar(random(), random()); } }; template inline EIGEN_MATHFUNC_RETVAL(random, Scalar) random(const Scalar& x, const Scalar& y) { return EIGEN_MATHFUNC_IMPL(random, Scalar)::run(x, y); } template inline EIGEN_MATHFUNC_RETVAL(random, Scalar) random() { return EIGEN_MATHFUNC_IMPL(random, Scalar)::run(); } // Implementatin of is* functions // std::is* do not work with fast-math and gcc, std::is* are available on MSVC 2013 and newer, as well as in clang. #if (EIGEN_HAS_CXX11_MATH && !(EIGEN_COMP_GNUC_STRICT && __FINITE_MATH_ONLY__)) || (EIGEN_COMP_MSVC>=1800) || (EIGEN_COMP_CLANG) #define EIGEN_USE_STD_FPCLASSIFY 1 #else #define EIGEN_USE_STD_FPCLASSIFY 0 #endif template EIGEN_DEVICE_FUNC typename internal::enable_if::value,bool>::type isnan_impl(const T&) { return false; } template EIGEN_DEVICE_FUNC typename internal::enable_if::value,bool>::type isinf_impl(const T&) { return false; } template EIGEN_DEVICE_FUNC typename internal::enable_if::value,bool>::type isfinite_impl(const T&) { return true; } template EIGEN_DEVICE_FUNC typename internal::enable_if<(!internal::is_integral::value)&&(!NumTraits::IsComplex),bool>::type isfinite_impl(const T& x) { #ifdef __CUDA_ARCH__ return (::isfinite)(x); #elif EIGEN_USE_STD_FPCLASSIFY using std::isfinite; return isfinite EIGEN_NOT_A_MACRO (x); #else return x<=NumTraits::highest() && x>=NumTraits::lowest(); #endif } template EIGEN_DEVICE_FUNC typename internal::enable_if<(!internal::is_integral::value)&&(!NumTraits::IsComplex),bool>::type isinf_impl(const T& x) { #ifdef __CUDA_ARCH__ return (::isinf)(x); #elif EIGEN_USE_STD_FPCLASSIFY using std::isinf; return isinf EIGEN_NOT_A_MACRO (x); #else return x>NumTraits::highest() || x::lowest(); #endif } template EIGEN_DEVICE_FUNC typename internal::enable_if<(!internal::is_integral::value)&&(!NumTraits::IsComplex),bool>::type isnan_impl(const T& x) { #ifdef __CUDA_ARCH__ return (::isnan)(x); #elif EIGEN_USE_STD_FPCLASSIFY using std::isnan; return isnan EIGEN_NOT_A_MACRO (x); #else return x != x; #endif } #if (!EIGEN_USE_STD_FPCLASSIFY) #if EIGEN_COMP_MSVC template EIGEN_DEVICE_FUNC bool isinf_msvc_helper(T x) { return _fpclass(x)==_FPCLASS_NINF || _fpclass(x)==_FPCLASS_PINF; } //MSVC defines a _isnan builtin function, but for double only EIGEN_DEVICE_FUNC inline bool isnan_impl(const long double& x) { return _isnan(x)!=0; } EIGEN_DEVICE_FUNC inline bool isnan_impl(const double& x) { return _isnan(x)!=0; } EIGEN_DEVICE_FUNC inline bool isnan_impl(const float& x) { return _isnan(x)!=0; } EIGEN_DEVICE_FUNC inline bool isinf_impl(const long double& x) { return isinf_msvc_helper(x); } EIGEN_DEVICE_FUNC inline bool isinf_impl(const double& x) { return isinf_msvc_helper(x); } EIGEN_DEVICE_FUNC inline bool isinf_impl(const float& x) { return isinf_msvc_helper(x); } #elif (defined __FINITE_MATH_ONLY__ && __FINITE_MATH_ONLY__ && EIGEN_COMP_GNUC) #if EIGEN_GNUC_AT_LEAST(5,0) #define EIGEN_TMP_NOOPT_ATTRIB EIGEN_DEVICE_FUNC inline __attribute__((optimize("no-finite-math-only"))) #else // NOTE the inline qualifier and noinline attribute are both needed: the former is to avoid linking issue (duplicate symbol), // while the second prevent too aggressive optimizations in fast-math mode: #define EIGEN_TMP_NOOPT_ATTRIB EIGEN_DEVICE_FUNC inline __attribute__((noinline,optimize("no-finite-math-only"))) #endif template<> EIGEN_TMP_NOOPT_ATTRIB bool isnan_impl(const long double& x) { return __builtin_isnan(x); } template<> EIGEN_TMP_NOOPT_ATTRIB bool isnan_impl(const double& x) { return __builtin_isnan(x); } template<> EIGEN_TMP_NOOPT_ATTRIB bool isnan_impl(const float& x) { return __builtin_isnan(x); } template<> EIGEN_TMP_NOOPT_ATTRIB bool isinf_impl(const double& x) { return __builtin_isinf(x); } template<> EIGEN_TMP_NOOPT_ATTRIB bool isinf_impl(const float& x) { return __builtin_isinf(x); } template<> EIGEN_TMP_NOOPT_ATTRIB bool isinf_impl(const long double& x) { return __builtin_isinf(x); } #undef EIGEN_TMP_NOOPT_ATTRIB #endif #endif // The following overload are defined at the end of this file template EIGEN_DEVICE_FUNC bool isfinite_impl(const std::complex& x); template EIGEN_DEVICE_FUNC bool isnan_impl(const std::complex& x); template EIGEN_DEVICE_FUNC bool isinf_impl(const std::complex& x); template T generic_fast_tanh_float(const T& a_x); } // end namespace internal /**************************************************************************** * Generic math functions * ****************************************************************************/ namespace numext { #ifndef __CUDA_ARCH__ template EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE T mini(const T& x, const T& y) { EIGEN_USING_STD_MATH(min); return min EIGEN_NOT_A_MACRO (x,y); } template EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE T maxi(const T& x, const T& y) { EIGEN_USING_STD_MATH(max); return max EIGEN_NOT_A_MACRO (x,y); } #else template EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE T mini(const T& x, const T& y) { return y < x ? y : x; } template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float mini(const float& x, const float& y) { return fminf(x, y); } template EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE T maxi(const T& x, const T& y) { return x < y ? y : x; } template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float maxi(const float& x, const float& y) { return fmaxf(x, y); } #endif template EIGEN_DEVICE_FUNC inline EIGEN_MATHFUNC_RETVAL(real, Scalar) real(const Scalar& x) { return EIGEN_MATHFUNC_IMPL(real, Scalar)::run(x); } template EIGEN_DEVICE_FUNC inline typename internal::add_const_on_value_type< EIGEN_MATHFUNC_RETVAL(real_ref, Scalar) >::type real_ref(const Scalar& x) { return internal::real_ref_impl::run(x); } template EIGEN_DEVICE_FUNC inline EIGEN_MATHFUNC_RETVAL(real_ref, Scalar) real_ref(Scalar& x) { return EIGEN_MATHFUNC_IMPL(real_ref, Scalar)::run(x); } template EIGEN_DEVICE_FUNC inline EIGEN_MATHFUNC_RETVAL(imag, Scalar) imag(const Scalar& x) { return EIGEN_MATHFUNC_IMPL(imag, Scalar)::run(x); } template EIGEN_DEVICE_FUNC inline EIGEN_MATHFUNC_RETVAL(arg, Scalar) arg(const Scalar& x) { return EIGEN_MATHFUNC_IMPL(arg, Scalar)::run(x); } template EIGEN_DEVICE_FUNC inline typename internal::add_const_on_value_type< EIGEN_MATHFUNC_RETVAL(imag_ref, Scalar) >::type imag_ref(const Scalar& x) { return internal::imag_ref_impl::run(x); } template EIGEN_DEVICE_FUNC inline EIGEN_MATHFUNC_RETVAL(imag_ref, Scalar) imag_ref(Scalar& x) { return EIGEN_MATHFUNC_IMPL(imag_ref, Scalar)::run(x); } template EIGEN_DEVICE_FUNC inline EIGEN_MATHFUNC_RETVAL(conj, Scalar) conj(const Scalar& x) { return EIGEN_MATHFUNC_IMPL(conj, Scalar)::run(x); } template EIGEN_DEVICE_FUNC inline EIGEN_MATHFUNC_RETVAL(abs2, Scalar) abs2(const Scalar& x) { return EIGEN_MATHFUNC_IMPL(abs2, Scalar)::run(x); } template EIGEN_DEVICE_FUNC inline EIGEN_MATHFUNC_RETVAL(norm1, Scalar) norm1(const Scalar& x) { return EIGEN_MATHFUNC_IMPL(norm1, Scalar)::run(x); } template EIGEN_DEVICE_FUNC inline EIGEN_MATHFUNC_RETVAL(hypot, Scalar) hypot(const Scalar& x, const Scalar& y) { return EIGEN_MATHFUNC_IMPL(hypot, Scalar)::run(x, y); } template EIGEN_DEVICE_FUNC inline EIGEN_MATHFUNC_RETVAL(log1p, Scalar) log1p(const Scalar& x) { return EIGEN_MATHFUNC_IMPL(log1p, Scalar)::run(x); } #ifdef __CUDACC__ template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float log1p(const float &x) { return ::log1pf(x); } template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double log1p(const double &x) { return ::log1p(x); } #endif template EIGEN_DEVICE_FUNC inline typename internal::pow_impl::result_type pow(const ScalarX& x, const ScalarY& y) { return internal::pow_impl::run(x, y); } template EIGEN_DEVICE_FUNC bool (isnan) (const T &x) { return internal::isnan_impl(x); } template EIGEN_DEVICE_FUNC bool (isinf) (const T &x) { return internal::isinf_impl(x); } template EIGEN_DEVICE_FUNC bool (isfinite)(const T &x) { return internal::isfinite_impl(x); } template EIGEN_DEVICE_FUNC inline EIGEN_MATHFUNC_RETVAL(round, Scalar) round(const Scalar& x) { return EIGEN_MATHFUNC_IMPL(round, Scalar)::run(x); } template EIGEN_DEVICE_FUNC T (floor)(const T& x) { EIGEN_USING_STD_MATH(floor); return floor(x); } #ifdef __CUDACC__ template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float floor(const float &x) { return ::floorf(x); } template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double floor(const double &x) { return ::floor(x); } #endif template EIGEN_DEVICE_FUNC T (ceil)(const T& x) { EIGEN_USING_STD_MATH(ceil); return ceil(x); } #ifdef __CUDACC__ template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float ceil(const float &x) { return ::ceilf(x); } template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double ceil(const double &x) { return ::ceil(x); } #endif /** Log base 2 for 32 bits positive integers. * Conveniently returns 0 for x==0. */ inline int log2(int x) { eigen_assert(x>=0); unsigned int v(x); static const int table[32] = { 0, 9, 1, 10, 13, 21, 2, 29, 11, 14, 16, 18, 22, 25, 3, 30, 8, 12, 20, 28, 15, 17, 24, 7, 19, 27, 23, 6, 26, 5, 4, 31 }; v |= v >> 1; v |= v >> 2; v |= v >> 4; v |= v >> 8; v |= v >> 16; return table[(v * 0x07C4ACDDU) >> 27]; } /** \returns the square root of \a x. * * It is essentially equivalent to \code using std::sqrt; return sqrt(x); \endcode, * but slightly faster for float/double and some compilers (e.g., gcc), thanks to * specializations when SSE is enabled. * * It's usage is justified in performance critical functions, like norm/normalize. */ template EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE T sqrt(const T &x) { EIGEN_USING_STD_MATH(sqrt); return sqrt(x); } template EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE T log(const T &x) { EIGEN_USING_STD_MATH(log); return log(x); } #ifdef __CUDACC__ template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float log(const float &x) { return ::logf(x); } template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double log(const double &x) { return ::log(x); } #endif template EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE typename NumTraits::Real abs(const T &x) { EIGEN_USING_STD_MATH(abs); return abs(x); } #ifdef __CUDACC__ template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float abs(const float &x) { return ::fabsf(x); } template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double abs(const double &x) { return ::fabs(x); } template <> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float abs(const std::complex& x) { return ::hypotf(x.real(), x.imag()); } template <> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double abs(const std::complex& x) { return ::hypot(x.real(), x.imag()); } #endif template EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE T exp(const T &x) { EIGEN_USING_STD_MATH(exp); return exp(x); } #ifdef __CUDACC__ template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float exp(const float &x) { return ::expf(x); } template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double exp(const double &x) { return ::exp(x); } #endif template EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE T cos(const T &x) { EIGEN_USING_STD_MATH(cos); return cos(x); } #ifdef __CUDACC__ template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float cos(const float &x) { return ::cosf(x); } template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double cos(const double &x) { return ::cos(x); } #endif template EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE T sin(const T &x) { EIGEN_USING_STD_MATH(sin); return sin(x); } #ifdef __CUDACC__ template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float sin(const float &x) { return ::sinf(x); } template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double sin(const double &x) { return ::sin(x); } #endif template EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE T tan(const T &x) { EIGEN_USING_STD_MATH(tan); return tan(x); } #ifdef __CUDACC__ template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float tan(const float &x) { return ::tanf(x); } template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double tan(const double &x) { return ::tan(x); } #endif template EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE T acos(const T &x) { EIGEN_USING_STD_MATH(acos); return acos(x); } #ifdef __CUDACC__ template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float acos(const float &x) { return ::acosf(x); } template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double acos(const double &x) { return ::acos(x); } #endif template EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE T asin(const T &x) { EIGEN_USING_STD_MATH(asin); return asin(x); } #ifdef __CUDACC__ template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float asin(const float &x) { return ::asinf(x); } template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double asin(const double &x) { return ::asin(x); } #endif template EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE T atan(const T &x) { EIGEN_USING_STD_MATH(atan); return atan(x); } #ifdef __CUDACC__ template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float atan(const float &x) { return ::atanf(x); } template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double atan(const double &x) { return ::atan(x); } #endif template EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE T cosh(const T &x) { EIGEN_USING_STD_MATH(cosh); return cosh(x); } #ifdef __CUDACC__ template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float cosh(const float &x) { return ::coshf(x); } template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double cosh(const double &x) { return ::cosh(x); } #endif template EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE T sinh(const T &x) { EIGEN_USING_STD_MATH(sinh); return sinh(x); } #ifdef __CUDACC__ template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float sinh(const float &x) { return ::sinhf(x); } template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double sinh(const double &x) { return ::sinh(x); } #endif template EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE T tanh(const T &x) { EIGEN_USING_STD_MATH(tanh); return tanh(x); } #if (!defined(__CUDACC__)) && EIGEN_FAST_MATH EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float tanh(float x) { return internal::generic_fast_tanh_float(x); } #endif #ifdef __CUDACC__ template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float tanh(const float &x) { return ::tanhf(x); } template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double tanh(const double &x) { return ::tanh(x); } #endif template EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE T fmod(const T& a, const T& b) { EIGEN_USING_STD_MATH(fmod); return fmod(a, b); } #ifdef __CUDACC__ template <> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float fmod(const float& a, const float& b) { return ::fmodf(a, b); } template <> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double fmod(const double& a, const double& b) { return ::fmod(a, b); } #endif } // end namespace numext namespace internal { template EIGEN_DEVICE_FUNC bool isfinite_impl(const std::complex& x) { return (numext::isfinite)(numext::real(x)) && (numext::isfinite)(numext::imag(x)); } template EIGEN_DEVICE_FUNC bool isnan_impl(const std::complex& x) { return (numext::isnan)(numext::real(x)) || (numext::isnan)(numext::imag(x)); } template EIGEN_DEVICE_FUNC bool isinf_impl(const std::complex& x) { return ((numext::isinf)(numext::real(x)) || (numext::isinf)(numext::imag(x))) && (!(numext::isnan)(x)); } /**************************************************************************** * Implementation of fuzzy comparisons * ****************************************************************************/ template struct scalar_fuzzy_default_impl {}; template struct scalar_fuzzy_default_impl { typedef typename NumTraits::Real RealScalar; template EIGEN_DEVICE_FUNC static inline bool isMuchSmallerThan(const Scalar& x, const OtherScalar& y, const RealScalar& prec) { return numext::abs(x) <= numext::abs(y) * prec; } EIGEN_DEVICE_FUNC static inline bool isApprox(const Scalar& x, const Scalar& y, const RealScalar& prec) { return numext::abs(x - y) <= numext::mini(numext::abs(x), numext::abs(y)) * prec; } EIGEN_DEVICE_FUNC static inline bool isApproxOrLessThan(const Scalar& x, const Scalar& y, const RealScalar& prec) { return x <= y || isApprox(x, y, prec); } }; template struct scalar_fuzzy_default_impl { typedef typename NumTraits::Real RealScalar; template EIGEN_DEVICE_FUNC static inline bool isMuchSmallerThan(const Scalar& x, const Scalar&, const RealScalar&) { return x == Scalar(0); } EIGEN_DEVICE_FUNC static inline bool isApprox(const Scalar& x, const Scalar& y, const RealScalar&) { return x == y; } EIGEN_DEVICE_FUNC static inline bool isApproxOrLessThan(const Scalar& x, const Scalar& y, const RealScalar&) { return x <= y; } }; template struct scalar_fuzzy_default_impl { typedef typename NumTraits::Real RealScalar; template EIGEN_DEVICE_FUNC static inline bool isMuchSmallerThan(const Scalar& x, const OtherScalar& y, const RealScalar& prec) { return numext::abs2(x) <= numext::abs2(y) * prec * prec; } EIGEN_DEVICE_FUNC static inline bool isApprox(const Scalar& x, const Scalar& y, const RealScalar& prec) { return numext::abs2(x - y) <= numext::mini(numext::abs2(x), numext::abs2(y)) * prec * prec; } }; template struct scalar_fuzzy_impl : scalar_fuzzy_default_impl::IsComplex, NumTraits::IsInteger> {}; template EIGEN_DEVICE_FUNC inline bool isMuchSmallerThan(const Scalar& x, const OtherScalar& y, const typename NumTraits::Real &precision = NumTraits::dummy_precision()) { return scalar_fuzzy_impl::template isMuchSmallerThan(x, y, precision); } template EIGEN_DEVICE_FUNC inline bool isApprox(const Scalar& x, const Scalar& y, const typename NumTraits::Real &precision = NumTraits::dummy_precision()) { return scalar_fuzzy_impl::isApprox(x, y, precision); } template EIGEN_DEVICE_FUNC inline bool isApproxOrLessThan(const Scalar& x, const Scalar& y, const typename NumTraits::Real &precision = NumTraits::dummy_precision()) { return scalar_fuzzy_impl::isApproxOrLessThan(x, y, precision); } /****************************************** *** The special case of the bool type *** ******************************************/ template<> struct random_impl { static inline bool run() { return random(0,1)==0 ? false : true; } }; template<> struct scalar_fuzzy_impl { typedef bool RealScalar; template EIGEN_DEVICE_FUNC static inline bool isMuchSmallerThan(const bool& x, const bool&, const bool&) { return !x; } EIGEN_DEVICE_FUNC static inline bool isApprox(bool x, bool y, bool) { return x == y; } EIGEN_DEVICE_FUNC static inline bool isApproxOrLessThan(const bool& x, const bool& y, const bool&) { return (!x) || y; } }; } // end namespace internal } // end namespace Eigen #endif // EIGEN_MATHFUNCTIONS_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/MathFunctionsImpl.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2014 Pedro Gonnet (pedro.gonnet@gmail.com) // Copyright (C) 2016 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_MATHFUNCTIONSIMPL_H #define EIGEN_MATHFUNCTIONSIMPL_H namespace Eigen { namespace internal { /** \internal \returns the hyperbolic tan of \a a (coeff-wise) Doesn't do anything fancy, just a 13/6-degree rational interpolant which is accurate up to a couple of ulp in the range [-9, 9], outside of which the tanh(x) = +/-1. This implementation works on both scalars and packets. */ template T generic_fast_tanh_float(const T& a_x) { // Clamp the inputs to the range [-9, 9] since anything outside // this range is +/-1.0f in single-precision. const T plus_9 = pset1(9.f); const T minus_9 = pset1(-9.f); // NOTE GCC prior to 6.3 might improperly optimize this max/min // step such that if a_x is nan, x will be either 9 or -9, // and tanh will return 1 or -1 instead of nan. // This is supposed to be fixed in gcc6.3, // see: https://gcc.gnu.org/bugzilla/show_bug.cgi?id=72867 const T x = pmax(minus_9,pmin(plus_9,a_x)); // The monomial coefficients of the numerator polynomial (odd). const T alpha_1 = pset1(4.89352455891786e-03f); const T alpha_3 = pset1(6.37261928875436e-04f); const T alpha_5 = pset1(1.48572235717979e-05f); const T alpha_7 = pset1(5.12229709037114e-08f); const T alpha_9 = pset1(-8.60467152213735e-11f); const T alpha_11 = pset1(2.00018790482477e-13f); const T alpha_13 = pset1(-2.76076847742355e-16f); // The monomial coefficients of the denominator polynomial (even). const T beta_0 = pset1(4.89352518554385e-03f); const T beta_2 = pset1(2.26843463243900e-03f); const T beta_4 = pset1(1.18534705686654e-04f); const T beta_6 = pset1(1.19825839466702e-06f); // Since the polynomials are odd/even, we need x^2. const T x2 = pmul(x, x); // Evaluate the numerator polynomial p. T p = pmadd(x2, alpha_13, alpha_11); p = pmadd(x2, p, alpha_9); p = pmadd(x2, p, alpha_7); p = pmadd(x2, p, alpha_5); p = pmadd(x2, p, alpha_3); p = pmadd(x2, p, alpha_1); p = pmul(x, p); // Evaluate the denominator polynomial p. T q = pmadd(x2, beta_6, beta_4); q = pmadd(x2, q, beta_2); q = pmadd(x2, q, beta_0); // Divide the numerator by the denominator. return pdiv(p, q); } } // end namespace internal } // end namespace Eigen #endif // EIGEN_MATHFUNCTIONSIMPL_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/Matrix.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2006-2010 Benoit Jacob // Copyright (C) 2008-2009 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_MATRIX_H #define EIGEN_MATRIX_H namespace Eigen { namespace internal { template struct traits > { private: enum { size = internal::size_at_compile_time<_Rows,_Cols>::ret }; typedef typename find_best_packet<_Scalar,size>::type PacketScalar; enum { row_major_bit = _Options&RowMajor ? RowMajorBit : 0, is_dynamic_size_storage = _MaxRows==Dynamic || _MaxCols==Dynamic, max_size = is_dynamic_size_storage ? Dynamic : _MaxRows*_MaxCols, default_alignment = compute_default_alignment<_Scalar,max_size>::value, actual_alignment = ((_Options&DontAlign)==0) ? default_alignment : 0, required_alignment = unpacket_traits::alignment, packet_access_bit = (packet_traits<_Scalar>::Vectorizable && (EIGEN_UNALIGNED_VECTORIZE || (actual_alignment>=required_alignment))) ? PacketAccessBit : 0 }; public: typedef _Scalar Scalar; typedef Dense StorageKind; typedef Eigen::Index StorageIndex; typedef MatrixXpr XprKind; enum { RowsAtCompileTime = _Rows, ColsAtCompileTime = _Cols, MaxRowsAtCompileTime = _MaxRows, MaxColsAtCompileTime = _MaxCols, Flags = compute_matrix_flags<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::ret, Options = _Options, InnerStrideAtCompileTime = 1, OuterStrideAtCompileTime = (Options&RowMajor) ? ColsAtCompileTime : RowsAtCompileTime, // FIXME, the following flag in only used to define NeedsToAlign in PlainObjectBase EvaluatorFlags = LinearAccessBit | DirectAccessBit | packet_access_bit | row_major_bit, Alignment = actual_alignment }; }; } /** \class Matrix * \ingroup Core_Module * * \brief The matrix class, also used for vectors and row-vectors * * The %Matrix class is the work-horse for all \em dense (\ref dense "note") matrices and vectors within Eigen. * Vectors are matrices with one column, and row-vectors are matrices with one row. * * The %Matrix class encompasses \em both fixed-size and dynamic-size objects (\ref fixedsize "note"). * * The first three template parameters are required: * \tparam _Scalar Numeric type, e.g. float, double, int or std::complex. * User defined scalar types are supported as well (see \ref user_defined_scalars "here"). * \tparam _Rows Number of rows, or \b Dynamic * \tparam _Cols Number of columns, or \b Dynamic * * The remaining template parameters are optional -- in most cases you don't have to worry about them. * \tparam _Options A combination of either \b #RowMajor or \b #ColMajor, and of either * \b #AutoAlign or \b #DontAlign. * The former controls \ref TopicStorageOrders "storage order", and defaults to column-major. The latter controls alignment, which is required * for vectorization. It defaults to aligning matrices except for fixed sizes that aren't a multiple of the packet size. * \tparam _MaxRows Maximum number of rows. Defaults to \a _Rows (\ref maxrows "note"). * \tparam _MaxCols Maximum number of columns. Defaults to \a _Cols (\ref maxrows "note"). * * Eigen provides a number of typedefs covering the usual cases. Here are some examples: * * \li \c Matrix2d is a 2x2 square matrix of doubles (\c Matrix) * \li \c Vector4f is a vector of 4 floats (\c Matrix) * \li \c RowVector3i is a row-vector of 3 ints (\c Matrix) * * \li \c MatrixXf is a dynamic-size matrix of floats (\c Matrix) * \li \c VectorXf is a dynamic-size vector of floats (\c Matrix) * * \li \c Matrix2Xf is a partially fixed-size (dynamic-size) matrix of floats (\c Matrix) * \li \c MatrixX3d is a partially dynamic-size (fixed-size) matrix of double (\c Matrix) * * See \link matrixtypedefs this page \endlink for a complete list of predefined \em %Matrix and \em Vector typedefs. * * You can access elements of vectors and matrices using normal subscripting: * * \code * Eigen::VectorXd v(10); * v[0] = 0.1; * v[1] = 0.2; * v(0) = 0.3; * v(1) = 0.4; * * Eigen::MatrixXi m(10, 10); * m(0, 1) = 1; * m(0, 2) = 2; * m(0, 3) = 3; * \endcode * * This class can be extended with the help of the plugin mechanism described on the page * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_MATRIX_PLUGIN. * * Some notes: * *
*
\anchor dense Dense versus sparse:
*
This %Matrix class handles dense, not sparse matrices and vectors. For sparse matrices and vectors, see the Sparse module. * * Dense matrices and vectors are plain usual arrays of coefficients. All the coefficients are stored, in an ordinary contiguous array. * This is unlike Sparse matrices and vectors where the coefficients are stored as a list of nonzero coefficients.
* *
\anchor fixedsize Fixed-size versus dynamic-size:
*
Fixed-size means that the numbers of rows and columns are known are compile-time. In this case, Eigen allocates the array * of coefficients as a fixed-size array, as a class member. This makes sense for very small matrices, typically up to 4x4, sometimes up * to 16x16. Larger matrices should be declared as dynamic-size even if one happens to know their size at compile-time. * * Dynamic-size means that the numbers of rows or columns are not necessarily known at compile-time. In this case they are runtime * variables, and the array of coefficients is allocated dynamically on the heap. * * Note that \em dense matrices, be they Fixed-size or Dynamic-size, do not expand dynamically in the sense of a std::map. * If you want this behavior, see the Sparse module.
* *
\anchor maxrows _MaxRows and _MaxCols:
*
In most cases, one just leaves these parameters to the default values. * These parameters mean the maximum size of rows and columns that the matrix may have. They are useful in cases * when the exact numbers of rows and columns are not known are compile-time, but it is known at compile-time that they cannot * exceed a certain value. This happens when taking dynamic-size blocks inside fixed-size matrices: in this case _MaxRows and _MaxCols * are the dimensions of the original matrix, while _Rows and _Cols are Dynamic.
*
* * ABI and storage layout * * The table below summarizes the ABI of some possible Matrix instances which is fixed thorough the lifetime of Eigen 3. * * * * * * *
Matrix typeEquivalent C structure
\code Matrix \endcode\code * struct { * T *data; // with (size_t(data)%EIGEN_MAX_ALIGN_BYTES)==0 * Eigen::Index rows, cols; * }; * \endcode
\code * Matrix * Matrix \endcode\code * struct { * T *data; // with (size_t(data)%EIGEN_MAX_ALIGN_BYTES)==0 * Eigen::Index size; * }; * \endcode
\code Matrix \endcode\code * struct { * T data[Rows*Cols]; // with (size_t(data)%A(Rows*Cols*sizeof(T)))==0 * }; * \endcode
\code Matrix \endcode\code * struct { * T data[MaxRows*MaxCols]; // with (size_t(data)%A(MaxRows*MaxCols*sizeof(T)))==0 * Eigen::Index rows, cols; * }; * \endcode
* Note that in this table Rows, Cols, MaxRows and MaxCols are all positive integers. A(S) is defined to the largest possible power-of-two * smaller to EIGEN_MAX_STATIC_ALIGN_BYTES. * * \see MatrixBase for the majority of the API methods for matrices, \ref TopicClassHierarchy, * \ref TopicStorageOrders */ template class Matrix : public PlainObjectBase > { public: /** \brief Base class typedef. * \sa PlainObjectBase */ typedef PlainObjectBase Base; enum { Options = _Options }; EIGEN_DENSE_PUBLIC_INTERFACE(Matrix) typedef typename Base::PlainObject PlainObject; using Base::base; using Base::coeffRef; /** * \brief Assigns matrices to each other. * * \note This is a special case of the templated operator=. Its purpose is * to prevent a default operator= from hiding the templated operator=. * * \callgraph */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Matrix& operator=(const Matrix& other) { return Base::_set(other); } /** \internal * \brief Copies the value of the expression \a other into \c *this with automatic resizing. * * *this might be resized to match the dimensions of \a other. If *this was a null matrix (not already initialized), * it will be initialized. * * Note that copying a row-vector into a vector (and conversely) is allowed. * The resizing, if any, is then done in the appropriate way so that row-vectors * remain row-vectors and vectors remain vectors. */ template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Matrix& operator=(const DenseBase& other) { return Base::_set(other); } /* Here, doxygen failed to copy the brief information when using \copydoc */ /** * \brief Copies the generic expression \a other into *this. * \copydetails DenseBase::operator=(const EigenBase &other) */ template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Matrix& operator=(const EigenBase &other) { return Base::operator=(other); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Matrix& operator=(const ReturnByValue& func) { return Base::operator=(func); } /** \brief Default constructor. * * For fixed-size matrices, does nothing. * * For dynamic-size matrices, creates an empty matrix of size 0. Does not allocate any array. Such a matrix * is called a null matrix. This constructor is the unique way to create null matrices: resizing * a matrix to 0 is not supported. * * \sa resize(Index,Index) */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Matrix() : Base() { Base::_check_template_params(); EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED } // FIXME is it still needed EIGEN_DEVICE_FUNC explicit Matrix(internal::constructor_without_unaligned_array_assert) : Base(internal::constructor_without_unaligned_array_assert()) { Base::_check_template_params(); EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED } #if EIGEN_HAS_RVALUE_REFERENCES EIGEN_DEVICE_FUNC Matrix(Matrix&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_constructible::value) : Base(std::move(other)) { Base::_check_template_params(); if (RowsAtCompileTime!=Dynamic && ColsAtCompileTime!=Dynamic) Base::_set_noalias(other); } EIGEN_DEVICE_FUNC Matrix& operator=(Matrix&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_assignable::value) { other.swap(*this); return *this; } #endif #ifndef EIGEN_PARSED_BY_DOXYGEN // This constructor is for both 1x1 matrices and dynamic vectors template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit Matrix(const T& x) { Base::_check_template_params(); Base::template _init1(x); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Matrix(const T0& x, const T1& y) { Base::_check_template_params(); Base::template _init2(x, y); } #else /** \brief Constructs a fixed-sized matrix initialized with coefficients starting at \a data */ EIGEN_DEVICE_FUNC explicit Matrix(const Scalar *data); /** \brief Constructs a vector or row-vector with given dimension. \only_for_vectors * * This is useful for dynamic-size vectors. For fixed-size vectors, * it is redundant to pass these parameters, so one should use the default constructor * Matrix() instead. * * \warning This constructor is disabled for fixed-size \c 1x1 matrices. For instance, * calling Matrix(1) will call the initialization constructor: Matrix(const Scalar&). * For fixed-size \c 1x1 matrices it is therefore recommended to use the default * constructor Matrix() instead, especially when using one of the non standard * \c EIGEN_INITIALIZE_MATRICES_BY_{ZERO,\c NAN} macros (see \ref TopicPreprocessorDirectives). */ EIGEN_STRONG_INLINE explicit Matrix(Index dim); /** \brief Constructs an initialized 1x1 matrix with the given coefficient */ Matrix(const Scalar& x); /** \brief Constructs an uninitialized matrix with \a rows rows and \a cols columns. * * This is useful for dynamic-size matrices. For fixed-size matrices, * it is redundant to pass these parameters, so one should use the default constructor * Matrix() instead. * * \warning This constructor is disabled for fixed-size \c 1x2 and \c 2x1 vectors. For instance, * calling Matrix2f(2,1) will call the initialization constructor: Matrix(const Scalar& x, const Scalar& y). * For fixed-size \c 1x2 or \c 2x1 vectors it is therefore recommended to use the default * constructor Matrix() instead, especially when using one of the non standard * \c EIGEN_INITIALIZE_MATRICES_BY_{ZERO,\c NAN} macros (see \ref TopicPreprocessorDirectives). */ EIGEN_DEVICE_FUNC Matrix(Index rows, Index cols); /** \brief Constructs an initialized 2D vector with given coefficients */ Matrix(const Scalar& x, const Scalar& y); #endif /** \brief Constructs an initialized 3D vector with given coefficients */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Matrix(const Scalar& x, const Scalar& y, const Scalar& z) { Base::_check_template_params(); EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Matrix, 3) m_storage.data()[0] = x; m_storage.data()[1] = y; m_storage.data()[2] = z; } /** \brief Constructs an initialized 4D vector with given coefficients */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Matrix(const Scalar& x, const Scalar& y, const Scalar& z, const Scalar& w) { Base::_check_template_params(); EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Matrix, 4) m_storage.data()[0] = x; m_storage.data()[1] = y; m_storage.data()[2] = z; m_storage.data()[3] = w; } /** \brief Copy constructor */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Matrix(const Matrix& other) : Base(other) { } /** \brief Copy constructor for generic expressions. * \sa MatrixBase::operator=(const EigenBase&) */ template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Matrix(const EigenBase &other) : Base(other.derived()) { } EIGEN_DEVICE_FUNC inline Index innerStride() const { return 1; } EIGEN_DEVICE_FUNC inline Index outerStride() const { return this->innerSize(); } /////////// Geometry module /////////// template EIGEN_DEVICE_FUNC explicit Matrix(const RotationBase& r); template EIGEN_DEVICE_FUNC Matrix& operator=(const RotationBase& r); // allow to extend Matrix outside Eigen #ifdef EIGEN_MATRIX_PLUGIN #include EIGEN_MATRIX_PLUGIN #endif protected: template friend struct internal::conservative_resize_like_impl; using Base::m_storage; }; /** \defgroup matrixtypedefs Global matrix typedefs * * \ingroup Core_Module * * Eigen defines several typedef shortcuts for most common matrix and vector types. * * The general patterns are the following: * * \c MatrixSizeType where \c Size can be \c 2,\c 3,\c 4 for fixed size square matrices or \c X for dynamic size, * and where \c Type can be \c i for integer, \c f for float, \c d for double, \c cf for complex float, \c cd * for complex double. * * For example, \c Matrix3d is a fixed-size 3x3 matrix type of doubles, and \c MatrixXf is a dynamic-size matrix of floats. * * There are also \c VectorSizeType and \c RowVectorSizeType which are self-explanatory. For example, \c Vector4cf is * a fixed-size vector of 4 complex floats. * * \sa class Matrix */ #define EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Size, SizeSuffix) \ /** \ingroup matrixtypedefs */ \ typedef Matrix Matrix##SizeSuffix##TypeSuffix; \ /** \ingroup matrixtypedefs */ \ typedef Matrix Vector##SizeSuffix##TypeSuffix; \ /** \ingroup matrixtypedefs */ \ typedef Matrix RowVector##SizeSuffix##TypeSuffix; #define EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, Size) \ /** \ingroup matrixtypedefs */ \ typedef Matrix Matrix##Size##X##TypeSuffix; \ /** \ingroup matrixtypedefs */ \ typedef Matrix Matrix##X##Size##TypeSuffix; #define EIGEN_MAKE_TYPEDEFS_ALL_SIZES(Type, TypeSuffix) \ EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 2, 2) \ EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 3, 3) \ EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 4, 4) \ EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Dynamic, X) \ EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 2) \ EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 3) \ EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 4) EIGEN_MAKE_TYPEDEFS_ALL_SIZES(int, i) EIGEN_MAKE_TYPEDEFS_ALL_SIZES(float, f) EIGEN_MAKE_TYPEDEFS_ALL_SIZES(double, d) EIGEN_MAKE_TYPEDEFS_ALL_SIZES(std::complex, cf) EIGEN_MAKE_TYPEDEFS_ALL_SIZES(std::complex, cd) #undef EIGEN_MAKE_TYPEDEFS_ALL_SIZES #undef EIGEN_MAKE_TYPEDEFS #undef EIGEN_MAKE_FIXED_TYPEDEFS } // end namespace Eigen #endif // EIGEN_MATRIX_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/MatrixBase.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2006-2009 Benoit Jacob // Copyright (C) 2008 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_MATRIXBASE_H #define EIGEN_MATRIXBASE_H namespace Eigen { /** \class MatrixBase * \ingroup Core_Module * * \brief Base class for all dense matrices, vectors, and expressions * * This class is the base that is inherited by all matrix, vector, and related expression * types. Most of the Eigen API is contained in this class, and its base classes. Other important * classes for the Eigen API are Matrix, and VectorwiseOp. * * Note that some methods are defined in other modules such as the \ref LU_Module LU module * for all functions related to matrix inversions. * * \tparam Derived is the derived type, e.g. a matrix type, or an expression, etc. * * When writing a function taking Eigen objects as argument, if you want your function * to take as argument any matrix, vector, or expression, just let it take a * MatrixBase argument. As an example, here is a function printFirstRow which, given * a matrix, vector, or expression \a x, prints the first row of \a x. * * \code template void printFirstRow(const Eigen::MatrixBase& x) { cout << x.row(0) << endl; } * \endcode * * This class can be extended with the help of the plugin mechanism described on the page * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_MATRIXBASE_PLUGIN. * * \sa \blank \ref TopicClassHierarchy */ template class MatrixBase : public DenseBase { public: #ifndef EIGEN_PARSED_BY_DOXYGEN typedef MatrixBase StorageBaseType; typedef typename internal::traits::StorageKind StorageKind; typedef typename internal::traits::StorageIndex StorageIndex; typedef typename internal::traits::Scalar Scalar; typedef typename internal::packet_traits::type PacketScalar; typedef typename NumTraits::Real RealScalar; typedef DenseBase Base; using Base::RowsAtCompileTime; using Base::ColsAtCompileTime; using Base::SizeAtCompileTime; using Base::MaxRowsAtCompileTime; using Base::MaxColsAtCompileTime; using Base::MaxSizeAtCompileTime; using Base::IsVectorAtCompileTime; using Base::Flags; using Base::derived; using Base::const_cast_derived; using Base::rows; using Base::cols; using Base::size; using Base::coeff; using Base::coeffRef; using Base::lazyAssign; using Base::eval; using Base::operator+=; using Base::operator-=; using Base::operator*=; using Base::operator/=; typedef typename Base::CoeffReturnType CoeffReturnType; typedef typename Base::ConstTransposeReturnType ConstTransposeReturnType; typedef typename Base::RowXpr RowXpr; typedef typename Base::ColXpr ColXpr; #endif // not EIGEN_PARSED_BY_DOXYGEN #ifndef EIGEN_PARSED_BY_DOXYGEN /** type of the equivalent square matrix */ typedef Matrix SquareMatrixType; #endif // not EIGEN_PARSED_BY_DOXYGEN /** \returns the size of the main diagonal, which is min(rows(),cols()). * \sa rows(), cols(), SizeAtCompileTime. */ EIGEN_DEVICE_FUNC inline Index diagonalSize() const { return (numext::mini)(rows(),cols()); } typedef typename Base::PlainObject PlainObject; #ifndef EIGEN_PARSED_BY_DOXYGEN /** \internal Represents a matrix with all coefficients equal to one another*/ typedef CwiseNullaryOp,PlainObject> ConstantReturnType; /** \internal the return type of MatrixBase::adjoint() */ typedef typename internal::conditional::IsComplex, CwiseUnaryOp, ConstTransposeReturnType>, ConstTransposeReturnType >::type AdjointReturnType; /** \internal Return type of eigenvalues() */ typedef Matrix, internal::traits::ColsAtCompileTime, 1, ColMajor> EigenvaluesReturnType; /** \internal the return type of identity */ typedef CwiseNullaryOp,PlainObject> IdentityReturnType; /** \internal the return type of unit vectors */ typedef Block, SquareMatrixType>, internal::traits::RowsAtCompileTime, internal::traits::ColsAtCompileTime> BasisReturnType; #endif // not EIGEN_PARSED_BY_DOXYGEN #define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::MatrixBase #define EIGEN_DOC_UNARY_ADDONS(X,Y) # include "../plugins/CommonCwiseUnaryOps.h" # include "../plugins/CommonCwiseBinaryOps.h" # include "../plugins/MatrixCwiseUnaryOps.h" # include "../plugins/MatrixCwiseBinaryOps.h" # ifdef EIGEN_MATRIXBASE_PLUGIN # include EIGEN_MATRIXBASE_PLUGIN # endif #undef EIGEN_CURRENT_STORAGE_BASE_CLASS #undef EIGEN_DOC_UNARY_ADDONS /** Special case of the template operator=, in order to prevent the compiler * from generating a default operator= (issue hit with g++ 4.1) */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator=(const MatrixBase& other); // We cannot inherit here via Base::operator= since it is causing // trouble with MSVC. template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator=(const DenseBase& other); template EIGEN_DEVICE_FUNC Derived& operator=(const EigenBase& other); template EIGEN_DEVICE_FUNC Derived& operator=(const ReturnByValue& other); template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator+=(const MatrixBase& other); template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator-=(const MatrixBase& other); #ifdef __CUDACC__ template EIGEN_DEVICE_FUNC const Product operator*(const MatrixBase &other) const { return this->lazyProduct(other); } #else template const Product operator*(const MatrixBase &other) const; #endif template EIGEN_DEVICE_FUNC const Product lazyProduct(const MatrixBase &other) const; template Derived& operator*=(const EigenBase& other); template void applyOnTheLeft(const EigenBase& other); template void applyOnTheRight(const EigenBase& other); template EIGEN_DEVICE_FUNC const Product operator*(const DiagonalBase &diagonal) const; template EIGEN_DEVICE_FUNC typename ScalarBinaryOpTraits::Scalar,typename internal::traits::Scalar>::ReturnType dot(const MatrixBase& other) const; EIGEN_DEVICE_FUNC RealScalar squaredNorm() const; EIGEN_DEVICE_FUNC RealScalar norm() const; RealScalar stableNorm() const; RealScalar blueNorm() const; RealScalar hypotNorm() const; EIGEN_DEVICE_FUNC const PlainObject normalized() const; EIGEN_DEVICE_FUNC const PlainObject stableNormalized() const; EIGEN_DEVICE_FUNC void normalize(); EIGEN_DEVICE_FUNC void stableNormalize(); EIGEN_DEVICE_FUNC const AdjointReturnType adjoint() const; EIGEN_DEVICE_FUNC void adjointInPlace(); typedef Diagonal DiagonalReturnType; EIGEN_DEVICE_FUNC DiagonalReturnType diagonal(); typedef typename internal::add_const >::type ConstDiagonalReturnType; EIGEN_DEVICE_FUNC ConstDiagonalReturnType diagonal() const; template struct DiagonalIndexReturnType { typedef Diagonal Type; }; template struct ConstDiagonalIndexReturnType { typedef const Diagonal Type; }; template EIGEN_DEVICE_FUNC typename DiagonalIndexReturnType::Type diagonal(); template EIGEN_DEVICE_FUNC typename ConstDiagonalIndexReturnType::Type diagonal() const; typedef Diagonal DiagonalDynamicIndexReturnType; typedef typename internal::add_const >::type ConstDiagonalDynamicIndexReturnType; EIGEN_DEVICE_FUNC DiagonalDynamicIndexReturnType diagonal(Index index); EIGEN_DEVICE_FUNC ConstDiagonalDynamicIndexReturnType diagonal(Index index) const; template struct TriangularViewReturnType { typedef TriangularView Type; }; template struct ConstTriangularViewReturnType { typedef const TriangularView Type; }; template EIGEN_DEVICE_FUNC typename TriangularViewReturnType::Type triangularView(); template EIGEN_DEVICE_FUNC typename ConstTriangularViewReturnType::Type triangularView() const; template struct SelfAdjointViewReturnType { typedef SelfAdjointView Type; }; template struct ConstSelfAdjointViewReturnType { typedef const SelfAdjointView Type; }; template EIGEN_DEVICE_FUNC typename SelfAdjointViewReturnType::Type selfadjointView(); template EIGEN_DEVICE_FUNC typename ConstSelfAdjointViewReturnType::Type selfadjointView() const; const SparseView sparseView(const Scalar& m_reference = Scalar(0), const typename NumTraits::Real& m_epsilon = NumTraits::dummy_precision()) const; EIGEN_DEVICE_FUNC static const IdentityReturnType Identity(); EIGEN_DEVICE_FUNC static const IdentityReturnType Identity(Index rows, Index cols); EIGEN_DEVICE_FUNC static const BasisReturnType Unit(Index size, Index i); EIGEN_DEVICE_FUNC static const BasisReturnType Unit(Index i); EIGEN_DEVICE_FUNC static const BasisReturnType UnitX(); EIGEN_DEVICE_FUNC static const BasisReturnType UnitY(); EIGEN_DEVICE_FUNC static const BasisReturnType UnitZ(); EIGEN_DEVICE_FUNC static const BasisReturnType UnitW(); EIGEN_DEVICE_FUNC const DiagonalWrapper asDiagonal() const; const PermutationWrapper asPermutation() const; EIGEN_DEVICE_FUNC Derived& setIdentity(); EIGEN_DEVICE_FUNC Derived& setIdentity(Index rows, Index cols); bool isIdentity(const RealScalar& prec = NumTraits::dummy_precision()) const; bool isDiagonal(const RealScalar& prec = NumTraits::dummy_precision()) const; bool isUpperTriangular(const RealScalar& prec = NumTraits::dummy_precision()) const; bool isLowerTriangular(const RealScalar& prec = NumTraits::dummy_precision()) const; template bool isOrthogonal(const MatrixBase& other, const RealScalar& prec = NumTraits::dummy_precision()) const; bool isUnitary(const RealScalar& prec = NumTraits::dummy_precision()) const; /** \returns true if each coefficients of \c *this and \a other are all exactly equal. * \warning When using floating point scalar values you probably should rather use a * fuzzy comparison such as isApprox() * \sa isApprox(), operator!= */ template inline bool operator==(const MatrixBase& other) const { return cwiseEqual(other).all(); } /** \returns true if at least one pair of coefficients of \c *this and \a other are not exactly equal to each other. * \warning When using floating point scalar values you probably should rather use a * fuzzy comparison such as isApprox() * \sa isApprox(), operator== */ template inline bool operator!=(const MatrixBase& other) const { return cwiseNotEqual(other).any(); } NoAlias noalias(); // TODO forceAlignedAccess is temporarily disabled // Need to find a nicer workaround. inline const Derived& forceAlignedAccess() const { return derived(); } inline Derived& forceAlignedAccess() { return derived(); } template inline const Derived& forceAlignedAccessIf() const { return derived(); } template inline Derived& forceAlignedAccessIf() { return derived(); } EIGEN_DEVICE_FUNC Scalar trace() const; template EIGEN_DEVICE_FUNC RealScalar lpNorm() const; EIGEN_DEVICE_FUNC MatrixBase& matrix() { return *this; } EIGEN_DEVICE_FUNC const MatrixBase& matrix() const { return *this; } /** \returns an \link Eigen::ArrayBase Array \endlink expression of this matrix * \sa ArrayBase::matrix() */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ArrayWrapper array() { return ArrayWrapper(derived()); } /** \returns a const \link Eigen::ArrayBase Array \endlink expression of this matrix * \sa ArrayBase::matrix() */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const ArrayWrapper array() const { return ArrayWrapper(derived()); } /////////// LU module /////////// inline const FullPivLU fullPivLu() const; inline const PartialPivLU partialPivLu() const; inline const PartialPivLU lu() const; inline const Inverse inverse() const; template inline void computeInverseAndDetWithCheck( ResultType& inverse, typename ResultType::Scalar& determinant, bool& invertible, const RealScalar& absDeterminantThreshold = NumTraits::dummy_precision() ) const; template inline void computeInverseWithCheck( ResultType& inverse, bool& invertible, const RealScalar& absDeterminantThreshold = NumTraits::dummy_precision() ) const; Scalar determinant() const; /////////// Cholesky module /////////// inline const LLT llt() const; inline const LDLT ldlt() const; /////////// QR module /////////// inline const HouseholderQR householderQr() const; inline const ColPivHouseholderQR colPivHouseholderQr() const; inline const FullPivHouseholderQR fullPivHouseholderQr() const; inline const CompleteOrthogonalDecomposition completeOrthogonalDecomposition() const; /////////// Eigenvalues module /////////// inline EigenvaluesReturnType eigenvalues() const; inline RealScalar operatorNorm() const; /////////// SVD module /////////// inline JacobiSVD jacobiSvd(unsigned int computationOptions = 0) const; inline BDCSVD bdcSvd(unsigned int computationOptions = 0) const; /////////// Geometry module /////////// #ifndef EIGEN_PARSED_BY_DOXYGEN /// \internal helper struct to form the return type of the cross product template struct cross_product_return_type { typedef typename ScalarBinaryOpTraits::Scalar,typename internal::traits::Scalar>::ReturnType Scalar; typedef Matrix type; }; #endif // EIGEN_PARSED_BY_DOXYGEN template EIGEN_DEVICE_FUNC #ifndef EIGEN_PARSED_BY_DOXYGEN inline typename cross_product_return_type::type #else inline PlainObject #endif cross(const MatrixBase& other) const; template EIGEN_DEVICE_FUNC inline PlainObject cross3(const MatrixBase& other) const; EIGEN_DEVICE_FUNC inline PlainObject unitOrthogonal(void) const; EIGEN_DEVICE_FUNC inline Matrix eulerAngles(Index a0, Index a1, Index a2) const; // put this as separate enum value to work around possible GCC 4.3 bug (?) enum { HomogeneousReturnTypeDirection = ColsAtCompileTime==1&&RowsAtCompileTime==1 ? ((internal::traits::Flags&RowMajorBit)==RowMajorBit ? Horizontal : Vertical) : ColsAtCompileTime==1 ? Vertical : Horizontal }; typedef Homogeneous HomogeneousReturnType; EIGEN_DEVICE_FUNC inline HomogeneousReturnType homogeneous() const; enum { SizeMinusOne = SizeAtCompileTime==Dynamic ? Dynamic : SizeAtCompileTime-1 }; typedef Block::ColsAtCompileTime==1 ? SizeMinusOne : 1, internal::traits::ColsAtCompileTime==1 ? 1 : SizeMinusOne> ConstStartMinusOne; typedef EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(ConstStartMinusOne,Scalar,quotient) HNormalizedReturnType; EIGEN_DEVICE_FUNC inline const HNormalizedReturnType hnormalized() const; ////////// Householder module /////////// void makeHouseholderInPlace(Scalar& tau, RealScalar& beta); template void makeHouseholder(EssentialPart& essential, Scalar& tau, RealScalar& beta) const; template void applyHouseholderOnTheLeft(const EssentialPart& essential, const Scalar& tau, Scalar* workspace); template void applyHouseholderOnTheRight(const EssentialPart& essential, const Scalar& tau, Scalar* workspace); ///////// Jacobi module ///////// template void applyOnTheLeft(Index p, Index q, const JacobiRotation& j); template void applyOnTheRight(Index p, Index q, const JacobiRotation& j); ///////// SparseCore module ///////// template EIGEN_STRONG_INLINE const typename SparseMatrixBase::template CwiseProductDenseReturnType::Type cwiseProduct(const SparseMatrixBase &other) const { return other.cwiseProduct(derived()); } ///////// MatrixFunctions module ///////// typedef typename internal::stem_function::type StemFunction; const MatrixExponentialReturnValue exp() const; const MatrixFunctionReturnValue matrixFunction(StemFunction f) const; const MatrixFunctionReturnValue cosh() const; const MatrixFunctionReturnValue sinh() const; const MatrixFunctionReturnValue cos() const; const MatrixFunctionReturnValue sin() const; const MatrixSquareRootReturnValue sqrt() const; const MatrixLogarithmReturnValue log() const; const MatrixPowerReturnValue pow(const RealScalar& p) const; const MatrixComplexPowerReturnValue pow(const std::complex& p) const; protected: EIGEN_DEVICE_FUNC MatrixBase() : Base() {} private: EIGEN_DEVICE_FUNC explicit MatrixBase(int); EIGEN_DEVICE_FUNC MatrixBase(int,int); template EIGEN_DEVICE_FUNC explicit MatrixBase(const MatrixBase&); protected: // mixing arrays and matrices is not legal template Derived& operator+=(const ArrayBase& ) {EIGEN_STATIC_ASSERT(std::ptrdiff_t(sizeof(typename OtherDerived::Scalar))==-1,YOU_CANNOT_MIX_ARRAYS_AND_MATRICES); return *this;} // mixing arrays and matrices is not legal template Derived& operator-=(const ArrayBase& ) {EIGEN_STATIC_ASSERT(std::ptrdiff_t(sizeof(typename OtherDerived::Scalar))==-1,YOU_CANNOT_MIX_ARRAYS_AND_MATRICES); return *this;} }; /*************************************************************************** * Implementation of matrix base methods ***************************************************************************/ /** replaces \c *this by \c *this * \a other. * * \returns a reference to \c *this * * Example: \include MatrixBase_applyOnTheRight.cpp * Output: \verbinclude MatrixBase_applyOnTheRight.out */ template template inline Derived& MatrixBase::operator*=(const EigenBase &other) { other.derived().applyThisOnTheRight(derived()); return derived(); } /** replaces \c *this by \c *this * \a other. It is equivalent to MatrixBase::operator*=(). * * Example: \include MatrixBase_applyOnTheRight.cpp * Output: \verbinclude MatrixBase_applyOnTheRight.out */ template template inline void MatrixBase::applyOnTheRight(const EigenBase &other) { other.derived().applyThisOnTheRight(derived()); } /** replaces \c *this by \a other * \c *this. * * Example: \include MatrixBase_applyOnTheLeft.cpp * Output: \verbinclude MatrixBase_applyOnTheLeft.out */ template template inline void MatrixBase::applyOnTheLeft(const EigenBase &other) { other.derived().applyThisOnTheLeft(derived()); } } // end namespace Eigen #endif // EIGEN_MATRIXBASE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/NestByValue.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2008 Gael Guennebaud // Copyright (C) 2006-2008 Benoit Jacob // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_NESTBYVALUE_H #define EIGEN_NESTBYVALUE_H namespace Eigen { namespace internal { template struct traits > : public traits {}; } /** \class NestByValue * \ingroup Core_Module * * \brief Expression which must be nested by value * * \tparam ExpressionType the type of the object of which we are requiring nesting-by-value * * This class is the return type of MatrixBase::nestByValue() * and most of the time this is the only way it is used. * * \sa MatrixBase::nestByValue() */ template class NestByValue : public internal::dense_xpr_base< NestByValue >::type { public: typedef typename internal::dense_xpr_base::type Base; EIGEN_DENSE_PUBLIC_INTERFACE(NestByValue) EIGEN_DEVICE_FUNC explicit inline NestByValue(const ExpressionType& matrix) : m_expression(matrix) {} EIGEN_DEVICE_FUNC inline Index rows() const { return m_expression.rows(); } EIGEN_DEVICE_FUNC inline Index cols() const { return m_expression.cols(); } EIGEN_DEVICE_FUNC inline Index outerStride() const { return m_expression.outerStride(); } EIGEN_DEVICE_FUNC inline Index innerStride() const { return m_expression.innerStride(); } EIGEN_DEVICE_FUNC inline const CoeffReturnType coeff(Index row, Index col) const { return m_expression.coeff(row, col); } EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index row, Index col) { return m_expression.const_cast_derived().coeffRef(row, col); } EIGEN_DEVICE_FUNC inline const CoeffReturnType coeff(Index index) const { return m_expression.coeff(index); } EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index index) { return m_expression.const_cast_derived().coeffRef(index); } template inline const PacketScalar packet(Index row, Index col) const { return m_expression.template packet(row, col); } template inline void writePacket(Index row, Index col, const PacketScalar& x) { m_expression.const_cast_derived().template writePacket(row, col, x); } template inline const PacketScalar packet(Index index) const { return m_expression.template packet(index); } template inline void writePacket(Index index, const PacketScalar& x) { m_expression.const_cast_derived().template writePacket(index, x); } EIGEN_DEVICE_FUNC operator const ExpressionType&() const { return m_expression; } protected: const ExpressionType m_expression; }; /** \returns an expression of the temporary version of *this. */ template inline const NestByValue DenseBase::nestByValue() const { return NestByValue(derived()); } } // end namespace Eigen #endif // EIGEN_NESTBYVALUE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/NoAlias.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2009 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_NOALIAS_H #define EIGEN_NOALIAS_H namespace Eigen { /** \class NoAlias * \ingroup Core_Module * * \brief Pseudo expression providing an operator = assuming no aliasing * * \tparam ExpressionType the type of the object on which to do the lazy assignment * * This class represents an expression with special assignment operators * assuming no aliasing between the target expression and the source expression. * More precisely it alloas to bypass the EvalBeforeAssignBit flag of the source expression. * It is the return type of MatrixBase::noalias() * and most of the time this is the only way it is used. * * \sa MatrixBase::noalias() */ template class StorageBase> class NoAlias { public: typedef typename ExpressionType::Scalar Scalar; explicit NoAlias(ExpressionType& expression) : m_expression(expression) {} template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ExpressionType& operator=(const StorageBase& other) { call_assignment_no_alias(m_expression, other.derived(), internal::assign_op()); return m_expression; } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ExpressionType& operator+=(const StorageBase& other) { call_assignment_no_alias(m_expression, other.derived(), internal::add_assign_op()); return m_expression; } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ExpressionType& operator-=(const StorageBase& other) { call_assignment_no_alias(m_expression, other.derived(), internal::sub_assign_op()); return m_expression; } EIGEN_DEVICE_FUNC ExpressionType& expression() const { return m_expression; } protected: ExpressionType& m_expression; }; /** \returns a pseudo expression of \c *this with an operator= assuming * no aliasing between \c *this and the source expression. * * More precisely, noalias() allows to bypass the EvalBeforeAssignBit flag. * Currently, even though several expressions may alias, only product * expressions have this flag. Therefore, noalias() is only usefull when * the source expression contains a matrix product. * * Here are some examples where noalias is usefull: * \code * D.noalias() = A * B; * D.noalias() += A.transpose() * B; * D.noalias() -= 2 * A * B.adjoint(); * \endcode * * On the other hand the following example will lead to a \b wrong result: * \code * A.noalias() = A * B; * \endcode * because the result matrix A is also an operand of the matrix product. Therefore, * there is no alternative than evaluating A * B in a temporary, that is the default * behavior when you write: * \code * A = A * B; * \endcode * * \sa class NoAlias */ template NoAlias MatrixBase::noalias() { return NoAlias(derived()); } } // end namespace Eigen #endif // EIGEN_NOALIAS_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/NumTraits.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2006-2010 Benoit Jacob // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_NUMTRAITS_H #define EIGEN_NUMTRAITS_H namespace Eigen { namespace internal { // default implementation of digits10(), based on numeric_limits if specialized, // 0 for integer types, and log10(epsilon()) otherwise. template< typename T, bool use_numeric_limits = std::numeric_limits::is_specialized, bool is_integer = NumTraits::IsInteger> struct default_digits10_impl { static int run() { return std::numeric_limits::digits10; } }; template struct default_digits10_impl // Floating point { static int run() { using std::log10; using std::ceil; typedef typename NumTraits::Real Real; return int(ceil(-log10(NumTraits::epsilon()))); } }; template struct default_digits10_impl // Integer { static int run() { return 0; } }; } // end namespace internal /** \class NumTraits * \ingroup Core_Module * * \brief Holds information about the various numeric (i.e. scalar) types allowed by Eigen. * * \tparam T the numeric type at hand * * This class stores enums, typedefs and static methods giving information about a numeric type. * * The provided data consists of: * \li A typedef \c Real, giving the "real part" type of \a T. If \a T is already real, * then \c Real is just a typedef to \a T. If \a T is \c std::complex then \c Real * is a typedef to \a U. * \li A typedef \c NonInteger, giving the type that should be used for operations producing non-integral values, * such as quotients, square roots, etc. If \a T is a floating-point type, then this typedef just gives * \a T again. Note however that many Eigen functions such as internal::sqrt simply refuse to * take integers. Outside of a few cases, Eigen doesn't do automatic type promotion. Thus, this typedef is * only intended as a helper for code that needs to explicitly promote types. * \li A typedef \c Literal giving the type to use for numeric literals such as "2" or "0.5". For instance, for \c std::complex, Literal is defined as \c U. * Of course, this type must be fully compatible with \a T. In doubt, just use \a T here. * \li A typedef \a Nested giving the type to use to nest a value inside of the expression tree. If you don't know what * this means, just use \a T here. * \li An enum value \a IsComplex. It is equal to 1 if \a T is a \c std::complex * type, and to 0 otherwise. * \li An enum value \a IsInteger. It is equal to \c 1 if \a T is an integer type such as \c int, * and to \c 0 otherwise. * \li Enum values ReadCost, AddCost and MulCost representing a rough estimate of the number of CPU cycles needed * to by move / add / mul instructions respectively, assuming the data is already stored in CPU registers. * Stay vague here. No need to do architecture-specific stuff. * \li An enum value \a IsSigned. It is equal to \c 1 if \a T is a signed type and to 0 if \a T is unsigned. * \li An enum value \a RequireInitialization. It is equal to \c 1 if the constructor of the numeric type \a T must * be called, and to 0 if it is safe not to call it. Default is 0 if \a T is an arithmetic type, and 1 otherwise. * \li An epsilon() function which, unlike std::numeric_limits::epsilon(), * it returns a \a Real instead of a \a T. * \li A dummy_precision() function returning a weak epsilon value. It is mainly used as a default * value by the fuzzy comparison operators. * \li highest() and lowest() functions returning the highest and lowest possible values respectively. * \li digits10() function returning the number of decimal digits that can be represented without change. This is * the analogue of std::numeric_limits::digits10 * which is used as the default implementation if specialized. */ template struct GenericNumTraits { enum { IsInteger = std::numeric_limits::is_integer, IsSigned = std::numeric_limits::is_signed, IsComplex = 0, RequireInitialization = internal::is_arithmetic::value ? 0 : 1, ReadCost = 1, AddCost = 1, MulCost = 1 }; typedef T Real; typedef typename internal::conditional< IsInteger, typename internal::conditional::type, T >::type NonInteger; typedef T Nested; typedef T Literal; EIGEN_DEVICE_FUNC static inline Real epsilon() { return numext::numeric_limits::epsilon(); } EIGEN_DEVICE_FUNC static inline int digits10() { return internal::default_digits10_impl::run(); } EIGEN_DEVICE_FUNC static inline Real dummy_precision() { // make sure to override this for floating-point types return Real(0); } EIGEN_DEVICE_FUNC static inline T highest() { return (numext::numeric_limits::max)(); } EIGEN_DEVICE_FUNC static inline T lowest() { return IsInteger ? (numext::numeric_limits::min)() : (-(numext::numeric_limits::max)()); } EIGEN_DEVICE_FUNC static inline T infinity() { return numext::numeric_limits::infinity(); } EIGEN_DEVICE_FUNC static inline T quiet_NaN() { return numext::numeric_limits::quiet_NaN(); } }; template struct NumTraits : GenericNumTraits {}; template<> struct NumTraits : GenericNumTraits { EIGEN_DEVICE_FUNC static inline float dummy_precision() { return 1e-5f; } }; template<> struct NumTraits : GenericNumTraits { EIGEN_DEVICE_FUNC static inline double dummy_precision() { return 1e-12; } }; template<> struct NumTraits : GenericNumTraits { static inline long double dummy_precision() { return 1e-15l; } }; template struct NumTraits > : GenericNumTraits > { typedef _Real Real; typedef typename NumTraits<_Real>::Literal Literal; enum { IsComplex = 1, RequireInitialization = NumTraits<_Real>::RequireInitialization, ReadCost = 2 * NumTraits<_Real>::ReadCost, AddCost = 2 * NumTraits::AddCost, MulCost = 4 * NumTraits::MulCost + 2 * NumTraits::AddCost }; EIGEN_DEVICE_FUNC static inline Real epsilon() { return NumTraits::epsilon(); } EIGEN_DEVICE_FUNC static inline Real dummy_precision() { return NumTraits::dummy_precision(); } EIGEN_DEVICE_FUNC static inline int digits10() { return NumTraits::digits10(); } }; template struct NumTraits > { typedef Array ArrayType; typedef typename NumTraits::Real RealScalar; typedef Array Real; typedef typename NumTraits::NonInteger NonIntegerScalar; typedef Array NonInteger; typedef ArrayType & Nested; typedef typename NumTraits::Literal Literal; enum { IsComplex = NumTraits::IsComplex, IsInteger = NumTraits::IsInteger, IsSigned = NumTraits::IsSigned, RequireInitialization = 1, ReadCost = ArrayType::SizeAtCompileTime==Dynamic ? HugeCost : ArrayType::SizeAtCompileTime * NumTraits::ReadCost, AddCost = ArrayType::SizeAtCompileTime==Dynamic ? HugeCost : ArrayType::SizeAtCompileTime * NumTraits::AddCost, MulCost = ArrayType::SizeAtCompileTime==Dynamic ? HugeCost : ArrayType::SizeAtCompileTime * NumTraits::MulCost }; EIGEN_DEVICE_FUNC static inline RealScalar epsilon() { return NumTraits::epsilon(); } EIGEN_DEVICE_FUNC static inline RealScalar dummy_precision() { return NumTraits::dummy_precision(); } }; template<> struct NumTraits : GenericNumTraits { enum { RequireInitialization = 1, ReadCost = HugeCost, AddCost = HugeCost, MulCost = HugeCost }; static inline int digits10() { return 0; } private: static inline std::string epsilon(); static inline std::string dummy_precision(); static inline std::string lowest(); static inline std::string highest(); static inline std::string infinity(); static inline std::string quiet_NaN(); }; // Empty specialization for void to allow template specialization based on NumTraits::Real with T==void and SFINAE. template<> struct NumTraits {}; } // end namespace Eigen #endif // EIGEN_NUMTRAITS_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/PermutationMatrix.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2009 Benoit Jacob // Copyright (C) 2009-2015 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_PERMUTATIONMATRIX_H #define EIGEN_PERMUTATIONMATRIX_H namespace Eigen { namespace internal { enum PermPermProduct_t {PermPermProduct}; } // end namespace internal /** \class PermutationBase * \ingroup Core_Module * * \brief Base class for permutations * * \tparam Derived the derived class * * This class is the base class for all expressions representing a permutation matrix, * internally stored as a vector of integers. * The convention followed here is that if \f$ \sigma \f$ is a permutation, the corresponding permutation matrix * \f$ P_\sigma \f$ is such that if \f$ (e_1,\ldots,e_p) \f$ is the canonical basis, we have: * \f[ P_\sigma(e_i) = e_{\sigma(i)}. \f] * This convention ensures that for any two permutations \f$ \sigma, \tau \f$, we have: * \f[ P_{\sigma\circ\tau} = P_\sigma P_\tau. \f] * * Permutation matrices are square and invertible. * * Notice that in addition to the member functions and operators listed here, there also are non-member * operator* to multiply any kind of permutation object with any kind of matrix expression (MatrixBase) * on either side. * * \sa class PermutationMatrix, class PermutationWrapper */ template class PermutationBase : public EigenBase { typedef internal::traits Traits; typedef EigenBase Base; public: #ifndef EIGEN_PARSED_BY_DOXYGEN typedef typename Traits::IndicesType IndicesType; enum { Flags = Traits::Flags, RowsAtCompileTime = Traits::RowsAtCompileTime, ColsAtCompileTime = Traits::ColsAtCompileTime, MaxRowsAtCompileTime = Traits::MaxRowsAtCompileTime, MaxColsAtCompileTime = Traits::MaxColsAtCompileTime }; typedef typename Traits::StorageIndex StorageIndex; typedef Matrix DenseMatrixType; typedef PermutationMatrix PlainPermutationType; typedef PlainPermutationType PlainObject; using Base::derived; typedef Inverse InverseReturnType; typedef void Scalar; #endif /** Copies the other permutation into *this */ template Derived& operator=(const PermutationBase& other) { indices() = other.indices(); return derived(); } /** Assignment from the Transpositions \a tr */ template Derived& operator=(const TranspositionsBase& tr) { setIdentity(tr.size()); for(Index k=size()-1; k>=0; --k) applyTranspositionOnTheRight(k,tr.coeff(k)); return derived(); } #ifndef EIGEN_PARSED_BY_DOXYGEN /** This is a special case of the templated operator=. Its purpose is to * prevent a default operator= from hiding the templated operator=. */ Derived& operator=(const PermutationBase& other) { indices() = other.indices(); return derived(); } #endif /** \returns the number of rows */ inline Index rows() const { return Index(indices().size()); } /** \returns the number of columns */ inline Index cols() const { return Index(indices().size()); } /** \returns the size of a side of the respective square matrix, i.e., the number of indices */ inline Index size() const { return Index(indices().size()); } #ifndef EIGEN_PARSED_BY_DOXYGEN template void evalTo(MatrixBase& other) const { other.setZero(); for (Index i=0; i=0 && j>=0 && i=0 && j>=0 && i void assignTranspose(const PermutationBase& other) { for (Index i=0; i void assignProduct(const Lhs& lhs, const Rhs& rhs) { eigen_assert(lhs.cols() == rhs.rows()); for (Index i=0; i inline PlainPermutationType operator*(const PermutationBase& other) const { return PlainPermutationType(internal::PermPermProduct, derived(), other.derived()); } /** \returns the product of a permutation with another inverse permutation. * * \note \blank \note_try_to_help_rvo */ template inline PlainPermutationType operator*(const InverseImpl& other) const { return PlainPermutationType(internal::PermPermProduct, *this, other.eval()); } /** \returns the product of an inverse permutation with another permutation. * * \note \blank \note_try_to_help_rvo */ template friend inline PlainPermutationType operator*(const InverseImpl& other, const PermutationBase& perm) { return PlainPermutationType(internal::PermPermProduct, other.eval(), perm); } /** \returns the determinant of the permutation matrix, which is either 1 or -1 depending on the parity of the permutation. * * This function is O(\c n) procedure allocating a buffer of \c n booleans. */ Index determinant() const { Index res = 1; Index n = size(); Matrix mask(n); mask.fill(false); Index r = 0; while(r < n) { // search for the next seed while(r=n) break; // we got one, let's follow it until we are back to the seed Index k0 = r++; mask.coeffRef(k0) = true; for(Index k=indices().coeff(k0); k!=k0; k=indices().coeff(k)) { mask.coeffRef(k) = true; res = -res; } } return res; } protected: }; namespace internal { template struct traits > : traits > { typedef PermutationStorage StorageKind; typedef Matrix<_StorageIndex, SizeAtCompileTime, 1, 0, MaxSizeAtCompileTime, 1> IndicesType; typedef _StorageIndex StorageIndex; typedef void Scalar; }; } /** \class PermutationMatrix * \ingroup Core_Module * * \brief Permutation matrix * * \tparam SizeAtCompileTime the number of rows/cols, or Dynamic * \tparam MaxSizeAtCompileTime the maximum number of rows/cols, or Dynamic. This optional parameter defaults to SizeAtCompileTime. Most of the time, you should not have to specify it. * \tparam _StorageIndex the integer type of the indices * * This class represents a permutation matrix, internally stored as a vector of integers. * * \sa class PermutationBase, class PermutationWrapper, class DiagonalMatrix */ template class PermutationMatrix : public PermutationBase > { typedef PermutationBase Base; typedef internal::traits Traits; public: typedef const PermutationMatrix& Nested; #ifndef EIGEN_PARSED_BY_DOXYGEN typedef typename Traits::IndicesType IndicesType; typedef typename Traits::StorageIndex StorageIndex; #endif inline PermutationMatrix() {} /** Constructs an uninitialized permutation matrix of given size. */ explicit inline PermutationMatrix(Index size) : m_indices(size) { eigen_internal_assert(size <= NumTraits::highest()); } /** Copy constructor. */ template inline PermutationMatrix(const PermutationBase& other) : m_indices(other.indices()) {} #ifndef EIGEN_PARSED_BY_DOXYGEN /** Standard copy constructor. Defined only to prevent a default copy constructor * from hiding the other templated constructor */ inline PermutationMatrix(const PermutationMatrix& other) : m_indices(other.indices()) {} #endif /** Generic constructor from expression of the indices. The indices * array has the meaning that the permutations sends each integer i to indices[i]. * * \warning It is your responsibility to check that the indices array that you passes actually * describes a permutation, i.e., each value between 0 and n-1 occurs exactly once, where n is the * array's size. */ template explicit inline PermutationMatrix(const MatrixBase& indices) : m_indices(indices) {} /** Convert the Transpositions \a tr to a permutation matrix */ template explicit PermutationMatrix(const TranspositionsBase& tr) : m_indices(tr.size()) { *this = tr; } /** Copies the other permutation into *this */ template PermutationMatrix& operator=(const PermutationBase& other) { m_indices = other.indices(); return *this; } /** Assignment from the Transpositions \a tr */ template PermutationMatrix& operator=(const TranspositionsBase& tr) { return Base::operator=(tr.derived()); } #ifndef EIGEN_PARSED_BY_DOXYGEN /** This is a special case of the templated operator=. Its purpose is to * prevent a default operator= from hiding the templated operator=. */ PermutationMatrix& operator=(const PermutationMatrix& other) { m_indices = other.m_indices; return *this; } #endif /** const version of indices(). */ const IndicesType& indices() const { return m_indices; } /** \returns a reference to the stored array representing the permutation. */ IndicesType& indices() { return m_indices; } /**** multiplication helpers to hopefully get RVO ****/ #ifndef EIGEN_PARSED_BY_DOXYGEN template PermutationMatrix(const InverseImpl& other) : m_indices(other.derived().nestedExpression().size()) { eigen_internal_assert(m_indices.size() <= NumTraits::highest()); StorageIndex end = StorageIndex(m_indices.size()); for (StorageIndex i=0; i PermutationMatrix(internal::PermPermProduct_t, const Lhs& lhs, const Rhs& rhs) : m_indices(lhs.indices().size()) { Base::assignProduct(lhs,rhs); } #endif protected: IndicesType m_indices; }; namespace internal { template struct traits,_PacketAccess> > : traits > { typedef PermutationStorage StorageKind; typedef Map, _PacketAccess> IndicesType; typedef _StorageIndex StorageIndex; typedef void Scalar; }; } template class Map,_PacketAccess> : public PermutationBase,_PacketAccess> > { typedef PermutationBase Base; typedef internal::traits Traits; public: #ifndef EIGEN_PARSED_BY_DOXYGEN typedef typename Traits::IndicesType IndicesType; typedef typename IndicesType::Scalar StorageIndex; #endif inline Map(const StorageIndex* indicesPtr) : m_indices(indicesPtr) {} inline Map(const StorageIndex* indicesPtr, Index size) : m_indices(indicesPtr,size) {} /** Copies the other permutation into *this */ template Map& operator=(const PermutationBase& other) { return Base::operator=(other.derived()); } /** Assignment from the Transpositions \a tr */ template Map& operator=(const TranspositionsBase& tr) { return Base::operator=(tr.derived()); } #ifndef EIGEN_PARSED_BY_DOXYGEN /** This is a special case of the templated operator=. Its purpose is to * prevent a default operator= from hiding the templated operator=. */ Map& operator=(const Map& other) { m_indices = other.m_indices; return *this; } #endif /** const version of indices(). */ const IndicesType& indices() const { return m_indices; } /** \returns a reference to the stored array representing the permutation. */ IndicesType& indices() { return m_indices; } protected: IndicesType m_indices; }; template class TranspositionsWrapper; namespace internal { template struct traits > { typedef PermutationStorage StorageKind; typedef void Scalar; typedef typename _IndicesType::Scalar StorageIndex; typedef _IndicesType IndicesType; enum { RowsAtCompileTime = _IndicesType::SizeAtCompileTime, ColsAtCompileTime = _IndicesType::SizeAtCompileTime, MaxRowsAtCompileTime = IndicesType::MaxSizeAtCompileTime, MaxColsAtCompileTime = IndicesType::MaxSizeAtCompileTime, Flags = 0 }; }; } /** \class PermutationWrapper * \ingroup Core_Module * * \brief Class to view a vector of integers as a permutation matrix * * \tparam _IndicesType the type of the vector of integer (can be any compatible expression) * * This class allows to view any vector expression of integers as a permutation matrix. * * \sa class PermutationBase, class PermutationMatrix */ template class PermutationWrapper : public PermutationBase > { typedef PermutationBase Base; typedef internal::traits Traits; public: #ifndef EIGEN_PARSED_BY_DOXYGEN typedef typename Traits::IndicesType IndicesType; #endif inline PermutationWrapper(const IndicesType& indices) : m_indices(indices) {} /** const version of indices(). */ const typename internal::remove_all::type& indices() const { return m_indices; } protected: typename IndicesType::Nested m_indices; }; /** \returns the matrix with the permutation applied to the columns. */ template EIGEN_DEVICE_FUNC const Product operator*(const MatrixBase &matrix, const PermutationBase& permutation) { return Product (matrix.derived(), permutation.derived()); } /** \returns the matrix with the permutation applied to the rows. */ template EIGEN_DEVICE_FUNC const Product operator*(const PermutationBase &permutation, const MatrixBase& matrix) { return Product (permutation.derived(), matrix.derived()); } template class InverseImpl : public EigenBase > { typedef typename PermutationType::PlainPermutationType PlainPermutationType; typedef internal::traits PermTraits; protected: InverseImpl() {} public: typedef Inverse InverseType; using EigenBase >::derived; #ifndef EIGEN_PARSED_BY_DOXYGEN typedef typename PermutationType::DenseMatrixType DenseMatrixType; enum { RowsAtCompileTime = PermTraits::RowsAtCompileTime, ColsAtCompileTime = PermTraits::ColsAtCompileTime, MaxRowsAtCompileTime = PermTraits::MaxRowsAtCompileTime, MaxColsAtCompileTime = PermTraits::MaxColsAtCompileTime }; #endif #ifndef EIGEN_PARSED_BY_DOXYGEN template void evalTo(MatrixBase& other) const { other.setZero(); for (Index i=0; i friend const Product operator*(const MatrixBase& matrix, const InverseType& trPerm) { return Product(matrix.derived(), trPerm.derived()); } /** \returns the matrix with the inverse permutation applied to the rows. */ template const Product operator*(const MatrixBase& matrix) const { return Product(derived(), matrix.derived()); } }; template const PermutationWrapper MatrixBase::asPermutation() const { return derived(); } namespace internal { template<> struct AssignmentKind { typedef EigenBase2EigenBase Kind; }; } // end namespace internal } // end namespace Eigen #endif // EIGEN_PERMUTATIONMATRIX_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/PlainObjectBase.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2008-2009 Gael Guennebaud // Copyright (C) 2006-2008 Benoit Jacob // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_DENSESTORAGEBASE_H #define EIGEN_DENSESTORAGEBASE_H #if defined(EIGEN_INITIALIZE_MATRICES_BY_ZERO) # define EIGEN_INITIALIZE_COEFFS # define EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED for(int i=0;i::quiet_NaN(); #else # undef EIGEN_INITIALIZE_COEFFS # define EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED #endif namespace Eigen { namespace internal { template struct check_rows_cols_for_overflow { template EIGEN_DEVICE_FUNC static EIGEN_ALWAYS_INLINE void run(Index, Index) { } }; template<> struct check_rows_cols_for_overflow { template EIGEN_DEVICE_FUNC static EIGEN_ALWAYS_INLINE void run(Index rows, Index cols) { // http://hg.mozilla.org/mozilla-central/file/6c8a909977d3/xpcom/ds/CheckedInt.h#l242 // we assume Index is signed Index max_index = (size_t(1) << (8 * sizeof(Index) - 1)) - 1; // assume Index is signed bool error = (rows == 0 || cols == 0) ? false : (rows > max_index / cols); if (error) throw_std_bad_alloc(); } }; template struct conservative_resize_like_impl; template struct matrix_swap_impl; } // end namespace internal /** \class PlainObjectBase * \ingroup Core_Module * \brief %Dense storage base class for matrices and arrays. * * This class can be extended with the help of the plugin mechanism described on the page * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_PLAINOBJECTBASE_PLUGIN. * * \sa \ref TopicClassHierarchy */ #ifdef EIGEN_PARSED_BY_DOXYGEN namespace doxygen { // this is a workaround to doxygen not being able to understand the inheritance logic // when it is hidden by the dense_xpr_base helper struct. /** This class is just a workaround for Doxygen and it does not not actually exist. */ template struct dense_xpr_base_dispatcher; /** This class is just a workaround for Doxygen and it does not not actually exist. */ template struct dense_xpr_base_dispatcher > : public MatrixBase > {}; /** This class is just a workaround for Doxygen and it does not not actually exist. */ template struct dense_xpr_base_dispatcher > : public ArrayBase > {}; } // namespace doxygen template class PlainObjectBase : public doxygen::dense_xpr_base_dispatcher #else template class PlainObjectBase : public internal::dense_xpr_base::type #endif { public: enum { Options = internal::traits::Options }; typedef typename internal::dense_xpr_base::type Base; typedef typename internal::traits::StorageKind StorageKind; typedef typename internal::traits::Scalar Scalar; typedef typename internal::packet_traits::type PacketScalar; typedef typename NumTraits::Real RealScalar; typedef Derived DenseType; using Base::RowsAtCompileTime; using Base::ColsAtCompileTime; using Base::SizeAtCompileTime; using Base::MaxRowsAtCompileTime; using Base::MaxColsAtCompileTime; using Base::MaxSizeAtCompileTime; using Base::IsVectorAtCompileTime; using Base::Flags; template friend class Eigen::Map; friend class Eigen::Map; typedef Eigen::Map MapType; friend class Eigen::Map; typedef const Eigen::Map ConstMapType; #if EIGEN_MAX_ALIGN_BYTES>0 // for EIGEN_MAX_ALIGN_BYTES==0, AlignedMax==Unaligned, and many compilers generate warnings for friend-ing a class twice. friend class Eigen::Map; friend class Eigen::Map; #endif typedef Eigen::Map AlignedMapType; typedef const Eigen::Map ConstAlignedMapType; template struct StridedMapType { typedef Eigen::Map type; }; template struct StridedConstMapType { typedef Eigen::Map type; }; template struct StridedAlignedMapType { typedef Eigen::Map type; }; template struct StridedConstAlignedMapType { typedef Eigen::Map type; }; protected: DenseStorage m_storage; public: enum { NeedsToAlign = (SizeAtCompileTime != Dynamic) && (internal::traits::Alignment>0) }; EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign) EIGEN_DEVICE_FUNC Base& base() { return *static_cast(this); } EIGEN_DEVICE_FUNC const Base& base() const { return *static_cast(this); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index rows() const { return m_storage.rows(); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index cols() const { return m_storage.cols(); } /** This is an overloaded version of DenseCoeffsBase::coeff(Index,Index) const * provided to by-pass the creation of an evaluator of the expression, thus saving compilation efforts. * * See DenseCoeffsBase::coeff(Index) const for details. */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& coeff(Index rowId, Index colId) const { if(Flags & RowMajorBit) return m_storage.data()[colId + rowId * m_storage.cols()]; else // column-major return m_storage.data()[rowId + colId * m_storage.rows()]; } /** This is an overloaded version of DenseCoeffsBase::coeff(Index) const * provided to by-pass the creation of an evaluator of the expression, thus saving compilation efforts. * * See DenseCoeffsBase::coeff(Index) const for details. */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& coeff(Index index) const { return m_storage.data()[index]; } /** This is an overloaded version of DenseCoeffsBase::coeffRef(Index,Index) const * provided to by-pass the creation of an evaluator of the expression, thus saving compilation efforts. * * See DenseCoeffsBase::coeffRef(Index,Index) const for details. */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(Index rowId, Index colId) { if(Flags & RowMajorBit) return m_storage.data()[colId + rowId * m_storage.cols()]; else // column-major return m_storage.data()[rowId + colId * m_storage.rows()]; } /** This is an overloaded version of DenseCoeffsBase::coeffRef(Index) const * provided to by-pass the creation of an evaluator of the expression, thus saving compilation efforts. * * See DenseCoeffsBase::coeffRef(Index) const for details. */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(Index index) { return m_storage.data()[index]; } /** This is the const version of coeffRef(Index,Index) which is thus synonym of coeff(Index,Index). * It is provided for convenience. */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& coeffRef(Index rowId, Index colId) const { if(Flags & RowMajorBit) return m_storage.data()[colId + rowId * m_storage.cols()]; else // column-major return m_storage.data()[rowId + colId * m_storage.rows()]; } /** This is the const version of coeffRef(Index) which is thus synonym of coeff(Index). * It is provided for convenience. */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& coeffRef(Index index) const { return m_storage.data()[index]; } /** \internal */ template EIGEN_STRONG_INLINE PacketScalar packet(Index rowId, Index colId) const { return internal::ploadt (m_storage.data() + (Flags & RowMajorBit ? colId + rowId * m_storage.cols() : rowId + colId * m_storage.rows())); } /** \internal */ template EIGEN_STRONG_INLINE PacketScalar packet(Index index) const { return internal::ploadt(m_storage.data() + index); } /** \internal */ template EIGEN_STRONG_INLINE void writePacket(Index rowId, Index colId, const PacketScalar& val) { internal::pstoret (m_storage.data() + (Flags & RowMajorBit ? colId + rowId * m_storage.cols() : rowId + colId * m_storage.rows()), val); } /** \internal */ template EIGEN_STRONG_INLINE void writePacket(Index index, const PacketScalar& val) { internal::pstoret(m_storage.data() + index, val); } /** \returns a const pointer to the data array of this matrix */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar *data() const { return m_storage.data(); } /** \returns a pointer to the data array of this matrix */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar *data() { return m_storage.data(); } /** Resizes \c *this to a \a rows x \a cols matrix. * * This method is intended for dynamic-size matrices, although it is legal to call it on any * matrix as long as fixed dimensions are left unchanged. If you only want to change the number * of rows and/or of columns, you can use resize(NoChange_t, Index), resize(Index, NoChange_t). * * If the current number of coefficients of \c *this exactly matches the * product \a rows * \a cols, then no memory allocation is performed and * the current values are left unchanged. In all other cases, including * shrinking, the data is reallocated and all previous values are lost. * * Example: \include Matrix_resize_int_int.cpp * Output: \verbinclude Matrix_resize_int_int.out * * \sa resize(Index) for vectors, resize(NoChange_t, Index), resize(Index, NoChange_t) */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void resize(Index rows, Index cols) { eigen_assert( EIGEN_IMPLIES(RowsAtCompileTime!=Dynamic,rows==RowsAtCompileTime) && EIGEN_IMPLIES(ColsAtCompileTime!=Dynamic,cols==ColsAtCompileTime) && EIGEN_IMPLIES(RowsAtCompileTime==Dynamic && MaxRowsAtCompileTime!=Dynamic,rows<=MaxRowsAtCompileTime) && EIGEN_IMPLIES(ColsAtCompileTime==Dynamic && MaxColsAtCompileTime!=Dynamic,cols<=MaxColsAtCompileTime) && rows>=0 && cols>=0 && "Invalid sizes when resizing a matrix or array."); internal::check_rows_cols_for_overflow::run(rows, cols); #ifdef EIGEN_INITIALIZE_COEFFS Index size = rows*cols; bool size_changed = size != this->size(); m_storage.resize(size, rows, cols); if(size_changed) EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED #else m_storage.resize(rows*cols, rows, cols); #endif } /** Resizes \c *this to a vector of length \a size * * \only_for_vectors. This method does not work for * partially dynamic matrices when the static dimension is anything other * than 1. For example it will not work with Matrix. * * Example: \include Matrix_resize_int.cpp * Output: \verbinclude Matrix_resize_int.out * * \sa resize(Index,Index), resize(NoChange_t, Index), resize(Index, NoChange_t) */ EIGEN_DEVICE_FUNC inline void resize(Index size) { EIGEN_STATIC_ASSERT_VECTOR_ONLY(PlainObjectBase) eigen_assert(((SizeAtCompileTime == Dynamic && (MaxSizeAtCompileTime==Dynamic || size<=MaxSizeAtCompileTime)) || SizeAtCompileTime == size) && size>=0); #ifdef EIGEN_INITIALIZE_COEFFS bool size_changed = size != this->size(); #endif if(RowsAtCompileTime == 1) m_storage.resize(size, 1, size); else m_storage.resize(size, size, 1); #ifdef EIGEN_INITIALIZE_COEFFS if(size_changed) EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED #endif } /** Resizes the matrix, changing only the number of columns. For the parameter of type NoChange_t, just pass the special value \c NoChange * as in the example below. * * Example: \include Matrix_resize_NoChange_int.cpp * Output: \verbinclude Matrix_resize_NoChange_int.out * * \sa resize(Index,Index) */ EIGEN_DEVICE_FUNC inline void resize(NoChange_t, Index cols) { resize(rows(), cols); } /** Resizes the matrix, changing only the number of rows. For the parameter of type NoChange_t, just pass the special value \c NoChange * as in the example below. * * Example: \include Matrix_resize_int_NoChange.cpp * Output: \verbinclude Matrix_resize_int_NoChange.out * * \sa resize(Index,Index) */ EIGEN_DEVICE_FUNC inline void resize(Index rows, NoChange_t) { resize(rows, cols()); } /** Resizes \c *this to have the same dimensions as \a other. * Takes care of doing all the checking that's needed. * * Note that copying a row-vector into a vector (and conversely) is allowed. * The resizing, if any, is then done in the appropriate way so that row-vectors * remain row-vectors and vectors remain vectors. */ template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void resizeLike(const EigenBase& _other) { const OtherDerived& other = _other.derived(); internal::check_rows_cols_for_overflow::run(other.rows(), other.cols()); const Index othersize = other.rows()*other.cols(); if(RowsAtCompileTime == 1) { eigen_assert(other.rows() == 1 || other.cols() == 1); resize(1, othersize); } else if(ColsAtCompileTime == 1) { eigen_assert(other.rows() == 1 || other.cols() == 1); resize(othersize, 1); } else resize(other.rows(), other.cols()); } /** Resizes the matrix to \a rows x \a cols while leaving old values untouched. * * The method is intended for matrices of dynamic size. If you only want to change the number * of rows and/or of columns, you can use conservativeResize(NoChange_t, Index) or * conservativeResize(Index, NoChange_t). * * Matrices are resized relative to the top-left element. In case values need to be * appended to the matrix they will be uninitialized. */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void conservativeResize(Index rows, Index cols) { internal::conservative_resize_like_impl::run(*this, rows, cols); } /** Resizes the matrix to \a rows x \a cols while leaving old values untouched. * * As opposed to conservativeResize(Index rows, Index cols), this version leaves * the number of columns unchanged. * * In case the matrix is growing, new rows will be uninitialized. */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void conservativeResize(Index rows, NoChange_t) { // Note: see the comment in conservativeResize(Index,Index) conservativeResize(rows, cols()); } /** Resizes the matrix to \a rows x \a cols while leaving old values untouched. * * As opposed to conservativeResize(Index rows, Index cols), this version leaves * the number of rows unchanged. * * In case the matrix is growing, new columns will be uninitialized. */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void conservativeResize(NoChange_t, Index cols) { // Note: see the comment in conservativeResize(Index,Index) conservativeResize(rows(), cols); } /** Resizes the vector to \a size while retaining old values. * * \only_for_vectors. This method does not work for * partially dynamic matrices when the static dimension is anything other * than 1. For example it will not work with Matrix. * * When values are appended, they will be uninitialized. */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void conservativeResize(Index size) { internal::conservative_resize_like_impl::run(*this, size); } /** Resizes the matrix to \a rows x \a cols of \c other, while leaving old values untouched. * * The method is intended for matrices of dynamic size. If you only want to change the number * of rows and/or of columns, you can use conservativeResize(NoChange_t, Index) or * conservativeResize(Index, NoChange_t). * * Matrices are resized relative to the top-left element. In case values need to be * appended to the matrix they will copied from \c other. */ template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void conservativeResizeLike(const DenseBase& other) { internal::conservative_resize_like_impl::run(*this, other); } /** This is a special case of the templated operator=. Its purpose is to * prevent a default operator= from hiding the templated operator=. */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator=(const PlainObjectBase& other) { return _set(other); } /** \sa MatrixBase::lazyAssign() */ template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& lazyAssign(const DenseBase& other) { _resize_to_match(other); return Base::lazyAssign(other.derived()); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator=(const ReturnByValue& func) { resize(func.rows(), func.cols()); return Base::operator=(func); } // Prevent user from trying to instantiate PlainObjectBase objects // by making all its constructor protected. See bug 1074. protected: EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PlainObjectBase() : m_storage() { // _check_template_params(); // EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED } #ifndef EIGEN_PARSED_BY_DOXYGEN // FIXME is it still needed ? /** \internal */ EIGEN_DEVICE_FUNC explicit PlainObjectBase(internal::constructor_without_unaligned_array_assert) : m_storage(internal::constructor_without_unaligned_array_assert()) { // _check_template_params(); EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED } #endif #if EIGEN_HAS_RVALUE_REFERENCES EIGEN_DEVICE_FUNC PlainObjectBase(PlainObjectBase&& other) EIGEN_NOEXCEPT : m_storage( std::move(other.m_storage) ) { } EIGEN_DEVICE_FUNC PlainObjectBase& operator=(PlainObjectBase&& other) EIGEN_NOEXCEPT { using std::swap; swap(m_storage, other.m_storage); return *this; } #endif /** Copy constructor */ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PlainObjectBase(const PlainObjectBase& other) : Base(), m_storage(other.m_storage) { } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PlainObjectBase(Index size, Index rows, Index cols) : m_storage(size, rows, cols) { // _check_template_params(); // EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED } /** \sa PlainObjectBase::operator=(const EigenBase&) */ template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PlainObjectBase(const DenseBase &other) : m_storage() { _check_template_params(); resizeLike(other); _set_noalias(other); } /** \sa PlainObjectBase::operator=(const EigenBase&) */ template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PlainObjectBase(const EigenBase &other) : m_storage() { _check_template_params(); resizeLike(other); *this = other.derived(); } /** \brief Copy constructor with in-place evaluation */ template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PlainObjectBase(const ReturnByValue& other) { _check_template_params(); // FIXME this does not automatically transpose vectors if necessary resize(other.rows(), other.cols()); other.evalTo(this->derived()); } public: /** \copydoc DenseBase::operator=(const EigenBase&) */ template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator=(const EigenBase &other) { _resize_to_match(other); Base::operator=(other.derived()); return this->derived(); } /** \name Map * These are convenience functions returning Map objects. The Map() static functions return unaligned Map objects, * while the AlignedMap() functions return aligned Map objects and thus should be called only with 16-byte-aligned * \a data pointers. * * \see class Map */ //@{ static inline ConstMapType Map(const Scalar* data) { return ConstMapType(data); } static inline MapType Map(Scalar* data) { return MapType(data); } static inline ConstMapType Map(const Scalar* data, Index size) { return ConstMapType(data, size); } static inline MapType Map(Scalar* data, Index size) { return MapType(data, size); } static inline ConstMapType Map(const Scalar* data, Index rows, Index cols) { return ConstMapType(data, rows, cols); } static inline MapType Map(Scalar* data, Index rows, Index cols) { return MapType(data, rows, cols); } static inline ConstAlignedMapType MapAligned(const Scalar* data) { return ConstAlignedMapType(data); } static inline AlignedMapType MapAligned(Scalar* data) { return AlignedMapType(data); } static inline ConstAlignedMapType MapAligned(const Scalar* data, Index size) { return ConstAlignedMapType(data, size); } static inline AlignedMapType MapAligned(Scalar* data, Index size) { return AlignedMapType(data, size); } static inline ConstAlignedMapType MapAligned(const Scalar* data, Index rows, Index cols) { return ConstAlignedMapType(data, rows, cols); } static inline AlignedMapType MapAligned(Scalar* data, Index rows, Index cols) { return AlignedMapType(data, rows, cols); } template static inline typename StridedConstMapType >::type Map(const Scalar* data, const Stride& stride) { return typename StridedConstMapType >::type(data, stride); } template static inline typename StridedMapType >::type Map(Scalar* data, const Stride& stride) { return typename StridedMapType >::type(data, stride); } template static inline typename StridedConstMapType >::type Map(const Scalar* data, Index size, const Stride& stride) { return typename StridedConstMapType >::type(data, size, stride); } template static inline typename StridedMapType >::type Map(Scalar* data, Index size, const Stride& stride) { return typename StridedMapType >::type(data, size, stride); } template static inline typename StridedConstMapType >::type Map(const Scalar* data, Index rows, Index cols, const Stride& stride) { return typename StridedConstMapType >::type(data, rows, cols, stride); } template static inline typename StridedMapType >::type Map(Scalar* data, Index rows, Index cols, const Stride& stride) { return typename StridedMapType >::type(data, rows, cols, stride); } template static inline typename StridedConstAlignedMapType >::type MapAligned(const Scalar* data, const Stride& stride) { return typename StridedConstAlignedMapType >::type(data, stride); } template static inline typename StridedAlignedMapType >::type MapAligned(Scalar* data, const Stride& stride) { return typename StridedAlignedMapType >::type(data, stride); } template static inline typename StridedConstAlignedMapType >::type MapAligned(const Scalar* data, Index size, const Stride& stride) { return typename StridedConstAlignedMapType >::type(data, size, stride); } template static inline typename StridedAlignedMapType >::type MapAligned(Scalar* data, Index size, const Stride& stride) { return typename StridedAlignedMapType >::type(data, size, stride); } template static inline typename StridedConstAlignedMapType >::type MapAligned(const Scalar* data, Index rows, Index cols, const Stride& stride) { return typename StridedConstAlignedMapType >::type(data, rows, cols, stride); } template static inline typename StridedAlignedMapType >::type MapAligned(Scalar* data, Index rows, Index cols, const Stride& stride) { return typename StridedAlignedMapType >::type(data, rows, cols, stride); } //@} using Base::setConstant; EIGEN_DEVICE_FUNC Derived& setConstant(Index size, const Scalar& val); EIGEN_DEVICE_FUNC Derived& setConstant(Index rows, Index cols, const Scalar& val); using Base::setZero; EIGEN_DEVICE_FUNC Derived& setZero(Index size); EIGEN_DEVICE_FUNC Derived& setZero(Index rows, Index cols); using Base::setOnes; EIGEN_DEVICE_FUNC Derived& setOnes(Index size); EIGEN_DEVICE_FUNC Derived& setOnes(Index rows, Index cols); using Base::setRandom; Derived& setRandom(Index size); Derived& setRandom(Index rows, Index cols); #ifdef EIGEN_PLAINOBJECTBASE_PLUGIN #include EIGEN_PLAINOBJECTBASE_PLUGIN #endif protected: /** \internal Resizes *this in preparation for assigning \a other to it. * Takes care of doing all the checking that's needed. * * Note that copying a row-vector into a vector (and conversely) is allowed. * The resizing, if any, is then done in the appropriate way so that row-vectors * remain row-vectors and vectors remain vectors. */ template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void _resize_to_match(const EigenBase& other) { #ifdef EIGEN_NO_AUTOMATIC_RESIZING eigen_assert((this->size()==0 || (IsVectorAtCompileTime ? (this->size() == other.size()) : (rows() == other.rows() && cols() == other.cols()))) && "Size mismatch. Automatic resizing is disabled because EIGEN_NO_AUTOMATIC_RESIZING is defined"); EIGEN_ONLY_USED_FOR_DEBUG(other); #else resizeLike(other); #endif } /** * \brief Copies the value of the expression \a other into \c *this with automatic resizing. * * *this might be resized to match the dimensions of \a other. If *this was a null matrix (not already initialized), * it will be initialized. * * Note that copying a row-vector into a vector (and conversely) is allowed. * The resizing, if any, is then done in the appropriate way so that row-vectors * remain row-vectors and vectors remain vectors. * * \sa operator=(const MatrixBase&), _set_noalias() * * \internal */ // aliasing is dealt once in internall::call_assignment // so at this stage we have to assume aliasing... and resising has to be done later. template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& _set(const DenseBase& other) { internal::call_assignment(this->derived(), other.derived()); return this->derived(); } /** \internal Like _set() but additionally makes the assumption that no aliasing effect can happen (which * is the case when creating a new matrix) so one can enforce lazy evaluation. * * \sa operator=(const MatrixBase&), _set() */ template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& _set_noalias(const DenseBase& other) { // I don't think we need this resize call since the lazyAssign will anyways resize // and lazyAssign will be called by the assign selector. //_resize_to_match(other); // the 'false' below means to enforce lazy evaluation. We don't use lazyAssign() because // it wouldn't allow to copy a row-vector into a column-vector. internal::call_assignment_no_alias(this->derived(), other.derived(), internal::assign_op()); return this->derived(); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void _init2(Index rows, Index cols, typename internal::enable_if::type* = 0) { EIGEN_STATIC_ASSERT(bool(NumTraits::IsInteger) && bool(NumTraits::IsInteger), FLOATING_POINT_ARGUMENT_PASSED__INTEGER_WAS_EXPECTED) resize(rows,cols); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void _init2(const T0& val0, const T1& val1, typename internal::enable_if::type* = 0) { EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 2) m_storage.data()[0] = Scalar(val0); m_storage.data()[1] = Scalar(val1); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void _init2(const Index& val0, const Index& val1, typename internal::enable_if< (!internal::is_same::value) && (internal::is_same::value) && (internal::is_same::value) && Base::SizeAtCompileTime==2,T1>::type* = 0) { EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 2) m_storage.data()[0] = Scalar(val0); m_storage.data()[1] = Scalar(val1); } // The argument is convertible to the Index type and we either have a non 1x1 Matrix, or a dynamic-sized Array, // then the argument is meant to be the size of the object. template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void _init1(Index size, typename internal::enable_if< (Base::SizeAtCompileTime!=1 || !internal::is_convertible::value) && ((!internal::is_same::XprKind,ArrayXpr>::value || Base::SizeAtCompileTime==Dynamic)),T>::type* = 0) { // NOTE MSVC 2008 complains if we directly put bool(NumTraits::IsInteger) as the EIGEN_STATIC_ASSERT argument. const bool is_integer = NumTraits::IsInteger; EIGEN_UNUSED_VARIABLE(is_integer); EIGEN_STATIC_ASSERT(is_integer, FLOATING_POINT_ARGUMENT_PASSED__INTEGER_WAS_EXPECTED) resize(size); } // We have a 1x1 matrix/array => the argument is interpreted as the value of the unique coefficient (case where scalar type can be implicitely converted) template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void _init1(const Scalar& val0, typename internal::enable_if::value,T>::type* = 0) { EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 1) m_storage.data()[0] = val0; } // We have a 1x1 matrix/array => the argument is interpreted as the value of the unique coefficient (case where scalar type match the index type) template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void _init1(const Index& val0, typename internal::enable_if< (!internal::is_same::value) && (internal::is_same::value) && Base::SizeAtCompileTime==1 && internal::is_convertible::value,T*>::type* = 0) { EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 1) m_storage.data()[0] = Scalar(val0); } // Initialize a fixed size matrix from a pointer to raw data template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void _init1(const Scalar* data){ this->_set_noalias(ConstMapType(data)); } // Initialize an arbitrary matrix from a dense expression template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void _init1(const DenseBase& other){ this->_set_noalias(other); } // Initialize an arbitrary matrix from a generic Eigen expression template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void _init1(const EigenBase& other){ this->derived() = other; } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void _init1(const ReturnByValue& other) { resize(other.rows(), other.cols()); other.evalTo(this->derived()); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void _init1(const RotationBase& r) { this->derived() = r; } // For fixed -size arrays: template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void _init1(const Scalar& val0, typename internal::enable_if< Base::SizeAtCompileTime!=Dynamic && Base::SizeAtCompileTime!=1 && internal::is_convertible::value && internal::is_same::XprKind,ArrayXpr>::value,T>::type* = 0) { Base::setConstant(val0); } template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void _init1(const Index& val0, typename internal::enable_if< (!internal::is_same::value) && (internal::is_same::value) && Base::SizeAtCompileTime!=Dynamic && Base::SizeAtCompileTime!=1 && internal::is_convertible::value && internal::is_same::XprKind,ArrayXpr>::value,T*>::type* = 0) { Base::setConstant(val0); } template friend struct internal::matrix_swap_impl; public: #ifndef EIGEN_PARSED_BY_DOXYGEN /** \internal * \brief Override DenseBase::swap() since for dynamic-sized matrices * of same type it is enough to swap the data pointers. */ template EIGEN_DEVICE_FUNC void swap(DenseBase & other) { enum { SwapPointers = internal::is_same::value && Base::SizeAtCompileTime==Dynamic }; internal::matrix_swap_impl::run(this->derived(), other.derived()); } /** \internal * \brief const version forwarded to DenseBase::swap */ template EIGEN_DEVICE_FUNC void swap(DenseBase const & other) { Base::swap(other.derived()); } EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void _check_template_params() { EIGEN_STATIC_ASSERT((EIGEN_IMPLIES(MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1, (Options&RowMajor)==RowMajor) && EIGEN_IMPLIES(MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1, (Options&RowMajor)==0) && ((RowsAtCompileTime == Dynamic) || (RowsAtCompileTime >= 0)) && ((ColsAtCompileTime == Dynamic) || (ColsAtCompileTime >= 0)) && ((MaxRowsAtCompileTime == Dynamic) || (MaxRowsAtCompileTime >= 0)) && ((MaxColsAtCompileTime == Dynamic) || (MaxColsAtCompileTime >= 0)) && (MaxRowsAtCompileTime == RowsAtCompileTime || RowsAtCompileTime==Dynamic) && (MaxColsAtCompileTime == ColsAtCompileTime || ColsAtCompileTime==Dynamic) && (Options & (DontAlign|RowMajor)) == Options), INVALID_MATRIX_TEMPLATE_PARAMETERS) } enum { IsPlainObjectBase = 1 }; #endif }; namespace internal { template struct conservative_resize_like_impl { static void run(DenseBase& _this, Index rows, Index cols) { if (_this.rows() == rows && _this.cols() == cols) return; EIGEN_STATIC_ASSERT_DYNAMIC_SIZE(Derived) if ( ( Derived::IsRowMajor && _this.cols() == cols) || // row-major and we change only the number of rows (!Derived::IsRowMajor && _this.rows() == rows) ) // column-major and we change only the number of columns { internal::check_rows_cols_for_overflow::run(rows, cols); _this.derived().m_storage.conservativeResize(rows*cols,rows,cols); } else { // The storage order does not allow us to use reallocation. typename Derived::PlainObject tmp(rows,cols); const Index common_rows = numext::mini(rows, _this.rows()); const Index common_cols = numext::mini(cols, _this.cols()); tmp.block(0,0,common_rows,common_cols) = _this.block(0,0,common_rows,common_cols); _this.derived().swap(tmp); } } static void run(DenseBase& _this, const DenseBase& other) { if (_this.rows() == other.rows() && _this.cols() == other.cols()) return; // Note: Here is space for improvement. Basically, for conservativeResize(Index,Index), // neither RowsAtCompileTime or ColsAtCompileTime must be Dynamic. If only one of the // dimensions is dynamic, one could use either conservativeResize(Index rows, NoChange_t) or // conservativeResize(NoChange_t, Index cols). For these methods new static asserts like // EIGEN_STATIC_ASSERT_DYNAMIC_ROWS and EIGEN_STATIC_ASSERT_DYNAMIC_COLS would be good. EIGEN_STATIC_ASSERT_DYNAMIC_SIZE(Derived) EIGEN_STATIC_ASSERT_DYNAMIC_SIZE(OtherDerived) if ( ( Derived::IsRowMajor && _this.cols() == other.cols()) || // row-major and we change only the number of rows (!Derived::IsRowMajor && _this.rows() == other.rows()) ) // column-major and we change only the number of columns { const Index new_rows = other.rows() - _this.rows(); const Index new_cols = other.cols() - _this.cols(); _this.derived().m_storage.conservativeResize(other.size(),other.rows(),other.cols()); if (new_rows>0) _this.bottomRightCorner(new_rows, other.cols()) = other.bottomRows(new_rows); else if (new_cols>0) _this.bottomRightCorner(other.rows(), new_cols) = other.rightCols(new_cols); } else { // The storage order does not allow us to use reallocation. typename Derived::PlainObject tmp(other); const Index common_rows = numext::mini(tmp.rows(), _this.rows()); const Index common_cols = numext::mini(tmp.cols(), _this.cols()); tmp.block(0,0,common_rows,common_cols) = _this.block(0,0,common_rows,common_cols); _this.derived().swap(tmp); } } }; // Here, the specialization for vectors inherits from the general matrix case // to allow calling .conservativeResize(rows,cols) on vectors. template struct conservative_resize_like_impl : conservative_resize_like_impl { using conservative_resize_like_impl::run; static void run(DenseBase& _this, Index size) { const Index new_rows = Derived::RowsAtCompileTime==1 ? 1 : size; const Index new_cols = Derived::RowsAtCompileTime==1 ? size : 1; _this.derived().m_storage.conservativeResize(size,new_rows,new_cols); } static void run(DenseBase& _this, const DenseBase& other) { if (_this.rows() == other.rows() && _this.cols() == other.cols()) return; const Index num_new_elements = other.size() - _this.size(); const Index new_rows = Derived::RowsAtCompileTime==1 ? 1 : other.rows(); const Index new_cols = Derived::RowsAtCompileTime==1 ? other.cols() : 1; _this.derived().m_storage.conservativeResize(other.size(),new_rows,new_cols); if (num_new_elements > 0) _this.tail(num_new_elements) = other.tail(num_new_elements); } }; template struct matrix_swap_impl { EIGEN_DEVICE_FUNC static inline void run(MatrixTypeA& a, MatrixTypeB& b) { a.base().swap(b); } }; template struct matrix_swap_impl { EIGEN_DEVICE_FUNC static inline void run(MatrixTypeA& a, MatrixTypeB& b) { static_cast(a).m_storage.swap(static_cast(b).m_storage); } }; } // end namespace internal } // end namespace Eigen #endif // EIGEN_DENSESTORAGEBASE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/Product.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2008-2011 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_PRODUCT_H #define EIGEN_PRODUCT_H namespace Eigen { template class ProductImpl; namespace internal { template struct traits > { typedef typename remove_all::type LhsCleaned; typedef typename remove_all::type RhsCleaned; typedef traits LhsTraits; typedef traits RhsTraits; typedef MatrixXpr XprKind; typedef typename ScalarBinaryOpTraits::Scalar, typename traits::Scalar>::ReturnType Scalar; typedef typename product_promote_storage_type::ret>::ret StorageKind; typedef typename promote_index_type::type StorageIndex; enum { RowsAtCompileTime = LhsTraits::RowsAtCompileTime, ColsAtCompileTime = RhsTraits::ColsAtCompileTime, MaxRowsAtCompileTime = LhsTraits::MaxRowsAtCompileTime, MaxColsAtCompileTime = RhsTraits::MaxColsAtCompileTime, // FIXME: only needed by GeneralMatrixMatrixTriangular InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(LhsTraits::ColsAtCompileTime, RhsTraits::RowsAtCompileTime), // The storage order is somewhat arbitrary here. The correct one will be determined through the evaluator. Flags = (MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1) ? RowMajorBit : (MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1) ? 0 : ( ((LhsTraits::Flags&NoPreferredStorageOrderBit) && (RhsTraits::Flags&RowMajorBit)) || ((RhsTraits::Flags&NoPreferredStorageOrderBit) && (LhsTraits::Flags&RowMajorBit)) ) ? RowMajorBit : NoPreferredStorageOrderBit }; }; } // end namespace internal /** \class Product * \ingroup Core_Module * * \brief Expression of the product of two arbitrary matrices or vectors * * \tparam _Lhs the type of the left-hand side expression * \tparam _Rhs the type of the right-hand side expression * * This class represents an expression of the product of two arbitrary matrices. * * The other template parameters are: * \tparam Option can be DefaultProduct, AliasFreeProduct, or LazyProduct * */ template class Product : public ProductImpl<_Lhs,_Rhs,Option, typename internal::product_promote_storage_type::StorageKind, typename internal::traits<_Rhs>::StorageKind, internal::product_type<_Lhs,_Rhs>::ret>::ret> { public: typedef _Lhs Lhs; typedef _Rhs Rhs; typedef typename ProductImpl< Lhs, Rhs, Option, typename internal::product_promote_storage_type::StorageKind, typename internal::traits::StorageKind, internal::product_type::ret>::ret>::Base Base; EIGEN_GENERIC_PUBLIC_INTERFACE(Product) typedef typename internal::ref_selector::type LhsNested; typedef typename internal::ref_selector::type RhsNested; typedef typename internal::remove_all::type LhsNestedCleaned; typedef typename internal::remove_all::type RhsNestedCleaned; EIGEN_DEVICE_FUNC Product(const Lhs& lhs, const Rhs& rhs) : m_lhs(lhs), m_rhs(rhs) { eigen_assert(lhs.cols() == rhs.rows() && "invalid matrix product" && "if you wanted a coeff-wise or a dot product use the respective explicit functions"); } EIGEN_DEVICE_FUNC inline Index rows() const { return m_lhs.rows(); } EIGEN_DEVICE_FUNC inline Index cols() const { return m_rhs.cols(); } EIGEN_DEVICE_FUNC const LhsNestedCleaned& lhs() const { return m_lhs; } EIGEN_DEVICE_FUNC const RhsNestedCleaned& rhs() const { return m_rhs; } protected: LhsNested m_lhs; RhsNested m_rhs; }; namespace internal { template::ret> class dense_product_base : public internal::dense_xpr_base >::type {}; /** Convertion to scalar for inner-products */ template class dense_product_base : public internal::dense_xpr_base >::type { typedef Product ProductXpr; typedef typename internal::dense_xpr_base::type Base; public: using Base::derived; typedef typename Base::Scalar Scalar; operator const Scalar() const { return internal::evaluator(derived()).coeff(0,0); } }; } // namespace internal // Generic API dispatcher template class ProductImpl : public internal::generic_xpr_base, MatrixXpr, StorageKind>::type { public: typedef typename internal::generic_xpr_base, MatrixXpr, StorageKind>::type Base; }; template class ProductImpl : public internal::dense_product_base { typedef Product Derived; public: typedef typename internal::dense_product_base Base; EIGEN_DENSE_PUBLIC_INTERFACE(Derived) protected: enum { IsOneByOne = (RowsAtCompileTime == 1 || RowsAtCompileTime == Dynamic) && (ColsAtCompileTime == 1 || ColsAtCompileTime == Dynamic), EnableCoeff = IsOneByOne || Option==LazyProduct }; public: EIGEN_DEVICE_FUNC Scalar coeff(Index row, Index col) const { EIGEN_STATIC_ASSERT(EnableCoeff, THIS_METHOD_IS_ONLY_FOR_INNER_OR_LAZY_PRODUCTS); eigen_assert( (Option==LazyProduct) || (this->rows() == 1 && this->cols() == 1) ); return internal::evaluator(derived()).coeff(row,col); } EIGEN_DEVICE_FUNC Scalar coeff(Index i) const { EIGEN_STATIC_ASSERT(EnableCoeff, THIS_METHOD_IS_ONLY_FOR_INNER_OR_LAZY_PRODUCTS); eigen_assert( (Option==LazyProduct) || (this->rows() == 1 && this->cols() == 1) ); return internal::evaluator(derived()).coeff(i); } }; } // end namespace Eigen #endif // EIGEN_PRODUCT_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/ProductEvaluators.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2006-2008 Benoit Jacob // Copyright (C) 2008-2010 Gael Guennebaud // Copyright (C) 2011 Jitse Niesen // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_PRODUCTEVALUATORS_H #define EIGEN_PRODUCTEVALUATORS_H namespace Eigen { namespace internal { /** \internal * Evaluator of a product expression. * Since products require special treatments to handle all possible cases, * we simply deffer the evaluation logic to a product_evaluator class * which offers more partial specialization possibilities. * * \sa class product_evaluator */ template struct evaluator > : public product_evaluator > { typedef Product XprType; typedef product_evaluator Base; EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) : Base(xpr) {} }; // Catch "scalar * ( A * B )" and transform it to "(A*scalar) * B" // TODO we should apply that rule only if that's really helpful template struct evaluator_assume_aliasing, const CwiseNullaryOp, Plain1>, const Product > > { static const bool value = true; }; template struct evaluator, const CwiseNullaryOp, Plain1>, const Product > > : public evaluator > { typedef CwiseBinaryOp, const CwiseNullaryOp, Plain1>, const Product > XprType; typedef evaluator > Base; EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) : Base(xpr.lhs().functor().m_other * xpr.rhs().lhs() * xpr.rhs().rhs()) {} }; template struct evaluator, DiagIndex> > : public evaluator, DiagIndex> > { typedef Diagonal, DiagIndex> XprType; typedef evaluator, DiagIndex> > Base; EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) : Base(Diagonal, DiagIndex>( Product(xpr.nestedExpression().lhs(), xpr.nestedExpression().rhs()), xpr.index() )) {} }; // Helper class to perform a matrix product with the destination at hand. // Depending on the sizes of the factors, there are different evaluation strategies // as controlled by internal::product_type. template< typename Lhs, typename Rhs, typename LhsShape = typename evaluator_traits::Shape, typename RhsShape = typename evaluator_traits::Shape, int ProductType = internal::product_type::value> struct generic_product_impl; template struct evaluator_assume_aliasing > { static const bool value = true; }; // This is the default evaluator implementation for products: // It creates a temporary and call generic_product_impl template struct product_evaluator, ProductTag, LhsShape, RhsShape> : public evaluator::PlainObject> { typedef Product XprType; typedef typename XprType::PlainObject PlainObject; typedef evaluator Base; enum { Flags = Base::Flags | EvalBeforeNestingBit }; EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit product_evaluator(const XprType& xpr) : m_result(xpr.rows(), xpr.cols()) { ::new (static_cast(this)) Base(m_result); // FIXME shall we handle nested_eval here?, // if so, then we must take care at removing the call to nested_eval in the specializations (e.g., in permutation_matrix_product, transposition_matrix_product, etc.) // typedef typename internal::nested_eval::type LhsNested; // typedef typename internal::nested_eval::type RhsNested; // typedef typename internal::remove_all::type LhsNestedCleaned; // typedef typename internal::remove_all::type RhsNestedCleaned; // // const LhsNested lhs(xpr.lhs()); // const RhsNested rhs(xpr.rhs()); // // generic_product_impl::evalTo(m_result, lhs, rhs); generic_product_impl::evalTo(m_result, xpr.lhs(), xpr.rhs()); } protected: PlainObject m_result; }; // The following three shortcuts are enabled only if the scalar types match excatly. // TODO: we could enable them for different scalar types when the product is not vectorized. // Dense = Product template< typename DstXprType, typename Lhs, typename Rhs, int Options, typename Scalar> struct Assignment, internal::assign_op, Dense2Dense, typename enable_if<(Options==DefaultProduct || Options==AliasFreeProduct)>::type> { typedef Product SrcXprType; static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op &) { Index dstRows = src.rows(); Index dstCols = src.cols(); if((dst.rows()!=dstRows) || (dst.cols()!=dstCols)) dst.resize(dstRows, dstCols); // FIXME shall we handle nested_eval here? generic_product_impl::evalTo(dst, src.lhs(), src.rhs()); } }; // Dense += Product template< typename DstXprType, typename Lhs, typename Rhs, int Options, typename Scalar> struct Assignment, internal::add_assign_op, Dense2Dense, typename enable_if<(Options==DefaultProduct || Options==AliasFreeProduct)>::type> { typedef Product SrcXprType; static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op &) { Index dstRows = src.rows(); Index dstCols = src.cols(); if((dst.rows()!=dstRows) || (dst.cols()!=dstCols)) dst.resize(dstRows, dstCols); // FIXME shall we handle nested_eval here? generic_product_impl::addTo(dst, src.lhs(), src.rhs()); } }; // Dense -= Product template< typename DstXprType, typename Lhs, typename Rhs, int Options, typename Scalar> struct Assignment, internal::sub_assign_op, Dense2Dense, typename enable_if<(Options==DefaultProduct || Options==AliasFreeProduct)>::type> { typedef Product SrcXprType; static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op &) { Index dstRows = src.rows(); Index dstCols = src.cols(); if((dst.rows()!=dstRows) || (dst.cols()!=dstCols)) dst.resize(dstRows, dstCols); // FIXME shall we handle nested_eval here? generic_product_impl::subTo(dst, src.lhs(), src.rhs()); } }; // Dense ?= scalar * Product // TODO we should apply that rule if that's really helpful // for instance, this is not good for inner products template< typename DstXprType, typename Lhs, typename Rhs, typename AssignFunc, typename Scalar, typename ScalarBis, typename Plain> struct Assignment, const CwiseNullaryOp,Plain>, const Product >, AssignFunc, Dense2Dense> { typedef CwiseBinaryOp, const CwiseNullaryOp,Plain>, const Product > SrcXprType; static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const AssignFunc& func) { call_assignment_no_alias(dst, (src.lhs().functor().m_other * src.rhs().lhs())*src.rhs().rhs(), func); } }; //---------------------------------------- // Catch "Dense ?= xpr + Product<>" expression to save one temporary // FIXME we could probably enable these rules for any product, i.e., not only Dense and DefaultProduct template struct evaluator_assume_aliasing::Scalar>, const OtherXpr, const Product >, DenseShape > { static const bool value = true; }; template struct assignment_from_xpr_op_product { template static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const InitialFunc& /*func*/) { call_assignment_no_alias(dst, src.lhs(), Func1()); call_assignment_no_alias(dst, src.rhs(), Func2()); } }; #define EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(ASSIGN_OP,BINOP,ASSIGN_OP2) \ template< typename DstXprType, typename OtherXpr, typename Lhs, typename Rhs, typename DstScalar, typename SrcScalar, typename OtherScalar,typename ProdScalar> \ struct Assignment, const OtherXpr, \ const Product >, internal::ASSIGN_OP, Dense2Dense> \ : assignment_from_xpr_op_product, internal::ASSIGN_OP, internal::ASSIGN_OP2 > \ {} EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(assign_op, scalar_sum_op,add_assign_op); EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(add_assign_op,scalar_sum_op,add_assign_op); EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(sub_assign_op,scalar_sum_op,sub_assign_op); EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(assign_op, scalar_difference_op,sub_assign_op); EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(add_assign_op,scalar_difference_op,sub_assign_op); EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(sub_assign_op,scalar_difference_op,add_assign_op); //---------------------------------------- template struct generic_product_impl { template static inline void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs) { dst.coeffRef(0,0) = (lhs.transpose().cwiseProduct(rhs)).sum(); } template static inline void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs) { dst.coeffRef(0,0) += (lhs.transpose().cwiseProduct(rhs)).sum(); } template static void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs) { dst.coeffRef(0,0) -= (lhs.transpose().cwiseProduct(rhs)).sum(); } }; /*********************************************************************** * Implementation of outer dense * dense vector product ***********************************************************************/ // Column major result template void outer_product_selector_run(Dst& dst, const Lhs &lhs, const Rhs &rhs, const Func& func, const false_type&) { evaluator rhsEval(rhs); typename nested_eval::type actual_lhs(lhs); // FIXME if cols is large enough, then it might be useful to make sure that lhs is sequentially stored // FIXME not very good if rhs is real and lhs complex while alpha is real too const Index cols = dst.cols(); for (Index j=0; j void outer_product_selector_run(Dst& dst, const Lhs &lhs, const Rhs &rhs, const Func& func, const true_type&) { evaluator lhsEval(lhs); typename nested_eval::type actual_rhs(rhs); // FIXME if rows is large enough, then it might be useful to make sure that rhs is sequentially stored // FIXME not very good if lhs is real and rhs complex while alpha is real too const Index rows = dst.rows(); for (Index i=0; i struct generic_product_impl { template struct is_row_major : internal::conditional<(int(T::Flags)&RowMajorBit), internal::true_type, internal::false_type>::type {}; typedef typename Product::Scalar Scalar; // TODO it would be nice to be able to exploit our *_assign_op functors for that purpose struct set { template void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived() = src; } }; struct add { template void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived() += src; } }; struct sub { template void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived() -= src; } }; struct adds { Scalar m_scale; explicit adds(const Scalar& s) : m_scale(s) {} template void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived() += m_scale * src; } }; template static inline void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs) { internal::outer_product_selector_run(dst, lhs, rhs, set(), is_row_major()); } template static inline void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs) { internal::outer_product_selector_run(dst, lhs, rhs, add(), is_row_major()); } template static inline void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs) { internal::outer_product_selector_run(dst, lhs, rhs, sub(), is_row_major()); } template static inline void scaleAndAddTo(Dst& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha) { internal::outer_product_selector_run(dst, lhs, rhs, adds(alpha), is_row_major()); } }; // This base class provides default implementations for evalTo, addTo, subTo, in terms of scaleAndAddTo template struct generic_product_impl_base { typedef typename Product::Scalar Scalar; template static EIGEN_STRONG_INLINE void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs) { dst.setZero(); scaleAndAddTo(dst, lhs, rhs, Scalar(1)); } template static EIGEN_STRONG_INLINE void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs) { scaleAndAddTo(dst,lhs, rhs, Scalar(1)); } template static EIGEN_STRONG_INLINE void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs) { scaleAndAddTo(dst, lhs, rhs, Scalar(-1)); } template static EIGEN_STRONG_INLINE void scaleAndAddTo(Dst& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha) { Derived::scaleAndAddTo(dst,lhs,rhs,alpha); } }; template struct generic_product_impl : generic_product_impl_base > { typedef typename nested_eval::type LhsNested; typedef typename nested_eval::type RhsNested; typedef typename Product::Scalar Scalar; enum { Side = Lhs::IsVectorAtCompileTime ? OnTheLeft : OnTheRight }; typedef typename internal::remove_all::type>::type MatrixType; template static EIGEN_STRONG_INLINE void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha) { LhsNested actual_lhs(lhs); RhsNested actual_rhs(rhs); internal::gemv_dense_selector::HasUsableDirectAccess) >::run(actual_lhs, actual_rhs, dst, alpha); } }; template struct generic_product_impl { typedef typename Product::Scalar Scalar; template static EIGEN_STRONG_INLINE void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs) { // Same as: dst.noalias() = lhs.lazyProduct(rhs); // but easier on the compiler side call_assignment_no_alias(dst, lhs.lazyProduct(rhs), internal::assign_op()); } template static EIGEN_STRONG_INLINE void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs) { // dst.noalias() += lhs.lazyProduct(rhs); call_assignment_no_alias(dst, lhs.lazyProduct(rhs), internal::add_assign_op()); } template static EIGEN_STRONG_INLINE void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs) { // dst.noalias() -= lhs.lazyProduct(rhs); call_assignment_no_alias(dst, lhs.lazyProduct(rhs), internal::sub_assign_op()); } // template // static inline void scaleAndAddTo(Dst& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha) // { dst.noalias() += alpha * lhs.lazyProduct(rhs); } }; // This specialization enforces the use of a coefficient-based evaluation strategy template struct generic_product_impl : generic_product_impl {}; // Case 2: Evaluate coeff by coeff // // This is mostly taken from CoeffBasedProduct.h // The main difference is that we add an extra argument to the etor_product_*_impl::run() function // for the inner dimension of the product, because evaluator object do not know their size. template struct etor_product_coeff_impl; template struct etor_product_packet_impl; template struct product_evaluator, ProductTag, DenseShape, DenseShape> : evaluator_base > { typedef Product XprType; typedef typename XprType::Scalar Scalar; typedef typename XprType::CoeffReturnType CoeffReturnType; EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit product_evaluator(const XprType& xpr) : m_lhs(xpr.lhs()), m_rhs(xpr.rhs()), m_lhsImpl(m_lhs), // FIXME the creation of the evaluator objects should result in a no-op, but check that! m_rhsImpl(m_rhs), // Moreover, they are only useful for the packet path, so we could completely disable them when not needed, // or perhaps declare them on the fly on the packet method... We have experiment to check what's best. m_innerDim(xpr.lhs().cols()) { EIGEN_INTERNAL_CHECK_COST_VALUE(NumTraits::MulCost); EIGEN_INTERNAL_CHECK_COST_VALUE(NumTraits::AddCost); EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost); #if 0 std::cerr << "LhsOuterStrideBytes= " << LhsOuterStrideBytes << "\n"; std::cerr << "RhsOuterStrideBytes= " << RhsOuterStrideBytes << "\n"; std::cerr << "LhsAlignment= " << LhsAlignment << "\n"; std::cerr << "RhsAlignment= " << RhsAlignment << "\n"; std::cerr << "CanVectorizeLhs= " << CanVectorizeLhs << "\n"; std::cerr << "CanVectorizeRhs= " << CanVectorizeRhs << "\n"; std::cerr << "CanVectorizeInner= " << CanVectorizeInner << "\n"; std::cerr << "EvalToRowMajor= " << EvalToRowMajor << "\n"; std::cerr << "Alignment= " << Alignment << "\n"; std::cerr << "Flags= " << Flags << "\n"; #endif } // Everything below here is taken from CoeffBasedProduct.h typedef typename internal::nested_eval::type LhsNested; typedef typename internal::nested_eval::type RhsNested; typedef typename internal::remove_all::type LhsNestedCleaned; typedef typename internal::remove_all::type RhsNestedCleaned; typedef evaluator LhsEtorType; typedef evaluator RhsEtorType; enum { RowsAtCompileTime = LhsNestedCleaned::RowsAtCompileTime, ColsAtCompileTime = RhsNestedCleaned::ColsAtCompileTime, InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(LhsNestedCleaned::ColsAtCompileTime, RhsNestedCleaned::RowsAtCompileTime), MaxRowsAtCompileTime = LhsNestedCleaned::MaxRowsAtCompileTime, MaxColsAtCompileTime = RhsNestedCleaned::MaxColsAtCompileTime }; typedef typename find_best_packet::type LhsVecPacketType; typedef typename find_best_packet::type RhsVecPacketType; enum { LhsCoeffReadCost = LhsEtorType::CoeffReadCost, RhsCoeffReadCost = RhsEtorType::CoeffReadCost, CoeffReadCost = InnerSize==0 ? NumTraits::ReadCost : InnerSize == Dynamic ? HugeCost : InnerSize * (NumTraits::MulCost + LhsCoeffReadCost + RhsCoeffReadCost) + (InnerSize - 1) * NumTraits::AddCost, Unroll = CoeffReadCost <= EIGEN_UNROLLING_LIMIT, LhsFlags = LhsEtorType::Flags, RhsFlags = RhsEtorType::Flags, LhsRowMajor = LhsFlags & RowMajorBit, RhsRowMajor = RhsFlags & RowMajorBit, LhsVecPacketSize = unpacket_traits::size, RhsVecPacketSize = unpacket_traits::size, // Here, we don't care about alignment larger than the usable packet size. LhsAlignment = EIGEN_PLAIN_ENUM_MIN(LhsEtorType::Alignment,LhsVecPacketSize*int(sizeof(typename LhsNestedCleaned::Scalar))), RhsAlignment = EIGEN_PLAIN_ENUM_MIN(RhsEtorType::Alignment,RhsVecPacketSize*int(sizeof(typename RhsNestedCleaned::Scalar))), SameType = is_same::value, CanVectorizeRhs = bool(RhsRowMajor) && (RhsFlags & PacketAccessBit) && (ColsAtCompileTime!=1), CanVectorizeLhs = (!LhsRowMajor) && (LhsFlags & PacketAccessBit) && (RowsAtCompileTime!=1), EvalToRowMajor = (MaxRowsAtCompileTime==1&&MaxColsAtCompileTime!=1) ? 1 : (MaxColsAtCompileTime==1&&MaxRowsAtCompileTime!=1) ? 0 : (bool(RhsRowMajor) && !CanVectorizeLhs), Flags = ((unsigned int)(LhsFlags | RhsFlags) & HereditaryBits & ~RowMajorBit) | (EvalToRowMajor ? RowMajorBit : 0) // TODO enable vectorization for mixed types | (SameType && (CanVectorizeLhs || CanVectorizeRhs) ? PacketAccessBit : 0) | (XprType::IsVectorAtCompileTime ? LinearAccessBit : 0), LhsOuterStrideBytes = int(LhsNestedCleaned::OuterStrideAtCompileTime) * int(sizeof(typename LhsNestedCleaned::Scalar)), RhsOuterStrideBytes = int(RhsNestedCleaned::OuterStrideAtCompileTime) * int(sizeof(typename RhsNestedCleaned::Scalar)), Alignment = bool(CanVectorizeLhs) ? (LhsOuterStrideBytes<=0 || (int(LhsOuterStrideBytes) % EIGEN_PLAIN_ENUM_MAX(1,LhsAlignment))!=0 ? 0 : LhsAlignment) : bool(CanVectorizeRhs) ? (RhsOuterStrideBytes<=0 || (int(RhsOuterStrideBytes) % EIGEN_PLAIN_ENUM_MAX(1,RhsAlignment))!=0 ? 0 : RhsAlignment) : 0, /* CanVectorizeInner deserves special explanation. It does not affect the product flags. It is not used outside * of Product. If the Product itself is not a packet-access expression, there is still a chance that the inner * loop of the product might be vectorized. This is the meaning of CanVectorizeInner. Since it doesn't affect * the Flags, it is safe to make this value depend on ActualPacketAccessBit, that doesn't affect the ABI. */ CanVectorizeInner = SameType && LhsRowMajor && (!RhsRowMajor) && (LhsFlags & RhsFlags & ActualPacketAccessBit) && (InnerSize % packet_traits::size == 0) }; EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const CoeffReturnType coeff(Index row, Index col) const { return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum(); } /* Allow index-based non-packet access. It is impossible though to allow index-based packed access, * which is why we don't set the LinearAccessBit. * TODO: this seems possible when the result is a vector */ EIGEN_DEVICE_FUNC const CoeffReturnType coeff(Index index) const { const Index row = (RowsAtCompileTime == 1 || MaxRowsAtCompileTime==1) ? 0 : index; const Index col = (RowsAtCompileTime == 1 || MaxRowsAtCompileTime==1) ? index : 0; return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum(); } template const PacketType packet(Index row, Index col) const { PacketType res; typedef etor_product_packet_impl PacketImpl; PacketImpl::run(row, col, m_lhsImpl, m_rhsImpl, m_innerDim, res); return res; } template const PacketType packet(Index index) const { const Index row = (RowsAtCompileTime == 1 || MaxRowsAtCompileTime==1) ? 0 : index; const Index col = (RowsAtCompileTime == 1 || MaxRowsAtCompileTime==1) ? index : 0; return packet(row,col); } protected: typename internal::add_const_on_value_type::type m_lhs; typename internal::add_const_on_value_type::type m_rhs; LhsEtorType m_lhsImpl; RhsEtorType m_rhsImpl; // TODO: Get rid of m_innerDim if known at compile time Index m_innerDim; }; template struct product_evaluator, LazyCoeffBasedProductMode, DenseShape, DenseShape> : product_evaluator, CoeffBasedProductMode, DenseShape, DenseShape> { typedef Product XprType; typedef Product BaseProduct; typedef product_evaluator Base; enum { Flags = Base::Flags | EvalBeforeNestingBit }; EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr) : Base(BaseProduct(xpr.lhs(),xpr.rhs())) {} }; /**************************************** *** Coeff based product, Packet path *** ****************************************/ template struct etor_product_packet_impl { static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet &res) { etor_product_packet_impl::run(row, col, lhs, rhs, innerDim, res); res = pmadd(pset1(lhs.coeff(row, Index(UnrollingIndex-1))), rhs.template packet(Index(UnrollingIndex-1), col), res); } }; template struct etor_product_packet_impl { static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet &res) { etor_product_packet_impl::run(row, col, lhs, rhs, innerDim, res); res = pmadd(lhs.template packet(row, Index(UnrollingIndex-1)), pset1(rhs.coeff(Index(UnrollingIndex-1), col)), res); } }; template struct etor_product_packet_impl { static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index /*innerDim*/, Packet &res) { res = pmul(pset1(lhs.coeff(row, Index(0))),rhs.template packet(Index(0), col)); } }; template struct etor_product_packet_impl { static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index /*innerDim*/, Packet &res) { res = pmul(lhs.template packet(row, Index(0)), pset1(rhs.coeff(Index(0), col))); } }; template struct etor_product_packet_impl { static EIGEN_STRONG_INLINE void run(Index /*row*/, Index /*col*/, const Lhs& /*lhs*/, const Rhs& /*rhs*/, Index /*innerDim*/, Packet &res) { res = pset1(typename unpacket_traits::type(0)); } }; template struct etor_product_packet_impl { static EIGEN_STRONG_INLINE void run(Index /*row*/, Index /*col*/, const Lhs& /*lhs*/, const Rhs& /*rhs*/, Index /*innerDim*/, Packet &res) { res = pset1(typename unpacket_traits::type(0)); } }; template struct etor_product_packet_impl { static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet& res) { res = pset1(typename unpacket_traits::type(0)); for(Index i = 0; i < innerDim; ++i) res = pmadd(pset1(lhs.coeff(row, i)), rhs.template packet(i, col), res); } }; template struct etor_product_packet_impl { static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet& res) { res = pset1(typename unpacket_traits::type(0)); for(Index i = 0; i < innerDim; ++i) res = pmadd(lhs.template packet(row, i), pset1(rhs.coeff(i, col)), res); } }; /*************************************************************************** * Triangular products ***************************************************************************/ template struct triangular_product_impl; template struct generic_product_impl : generic_product_impl_base > { typedef typename Product::Scalar Scalar; template static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha) { triangular_product_impl ::run(dst, lhs.nestedExpression(), rhs, alpha); } }; template struct generic_product_impl : generic_product_impl_base > { typedef typename Product::Scalar Scalar; template static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha) { triangular_product_impl::run(dst, lhs, rhs.nestedExpression(), alpha); } }; /*************************************************************************** * SelfAdjoint products ***************************************************************************/ template struct selfadjoint_product_impl; template struct generic_product_impl : generic_product_impl_base > { typedef typename Product::Scalar Scalar; template static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha) { selfadjoint_product_impl::run(dst, lhs.nestedExpression(), rhs, alpha); } }; template struct generic_product_impl : generic_product_impl_base > { typedef typename Product::Scalar Scalar; template static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha) { selfadjoint_product_impl::run(dst, lhs, rhs.nestedExpression(), alpha); } }; /*************************************************************************** * Diagonal products ***************************************************************************/ template struct diagonal_product_evaluator_base : evaluator_base { typedef typename ScalarBinaryOpTraits::ReturnType Scalar; public: enum { CoeffReadCost = NumTraits::MulCost + evaluator::CoeffReadCost + evaluator::CoeffReadCost, MatrixFlags = evaluator::Flags, DiagFlags = evaluator::Flags, _StorageOrder = MatrixFlags & RowMajorBit ? RowMajor : ColMajor, _ScalarAccessOnDiag = !((int(_StorageOrder) == ColMajor && int(ProductOrder) == OnTheLeft) ||(int(_StorageOrder) == RowMajor && int(ProductOrder) == OnTheRight)), _SameTypes = is_same::value, // FIXME currently we need same types, but in the future the next rule should be the one //_Vectorizable = bool(int(MatrixFlags)&PacketAccessBit) && ((!_PacketOnDiag) || (_SameTypes && bool(int(DiagFlags)&PacketAccessBit))), _Vectorizable = bool(int(MatrixFlags)&PacketAccessBit) && _SameTypes && (_ScalarAccessOnDiag || (bool(int(DiagFlags)&PacketAccessBit))), _LinearAccessMask = (MatrixType::RowsAtCompileTime==1 || MatrixType::ColsAtCompileTime==1) ? LinearAccessBit : 0, Flags = ((HereditaryBits|_LinearAccessMask) & (unsigned int)(MatrixFlags)) | (_Vectorizable ? PacketAccessBit : 0), Alignment = evaluator::Alignment }; diagonal_product_evaluator_base(const MatrixType &mat, const DiagonalType &diag) : m_diagImpl(diag), m_matImpl(mat) { EIGEN_INTERNAL_CHECK_COST_VALUE(NumTraits::MulCost); EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost); } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar coeff(Index idx) const { return m_diagImpl.coeff(idx) * m_matImpl.coeff(idx); } protected: template EIGEN_STRONG_INLINE PacketType packet_impl(Index row, Index col, Index id, internal::true_type) const { return internal::pmul(m_matImpl.template packet(row, col), internal::pset1(m_diagImpl.coeff(id))); } template EIGEN_STRONG_INLINE PacketType packet_impl(Index row, Index col, Index id, internal::false_type) const { enum { InnerSize = (MatrixType::Flags & RowMajorBit) ? MatrixType::ColsAtCompileTime : MatrixType::RowsAtCompileTime, DiagonalPacketLoadMode = EIGEN_PLAIN_ENUM_MIN(LoadMode,((InnerSize%16) == 0) ? int(Aligned16) : int(evaluator::Alignment)) // FIXME hardcoded 16!! }; return internal::pmul(m_matImpl.template packet(row, col), m_diagImpl.template packet(id)); } evaluator m_diagImpl; evaluator m_matImpl; }; // diagonal * dense template struct product_evaluator, ProductTag, DiagonalShape, DenseShape> : diagonal_product_evaluator_base, OnTheLeft> { typedef diagonal_product_evaluator_base, OnTheLeft> Base; using Base::m_diagImpl; using Base::m_matImpl; using Base::coeff; typedef typename Base::Scalar Scalar; typedef Product XprType; typedef typename XprType::PlainObject PlainObject; enum { StorageOrder = int(Rhs::Flags) & RowMajorBit ? RowMajor : ColMajor }; EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr) : Base(xpr.rhs(), xpr.lhs().diagonal()) { } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar coeff(Index row, Index col) const { return m_diagImpl.coeff(row) * m_matImpl.coeff(row, col); } #ifndef __CUDACC__ template EIGEN_STRONG_INLINE PacketType packet(Index row, Index col) const { // FIXME: NVCC used to complain about the template keyword, but we have to check whether this is still the case. // See also similar calls below. return this->template packet_impl(row,col, row, typename internal::conditional::type()); } template EIGEN_STRONG_INLINE PacketType packet(Index idx) const { return packet(int(StorageOrder)==ColMajor?idx:0,int(StorageOrder)==ColMajor?0:idx); } #endif }; // dense * diagonal template struct product_evaluator, ProductTag, DenseShape, DiagonalShape> : diagonal_product_evaluator_base, OnTheRight> { typedef diagonal_product_evaluator_base, OnTheRight> Base; using Base::m_diagImpl; using Base::m_matImpl; using Base::coeff; typedef typename Base::Scalar Scalar; typedef Product XprType; typedef typename XprType::PlainObject PlainObject; enum { StorageOrder = int(Lhs::Flags) & RowMajorBit ? RowMajor : ColMajor }; EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr) : Base(xpr.lhs(), xpr.rhs().diagonal()) { } EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar coeff(Index row, Index col) const { return m_matImpl.coeff(row, col) * m_diagImpl.coeff(col); } #ifndef __CUDACC__ template EIGEN_STRONG_INLINE PacketType packet(Index row, Index col) const { return this->template packet_impl(row,col, col, typename internal::conditional::type()); } template EIGEN_STRONG_INLINE PacketType packet(Index idx) const { return packet(int(StorageOrder)==ColMajor?idx:0,int(StorageOrder)==ColMajor?0:idx); } #endif }; /*************************************************************************** * Products with permutation matrices ***************************************************************************/ /** \internal * \class permutation_matrix_product * Internal helper class implementing the product between a permutation matrix and a matrix. * This class is specialized for DenseShape below and for SparseShape in SparseCore/SparsePermutation.h */ template struct permutation_matrix_product; template struct permutation_matrix_product { typedef typename nested_eval::type MatrixType; typedef typename remove_all::type MatrixTypeCleaned; template static inline void run(Dest& dst, const PermutationType& perm, const ExpressionType& xpr) { MatrixType mat(xpr); const Index n = Side==OnTheLeft ? mat.rows() : mat.cols(); // FIXME we need an is_same for expression that is not sensitive to constness. For instance // is_same_xpr, Block >::value should be true. //if(is_same::value && extract_data(dst) == extract_data(mat)) if(is_same_dense(dst, mat)) { // apply the permutation inplace Matrix mask(perm.size()); mask.fill(false); Index r = 0; while(r < perm.size()) { // search for the next seed while(r=perm.size()) break; // we got one, let's follow it until we are back to the seed Index k0 = r++; Index kPrev = k0; mask.coeffRef(k0) = true; for(Index k=perm.indices().coeff(k0); k!=k0; k=perm.indices().coeff(k)) { Block(dst, k) .swap(Block (dst,((Side==OnTheLeft) ^ Transposed) ? k0 : kPrev)); mask.coeffRef(k) = true; kPrev = k; } } } else { for(Index i = 0; i < n; ++i) { Block (dst, ((Side==OnTheLeft) ^ Transposed) ? perm.indices().coeff(i) : i) = Block (mat, ((Side==OnTheRight) ^ Transposed) ? perm.indices().coeff(i) : i); } } } }; template struct generic_product_impl { template static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs) { permutation_matrix_product::run(dst, lhs, rhs); } }; template struct generic_product_impl { template static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs) { permutation_matrix_product::run(dst, rhs, lhs); } }; template struct generic_product_impl, Rhs, PermutationShape, MatrixShape, ProductTag> { template static void evalTo(Dest& dst, const Inverse& lhs, const Rhs& rhs) { permutation_matrix_product::run(dst, lhs.nestedExpression(), rhs); } }; template struct generic_product_impl, MatrixShape, PermutationShape, ProductTag> { template static void evalTo(Dest& dst, const Lhs& lhs, const Inverse& rhs) { permutation_matrix_product::run(dst, rhs.nestedExpression(), lhs); } }; /*************************************************************************** * Products with transpositions matrices ***************************************************************************/ // FIXME could we unify Transpositions and Permutation into a single "shape"?? /** \internal * \class transposition_matrix_product * Internal helper class implementing the product between a permutation matrix and a matrix. */ template struct transposition_matrix_product { typedef typename nested_eval::type MatrixType; typedef typename remove_all::type MatrixTypeCleaned; template static inline void run(Dest& dst, const TranspositionType& tr, const ExpressionType& xpr) { MatrixType mat(xpr); typedef typename TranspositionType::StorageIndex StorageIndex; const Index size = tr.size(); StorageIndex j = 0; if(!is_same_dense(dst,mat)) dst = mat; for(Index k=(Transposed?size-1:0) ; Transposed?k>=0:k struct generic_product_impl { template static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs) { transposition_matrix_product::run(dst, lhs, rhs); } }; template struct generic_product_impl { template static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs) { transposition_matrix_product::run(dst, rhs, lhs); } }; template struct generic_product_impl, Rhs, TranspositionsShape, MatrixShape, ProductTag> { template static void evalTo(Dest& dst, const Transpose& lhs, const Rhs& rhs) { transposition_matrix_product::run(dst, lhs.nestedExpression(), rhs); } }; template struct generic_product_impl, MatrixShape, TranspositionsShape, ProductTag> { template static void evalTo(Dest& dst, const Lhs& lhs, const Transpose& rhs) { transposition_matrix_product::run(dst, rhs.nestedExpression(), lhs); } }; } // end namespace internal } // end namespace Eigen #endif // EIGEN_PRODUCT_EVALUATORS_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/Random.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2008 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_RANDOM_H #define EIGEN_RANDOM_H namespace Eigen { namespace internal { template struct scalar_random_op { EIGEN_EMPTY_STRUCT_CTOR(scalar_random_op) inline const Scalar operator() () const { return random(); } }; template struct functor_traits > { enum { Cost = 5 * NumTraits::MulCost, PacketAccess = false, IsRepeatable = false }; }; } // end namespace internal /** \returns a random matrix expression * * Numbers are uniformly spread through their whole definition range for integer types, * and in the [-1:1] range for floating point scalar types. * * The parameters \a rows and \a cols are the number of rows and of columns of * the returned matrix. Must be compatible with this MatrixBase type. * * \not_reentrant * * This variant is meant to be used for dynamic-size matrix types. For fixed-size types, * it is redundant to pass \a rows and \a cols as arguments, so Random() should be used * instead. * * * Example: \include MatrixBase_random_int_int.cpp * Output: \verbinclude MatrixBase_random_int_int.out * * This expression has the "evaluate before nesting" flag so that it will be evaluated into * a temporary matrix whenever it is nested in a larger expression. This prevents unexpected * behavior with expressions involving random matrices. * * See DenseBase::NullaryExpr(Index, const CustomNullaryOp&) for an example using C++11 random generators. * * \sa DenseBase::setRandom(), DenseBase::Random(Index), DenseBase::Random() */ template inline const typename DenseBase::RandomReturnType DenseBase::Random(Index rows, Index cols) { return NullaryExpr(rows, cols, internal::scalar_random_op()); } /** \returns a random vector expression * * Numbers are uniformly spread through their whole definition range for integer types, * and in the [-1:1] range for floating point scalar types. * * The parameter \a size is the size of the returned vector. * Must be compatible with this MatrixBase type. * * \only_for_vectors * \not_reentrant * * This variant is meant to be used for dynamic-size vector types. For fixed-size types, * it is redundant to pass \a size as argument, so Random() should be used * instead. * * Example: \include MatrixBase_random_int.cpp * Output: \verbinclude MatrixBase_random_int.out * * This expression has the "evaluate before nesting" flag so that it will be evaluated into * a temporary vector whenever it is nested in a larger expression. This prevents unexpected * behavior with expressions involving random matrices. * * \sa DenseBase::setRandom(), DenseBase::Random(Index,Index), DenseBase::Random() */ template inline const typename DenseBase::RandomReturnType DenseBase::Random(Index size) { return NullaryExpr(size, internal::scalar_random_op()); } /** \returns a fixed-size random matrix or vector expression * * Numbers are uniformly spread through their whole definition range for integer types, * and in the [-1:1] range for floating point scalar types. * * This variant is only for fixed-size MatrixBase types. For dynamic-size types, you * need to use the variants taking size arguments. * * Example: \include MatrixBase_random.cpp * Output: \verbinclude MatrixBase_random.out * * This expression has the "evaluate before nesting" flag so that it will be evaluated into * a temporary matrix whenever it is nested in a larger expression. This prevents unexpected * behavior with expressions involving random matrices. * * \not_reentrant * * \sa DenseBase::setRandom(), DenseBase::Random(Index,Index), DenseBase::Random(Index) */ template inline const typename DenseBase::RandomReturnType DenseBase::Random() { return NullaryExpr(RowsAtCompileTime, ColsAtCompileTime, internal::scalar_random_op()); } /** Sets all coefficients in this expression to random values. * * Numbers are uniformly spread through their whole definition range for integer types, * and in the [-1:1] range for floating point scalar types. * * \not_reentrant * * Example: \include MatrixBase_setRandom.cpp * Output: \verbinclude MatrixBase_setRandom.out * * \sa class CwiseNullaryOp, setRandom(Index), setRandom(Index,Index) */ template inline Derived& DenseBase::setRandom() { return *this = Random(rows(), cols()); } /** Resizes to the given \a newSize, and sets all coefficients in this expression to random values. * * Numbers are uniformly spread through their whole definition range for integer types, * and in the [-1:1] range for floating point scalar types. * * \only_for_vectors * \not_reentrant * * Example: \include Matrix_setRandom_int.cpp * Output: \verbinclude Matrix_setRandom_int.out * * \sa DenseBase::setRandom(), setRandom(Index,Index), class CwiseNullaryOp, DenseBase::Random() */ template EIGEN_STRONG_INLINE Derived& PlainObjectBase::setRandom(Index newSize) { resize(newSize); return setRandom(); } /** Resizes to the given size, and sets all coefficients in this expression to random values. * * Numbers are uniformly spread through their whole definition range for integer types, * and in the [-1:1] range for floating point scalar types. * * \not_reentrant * * \param rows the new number of rows * \param cols the new number of columns * * Example: \include Matrix_setRandom_int_int.cpp * Output: \verbinclude Matrix_setRandom_int_int.out * * \sa DenseBase::setRandom(), setRandom(Index), class CwiseNullaryOp, DenseBase::Random() */ template EIGEN_STRONG_INLINE Derived& PlainObjectBase::setRandom(Index rows, Index cols) { resize(rows, cols); return setRandom(); } } // end namespace Eigen #endif // EIGEN_RANDOM_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/Redux.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2008 Gael Guennebaud // Copyright (C) 2006-2008 Benoit Jacob // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_REDUX_H #define EIGEN_REDUX_H namespace Eigen { namespace internal { // TODO // * implement other kind of vectorization // * factorize code /*************************************************************************** * Part 1 : the logic deciding a strategy for vectorization and unrolling ***************************************************************************/ template struct redux_traits { public: typedef typename find_best_packet::type PacketType; enum { PacketSize = unpacket_traits::size, InnerMaxSize = int(Derived::IsRowMajor) ? Derived::MaxColsAtCompileTime : Derived::MaxRowsAtCompileTime }; enum { MightVectorize = (int(Derived::Flags)&ActualPacketAccessBit) && (functor_traits::PacketAccess), MayLinearVectorize = bool(MightVectorize) && (int(Derived::Flags)&LinearAccessBit), MaySliceVectorize = bool(MightVectorize) && int(InnerMaxSize)>=3*PacketSize }; public: enum { Traversal = int(MayLinearVectorize) ? int(LinearVectorizedTraversal) : int(MaySliceVectorize) ? int(SliceVectorizedTraversal) : int(DefaultTraversal) }; public: enum { Cost = Derived::SizeAtCompileTime == Dynamic ? HugeCost : Derived::SizeAtCompileTime * Derived::CoeffReadCost + (Derived::SizeAtCompileTime-1) * functor_traits::Cost, UnrollingLimit = EIGEN_UNROLLING_LIMIT * (int(Traversal) == int(DefaultTraversal) ? 1 : int(PacketSize)) }; public: enum { Unrolling = Cost <= UnrollingLimit ? CompleteUnrolling : NoUnrolling }; #ifdef EIGEN_DEBUG_ASSIGN static void debug() { std::cerr << "Xpr: " << typeid(typename Derived::XprType).name() << std::endl; std::cerr.setf(std::ios::hex, std::ios::basefield); EIGEN_DEBUG_VAR(Derived::Flags) std::cerr.unsetf(std::ios::hex); EIGEN_DEBUG_VAR(InnerMaxSize) EIGEN_DEBUG_VAR(PacketSize) EIGEN_DEBUG_VAR(MightVectorize) EIGEN_DEBUG_VAR(MayLinearVectorize) EIGEN_DEBUG_VAR(MaySliceVectorize) EIGEN_DEBUG_VAR(Traversal) EIGEN_DEBUG_VAR(UnrollingLimit) EIGEN_DEBUG_VAR(Unrolling) std::cerr << std::endl; } #endif }; /*************************************************************************** * Part 2 : unrollers ***************************************************************************/ /*** no vectorization ***/ template struct redux_novec_unroller { enum { HalfLength = Length/2 }; typedef typename Derived::Scalar Scalar; EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Scalar run(const Derived &mat, const Func& func) { return func(redux_novec_unroller::run(mat,func), redux_novec_unroller::run(mat,func)); } }; template struct redux_novec_unroller { enum { outer = Start / Derived::InnerSizeAtCompileTime, inner = Start % Derived::InnerSizeAtCompileTime }; typedef typename Derived::Scalar Scalar; EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Scalar run(const Derived &mat, const Func&) { return mat.coeffByOuterInner(outer, inner); } }; // This is actually dead code and will never be called. It is required // to prevent false warnings regarding failed inlining though // for 0 length run() will never be called at all. template struct redux_novec_unroller { typedef typename Derived::Scalar Scalar; EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Scalar run(const Derived&, const Func&) { return Scalar(); } }; /*** vectorization ***/ template struct redux_vec_unroller { enum { PacketSize = redux_traits::PacketSize, HalfLength = Length/2 }; typedef typename Derived::Scalar Scalar; typedef typename redux_traits::PacketType PacketScalar; static EIGEN_STRONG_INLINE PacketScalar run(const Derived &mat, const Func& func) { return func.packetOp( redux_vec_unroller::run(mat,func), redux_vec_unroller::run(mat,func) ); } }; template struct redux_vec_unroller { enum { index = Start * redux_traits::PacketSize, outer = index / int(Derived::InnerSizeAtCompileTime), inner = index % int(Derived::InnerSizeAtCompileTime), alignment = Derived::Alignment }; typedef typename Derived::Scalar Scalar; typedef typename redux_traits::PacketType PacketScalar; static EIGEN_STRONG_INLINE PacketScalar run(const Derived &mat, const Func&) { return mat.template packetByOuterInner(outer, inner); } }; /*************************************************************************** * Part 3 : implementation of all cases ***************************************************************************/ template::Traversal, int Unrolling = redux_traits::Unrolling > struct redux_impl; template struct redux_impl { typedef typename Derived::Scalar Scalar; EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Scalar run(const Derived &mat, const Func& func) { eigen_assert(mat.rows()>0 && mat.cols()>0 && "you are using an empty matrix"); Scalar res; res = mat.coeffByOuterInner(0, 0); for(Index i = 1; i < mat.innerSize(); ++i) res = func(res, mat.coeffByOuterInner(0, i)); for(Index i = 1; i < mat.outerSize(); ++i) for(Index j = 0; j < mat.innerSize(); ++j) res = func(res, mat.coeffByOuterInner(i, j)); return res; } }; template struct redux_impl : public redux_novec_unroller {}; template struct redux_impl { typedef typename Derived::Scalar Scalar; typedef typename redux_traits::PacketType PacketScalar; static Scalar run(const Derived &mat, const Func& func) { const Index size = mat.size(); const Index packetSize = redux_traits::PacketSize; const int packetAlignment = unpacket_traits::alignment; enum { alignment0 = (bool(Derived::Flags & DirectAccessBit) && bool(packet_traits::AlignedOnScalar)) ? int(packetAlignment) : int(Unaligned), alignment = EIGEN_PLAIN_ENUM_MAX(alignment0, Derived::Alignment) }; const Index alignedStart = internal::first_default_aligned(mat.nestedExpression()); const Index alignedSize2 = ((size-alignedStart)/(2*packetSize))*(2*packetSize); const Index alignedSize = ((size-alignedStart)/(packetSize))*(packetSize); const Index alignedEnd2 = alignedStart + alignedSize2; const Index alignedEnd = alignedStart + alignedSize; Scalar res; if(alignedSize) { PacketScalar packet_res0 = mat.template packet(alignedStart); if(alignedSize>packetSize) // we have at least two packets to partly unroll the loop { PacketScalar packet_res1 = mat.template packet(alignedStart+packetSize); for(Index index = alignedStart + 2*packetSize; index < alignedEnd2; index += 2*packetSize) { packet_res0 = func.packetOp(packet_res0, mat.template packet(index)); packet_res1 = func.packetOp(packet_res1, mat.template packet(index+packetSize)); } packet_res0 = func.packetOp(packet_res0,packet_res1); if(alignedEnd>alignedEnd2) packet_res0 = func.packetOp(packet_res0, mat.template packet(alignedEnd2)); } res = func.predux(packet_res0); for(Index index = 0; index < alignedStart; ++index) res = func(res,mat.coeff(index)); for(Index index = alignedEnd; index < size; ++index) res = func(res,mat.coeff(index)); } else // too small to vectorize anything. // since this is dynamic-size hence inefficient anyway for such small sizes, don't try to optimize. { res = mat.coeff(0); for(Index index = 1; index < size; ++index) res = func(res,mat.coeff(index)); } return res; } }; // NOTE: for SliceVectorizedTraversal we simply bypass unrolling template struct redux_impl { typedef typename Derived::Scalar Scalar; typedef typename redux_traits::PacketType PacketType; EIGEN_DEVICE_FUNC static Scalar run(const Derived &mat, const Func& func) { eigen_assert(mat.rows()>0 && mat.cols()>0 && "you are using an empty matrix"); const Index innerSize = mat.innerSize(); const Index outerSize = mat.outerSize(); enum { packetSize = redux_traits::PacketSize }; const Index packetedInnerSize = ((innerSize)/packetSize)*packetSize; Scalar res; if(packetedInnerSize) { PacketType packet_res = mat.template packet(0,0); for(Index j=0; j(j,i)); res = func.predux(packet_res); for(Index j=0; j::run(mat, func); } return res; } }; template struct redux_impl { typedef typename Derived::Scalar Scalar; typedef typename redux_traits::PacketType PacketScalar; enum { PacketSize = redux_traits::PacketSize, Size = Derived::SizeAtCompileTime, VectorizedSize = (Size / PacketSize) * PacketSize }; EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Scalar run(const Derived &mat, const Func& func) { eigen_assert(mat.rows()>0 && mat.cols()>0 && "you are using an empty matrix"); if (VectorizedSize > 0) { Scalar res = func.predux(redux_vec_unroller::run(mat,func)); if (VectorizedSize != Size) res = func(res,redux_novec_unroller::run(mat,func)); return res; } else { return redux_novec_unroller::run(mat,func); } } }; // evaluator adaptor template class redux_evaluator { public: typedef _XprType XprType; EIGEN_DEVICE_FUNC explicit redux_evaluator(const XprType &xpr) : m_evaluator(xpr), m_xpr(xpr) {} typedef typename XprType::Scalar Scalar; typedef typename XprType::CoeffReturnType CoeffReturnType; typedef typename XprType::PacketScalar PacketScalar; typedef typename XprType::PacketReturnType PacketReturnType; enum { MaxRowsAtCompileTime = XprType::MaxRowsAtCompileTime, MaxColsAtCompileTime = XprType::MaxColsAtCompileTime, // TODO we should not remove DirectAccessBit and rather find an elegant way to query the alignment offset at runtime from the evaluator Flags = evaluator::Flags & ~DirectAccessBit, IsRowMajor = XprType::IsRowMajor, SizeAtCompileTime = XprType::SizeAtCompileTime, InnerSizeAtCompileTime = XprType::InnerSizeAtCompileTime, CoeffReadCost = evaluator::CoeffReadCost, Alignment = evaluator::Alignment }; EIGEN_DEVICE_FUNC Index rows() const { return m_xpr.rows(); } EIGEN_DEVICE_FUNC Index cols() const { return m_xpr.cols(); } EIGEN_DEVICE_FUNC Index size() const { return m_xpr.size(); } EIGEN_DEVICE_FUNC Index innerSize() const { return m_xpr.innerSize(); } EIGEN_DEVICE_FUNC Index outerSize() const { return m_xpr.outerSize(); } EIGEN_DEVICE_FUNC CoeffReturnType coeff(Index row, Index col) const { return m_evaluator.coeff(row, col); } EIGEN_DEVICE_FUNC CoeffReturnType coeff(Index index) const { return m_evaluator.coeff(index); } template PacketType packet(Index row, Index col) const { return m_evaluator.template packet(row, col); } template PacketType packet(Index index) const { return m_evaluator.template packet(index); } EIGEN_DEVICE_FUNC CoeffReturnType coeffByOuterInner(Index outer, Index inner) const { return m_evaluator.coeff(IsRowMajor ? outer : inner, IsRowMajor ? inner : outer); } template PacketType packetByOuterInner(Index outer, Index inner) const { return m_evaluator.template packet(IsRowMajor ? outer : inner, IsRowMajor ? inner : outer); } const XprType & nestedExpression() const { return m_xpr; } protected: internal::evaluator m_evaluator; const XprType &m_xpr; }; } // end namespace internal /*************************************************************************** * Part 4 : public API ***************************************************************************/ /** \returns the result of a full redux operation on the whole matrix or vector using \a func * * The template parameter \a BinaryOp is the type of the functor \a func which must be * an associative operator. Both current C++98 and C++11 functor styles are handled. * * \sa DenseBase::sum(), DenseBase::minCoeff(), DenseBase::maxCoeff(), MatrixBase::colwise(), MatrixBase::rowwise() */ template template typename internal::traits::Scalar DenseBase::redux(const Func& func) const { eigen_assert(this->rows()>0 && this->cols()>0 && "you are using an empty matrix"); typedef typename internal::redux_evaluator ThisEvaluator; ThisEvaluator thisEval(derived()); return internal::redux_impl::run(thisEval, func); } /** \returns the minimum of all coefficients of \c *this. * \warning the result is undefined if \c *this contains NaN. */ template EIGEN_STRONG_INLINE typename internal::traits::Scalar DenseBase::minCoeff() const { return derived().redux(Eigen::internal::scalar_min_op()); } /** \returns the maximum of all coefficients of \c *this. * \warning the result is undefined if \c *this contains NaN. */ template EIGEN_STRONG_INLINE typename internal::traits::Scalar DenseBase::maxCoeff() const { return derived().redux(Eigen::internal::scalar_max_op()); } /** \returns the sum of all coefficients of \c *this * * If \c *this is empty, then the value 0 is returned. * * \sa trace(), prod(), mean() */ template EIGEN_STRONG_INLINE typename internal::traits::Scalar DenseBase::sum() const { if(SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0)) return Scalar(0); return derived().redux(Eigen::internal::scalar_sum_op()); } /** \returns the mean of all coefficients of *this * * \sa trace(), prod(), sum() */ template EIGEN_STRONG_INLINE typename internal::traits::Scalar DenseBase::mean() const { #ifdef __INTEL_COMPILER #pragma warning push #pragma warning ( disable : 2259 ) #endif return Scalar(derived().redux(Eigen::internal::scalar_sum_op())) / Scalar(this->size()); #ifdef __INTEL_COMPILER #pragma warning pop #endif } /** \returns the product of all coefficients of *this * * Example: \include MatrixBase_prod.cpp * Output: \verbinclude MatrixBase_prod.out * * \sa sum(), mean(), trace() */ template EIGEN_STRONG_INLINE typename internal::traits::Scalar DenseBase::prod() const { if(SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0)) return Scalar(1); return derived().redux(Eigen::internal::scalar_product_op()); } /** \returns the trace of \c *this, i.e. the sum of the coefficients on the main diagonal. * * \c *this can be any matrix, not necessarily square. * * \sa diagonal(), sum() */ template EIGEN_STRONG_INLINE typename internal::traits::Scalar MatrixBase::trace() const { return derived().diagonal().sum(); } } // end namespace Eigen #endif // EIGEN_REDUX_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/Ref.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2012 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_REF_H #define EIGEN_REF_H namespace Eigen { namespace internal { template struct traits > : public traits > { typedef _PlainObjectType PlainObjectType; typedef _StrideType StrideType; enum { Options = _Options, Flags = traits >::Flags | NestByRefBit, Alignment = traits >::Alignment }; template struct match { enum { HasDirectAccess = internal::has_direct_access::ret, StorageOrderMatch = PlainObjectType::IsVectorAtCompileTime || Derived::IsVectorAtCompileTime || ((PlainObjectType::Flags&RowMajorBit)==(Derived::Flags&RowMajorBit)), InnerStrideMatch = int(StrideType::InnerStrideAtCompileTime)==int(Dynamic) || int(StrideType::InnerStrideAtCompileTime)==int(Derived::InnerStrideAtCompileTime) || (int(StrideType::InnerStrideAtCompileTime)==0 && int(Derived::InnerStrideAtCompileTime)==1), OuterStrideMatch = Derived::IsVectorAtCompileTime || int(StrideType::OuterStrideAtCompileTime)==int(Dynamic) || int(StrideType::OuterStrideAtCompileTime)==int(Derived::OuterStrideAtCompileTime), // NOTE, this indirection of evaluator::Alignment is needed // to workaround a very strange bug in MSVC related to the instantiation // of has_*ary_operator in evaluator. // This line is surprisingly very sensitive. For instance, simply adding parenthesis // as "DerivedAlignment = (int(evaluator::Alignment))," will make MSVC fail... DerivedAlignment = int(evaluator::Alignment), AlignmentMatch = (int(traits::Alignment)==int(Unaligned)) || (DerivedAlignment >= int(Alignment)), // FIXME the first condition is not very clear, it should be replaced by the required alignment ScalarTypeMatch = internal::is_same::value, MatchAtCompileTime = HasDirectAccess && StorageOrderMatch && InnerStrideMatch && OuterStrideMatch && AlignmentMatch && ScalarTypeMatch }; typedef typename internal::conditional::type type; }; }; template struct traits > : public traits {}; } template class RefBase : public MapBase { typedef typename internal::traits::PlainObjectType PlainObjectType; typedef typename internal::traits::StrideType StrideType; public: typedef MapBase Base; EIGEN_DENSE_PUBLIC_INTERFACE(RefBase) EIGEN_DEVICE_FUNC inline Index innerStride() const { return StrideType::InnerStrideAtCompileTime != 0 ? m_stride.inner() : 1; } EIGEN_DEVICE_FUNC inline Index outerStride() const { return StrideType::OuterStrideAtCompileTime != 0 ? m_stride.outer() : IsVectorAtCompileTime ? this->size() : int(Flags)&RowMajorBit ? this->cols() : this->rows(); } EIGEN_DEVICE_FUNC RefBase() : Base(0,RowsAtCompileTime==Dynamic?0:RowsAtCompileTime,ColsAtCompileTime==Dynamic?0:ColsAtCompileTime), // Stride<> does not allow default ctor for Dynamic strides, so let' initialize it with dummy values: m_stride(StrideType::OuterStrideAtCompileTime==Dynamic?0:StrideType::OuterStrideAtCompileTime, StrideType::InnerStrideAtCompileTime==Dynamic?0:StrideType::InnerStrideAtCompileTime) {} EIGEN_INHERIT_ASSIGNMENT_OPERATORS(RefBase) protected: typedef Stride StrideBase; template EIGEN_DEVICE_FUNC void construct(Expression& expr) { if(PlainObjectType::RowsAtCompileTime==1) { eigen_assert(expr.rows()==1 || expr.cols()==1); ::new (static_cast(this)) Base(expr.data(), 1, expr.size()); } else if(PlainObjectType::ColsAtCompileTime==1) { eigen_assert(expr.rows()==1 || expr.cols()==1); ::new (static_cast(this)) Base(expr.data(), expr.size(), 1); } else ::new (static_cast(this)) Base(expr.data(), expr.rows(), expr.cols()); if(Expression::IsVectorAtCompileTime && (!PlainObjectType::IsVectorAtCompileTime) && ((Expression::Flags&RowMajorBit)!=(PlainObjectType::Flags&RowMajorBit))) ::new (&m_stride) StrideBase(expr.innerStride(), StrideType::InnerStrideAtCompileTime==0?0:1); else ::new (&m_stride) StrideBase(StrideType::OuterStrideAtCompileTime==0?0:expr.outerStride(), StrideType::InnerStrideAtCompileTime==0?0:expr.innerStride()); } StrideBase m_stride; }; /** \class Ref * \ingroup Core_Module * * \brief A matrix or vector expression mapping an existing expression * * \tparam PlainObjectType the equivalent matrix type of the mapped data * \tparam Options specifies the pointer alignment in bytes. It can be: \c #Aligned128, , \c #Aligned64, \c #Aligned32, \c #Aligned16, \c #Aligned8 or \c #Unaligned. * The default is \c #Unaligned. * \tparam StrideType optionally specifies strides. By default, Ref implies a contiguous storage along the inner dimension (inner stride==1), * but accepts a variable outer stride (leading dimension). * This can be overridden by specifying strides. * The type passed here must be a specialization of the Stride template, see examples below. * * This class provides a way to write non-template functions taking Eigen objects as parameters while limiting the number of copies. * A Ref<> object can represent either a const expression or a l-value: * \code * // in-out argument: * void foo1(Ref x); * * // read-only const argument: * void foo2(const Ref& x); * \endcode * * In the in-out case, the input argument must satisfy the constraints of the actual Ref<> type, otherwise a compilation issue will be triggered. * By default, a Ref can reference any dense vector expression of float having a contiguous memory layout. * Likewise, a Ref can reference any column-major dense matrix expression of float whose column's elements are contiguously stored with * the possibility to have a constant space in-between each column, i.e. the inner stride must be equal to 1, but the outer stride (or leading dimension) * can be greater than the number of rows. * * In the const case, if the input expression does not match the above requirement, then it is evaluated into a temporary before being passed to the function. * Here are some examples: * \code * MatrixXf A; * VectorXf a; * foo1(a.head()); // OK * foo1(A.col()); // OK * foo1(A.row()); // Compilation error because here innerstride!=1 * foo2(A.row()); // Compilation error because A.row() is a 1xN object while foo2 is expecting a Nx1 object * foo2(A.row().transpose()); // The row is copied into a contiguous temporary * foo2(2*a); // The expression is evaluated into a temporary * foo2(A.col().segment(2,4)); // No temporary * \endcode * * The range of inputs that can be referenced without temporary can be enlarged using the last two template parameters. * Here is an example accepting an innerstride!=1: * \code * // in-out argument: * void foo3(Ref > x); * foo3(A.row()); // OK * \endcode * The downside here is that the function foo3 might be significantly slower than foo1 because it won't be able to exploit vectorization, and will involve more * expensive address computations even if the input is contiguously stored in memory. To overcome this issue, one might propose to overload internally calling a * template function, e.g.: * \code * // in the .h: * void foo(const Ref& A); * void foo(const Ref >& A); * * // in the .cpp: * template void foo_impl(const TypeOfA& A) { * ... // crazy code goes here * } * void foo(const Ref& A) { foo_impl(A); } * void foo(const Ref >& A) { foo_impl(A); } * \endcode * * * \sa PlainObjectBase::Map(), \ref TopicStorageOrders */ template class Ref : public RefBase > { private: typedef internal::traits Traits; template EIGEN_DEVICE_FUNC inline Ref(const PlainObjectBase& expr, typename internal::enable_if::MatchAtCompileTime),Derived>::type* = 0); public: typedef RefBase Base; EIGEN_DENSE_PUBLIC_INTERFACE(Ref) #ifndef EIGEN_PARSED_BY_DOXYGEN template EIGEN_DEVICE_FUNC inline Ref(PlainObjectBase& expr, typename internal::enable_if::MatchAtCompileTime),Derived>::type* = 0) { EIGEN_STATIC_ASSERT(bool(Traits::template match::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH); Base::construct(expr.derived()); } template EIGEN_DEVICE_FUNC inline Ref(const DenseBase& expr, typename internal::enable_if::MatchAtCompileTime),Derived>::type* = 0) #else /** Implicit constructor from any dense expression */ template inline Ref(DenseBase& expr) #endif { EIGEN_STATIC_ASSERT(bool(internal::is_lvalue::value), THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY); EIGEN_STATIC_ASSERT(bool(Traits::template match::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH); EIGEN_STATIC_ASSERT(!Derived::IsPlainObjectBase,THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY); Base::construct(expr.const_cast_derived()); } EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Ref) }; // this is the const ref version template class Ref : public RefBase > { typedef internal::traits Traits; public: typedef RefBase Base; EIGEN_DENSE_PUBLIC_INTERFACE(Ref) template EIGEN_DEVICE_FUNC inline Ref(const DenseBase& expr, typename internal::enable_if::ScalarTypeMatch),Derived>::type* = 0) { // std::cout << match_helper::HasDirectAccess << "," << match_helper::OuterStrideMatch << "," << match_helper::InnerStrideMatch << "\n"; // std::cout << int(StrideType::OuterStrideAtCompileTime) << " - " << int(Derived::OuterStrideAtCompileTime) << "\n"; // std::cout << int(StrideType::InnerStrideAtCompileTime) << " - " << int(Derived::InnerStrideAtCompileTime) << "\n"; construct(expr.derived(), typename Traits::template match::type()); } EIGEN_DEVICE_FUNC inline Ref(const Ref& other) : Base(other) { // copy constructor shall not copy the m_object, to avoid unnecessary malloc and copy } template EIGEN_DEVICE_FUNC inline Ref(const RefBase& other) { construct(other.derived(), typename Traits::template match::type()); } protected: template EIGEN_DEVICE_FUNC void construct(const Expression& expr,internal::true_type) { Base::construct(expr); } template EIGEN_DEVICE_FUNC void construct(const Expression& expr, internal::false_type) { internal::call_assignment_no_alias(m_object,expr,internal::assign_op()); Base::construct(m_object); } protected: TPlainObjectType m_object; }; } // end namespace Eigen #endif // EIGEN_REF_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/Replicate.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2009-2010 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_REPLICATE_H #define EIGEN_REPLICATE_H namespace Eigen { namespace internal { template struct traits > : traits { typedef typename MatrixType::Scalar Scalar; typedef typename traits::StorageKind StorageKind; typedef typename traits::XprKind XprKind; typedef typename ref_selector::type MatrixTypeNested; typedef typename remove_reference::type _MatrixTypeNested; enum { RowsAtCompileTime = RowFactor==Dynamic || int(MatrixType::RowsAtCompileTime)==Dynamic ? Dynamic : RowFactor * MatrixType::RowsAtCompileTime, ColsAtCompileTime = ColFactor==Dynamic || int(MatrixType::ColsAtCompileTime)==Dynamic ? Dynamic : ColFactor * MatrixType::ColsAtCompileTime, //FIXME we don't propagate the max sizes !!! MaxRowsAtCompileTime = RowsAtCompileTime, MaxColsAtCompileTime = ColsAtCompileTime, IsRowMajor = MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1 ? 1 : MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1 ? 0 : (MatrixType::Flags & RowMajorBit) ? 1 : 0, // FIXME enable DirectAccess with negative strides? Flags = IsRowMajor ? RowMajorBit : 0 }; }; } /** * \class Replicate * \ingroup Core_Module * * \brief Expression of the multiple replication of a matrix or vector * * \tparam MatrixType the type of the object we are replicating * \tparam RowFactor number of repetitions at compile time along the vertical direction, can be Dynamic. * \tparam ColFactor number of repetitions at compile time along the horizontal direction, can be Dynamic. * * This class represents an expression of the multiple replication of a matrix or vector. * It is the return type of DenseBase::replicate() and most of the time * this is the only way it is used. * * \sa DenseBase::replicate() */ template class Replicate : public internal::dense_xpr_base< Replicate >::type { typedef typename internal::traits::MatrixTypeNested MatrixTypeNested; typedef typename internal::traits::_MatrixTypeNested _MatrixTypeNested; public: typedef typename internal::dense_xpr_base::type Base; EIGEN_DENSE_PUBLIC_INTERFACE(Replicate) typedef typename internal::remove_all::type NestedExpression; template EIGEN_DEVICE_FUNC inline explicit Replicate(const OriginalMatrixType& matrix) : m_matrix(matrix), m_rowFactor(RowFactor), m_colFactor(ColFactor) { EIGEN_STATIC_ASSERT((internal::is_same::type,OriginalMatrixType>::value), THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE) eigen_assert(RowFactor!=Dynamic && ColFactor!=Dynamic); } template EIGEN_DEVICE_FUNC inline Replicate(const OriginalMatrixType& matrix, Index rowFactor, Index colFactor) : m_matrix(matrix), m_rowFactor(rowFactor), m_colFactor(colFactor) { EIGEN_STATIC_ASSERT((internal::is_same::type,OriginalMatrixType>::value), THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE) } EIGEN_DEVICE_FUNC inline Index rows() const { return m_matrix.rows() * m_rowFactor.value(); } EIGEN_DEVICE_FUNC inline Index cols() const { return m_matrix.cols() * m_colFactor.value(); } EIGEN_DEVICE_FUNC const _MatrixTypeNested& nestedExpression() const { return m_matrix; } protected: MatrixTypeNested m_matrix; const internal::variable_if_dynamic m_rowFactor; const internal::variable_if_dynamic m_colFactor; }; /** * \return an expression of the replication of \c *this * * Example: \include MatrixBase_replicate.cpp * Output: \verbinclude MatrixBase_replicate.out * * \sa VectorwiseOp::replicate(), DenseBase::replicate(Index,Index), class Replicate */ template template const Replicate DenseBase::replicate() const { return Replicate(derived()); } /** * \return an expression of the replication of each column (or row) of \c *this * * Example: \include DirectionWise_replicate_int.cpp * Output: \verbinclude DirectionWise_replicate_int.out * * \sa VectorwiseOp::replicate(), DenseBase::replicate(), class Replicate */ template const typename VectorwiseOp::ReplicateReturnType VectorwiseOp::replicate(Index factor) const { return typename VectorwiseOp::ReplicateReturnType (_expression(),Direction==Vertical?factor:1,Direction==Horizontal?factor:1); } } // end namespace Eigen #endif // EIGEN_REPLICATE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/ReturnByValue.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2009-2010 Gael Guennebaud // Copyright (C) 2009-2010 Benoit Jacob // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_RETURNBYVALUE_H #define EIGEN_RETURNBYVALUE_H namespace Eigen { namespace internal { template struct traits > : public traits::ReturnType> { enum { // We're disabling the DirectAccess because e.g. the constructor of // the Block-with-DirectAccess expression requires to have a coeffRef method. // Also, we don't want to have to implement the stride stuff. Flags = (traits::ReturnType>::Flags | EvalBeforeNestingBit) & ~DirectAccessBit }; }; /* The ReturnByValue object doesn't even have a coeff() method. * So the only way that nesting it in an expression can work, is by evaluating it into a plain matrix. * So internal::nested always gives the plain return matrix type. * * FIXME: I don't understand why we need this specialization: isn't this taken care of by the EvalBeforeNestingBit ?? * Answer: EvalBeforeNestingBit should be deprecated since we have the evaluators */ template struct nested_eval, n, PlainObject> { typedef typename traits::ReturnType type; }; } // end namespace internal /** \class ReturnByValue * \ingroup Core_Module * */ template class ReturnByValue : public internal::dense_xpr_base< ReturnByValue >::type, internal::no_assignment_operator { public: typedef typename internal::traits::ReturnType ReturnType; typedef typename internal::dense_xpr_base::type Base; EIGEN_DENSE_PUBLIC_INTERFACE(ReturnByValue) template EIGEN_DEVICE_FUNC inline void evalTo(Dest& dst) const { static_cast(this)->evalTo(dst); } EIGEN_DEVICE_FUNC inline Index rows() const { return static_cast(this)->rows(); } EIGEN_DEVICE_FUNC inline Index cols() const { return static_cast(this)->cols(); } #ifndef EIGEN_PARSED_BY_DOXYGEN #define Unusable YOU_ARE_TRYING_TO_ACCESS_A_SINGLE_COEFFICIENT_IN_A_SPECIAL_EXPRESSION_WHERE_THAT_IS_NOT_ALLOWED_BECAUSE_THAT_WOULD_BE_INEFFICIENT class Unusable{ Unusable(const Unusable&) {} Unusable& operator=(const Unusable&) {return *this;} }; const Unusable& coeff(Index) const { return *reinterpret_cast(this); } const Unusable& coeff(Index,Index) const { return *reinterpret_cast(this); } Unusable& coeffRef(Index) { return *reinterpret_cast(this); } Unusable& coeffRef(Index,Index) { return *reinterpret_cast(this); } #undef Unusable #endif }; template template Derived& DenseBase::operator=(const ReturnByValue& other) { other.evalTo(derived()); return derived(); } namespace internal { // Expression is evaluated in a temporary; default implementation of Assignment is bypassed so that // when a ReturnByValue expression is assigned, the evaluator is not constructed. // TODO: Finalize port to new regime; ReturnByValue should not exist in the expression world template struct evaluator > : public evaluator::ReturnType> { typedef ReturnByValue XprType; typedef typename internal::traits::ReturnType PlainObject; typedef evaluator Base; EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) : m_result(xpr.rows(), xpr.cols()) { ::new (static_cast(this)) Base(m_result); xpr.evalTo(m_result); } protected: PlainObject m_result; }; } // end namespace internal } // end namespace Eigen #endif // EIGEN_RETURNBYVALUE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/Reverse.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2006-2008 Benoit Jacob // Copyright (C) 2009 Ricard Marxer // Copyright (C) 2009-2010 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_REVERSE_H #define EIGEN_REVERSE_H namespace Eigen { namespace internal { template struct traits > : traits { typedef typename MatrixType::Scalar Scalar; typedef typename traits::StorageKind StorageKind; typedef typename traits::XprKind XprKind; typedef typename ref_selector::type MatrixTypeNested; typedef typename remove_reference::type _MatrixTypeNested; enum { RowsAtCompileTime = MatrixType::RowsAtCompileTime, ColsAtCompileTime = MatrixType::ColsAtCompileTime, MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime, MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime, Flags = _MatrixTypeNested::Flags & (RowMajorBit | LvalueBit) }; }; template struct reverse_packet_cond { static inline PacketType run(const PacketType& x) { return preverse(x); } }; template struct reverse_packet_cond { static inline PacketType run(const PacketType& x) { return x; } }; } // end namespace internal /** \class Reverse * \ingroup Core_Module * * \brief Expression of the reverse of a vector or matrix * * \tparam MatrixType the type of the object of which we are taking the reverse * \tparam Direction defines the direction of the reverse operation, can be Vertical, Horizontal, or BothDirections * * This class represents an expression of the reverse of a vector. * It is the return type of MatrixBase::reverse() and VectorwiseOp::reverse() * and most of the time this is the only way it is used. * * \sa MatrixBase::reverse(), VectorwiseOp::reverse() */ template class Reverse : public internal::dense_xpr_base< Reverse >::type { public: typedef typename internal::dense_xpr_base::type Base; EIGEN_DENSE_PUBLIC_INTERFACE(Reverse) typedef typename internal::remove_all::type NestedExpression; using Base::IsRowMajor; protected: enum { PacketSize = internal::packet_traits::size, IsColMajor = !IsRowMajor, ReverseRow = (Direction == Vertical) || (Direction == BothDirections), ReverseCol = (Direction == Horizontal) || (Direction == BothDirections), OffsetRow = ReverseRow && IsColMajor ? PacketSize : 1, OffsetCol = ReverseCol && IsRowMajor ? PacketSize : 1, ReversePacket = (Direction == BothDirections) || ((Direction == Vertical) && IsColMajor) || ((Direction == Horizontal) && IsRowMajor) }; typedef internal::reverse_packet_cond reverse_packet; public: EIGEN_DEVICE_FUNC explicit inline Reverse(const MatrixType& matrix) : m_matrix(matrix) { } EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Reverse) EIGEN_DEVICE_FUNC inline Index rows() const { return m_matrix.rows(); } EIGEN_DEVICE_FUNC inline Index cols() const { return m_matrix.cols(); } EIGEN_DEVICE_FUNC inline Index innerStride() const { return -m_matrix.innerStride(); } EIGEN_DEVICE_FUNC const typename internal::remove_all::type& nestedExpression() const { return m_matrix; } protected: typename MatrixType::Nested m_matrix; }; /** \returns an expression of the reverse of *this. * * Example: \include MatrixBase_reverse.cpp * Output: \verbinclude MatrixBase_reverse.out * */ template inline typename DenseBase::ReverseReturnType DenseBase::reverse() { return ReverseReturnType(derived()); } //reverse const overload moved DenseBase.h due to a CUDA compiler bug /** This is the "in place" version of reverse: it reverses \c *this. * * In most cases it is probably better to simply use the reversed expression * of a matrix. However, when reversing the matrix data itself is really needed, * then this "in-place" version is probably the right choice because it provides * the following additional benefits: * - less error prone: doing the same operation with .reverse() requires special care: * \code m = m.reverse().eval(); \endcode * - this API enables reverse operations without the need for a temporary * - it allows future optimizations (cache friendliness, etc.) * * \sa VectorwiseOp::reverseInPlace(), reverse() */ template inline void DenseBase::reverseInPlace() { if(cols()>rows()) { Index half = cols()/2; leftCols(half).swap(rightCols(half).reverse()); if((cols()%2)==1) { Index half2 = rows()/2; col(half).head(half2).swap(col(half).tail(half2).reverse()); } } else { Index half = rows()/2; topRows(half).swap(bottomRows(half).reverse()); if((rows()%2)==1) { Index half2 = cols()/2; row(half).head(half2).swap(row(half).tail(half2).reverse()); } } } namespace internal { template struct vectorwise_reverse_inplace_impl; template<> struct vectorwise_reverse_inplace_impl { template static void run(ExpressionType &xpr) { Index half = xpr.rows()/2; xpr.topRows(half).swap(xpr.bottomRows(half).colwise().reverse()); } }; template<> struct vectorwise_reverse_inplace_impl { template static void run(ExpressionType &xpr) { Index half = xpr.cols()/2; xpr.leftCols(half).swap(xpr.rightCols(half).rowwise().reverse()); } }; } // end namespace internal /** This is the "in place" version of VectorwiseOp::reverse: it reverses each column or row of \c *this. * * In most cases it is probably better to simply use the reversed expression * of a matrix. However, when reversing the matrix data itself is really needed, * then this "in-place" version is probably the right choice because it provides * the following additional benefits: * - less error prone: doing the same operation with .reverse() requires special care: * \code m = m.reverse().eval(); \endcode * - this API enables reverse operations without the need for a temporary * * \sa DenseBase::reverseInPlace(), reverse() */ template void VectorwiseOp::reverseInPlace() { internal::vectorwise_reverse_inplace_impl::run(_expression().const_cast_derived()); } } // end namespace Eigen #endif // EIGEN_REVERSE_H ================================================ FILE: arduino/opencr_arduino/opencr/libraries/Eigen331/src/Eigen/src/Core/Select.h ================================================ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2008-2010 Gael Guennebaud // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_SELECT_H #define EIGEN_SELECT_H namespace Eigen { /** \class Select * \ingroup Core_Module * * \brief Expression of a coefficient wise version of the C++ ternary operator ?: * * \param ConditionMatrixType the type of the \em condition expression which must be a boolean matrix * \param ThenMatrixType the type of the \em then expression * \param ElseMatrixType the type of the \em else expression * * This class represents an expression of a coefficient wise version of the C++ ternary operator ?:. * It is the return type of DenseBase::select() and most of the time this is the only way it is used. * * \sa DenseBase::select(const DenseBase&, const DenseBase&) const */ namespace internal { template struct traits > : traits { typedef typename traits::Scalar Scalar; typedef Dense StorageKind; typedef typename traits::XprKind XprKind; typedef typename ConditionMatrixType::Nested ConditionMatrixNested; typedef typename ThenMatrixType::Nested ThenMatrixNested; typedef typename ElseMatrixType::Nested ElseMatrixNested; enum { RowsAtCompileTime = ConditionMatrixType::RowsAtCompileTime, ColsAtCompileTime = ConditionMatrixType::ColsAtCompileTime, MaxRowsAtCompileTime = ConditionMatrixType::MaxRowsAtCompileTime, MaxColsAtCompileTime = ConditionMatrixType::MaxColsAtCompileTime, Flags = (unsigned int)ThenMatrixType::Flags & ElseMatrixType::Flags & RowMajorBit }; }; } template class Select : public internal::dense_xpr_base< Select >::type, internal::no_assignment_operator { public: typedef typename internal::dense_xpr_base