Inital commit... halfway through the project

3 files changed, 1129 insertions, 0 deletions

diff --git a/libraries/Firmata/examples/StandardFirmata/LICENSE.txt b/libraries/Firmata/examples/StandardFirmata/LICENSE.txt
new file mode 100644
index 0000000..89787e1
--- /dev/null
+++ b/libraries/Firmata/examples/StandardFirmata/LICENSE.txt
@@ -0,0 +1,458 @@
+

+		  GNU LESSER GENERAL PUBLIC LICENSE

+		       Version 2.1, February 1999

+

+ Copyright (C) 1991, 1999 Free Software Foundation, Inc.

+ 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA

+ Everyone is permitted to copy and distribute verbatim copies

+ of this license document, but changing it is not allowed.

+

+[This is the first released version of the Lesser GPL.  It also counts

+ as the successor of the GNU Library Public License, version 2, hence

+ the version number 2.1.]

+

+			    Preamble

+

+  The licenses for most software are designed to take away your

+freedom to share and change it.  By contrast, the GNU General Public

+Licenses are intended to guarantee your freedom to share and change

+free software--to make sure the software is free for all its users.

+

+  This license, the Lesser General Public License, applies to some

+specially designated software packages--typically libraries--of the

+Free Software Foundation and other authors who decide to use it.  You

+can use it too, but we suggest you first think carefully about whether

+this license or the ordinary General Public License is the better

+strategy to use in any particular case, based on the explanations below.

+

+  When we speak of free software, we are referring to freedom of use,

+not price.  Our General Public Licenses are designed to make sure that

+you have the freedom to distribute copies of free software (and charge

+for this service if you wish); that you receive source code or can get

+it if you want it; that you can change the software and use pieces of

+it in new free programs; and that you are informed that you can do

+these things.

+

+  To protect your rights, we need to make restrictions that forbid

+distributors to deny you these rights or to ask you to surrender these

+rights.  These restrictions translate to certain responsibilities for

+you if you distribute copies of the library or if you modify it.

+

+  For example, if you distribute copies of the library, whether gratis

+or for a fee, you must give the recipients all the rights that we gave

+you.  You must make sure that they, too, receive or can get the source

+code.  If you link other code with the library, you must provide

+complete object files to the recipients, so that they can relink them

+with the library after making changes to the library and recompiling

+it.  And you must show them these terms so they know their rights.

+

+  We protect your rights with a two-step method: (1) we copyright the

+library, and (2) we offer you this license, which gives you legal

+permission to copy, distribute and/or modify the library.

+

+  To protect each distributor, we want to make it very clear that

+there is no warranty for the free library.  Also, if the library is

+modified by someone else and passed on, the recipients should know

+that what they have is not the original version, so that the original

+author's reputation will not be affected by problems that might be

+introduced by others.

+

+  Finally, software patents pose a constant threat to the existence of

+any free program.  We wish to make sure that a company cannot

+effectively restrict the users of a free program by obtaining a

+restrictive license from a patent holder.  Therefore, we insist that

+any patent license obtained for a version of the library must be

+consistent with the full freedom of use specified in this license.

+

+  Most GNU software, including some libraries, is covered by the

+ordinary GNU General Public License.  This license, the GNU Lesser

+General Public License, applies to certain designated libraries, and

+is quite different from the ordinary General Public License.  We use

+this license for certain libraries in order to permit linking those

+libraries into non-free programs.

+

+  When a program is linked with a library, whether statically or using

+a shared library, the combination of the two is legally speaking a

+combined work, a derivative of the original library.  The ordinary

+General Public License therefore permits such linking only if the

+entire combination fits its criteria of freedom.  The Lesser General

+Public License permits more lax criteria for linking other code with

+the library.

+

+  We call this license the "Lesser" General Public License because it

+does Less to protect the user's freedom than the ordinary General

+Public License.  It also provides other free software developers Less

+of an advantage over competing non-free programs.  These disadvantages

+are the reason we use the ordinary General Public License for many

+libraries.  However, the Lesser license provides advantages in certain

+special circumstances.

+

+  For example, on rare occasions, there may be a special need to

+encourage the widest possible use of a certain library, so that it becomes

+a de-facto standard.  To achieve this, non-free programs must be

+allowed to use the library.  A more frequent case is that a free

+library does the same job as widely used non-free libraries.  In this

+case, there is little to gain by limiting the free library to free

+software only, so we use the Lesser General Public License.

+

+  In other cases, permission to use a particular library in non-free

+programs enables a greater number of people to use a large body of

+free software.  For example, permission to use the GNU C Library in

+non-free programs enables many more people to use the whole GNU

+operating system, as well as its variant, the GNU/Linux operating

+system.

+

+  Although the Lesser General Public License is Less protective of the

+users' freedom, it does ensure that the user of a program that is

+linked with the Library has the freedom and the wherewithal to run

+that program using a modified version of the Library.

+

+  The precise terms and conditions for copying, distribution and

+modification follow.  Pay close attention to the difference between a

+"work based on the library" and a "work that uses the library".  The

+former contains code derived from the library, whereas the latter must

+be combined with the library in order to run.

+

+		  GNU LESSER GENERAL PUBLIC LICENSE

+   TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION

+

+  0. This License Agreement applies to any software library or other

+program which contains a notice placed by the copyright holder or

+other authorized party saying it may be distributed under the terms of

+this Lesser General Public License (also called "this License").

+Each licensee is addressed as "you".

+

+  A "library" means a collection of software functions and/or data

+prepared so as to be conveniently linked with application programs

+(which use some of those functions and data) to form executables.

+

+  The "Library", below, refers to any such software library or work

+which has been distributed under these terms.  A "work based on the

+Library" means either the Library or any derivative work under

+copyright law: that is to say, a work containing the Library or a

+portion of it, either verbatim or with modifications and/or translated

+straightforwardly into another language.  (Hereinafter, translation is

+included without limitation in the term "modification".)

+

+  "Source code" for a work means the preferred form of the work for

+making modifications to it.  For a library, complete source code means

+all the source code for all modules it contains, plus any associated

+interface definition files, plus the scripts used to control compilation

+and installation of the library.

+

+  Activities other than copying, distribution and modification are not

+covered by this License; they are outside its scope.  The act of

+running a program using the Library is not restricted, and output from

+such a program is covered only if its contents constitute a work based

+on the Library (independent of the use of the Library in a tool for

+writing it).  Whether that is true depends on what the Library does

+and what the program that uses the Library does.

+  

+  1. You may copy and distribute verbatim copies of the Library's

+complete source code as you receive it, in any medium, provided that

+you conspicuously and appropriately publish on each copy an

+appropriate copyright notice and disclaimer of warranty; keep intact

+all the notices that refer to this License and to the absence of any

+warranty; and distribute a copy of this License along with the

+Library.

+

+  You may charge a fee for the physical act of transferring a copy,

+and you may at your option offer warranty protection in exchange for a

+fee.

+

+  2. You may modify your copy or copies of the Library or any portion

+of it, thus forming a work based on the Library, and copy and

+distribute such modifications or work under the terms of Section 1

+above, provided that you also meet all of these conditions:

+

+    a) The modified work must itself be a software library.

+

+    b) You must cause the files modified to carry prominent notices

+    stating that you changed the files and the date of any change.

+

+    c) You must cause the whole of the work to be licensed at no

+    charge to all third parties under the terms of this License.

+

+    d) If a facility in the modified Library refers to a function or a

+    table of data to be supplied by an application program that uses

+    the facility, other than as an argument passed when the facility

+    is invoked, then you must make a good faith effort to ensure that,

+    in the event an application does not supply such function or

+    table, the facility still operates, and performs whatever part of

+    its purpose remains meaningful.

+

+    (For example, a function in a library to compute square roots has

+    a purpose that is entirely well-defined independent of the

+    application.  Therefore, Subsection 2d requires that any

+    application-supplied function or table used by this function must

+    be optional: if the application does not supply it, the square

+    root function must still compute square roots.)

+

+These requirements apply to the modified work as a whole.  If

+identifiable sections of that work are not derived from the Library,

+and can be reasonably considered independent and separate works in

+themselves, then this License, and its terms, do not apply to those

+sections when you distribute them as separate works.  But when you

+distribute the same sections as part of a whole which is a work based

+on the Library, the distribution of the whole must be on the terms of

+this License, whose permissions for other licensees extend to the

+entire whole, and thus to each and every part regardless of who wrote

+it.

+

+Thus, it is not the intent of this section to claim rights or contest

+your rights to work written entirely by you; rather, the intent is to

+exercise the right to control the distribution of derivative or

+collective works based on the Library.

+

+In addition, mere aggregation of another work not based on the Library

+with the Library (or with a work based on the Library) on a volume of

+a storage or distribution medium does not bring the other work under

+the scope of this License.

+

+  3. You may opt to apply the terms of the ordinary GNU General Public

+License instead of this License to a given copy of the Library.  To do

+this, you must alter all the notices that refer to this License, so

+that they refer to the ordinary GNU General Public License, version 2,

+instead of to this License.  (If a newer version than version 2 of the

+ordinary GNU General Public License has appeared, then you can specify

+that version instead if you wish.)  Do not make any other change in

+these notices.

+

+  Once this change is made in a given copy, it is irreversible for

+that copy, so the ordinary GNU General Public License applies to all

+subsequent copies and derivative works made from that copy.

+

+  This option is useful when you wish to copy part of the code of

+the Library into a program that is not a library.

+

+  4. You may copy and distribute the Library (or a portion or

+derivative of it, under Section 2) in object code or executable form

+under the terms of Sections 1 and 2 above provided that you accompany

+it with the complete corresponding machine-readable source code, which

+must be distributed under the terms of Sections 1 and 2 above on a

+medium customarily used for software interchange.

+

+  If distribution of object code is made by offering access to copy

+from a designated place, then offering equivalent access to copy the

+source code from the same place satisfies the requirement to

+distribute the source code, even though third parties are not

+compelled to copy the source along with the object code.

+

+  5. A program that contains no derivative of any portion of the

+Library, but is designed to work with the Library by being compiled or

+linked with it, is called a "work that uses the Library".  Such a

+work, in isolation, is not a derivative work of the Library, and

+therefore falls outside the scope of this License.

+

+  However, linking a "work that uses the Library" with the Library

+creates an executable that is a derivative of the Library (because it

+contains portions of the Library), rather than a "work that uses the

+library".  The executable is therefore covered by this License.

+Section 6 states terms for distribution of such executables.

+

+  When a "work that uses the Library" uses material from a header file

+that is part of the Library, the object code for the work may be a

+derivative work of the Library even though the source code is not.

+Whether this is true is especially significant if the work can be

+linked without the Library, or if the work is itself a library.  The

+threshold for this to be true is not precisely defined by law.

+

+  If such an object file uses only numerical parameters, data

+structure layouts and accessors, and small macros and small inline

+functions (ten lines or less in length), then the use of the object

+file is unrestricted, regardless of whether it is legally a derivative

+work.  (Executables containing this object code plus portions of the

+Library will still fall under Section 6.)

+

+  Otherwise, if the work is a derivative of the Library, you may

+distribute the object code for the work under the terms of Section 6.

+Any executables containing that work also fall under Section 6,

+whether or not they are linked directly with the Library itself.

+

+  6. As an exception to the Sections above, you may also combine or

+link a "work that uses the Library" with the Library to produce a

+work containing portions of the Library, and distribute that work

+under terms of your choice, provided that the terms permit

+modification of the work for the customer's own use and reverse

+engineering for debugging such modifications.

+

+  You must give prominent notice with each copy of the work that the

+Library is used in it and that the Library and its use are covered by

+this License.  You must supply a copy of this License.  If the work

+during execution displays copyright notices, you must include the

+copyright notice for the Library among them, as well as a reference

+directing the user to the copy of this License.  Also, you must do one

+of these things:

+

+    a) Accompany the work with the complete corresponding

+    machine-readable source code for the Library including whatever

+    changes were used in the work (which must be distributed under

+    Sections 1 and 2 above); and, if the work is an executable linked

+    with the Library, with the complete machine-readable "work that

+    uses the Library", as object code and/or source code, so that the

+    user can modify the Library and then relink to produce a modified

+    executable containing the modified Library.  (It is understood

+    that the user who changes the contents of definitions files in the

+    Library will not necessarily be able to recompile the application

+    to use the modified definitions.)

+

+    b) Use a suitable shared library mechanism for linking with the

+    Library.  A suitable mechanism is one that (1) uses at run time a

+    copy of the library already present on the user's computer system,

+    rather than copying library functions into the executable, and (2)

+    will operate properly with a modified version of the library, if

+    the user installs one, as long as the modified version is

+    interface-compatible with the version that the work was made with.

+

+    c) Accompany the work with a written offer, valid for at

+    least three years, to give the same user the materials

+    specified in Subsection 6a, above, for a charge no more

+    than the cost of performing this distribution.

+

+    d) If distribution of the work is made by offering access to copy

+    from a designated place, offer equivalent access to copy the above

+    specified materials from the same place.

+

+    e) Verify that the user has already received a copy of these

+    materials or that you have already sent this user a copy.

+

+  For an executable, the required form of the "work that uses the

+Library" must include any data and utility programs needed for

+reproducing the executable from it.  However, as a special exception,

+the materials to be distributed need not include anything that is

+normally distributed (in either source or binary form) with the major

+components (compiler, kernel, and so on) of the operating system on

+which the executable runs, unless that component itself accompanies

+the executable.

+

+  It may happen that this requirement contradicts the license

+restrictions of other proprietary libraries that do not normally

+accompany the operating system.  Such a contradiction means you cannot

+use both them and the Library together in an executable that you

+distribute.

+

+  7. You may place library facilities that are a work based on the

+Library side-by-side in a single library together with other library

+facilities not covered by this License, and distribute such a combined

+library, provided that the separate distribution of the work based on

+the Library and of the other library facilities is otherwise

+permitted, and provided that you do these two things:

+

+    a) Accompany the combined library with a copy of the same work

+    based on the Library, uncombined with any other library

+    facilities.  This must be distributed under the terms of the

+    Sections above.

+

+    b) Give prominent notice with the combined library of the fact

+    that part of it is a work based on the Library, and explaining

+    where to find the accompanying uncombined form of the same work.

+

+  8. You may not copy, modify, sublicense, link with, or distribute

+the Library except as expressly provided under this License.  Any

+attempt otherwise to copy, modify, sublicense, link with, or

+distribute the Library is void, and will automatically terminate your

+rights under this License.  However, parties who have received copies,

+or rights, from you under this License will not have their licenses

+terminated so long as such parties remain in full compliance.

+

+  9. You are not required to accept this License, since you have not

+signed it.  However, nothing else grants you permission to modify or

+distribute the Library or its derivative works.  These actions are

+prohibited by law if you do not accept this License.  Therefore, by

+modifying or distributing the Library (or any work based on the

+Library), you indicate your acceptance of this License to do so, and

+all its terms and conditions for copying, distributing or modifying

+the Library or works based on it.

+

+  10. Each time you redistribute the Library (or any work based on the

+Library), the recipient automatically receives a license from the

+original licensor to copy, distribute, link with or modify the Library

+subject to these terms and conditions.  You may not impose any further

+restrictions on the recipients' exercise of the rights granted herein.

+You are not responsible for enforcing compliance by third parties with

+this License.

+

+  11. If, as a consequence of a court judgment or allegation of patent

+infringement or for any other reason (not limited to patent issues),

+conditions are imposed on you (whether by court order, agreement or

+otherwise) that contradict the conditions of this License, they do not

+excuse you from the conditions of this License.  If you cannot

+distribute so as to satisfy simultaneously your obligations under this

+License and any other pertinent obligations, then as a consequence you

+may not distribute the Library at all.  For example, if a patent

+license would not permit royalty-free redistribution of the Library by

+all those who receive copies directly or indirectly through you, then

+the only way you could satisfy both it and this License would be to

+refrain entirely from distribution of the Library.

+

+If any portion of this section is held invalid or unenforceable under any

+particular circumstance, the balance of the section is intended to apply,

+and the section as a whole is intended to apply in other circumstances.

+

+It is not the purpose of this section to induce you to infringe any

+patents or other property right claims or to contest validity of any

+such claims; this section has the sole purpose of protecting the

+integrity of the free software distribution system which is

+implemented by public license practices.  Many people have made

+generous contributions to the wide range of software distributed

+through that system in reliance on consistent application of that

+system; it is up to the author/donor to decide if he or she is willing

+to distribute software through any other system and a licensee cannot

+impose that choice.

+

+This section is intended to make thoroughly clear what is believed to

+be a consequence of the rest of this License.

+

+  12. If the distribution and/or use of the Library is restricted in

+certain countries either by patents or by copyrighted interfaces, the

+original copyright holder who places the Library under this License may add

+an explicit geographical distribution limitation excluding those countries,

+so that distribution is permitted only in or among countries not thus

+excluded.  In such case, this License incorporates the limitation as if

+written in the body of this License.

+

+  13. The Free Software Foundation may publish revised and/or new

+versions of the Lesser General Public License from time to time.

+Such new versions will be similar in spirit to the present version,

+but may differ in detail to address new problems or concerns.

+

+Each version is given a distinguishing version number.  If the Library

+specifies a version number of this License which applies to it and

+"any later version", you have the option of following the terms and

+conditions either of that version or of any later version published by

+the Free Software Foundation.  If the Library does not specify a

+license version number, you may choose any version ever published by

+the Free Software Foundation.

+

+  14. If you wish to incorporate parts of the Library into other free

+programs whose distribution conditions are incompatible with these,

+write to the author to ask for permission.  For software which is

+copyrighted by the Free Software Foundation, write to the Free

+Software Foundation; we sometimes make exceptions for this.  Our

+decision will be guided by the two goals of preserving the free status

+of all derivatives of our free software and of promoting the sharing

+and reuse of software generally.

+

+			    NO WARRANTY

+

+  15. BECAUSE THE LIBRARY IS LICENSED FREE OF CHARGE, THERE IS NO

+WARRANTY FOR THE LIBRARY, TO THE EXTENT PERMITTED BY APPLICABLE LAW.

+EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR

+OTHER PARTIES PROVIDE THE LIBRARY "AS IS" WITHOUT WARRANTY OF ANY

+KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE

+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR

+PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE

+LIBRARY IS WITH YOU.  SHOULD THE LIBRARY PROVE DEFECTIVE, YOU ASSUME

+THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION.

+

+  16. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN

+WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY

+AND/OR REDISTRIBUTE THE LIBRARY AS PERMITTED ABOVE, BE LIABLE TO YOU

+FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR

+CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE

+LIBRARY (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING

+RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A

+FAILURE OF THE LIBRARY TO OPERATE WITH ANY OTHER SOFTWARE), EVEN IF

+SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH

+DAMAGES.

+

diff --git a/libraries/Firmata/examples/StandardFirmata/Makefile b/libraries/Firmata/examples/StandardFirmata/Makefile
new file mode 100644
index 0000000..6b9b10c
--- /dev/null
+++ b/libraries/Firmata/examples/StandardFirmata/Makefile
@@ -0,0 +1,273 @@
+# Arduino makefile

+#

+# This makefile allows you to build sketches from the command line

+# without the Arduino environment (or Java).

+#

+# The Arduino environment does preliminary processing on a sketch before

+# compiling it.  If you're using this makefile instead, you'll need to do

+# a few things differently:

+#

+#   - Give your program's file a .cpp extension (e.g. foo.cpp).

+#

+#   - Put this line at top of your code: #include <WProgram.h>

+#

+#   - Write prototypes for all your functions (or define them before you

+#     call them).  A prototype declares the types of parameters a

+#     function will take and what type of value it will return.  This

+#     means that you can have a call to a function before the definition

+#     of the function.  A function prototype looks like the first line of

+#     the function, with a semi-colon at the end.  For example:

+#     int digitalRead(int pin);

+#

+# Instructions for using the makefile:

+#

+#  1. Copy this file into the folder with your sketch.

+#

+#  2. Below, modify the line containing "TARGET" to refer to the name of

+#     of your program's file without an extension (e.g. TARGET = foo).

+#

+#  3. Modify the line containg "ARDUINO" to point the directory that

+#     contains the Arduino core (for normal Arduino installations, this

+#     is the hardware/cores/arduino sub-directory).

+#

+#  4. Modify the line containing "PORT" to refer to the filename

+#     representing the USB or serial connection to your Arduino board

+#     (e.g. PORT = /dev/tty.USB0).  If the exact name of this file

+#     changes, you can use * as a wildcard (e.g. PORT = /dev/tty.USB*).

+#

+#  5. At the command line, change to the directory containing your

+#     program's file and the makefile.

+#

+#  6. Type "make" and press enter to compile/verify your program.

+#

+#  7. Type "make upload", reset your Arduino board, and press enter  to

+#     upload your program to the Arduino board.

+#

+# $Id: Makefile,v 1.7 2007/04/13 05:28:23 eighthave Exp $

+

+PORT = /dev/tty.usbserial-*

+TARGET := $(shell pwd | sed 's|.*/\(.*\)|\1|')

+ARDUINO = /Applications/arduino

+ARDUINO_SRC = $(ARDUINO)/hardware/cores/arduino

+ARDUINO_LIB_SRC = $(ARDUINO)/hardware/libraries

+ARDUINO_TOOLS = $(ARDUINO)/hardware/tools

+INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/hardware/tools/avr/avr/include \

+	-I$(ARDUINO_LIB_SRC)/EEPROM \

+	-I$(ARDUINO_LIB_SRC)/Firmata \

+	-I$(ARDUINO_LIB_SRC)/Matrix \

+	-I$(ARDUINO_LIB_SRC)/Servo \

+	-I$(ARDUINO_LIB_SRC)/Wire \

+	-I$(ARDUINO_LIB_SRC)

+SRC = $(wildcard $(ARDUINO_SRC)/*.c)

+CXXSRC = applet/$(TARGET).cpp $(ARDUINO_SRC)/HardwareSerial.cpp \

+	$(ARDUINO_LIB_SRC)/EEPROM/EEPROM.cpp \

+	$(ARDUINO_LIB_SRC)/Firmata/Firmata.cpp \

+	$(ARDUINO_LIB_SRC)/Servo/Servo.cpp \

+	$(ARDUINO_SRC)/Print.cpp \

+	$(ARDUINO_SRC)/WMath.cpp

+HEADERS = $(wildcard $(ARDUINO_SRC)/*.h) $(wildcard $(ARDUINO_LIB_SRC)/*/*.h)

+

+MCU = atmega168

+#MCU = atmega8

+F_CPU = 16000000

+FORMAT = ihex

+UPLOAD_RATE = 19200

+

+# Name of this Makefile (used for "make depend").

+MAKEFILE = Makefile

+

+# Debugging format.

+# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.

+# AVR (extended) COFF requires stabs, plus an avr-objcopy run.

+DEBUG = stabs

+

+OPT = s

+

+# Place -D or -U options here

+CDEFS = -DF_CPU=$(F_CPU)

+CXXDEFS = -DF_CPU=$(F_CPU)

+

+# Compiler flag to set the C Standard level.

+# c89   - "ANSI" C

+# gnu89 - c89 plus GCC extensions

+# c99   - ISO C99 standard (not yet fully implemented)

+# gnu99 - c99 plus GCC extensions

+CSTANDARD = -std=gnu99

+CDEBUG = -g$(DEBUG)

+CWARN = -Wall -Wstrict-prototypes

+CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums

+#CEXTRA = -Wa,-adhlns=$(<:.c=.lst)

+

+CFLAGS = $(CDEBUG) $(CDEFS) $(INCLUDE) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA)

+CXXFLAGS = $(CDEFS) $(INCLUDE) -O$(OPT)

+#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs 

+LDFLAGS = 

+

+

+# Programming support using avrdude. Settings and variables.

+AVRDUDE_PROGRAMMER = stk500

+AVRDUDE_PORT = $(PORT)

+AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex

+AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \

+  -b $(UPLOAD_RATE) -q -V

+

+# Program settings

+ARDUINO_AVR_BIN = $(ARDUINO_TOOLS)/avr/bin

+CC = $(ARDUINO_AVR_BIN)/avr-gcc 

+CXX = $(ARDUINO_AVR_BIN)/avr-g++

+OBJCOPY = $(ARDUINO_AVR_BIN)/avr-objcopy

+OBJDUMP = $(ARDUINO_AVR_BIN)/avr-objdump

+SIZE = $(ARDUINO_AVR_BIN)/avr-size

+NM = $(ARDUINO_AVR_BIN)/avr-nm

+#AVRDUDE = $(ARDUINO_AVR_BIN)/avrdude

+AVRDUDE = avrdude

+REMOVE = rm -f

+MV = mv -f

+

+# Define all object files.

+OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o)

+

+# Define all listing files.

+LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst)

+

+# Combine all necessary flags and optional flags.

+# Add target processor to flags.

+ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)

+ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS)

+ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)

+

+

+# Default target.

+all: build

+

+build: applet/$(TARGET).hex

+

+eep: applet/$(TARGET).eep

+lss: applet/$(TARGET).lss 

+sym: applet/$(TARGET).sym

+

+

+# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.

+COFFCONVERT=$(OBJCOPY) --debugging \

+--change-section-address .data-0x800000 \

+--change-section-address .bss-0x800000 \

+--change-section-address .noinit-0x800000 \

+--change-section-address .eeprom-0x810000 

+

+

+coff: applet/$(TARGET).elf

+	$(COFFCONVERT) -O coff-avr applet/$(TARGET).elf applet/$(TARGET).cof

+

+

+extcoff: applet/$(TARGET).elf

+	$(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf applet/$(TARGET).cof

+

+

+.SUFFIXES: .elf .hex .eep .lss .sym .pde

+

+.elf.hex:

+	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@

+

+.elf.eep:

+	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \

+	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@

+

+# Create extended listing file from ELF output file.

+.elf.lss:

+	$(OBJDUMP) -h -S $< > $@

+

+# Create a symbol table from ELF output file.

+.elf.sym:

+	$(NM) -n $< > $@

+

+

+# Compile: create object files from C++ source files.

+.cpp.o: $(HEADERS)

+	$(CXX) -c $(ALL_CXXFLAGS) $< -o $@ 

+

+# Compile: create object files from C source files.

+.c.o: $(HEADERS)

+	$(CC)  -c $(ALL_CFLAGS) $< -o $@ 

+

+

+# Compile: create assembler files from C source files.

+.c.s:

+	$(CC) -S $(ALL_CFLAGS) $< -o $@

+

+

+# Assemble: create object files from assembler source files.

+.S.o:

+	$(CC) -c $(ALL_ASFLAGS) $< -o $@

+

+

+

+applet/$(TARGET).cpp: $(TARGET).pde

+	test -d applet || mkdir applet

+	echo '#include "WProgram.h"' > applet/$(TARGET).cpp

+	echo '#include "avr/interrupt.h"' >> applet/$(TARGET).cpp

+	sed -n 's|^\(void .*)\).*|\1;|p' $(TARGET).pde | grep -v 'setup()' | \

+		grep -v 'loop()' >> applet/$(TARGET).cpp

+	cat $(TARGET).pde >> applet/$(TARGET).cpp

+	cat $(ARDUINO_SRC)/main.cxx >> applet/$(TARGET).cpp

+

+# Link: create ELF output file from object files.

+applet/$(TARGET).elf: applet/$(TARGET).cpp $(OBJ)

+	$(CC) $(ALL_CFLAGS) $(OBJ) -lm --output $@ $(LDFLAGS)

+#	$(CC) $(ALL_CFLAGS) $(OBJ) $(ARDUINO_TOOLS)/avr/avr/lib/avr5/crtm168.o --output $@ $(LDFLAGS)

+

+pd_close_serial:

+	echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true

+

+# Program the device.  

+upload: applet/$(TARGET).hex

+	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH)

+

+

+pd_test: build pd_close_serial upload

+

+# Target: clean project.

+clean:

+	$(REMOVE) -- applet/$(TARGET).hex applet/$(TARGET).eep \

+	applet/$(TARGET).cof applet/$(TARGET).elf $(TARGET).map \

+	applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp \

+	$(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d)

+	rmdir -- applet

+

+depend:

+	if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \

+	then \

+		sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \

+			$(MAKEFILE).$$$$ && \

+		$(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \

+	fi

+	echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \

+		>> $(MAKEFILE); \

+	$(CC) -M -mmcu=$(MCU) $(CDEFS) $(INCLUDE) $(SRC) $(ASRC) >> $(MAKEFILE)

+

+.PHONY:	all build eep lss sym coff extcoff clean depend pd_close_serial pd_test

+

+# for emacs

+etags:

+	make etags_`uname -s`

+	etags *.pde \

+		$(ARDUINO_SRC)/*.[ch] \

+		$(ARDUINO_SRC)/*.cpp \

+		$(ARDUINO_LIB_SRC)/*/*.[ch] \

+		$(ARDUINO_LIB_SRC)/*/*.cpp \

+		$(ARDUINO)/hardware/tools/avr/avr/include/avr/*.[ch] \

+		$(ARDUINO)/hardware/tools/avr/avr/include/*.[ch]

+

+etags_Darwin:

+#	etags -a 

+

+etags_Linux:

+#	etags -a /usr/include/*.h linux/input.h /usr/include/sys/*.h

+

+etags_MINGW:

+#	etags -a /usr/include/*.h /usr/include/sys/*.h 

+

+

+path:

+	echo $(PATH)

+	echo $$PATH

+

diff --git a/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde b/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde
new file mode 100644
index 0000000..a6f9e6c
--- /dev/null
+++ b/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde
@@ -0,0 +1,398 @@
+/*

+  Copyright (C) 2006-2008 Hans-Christoph Steiner.  All rights 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.

+ 

+  See file LICENSE.txt for further informations on licensing terms.

+

+  formatted using the GNU C formatting and indenting

+*/

+

+/* 

+ * TODO: use Program Control to load stored profiles from EEPROM

+ */

+

+#include <Servo.h>

+#include <Firmata.h>

+

+/*==============================================================================

+ * GLOBAL VARIABLES

+ *============================================================================*/

+

+/* analog inputs */

+int analogInputsToReport = 0; // bitwise array to store pin reporting

+

+/* digital input ports */

+byte reportPINs[TOTAL_PORTS];       // 1 = report this port, 0 = silence

+byte previousPINs[TOTAL_PORTS];     // previous 8 bits sent

+

+/* pins configuration */

+byte pinConfig[TOTAL_PINS];         // configuration of every pin

+byte portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else

+int pinState[TOTAL_PINS];           // any value that has been written

+

+/* timer variables */

+unsigned long currentMillis;        // store the current value from millis()

+unsigned long previousMillis;       // for comparison with currentMillis

+int samplingInterval = 19;          // how often to run the main loop (in ms)

+

+Servo servos[MAX_SERVOS];

+

+/*==============================================================================

+ * FUNCTIONS

+ *============================================================================*/

+

+void outputPort(byte portNumber, byte portValue, byte forceSend)

+{

+  // pins not configured as INPUT are cleared to zeros

+  portValue = portValue & portConfigInputs[portNumber];

+  // only send if the value is different than previously sent

+  if(forceSend || previousPINs[portNumber] != portValue) {

+    Firmata.sendDigitalPort(portNumber, portValue);

+    previousPINs[portNumber] = portValue;

+  }

+}

+

+/* -----------------------------------------------------------------------------

+ * check all the active digital inputs for change of state, then add any events

+ * to the Serial output queue using Serial.print() */

+void checkDigitalInputs(void)

+{

+  /* Using non-looping code allows constants to be given to readPort().

+   * The compiler will apply substantial optimizations if the inputs

+   * to readPort() are compile-time constants. */

+  if (TOTAL_PORTS > 0 && reportPINs[0]) outputPort(0, readPort(0, portConfigInputs[0]), false);

+  if (TOTAL_PORTS > 1 && reportPINs[1]) outputPort(1, readPort(1, portConfigInputs[1]), false);

+  if (TOTAL_PORTS > 2 && reportPINs[2]) outputPort(2, readPort(2, portConfigInputs[2]), false);

+  if (TOTAL_PORTS > 3 && reportPINs[3]) outputPort(3, readPort(3, portConfigInputs[3]), false);

+  if (TOTAL_PORTS > 4 && reportPINs[4]) outputPort(4, readPort(4, portConfigInputs[4]), false);

+  if (TOTAL_PORTS > 5 && reportPINs[5]) outputPort(5, readPort(5, portConfigInputs[5]), false);

+  if (TOTAL_PORTS > 6 && reportPINs[6]) outputPort(6, readPort(6, portConfigInputs[6]), false);

+  if (TOTAL_PORTS > 7 && reportPINs[7]) outputPort(7, readPort(7, portConfigInputs[7]), false);

+  if (TOTAL_PORTS > 8 && reportPINs[8]) outputPort(8, readPort(8, portConfigInputs[8]), false);

+  if (TOTAL_PORTS > 9 && reportPINs[9]) outputPort(9, readPort(9, portConfigInputs[9]), false);

+  if (TOTAL_PORTS > 10 && reportPINs[10]) outputPort(10, readPort(10, portConfigInputs[10]), false);

+  if (TOTAL_PORTS > 11 && reportPINs[11]) outputPort(11, readPort(11, portConfigInputs[11]), false);

+  if (TOTAL_PORTS > 12 && reportPINs[12]) outputPort(12, readPort(12, portConfigInputs[12]), false);

+  if (TOTAL_PORTS > 13 && reportPINs[13]) outputPort(13, readPort(13, portConfigInputs[13]), false);

+  if (TOTAL_PORTS > 14 && reportPINs[14]) outputPort(14, readPort(14, portConfigInputs[14]), false);

+  if (TOTAL_PORTS > 15 && reportPINs[15]) outputPort(15, readPort(15, portConfigInputs[15]), false);

+}

+

+// -----------------------------------------------------------------------------

+/* sets the pin mode to the correct state and sets the relevant bits in the

+ * two bit-arrays that track Digital I/O and PWM status

+ */

+void setPinModeCallback(byte pin, int mode)

+{

+  if (IS_PIN_SERVO(pin) && mode != SERVO && servos[PIN_TO_SERVO(pin)].attached()) {

+    servos[PIN_TO_SERVO(pin)].detach();

+  }

+  if (IS_PIN_ANALOG(pin)) {

+    reportAnalogCallback(PIN_TO_ANALOG(pin), mode == ANALOG ? 1 : 0); // turn on/off reporting

+  }

+  if (IS_PIN_DIGITAL(pin)) {

+    if (mode == INPUT) {

+      portConfigInputs[pin/8] |= (1 << (pin & 7));

+    } else {

+      portConfigInputs[pin/8] &= ~(1 << (pin & 7));

+    }

+  }

+  pinState[pin] = 0;

+  switch(mode) {

+  case ANALOG:

+    if (IS_PIN_ANALOG(pin)) {

+      if (IS_PIN_DIGITAL(pin)) {

+        pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver

+        digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups

+      }

+      pinConfig[pin] = ANALOG;

+    }

+    break;

+  case INPUT:

+    if (IS_PIN_DIGITAL(pin)) {

+      pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver

+      digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups

+      pinConfig[pin] = INPUT;

+    }

+    break;

+  case OUTPUT:

+    if (IS_PIN_DIGITAL(pin)) {

+      digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable PWM

+      pinMode(PIN_TO_DIGITAL(pin), OUTPUT);

+      pinConfig[pin] = OUTPUT;

+    }

+    break;

+  case PWM:

+    if (IS_PIN_PWM(pin)) {

+      pinMode(PIN_TO_PWM(pin), OUTPUT);

+      analogWrite(PIN_TO_PWM(pin), 0);

+      pinConfig[pin] = PWM;

+    }

+    break;

+  case SERVO:

+    if (IS_PIN_SERVO(pin)) {

+      pinConfig[pin] = SERVO;

+      if (!servos[PIN_TO_SERVO(pin)].attached()) {

+          servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin));

+      } else {

+        Firmata.sendString("Servo only on pins from 2 to 13");

+      }

+    }

+    break;

+  case I2C:

+    pinConfig[pin] = mode;

+    Firmata.sendString("I2C mode not yet supported");

+    break;

+  default:

+    Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM

+  }

+  // TODO: save status to EEPROM here, if changed

+}

+

+void analogWriteCallback(byte pin, int value)

+{

+  if (pin < TOTAL_PINS) {

+    switch(pinConfig[pin]) {

+    case SERVO:

+      if (IS_PIN_SERVO(pin))

+        servos[PIN_TO_SERVO(pin)].write(value);

+        pinState[pin] = value;

+      break;

+    case PWM:

+      if (IS_PIN_PWM(pin))

+        analogWrite(PIN_TO_PWM(pin), value);

+        pinState[pin] = value;

+      break;

+    }

+  }

+}

+

+void digitalWriteCallback(byte port, int value)

+{

+  byte pin, lastPin, mask=1, pinWriteMask=0;

+

+  if (port < TOTAL_PORTS) {

+    // create a mask of the pins on this port that are writable.

+    lastPin = port*8+8;

+    if (lastPin > TOTAL_PINS) lastPin = TOTAL_PINS;

+    for (pin=port*8; pin < lastPin; pin++) {

+      // do not disturb non-digital pins (eg, Rx & Tx)

+      if (IS_PIN_DIGITAL(pin)) {

+        // only write to OUTPUT and INPUT (enables pullup)

+        // do not touch pins in PWM, ANALOG, SERVO or other modes

+        if (pinConfig[pin] == OUTPUT || pinConfig[pin] == INPUT) {

+          pinWriteMask |= mask;

+          pinState[pin] = ((byte)value & mask) ? 1 : 0;

+        }

+      }

+      mask = mask << 1;

+    }

+    writePort(port, (byte)value, pinWriteMask);

+  }

+}

+

+

+// -----------------------------------------------------------------------------

+/* sets bits in a bit array (int) to toggle the reporting of the analogIns

+ */

+//void FirmataClass::setAnalogPinReporting(byte pin, byte state) {

+//}

+void reportAnalogCallback(byte analogPin, int value)

+{

+  if (analogPin < TOTAL_ANALOG_PINS) {

+    if(value == 0) {

+      analogInputsToReport = analogInputsToReport &~ (1 << analogPin);

+    } else {

+      analogInputsToReport = analogInputsToReport | (1 << analogPin);

+    }

+  }

+  // TODO: save status to EEPROM here, if changed

+}

+

+void reportDigitalCallback(byte port, int value)

+{

+  if (port < TOTAL_PORTS) {

+    reportPINs[port] = (byte)value;

+  }

+  // do not disable analog reporting on these 8 pins, to allow some

+  // pins used for digital, others analog.  Instead, allow both types

+  // of reporting to be enabled, but check if the pin is configured

+  // as analog when sampling the analog inputs.  Likewise, while

+  // scanning digital pins, portConfigInputs will mask off values from any

+  // pins configured as analog

+}

+

+/*==============================================================================

+ * SYSEX-BASED commands

+ *============================================================================*/

+

+void sysexCallback(byte command, byte argc, byte *argv)

+{

+  switch(command) {

+  case SERVO_CONFIG:

+    if(argc > 4) {

+      // these vars are here for clarity, they'll optimized away by the compiler

+      byte pin = argv[0];

+      int minPulse = argv[1] + (argv[2] << 7);

+      int maxPulse = argv[3] + (argv[4] << 7);

+

+      if (IS_PIN_SERVO(pin)) {

+        // servos are pins from 2 to 13, so offset for array

+        if (servos[PIN_TO_SERVO(pin)].attached())

+          servos[PIN_TO_SERVO(pin)].detach();

+        servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse);

+        setPinModeCallback(pin, SERVO);

+      }

+    }

+    break;

+  case SAMPLING_INTERVAL:

+    if (argc > 1)

+      samplingInterval = argv[0] + (argv[1] << 7);

+    else

+      Firmata.sendString("Not enough data");

+    break;

+  case EXTENDED_ANALOG:

+    if (argc > 1) {

+      int val = argv[1];

+      if (argc > 2) val |= (argv[2] << 7);

+      if (argc > 3) val |= (argv[3] << 14);

+      analogWriteCallback(argv[0], val);

+    }

+    break;

+  case CAPABILITY_QUERY:

+    Serial.write(START_SYSEX);

+    Serial.write(CAPABILITY_RESPONSE);

+    for (byte pin=0; pin < TOTAL_PINS; pin++) {

+      if (IS_PIN_DIGITAL(pin)) {

+        Serial.write((byte)INPUT);

+        Serial.write(1);

+        Serial.write((byte)OUTPUT);

+        Serial.write(1);

+      }

+      if (IS_PIN_ANALOG(pin)) {

+        Serial.write(ANALOG);

+        Serial.write(10);

+      }

+      if (IS_PIN_PWM(pin)) {

+        Serial.write(PWM);

+        Serial.write(8);

+      }

+      if (IS_PIN_SERVO(pin)) {

+        Serial.write(SERVO);

+        Serial.write(14);

+      }

+      Serial.write(127);

+    }

+    Serial.write(END_SYSEX);

+    break;

+  case PIN_STATE_QUERY:

+    if (argc > 0) {

+      byte pin=argv[0];

+      Serial.write(START_SYSEX);

+      Serial.write(PIN_STATE_RESPONSE);

+      Serial.write(pin);

+      if (pin < TOTAL_PINS) {

+        Serial.write((byte)pinConfig[pin]);

+	Serial.write((byte)pinState[pin] & 0x7F);

+	if (pinState[pin] & 0xFF80) Serial.write((byte)(pinState[pin] >> 7) & 0x7F);

+	if (pinState[pin] & 0xC000) Serial.write((byte)(pinState[pin] >> 14) & 0x7F);

+      }

+      Serial.write(END_SYSEX);

+    }

+    break;

+  case ANALOG_MAPPING_QUERY:

+    Serial.write(START_SYSEX);

+    Serial.write(ANALOG_MAPPING_RESPONSE);

+    for (byte pin=0; pin < TOTAL_PINS; pin++) {

+      Serial.write(IS_PIN_ANALOG(pin) ? PIN_TO_ANALOG(pin) : 127);

+    }

+    Serial.write(END_SYSEX);

+    break;

+  }

+}

+

+

+/*==============================================================================

+ * SETUP()

+ *============================================================================*/

+void setup() 

+{

+  byte i;

+

+  Firmata.setFirmwareVersion(2, 2);

+

+  Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);

+  Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);

+  Firmata.attach(REPORT_ANALOG, reportAnalogCallback);

+  Firmata.attach(REPORT_DIGITAL, reportDigitalCallback);

+  Firmata.attach(SET_PIN_MODE, setPinModeCallback);

+  Firmata.attach(START_SYSEX, sysexCallback);

+

+  // TODO: load state from EEPROM here

+

+  /* these are initialized to zero by the compiler startup code

+  for (i=0; i < TOTAL_PORTS; i++) {

+    reportPINs[i] = false;

+    portConfigInputs[i] = 0;

+    previousPINs[i] = 0;

+  }

+  */

+  for (i=0; i < TOTAL_PINS; i++) {

+    if (IS_PIN_ANALOG(i)) {

+      // turns off pullup, configures everything

+      setPinModeCallback(i, ANALOG);

+    } else {

+      // sets the output to 0, configures portConfigInputs

+      setPinModeCallback(i, OUTPUT);

+    }

+  }

+  // by defult, do not report any analog inputs

+  analogInputsToReport = 0;

+

+  Firmata.begin(57600);

+

+  /* send digital inputs to set the initial state on the host computer,

+   * since once in the loop(), this firmware will only send on change */

+  for (i=0; i < TOTAL_PORTS; i++) {

+    outputPort(i, readPort(i, portConfigInputs[i]), true);

+  }

+}

+

+/*==============================================================================

+ * LOOP()

+ *============================================================================*/

+void loop() 

+{

+  byte pin, analogPin;

+

+  /* DIGITALREAD - as fast as possible, check for changes and output them to the

+   * FTDI buffer using Serial.print()  */

+  checkDigitalInputs();  

+

+  /* SERIALREAD - processing incoming messagse as soon as possible, while still

+   * checking digital inputs.  */

+  while(Firmata.available())

+    Firmata.processInput();

+

+  /* SEND FTDI WRITE BUFFER - make sure that the FTDI buffer doesn't go over

+   * 60 bytes. use a timer to sending an event character every 4 ms to

+   * trigger the buffer to dump. */

+

+  currentMillis = millis();

+  if (currentMillis - previousMillis > samplingInterval) {

+    previousMillis += samplingInterval;

+    /* ANALOGREAD - do all analogReads() at the configured sampling interval */

+    for(pin=0; pin<TOTAL_PINS; pin++) {

+      if (IS_PIN_ANALOG(pin) && pinConfig[pin] == ANALOG) {

+        analogPin = PIN_TO_ANALOG(pin);

+        if (analogInputsToReport & (1 << analogPin)) {

+          Firmata.sendAnalog(analogPin, analogRead(analogPin));

+        }

+      }

+    }

+  }

+}