Cosa is an object-oriented platform for Arduino. It replaces the Arduino and Wiring library with a large set of integrated classes that support the full range of AVR/ATmega/ATtiny internal hardware modules; all pin modes, Digital, and Analog Pins, External and Pin Change Interrupts, Analog Comparator, PWM, Watchdog, Timer0 (RTC), Timer1 (Servo), UART, USI, SPI, TWI and EEPROM.
Cosa is implemented as an Arduino IDE core. The Cosa platform can be used with almost all Arduino boards and ATtiny/ATmega processors. All classes may be compiled for all variants.
Though object-oriented with optional operator overloading syntax, Cosa is between 2-10X faster than Arduino with regard to digital pin functions. This comes with a small price-tag; memory, 4 bytes per digital pin and 12 bytes per analog pin. Cosa analog pin objects holds the latest sample and allows an event handler. See the benchmarks in the examples directory for further details.
Cosa contains several data streaming formats for message passing and data streaming. Google Protocol Buffers are supported together with a data streaming format (Ciao) for encoding of C/C++ language data types such as strings, integer and floating pointer numbers into a binary format. It may be used for a number of applications; tracing, remote procedure calls, data exchange between Arduino devices, etc. The format allows user data types to be defined and values exchanged without additional encoding. The stream header itself is a pre-defined serializable data type. Ciao is used to define an Arduino monitoring and control language (Cosa fai) which has much in common with Firmata.
The primary programming paradigm is object-oriented and state-machine/event driven with proto-threads or multi-tasking. There is a large number of device drivers available for SPI, I2C (TWI) and 1-Wire (OWI). A strict directory structure is used to organize the Cosa/driver source code. Sub-directories are used for each driver type. This allows a foundation for scaling and configuration.
Cosa uses the Arduino IDE and build system. Cosa classes are included with prefix, e.g. "Cosa/FileName.hh". It is possible to use both Arduino and Cosa functions together, though in some cases the Cosa objects may become inconsistent.
To improve debugging and testing there is assert/trace/syslog style support. The IOStream class allows output to both serial wire/wireless communication (UART/VWIO) and small TFT displays (such as the ST7735, ST7565, HD44780, and PCD8544). The Cosa LCD class extends IOStream::Device with additional common LCD functions. The Cosa LCD Menu class adds a simple framework for creating menu systems with program state such as integer ranges, bitsets and enumeration variables. All menu data structures are stored in program memory and the SRAM requirement is minimum. A macro set hides the details of creating the data structures in program memory.
The drawing Canvas class supports basic drawing operation and scripting to reduce program memory footprint. The Canvas class also supports drawing of icons and multiple fonts (GLCD and UTFT).
The popular VirtualWire library has been refactored to the object-oriented style of Cosa (VWI) and extended with three additional codecs; Manchester, 4B5B and Bitstuffing. This allows basic ultra cheap wireless nodes with RF315/433 receiver and transmitter. For more advanced wireless connections there is also a driver for the Nordic Semiconductor NRF24L01+ chip, which allows low-power wireless communication of up to 2 Mbps in the 2.4GHz band, and the TI CC1101 Low-Power Sub-1 GHz RF Transceiver.
The goal of this project is to provide an efficient programming platform for rapid prototyping of "Internet-of-things"-devices. There is an Ethernet/Socket with W5100 Ethernet controller device driver. This implementation allows streaming direct to the device buffers. Cosa also implements a number of IP protocols; DNS, DHCP, NTP, HTTP, SNMP and MQTT.
Unfortunately Cosa is not a beginners entry level programming platform, though following some of the design patterns in Cosa will help beginners build more complex small scale embedded systems with richer concurrency and low power consumption.
Please follow the development of this project on the blog http://cosa-arduino.blogspot.se and on the Arduino forum, http://arduino.cc/forum/index.php/topic,150299.0.html.
The [Cosa zip file] (https://github.com/mikaelpatel/Cosa/archive/master.zip) is an Arduino core package.
Arduino 1.0.X: Download and unzip in your Sketchbook hardware folder. Create the hardware folder if missing. Path: Sketchbook/hardware/Cosa.
Arduino 1.5.X: Create a folder named Cosa in your Sketchbook hardware folder. Create the hardware folder if missing. Download and unzip in your Sketchbook hardware/Cosa folder. Your should have the path; Sketchbook/hardware/Cosa/Cosa. Rename the inner Cosa to avr; Sketchbook/hardware/Cosa/avr.
Restart the Arduino IDE and Cosa will show up as a number of boards and example sketches.
For ATtiny a patch is needed for Arduino Windows version to allow linking programs larger than 4K; See https://github.com/TCWORLD/ATTinyCore/tree/master/PCREL%20Patch%20for%20GCC. Do not forget to program the ATtiny device with the bootloader, i.e., set the fuse bits, before using the device for the first time.
The Application Programmers Interface (API) documentation is available online and compressed for download. The documentation contains a full hyperlinked description of all functions in Cosa together with UML graphs of the class hierarchy, include dependencies, and much more.
The provided documentation is generated with doxygen and may also be generated for users source code if the Cosa documentation style is adapted. See the Doxyfile for configuration of doxygen.
- DS18B20 Programmable Resolution 1-Wire Digital Thermometer.
- AT24CXX Serial EEPROM.
- DS1307 Realtime clock with RAM.
- PCF8591 2-Wire 8-bit A/D and D/A converter.
- ADXL345 Digital Accelerometer.
- nRF24L01 Single Chip 2.4GHz Transceiver.
- DHT11 Humidity & Temperature Sensor.
- HC-SR04/US-020 Ultrasonic range module.
- ST7735, 262K Color Single-Chip TFT Controller.
- PCD8544 48x84 pixels matrix LCD controller/driver.
- TSOP4838 IR Receiver Modules for Remote Control Systems.
- Virtual Wire (VWI) on RF315/433 modules.
- HMC5883L 3-Axis Digital Compass IC.
- NEXA/HomeEasy Wireless Remote command transmitter/receiver for RF433.
- ST7565, 65x132 Dot Matrix LCD Controller/Driver.
- Touch capacitive sensor, debounced button and keypad.
- Dials with Rotary Encoder.
- HD44780 (aka 1602, 2004) LCD Controller/Driver.
- DS3231, Extremely Accurate I2C-Integrated RTC/TCXO/Crystal.
- PCF8574/PCF8574A Remote 8-bit I/O expander for I2C-bus with interrupt.
- BMP085 Digital Pressure Sensor.
- TI CC1101 Low-Power Sub-1 GHz RF Transceiver.
- L3G4200D Digital Gryposcope.
- MPU6050 Motion Processing Unit; Digital thermometer, accelerometer and gyroscope.
- DS1302 Tickle-Charge Timekeeping Chip.
- SD card, SPI driver.
- RS485 support; master-slave protocol.
- RFM69W/HW ISM Transceiver Module.
- W5100 Ethernet Controller device driver.
- Slave device support for SPI, TWI and OWI.
- D.tools, http://hci.stanford.edu/research/dtools/
- Processing, http://processing.org/
- Wiring, http://wiring.org.co/
- Arduino, http://www.arduino.cc/
- Firmata, http://www.firmata.org/wiki/Main_Page
- LilyPad, http://web.media.mit.edu/~leah/LilyPad/
- Jeelabs, http://jeelabs.org/
- Quantum Leaps, http://www.state-machine.com/
- Concurrency.cc, http://concurrency.cc/
- Protothreads, http://dunkels.com/adam/pt/
- Arduino ATtiny, http://hlt.media.mit.edu/?p=1695
- Arduino Low Power, http://gammon.com.au/power
- Virtual Wire, http://www.open.com.au/mikem/arduino/VirtualWire/
- "Cosa"; noun thing, matter; pronoun; what?, what!.
- "Che cosa"; pronoun; what.
- "Ciao"; interjection hello!, goodbye!.
- "Cosa fai"; what do you do?
- "Rete"; network
ATtinyX4/X5/X61, Atmega328P, Atmega1284P, Atmega2560 and Atmega32u4 based Arduino boards (Uno, Mini, Mini Pro, Micro, Nano, Leonardo, LilyPad, LilyPad USB, Mighty, Mega, etc) are supported.
2014-03 Improving the ADXL345 accelerometer device driver and example sketch. Adding a Soft SPI implementation (only 0/2 mode).
2014-02 Adding support for coroutines (threads), semaphores and mutex. Allow build with GCC 4.8.1. Support for MQTT Client, HTTP Server and Client implementation. Additional SNMP agent implementation. RTC::Timer for micro-second level time events. Improved Time handling with integration with RTC and NTP to allow sync.
2014-01 Adding support for Arduino IDE 1.5.X. Including a Wireless interface implementation for RFM69W/HW. Socket interface and device driver for W5100 Ethernet Controller. INET network address handler support. DHCP, DNS and NTP client/request handler. Simple Telnet port handler for trace output.
2013-12 DS1302 RTC and SD card support. Simple FAT16 library using SD. Support for RS485 with master-slave protocol. ATmega32u4 support added with USB/CDC.
2013-11 New device driver for MPU6050 Motion Processing Unit; Digital thermometer, accelerometer and gyroscope. Adding support for bitsets and Google Protocol Buffers data encoding/decoding. Character and token scanner to IOStream. Allowing blocking and non-blocking IOStream device mode. Added support for ATtinyX61 and a variant of Base64 for encoding of binary data.
2013-10 Device driver for CC1101 and BMP085 introduced. Introducting an abstract Wireless device interface. Refactoring Virtual Wire, CC1101 and NRF24L01P to the new interface. Improving support for low power mode. Adding a Registry for mapping from path (index sequence) to data storage in PROGMEM, EEPROM and SRAM. Mapping may also be to Action object in SRAM. Support for LCD TWI port expander GY-IICLCD. Wireless IOStream class introduced to allow binding of Wireless device driver to IOStream and trace output over Wireless. First draft of RETE; data distribution and network management protocol. Adding support for L3G4200D digital gyroscope.
2013-09 Major refactoring of SPI and TWI device driver support.
2013-08 Updating DHT11/22 device driver. Adding a simple touch capacitive sensor.
2013-07 Introducing an abstract LCD::Device class and refactoring LCD device drivers. Benchmarking and optimizing LCD device drivers. Added an event driven resistor net keypad handler and support for the DFRobot LCD Keypad shield. Boosting LCD performance to 2-6X faster than Arduino library. Added a new LCD menu system. Refactored Cosa directory structure to match the Arduino core file structure. Performance tuning LCD adapters; additional adapters with shift register support (SR3W and SR4W). Adding Vigenere autokey and RC4 cipher.
2013-06 HD44780 (1602) LCD device driver. Adding support for Sockets. Refactoring NRF24L01P device driver to a Socker::Device with support for both connection-less and connection-oriented communication. DS3231 device driver and example sketches. Driver for the PCF8574/PCF8574A Remote 8-bit I/O expander for I2C-bus with interrupt. Support for 20x4 LCD.
2013-05 Improving ATtiny support. Adding driver for DHT22. NEXA Wireless Remote command transmitter (RF433). Introducing a new template class for handling of keyed sets of event handlers. Added support for LCD ST7565 with natural text scrolling. Making it easy to implement TWI slave devices with TWI::Device. Including support for event driven Rotary Encoder handler.
2013-04 Adding support for HMC5883L 3-axis digital compass. Adding abstraction of EEPROM with default handling of internal EEPROM. Refactoring AT24CXX driver for new EEPROM interface. Implemented 1-wire parasite power mode. Improved DS18B20 1-wire driver and demo sketches with VWI integration. Added support for battery voltage monitoring. New extended mode in VWI with node address, sub-net address matching, message sequence numbering and type handling. NEXA Wireless Remote command receiver (RF433). Added a reliable message passing protocol to the Virtual Wire Interface (VWI). The new class VWI::Transceiver supports message acknowledgement and auto-retransmission. Full support for message parsing.
2013-03 Virtual Wire Interface (VWI) for ATtiny. VWI IOStream Device to allow streaming of output over Virtual Wire. Introducing Manchester Phase Encoder (MPE) based on VWI. Introducing class for Power Management and Sleep Modes. Refactoring VWI to allow easy update of codecs; VirtualWire, Manchester and Fixed Bitstuffing. Additional codex; Block Coding, B4B5. New VWI example sketches with retransmission; simple client/server example. Introducing an interface for interrupt handlers, and support for pin change interrupts. New directory structure for handling boards. Moving documentation and references to dropbox. Reducing size of download from github.
2013-02 Adding doxygen generated documentation (doc.zip). GLCD font support added. IR remote receiver initial example. Adding input/output operators to IOStream, Pins and SPI. More detailed benchmarks and comparison with Arduino added. IOStream driver for PCD8544 48x84 pixels matrix LCD controller with support for fonts and icons. TSOP4838 IR Receiver Modules support (LG remote example). Improving PCD8544 driver with OffScreen canvas. UART receiver, Device::getchar(), implemented. Adding generic circlic buffer for IOStream::Device. Adding support for ATtinyX5. Simple ATtiny monitor included. Adding support for RC Servo. Adding support for ATmega1284P/Mighty boards. Refactoring and porting VirtualWire to Cosa.
2013-01 Arduino Mega 2560 initial port. UTFT font support added. Proto-threads implemented. Draw/fill round rectangle added to Canvas.