/
avros.h
executable file
·853 lines (776 loc) · 18.9 KB
/
avros.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
/* $Id$
Arduino serial protocol v0.1 http://code.google.com/p/avros/
<Oleg Alexeenkov> proler@gmail.com http://pro.setun.net
-
- Human/script readable-writeable (via terminal like putty (char-by-char input) or.. os command line)
- Serial or eprom command source (upload simple program via terminal/script)
- enable by pin automatc execution from eprom
-
examples:
simple led on: 13 pin
send: w13,1
pin can be maximum 2 chars, we can write without separator:
w131
but for pins 0-9 only:
w021
w2,1
on led, wait, off led, wait, on led:
1 sec
send: w13,1 d1000 w13,0 d1000 w13,1
by default reads and writes sets pinMode auromaticaly, but you can:
mode read, monitor analog0 step 10
send: m14,0 M14,10
test monitor: 1hz tone to pin, add monitor them:
send: t2,1 M2,1
test eprom src - on wait off pin 13 (led) send:
send: E o w13,1 d1000 w13,0 d1000 O S E e s
. \--prog-----------------------+-/ |
. | \run
. \only once, remove to blink forever
Serial protocol description:
values:
P - pin (2 digits or one with separator) 1, 12, 12 01
B - binary 0 or 1 or '0' or '1'
V - numeric value { or binary for '0'-'9' started from \x00 }-todo
commands: [command byte][pin[,]][value?]
all functions always return pins in variant2 [a-vw-z]
a // some letters empty, you can write yours handlers
b
c
dV delay(ms)
DV delayMicroseconds(us)
e eprom print
E<DATA>E write data to eprom while !=E or 512 bytes E<DATA512bytes>
answer: e<DATA>E
f
g
h
i
j
k
l // test lamp example
mP,B pinMode(pin, mode) mode: either INPUT=0 or OUTPUT=1.
MP,V monitor changes [with min step] V=0 - off bin V=1 - on analog: V=1-1024
answer: rPB
answer: RPV
n
o ignore src pin
O unignore src pin
pP pulseIn(pin, HIGH);
PP,V pulseOut - dirty emulation
q
rP int digitalRead(pin) Returns Either HIGH=1 or LOW=0
answer: rPB
RP int analogRead(pin) values go from 0 to 1023
answer: RPV
s set cmd src to eprom
S set cmd src to serial
tP,V tone(pin, frequency)
tP,0 noTone(pin)
TP,V,V tone(pin, frequency, duration)
TP,0 noTone(pin)
u
v
wP,B digitalWrite(pin, value) value: HIGH=1 or LOW=0
WP,V analogWrite(pin, value) - PWM values from 0 to 255
x modules mode
xs servo module
xsaP servo attach to use #define SERVO 1
xsdP servo detach
xsrP servo read
xswP,V servo write
xswP,V servo writeMicroseconds
y
z
you can split multiplie commands by space, \n or tab, or input without spaces
Arduino pins numbering:
n Duemilanove,Nano Mega
0 RX RX
1 TX TX
2 int PWM
3 PWM int -/-
4
5 PWM
6 PWM
7
8
9 PWM
10 PWM
11 PWM
12 -/-
13 led PWM
14 a0 analogs COM
15 a1 -/-
16 a2
17 a3
18 a4
19 a5
20 a6 -/-
21 a7 COM
Mega:
22 DGT
23 -/-
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52 -/-
53 DGT
54 a0 analogs
55 a1
56 a2
57 a3
58 a4
59 a5
60 a6
61 a7
62 a8
63 a9
64 a10
65 a11
66 a12
67 a13
68 a14
69 a15
todo:
interrupts() noInterrupts()
finish binary values/pins
execute commands from string
module eprom - e=>xer, E=>xew
*/
#if !defined(avros_h)
#define avros_h
//extern "C" void __cxa_pure_virtual() {}
#if !defined(SPEED)
//#define SPEED 9600
#define SPEED 115200 // 300, 1200, 2400, 4800, 9600, 14400, 19200, 28800, 38400, 57600, 115200,
#endif
#if !defined(PIN_LAST)
//#define PIN_LAST 21 // 0..21 0..69
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
#define PIN_LAST A15 // 69
#else
#define PIN_LAST A7 // 21
#endif
#endif
#if !defined(PIN_ANALOG_FROM)
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
//#define PIN_ANALOG_FROM 54 //mega
#else
//#define PIN_ANALOG_FROM 14 //due
#endif
#define PIN_ANALOG_FROM A0 //auto from WProgram.h
#endif
//#define PIN_SRC 2 //execute from eprom if pin HIGH=1 // pin MUST be connected to gnd(0) or +(1)
#if !defined(REPORT)
#define REPORT 1 //print to serial about command executions
#endif
//#define DEBUG
//#define DELAY 100 // auto delay if nothing to do
#if !defined(READ_TIMEOUT)
#define READ_TIMEOUT 100 //for typing from console set to 500-1000, for scripts - 1-50
#endif
#if !defined(READ_TIMEOUT_FIRST)
#define READ_TIMEOUT_FIRST 0
#endif
// w1,1 w011 w131 w13,1
#if !defined(READ_SEPARATOR)
#define READ_SEPARATOR ','
#endif
#if !defined(MONITOR)
#define MONITOR 1
#endif
#if !defined(AUTO_MODE)
#define AUTO_MODE 1
#endif
#if !defined(TONE)
#define TONE 1
#endif
#if !defined(PULSE)
#define PULSE 1
#endif
#if !defined(TEST)
#define TEST 1
#endif
//#define BINARY // TODO NOT FINISHED
//#include "WProgram.h" //before arduino 1.0
#include "Arduino.h"
#if (defined(EEPROM_h) and !defined(EPROM)) or !defined(EPROM) //already included, using
#define EPROM 512
#endif
#if EPROM
#include "EEPROM.h"
#endif
#if defined(Servo_h) and !defined(SERVO) //already included, using
#define SERVO 1
#endif
#if SERVO
#include "Servo.h"
Servo servo[SERVO];
char servon[PIN_LAST + 1] = {};
char servolast = 0;
//Servo * servos[PIN_LAST] = {};
#endif
//typedef uint8_t byte;
byte read_src = 0;
byte read_src_want = 0; // set to 1 for automatic execution from eprom
#if defined(PIN_SRC)
byte read_src_pin = 1;
#endif
int read_eprom = 0;
int serial_buf = -1;
#if MONITOR
#if !defined(MONITOR_FIRST)
#define MONITOR_FIRST 0
#endif
#if !defined(MONITOR_LAST)
#define MONITOR_LAST PIN_LAST
#endif
#if !defined(MONITOR_PULSE)
#define MONITOR_PULSE HIGH
#endif
int monitor_pin[MONITOR_LAST + 1] = { // using arduino 0018 or earlier possible error, to fix: #define PIN_LAST 21
};
int monitor_last[MONITOR_LAST + 1] = {
};
#endif
void sp_setup()
{
// Serial.begin(9600);
Serial.begin(SPEED);
#if MONITOR
#if defined(PIN_SRC)
monitor_pin[PIN_SRC] = 1;
#endif
#endif
#if REPORT
#if defined(DEVICEID)
Serial.print("I");
Serial.println(DEVICEID, DEC);
#else
Serial.println("I");
#endif
#endif
}
void print_pin_sep(byte pin)
{
#if REPORT
Serial.print(pin, DEC);
Serial.print(READ_SEPARATOR);
#endif
}
#if MONITOR
void monitor()
{
for (byte i = MONITOR_FIRST; i <= MONITOR_LAST; ++i) {
//#if DEBUG
//Serial.print("MT:");
//print_pin_sep(i);
//#endif
if (monitor_pin[i]) {
int now;
if (i < PIN_ANALOG_FROM and monitor_pin[i] > 1) now = pulseIn(i, MONITOR_PULSE);
else if (i < PIN_ANALOG_FROM) now = digitalRead(i);
else now = analogRead(i - PIN_ANALOG_FROM);
if (monitor_last[i] >= now + monitor_pin[i] or monitor_last[i] <= now - monitor_pin[i]) {
monitor_last[i] = now;
Serial.print(i < PIN_ANALOG_FROM ? "r" : "R");
//Serial.print('a' + i, BYTE);
print_pin_sep(i);
Serial.println(now, DEC);
#if defined(PIN_SRC)
if (read_src_pin and i == PIN_SRC) {
#if REPORT
Serial.print("$");
Serial.print('0' + read_src, BYTE);
Serial.println('0' + now , BYTE);
#endif
read_src_want = now;
}
#endif
/* // write yours handlers for pin=i changes here
switch (i) { case 0: break; case 1: break; case 2: break; default: 0; }
*/
}
}
}
}
#endif
int read_chr(unsigned int timeout = READ_TIMEOUT)//wait one second max
{
if (serial_buf >= 0) {
int r = serial_buf;
serial_buf = -1;
return r;
}
unsigned long runtime = millis();
if (read_src == 0) {
while (!Serial.available() and millis() - timeout < runtime) {
#if DELAY
delay(DELAY);
#endif
#if MONITOR
monitor();
#endif
}
if (Serial.available()) {
return Serial.read();
}
#if EPROM
} else if(read_src == 1) {
if (read_eprom > EPROM ) read_eprom = 0;
byte r = EEPROM.read(read_eprom++);
if (r == 'E') {
read_eprom = 0;
return 0;
}
return r;
#endif
#if SRC_STRING
} else if(read_src == 2) {
#endif
}
return -1;
}
#if READ_PIN_ONE_BYTE
byte char2pin(byte pin)
{
if (pin >= 'a') pin -= 'a';
if (pin >= 'A') pin -= 'A', pin += 10;
if (pin >= '0') pin -= '0';
return pin;
}
#endif
boolean char2bin(byte value)
{
if (value >= '0') value -= '0';
return value;
}
unsigned int char2int(byte value, unsigned int saved = 0)
{
if (value < '0' or value > '9') saved += value;
else saved *= 10, saved += value - '0';
return saved;
}
unsigned int read_num(byte maxchars = 5, boolean flush = 0)
{
unsigned int value = 0;
do {
int chr = read_chr();
if (chr >= 0) {
if (chr < '0' or chr > '9') {
if (!flush) serial_buf = chr;
return value;
}
value = char2int(chr, value);
} else break;
} while (value >= 0 and-- maxchars > 0);
return value;
}
byte read_pin(bool flush =
#if READ_SEPARATOR
1
#else
0
#endif
)
{
#if READ_PIN_ONE_BYTE
return char2pin(read_chr());
#endif
byte pin = read_num(2);
if (flush) {
if (pin >= 10) {
serial_buf = read_chr();
}
if ( (serial_buf < '0' or serial_buf > '9')) {
serial_buf = -1;
}
}
return pin;
}
#if PULSE
void pulseOut(byte pin, unsigned int us)
{
digitalWrite(pin, HIGH);
us = max(us - 20, 1);
delayMicroseconds(us);
digitalWrite(pin, LOW);
}
#endif
#if SERVO
byte servo_attach(byte pin)
{
pinMode(pin, OUTPUT);
if (!servon[pin]) servon[pin] = servolast++;
if (servolast >= SERVO) servolast = 0;
if(servo[servon[pin]].attached()) {
servo[servon[pin]].detach();
}
servo[servon[pin]].attach(pin);
return servon[pin];
}
#endif
int cmd_parse(int cmd)
{
byte pin = 0;
unsigned int value = 0;
unsigned long value_ul = 0;
switch (cmd) {
case -1:
#if DELAY
delay(DELAY);
#endif
break;
case 'w':
pin = read_pin();
value = char2bin(read_chr());
#if AUTO_MODE
pinMode(pin, OUTPUT);
#endif
digitalWrite(pin, value);
#if REPORT
Serial.print("w");
print_pin_sep(pin);
Serial.println(value);
#endif
break;
case 'W':
pin = read_pin();
value = read_num(3);
//pinMode(pin, OUTPUT);
analogWrite(pin, value);
#if REPORT
Serial.print("W");
print_pin_sep(pin);
Serial.println(value);
#endif
case 'r':
pin = read_pin();
//pinMode(pin, INPUT);
#if AUTO_MODE
pinMode(pin, INPUT);
#endif
Serial.print("r");
print_pin_sep(pin);
Serial.println(digitalRead(pin), DEC);
break;
case 'R':
pin = read_pin();
if (pin >= PIN_ANALOG_FROM) pin -= PIN_ANALOG_FROM;
//if (pin > 8) break
//pinMode(pin, INPUT);
Serial.print("R");
print_pin_sep(PIN_ANALOG_FROM + pin);
//Serial.print('a' + PIN_ANALOG_FROM + pin, BYTE);
Serial.println(analogRead(pin), DEC);
break;
case 'm':
pin = read_pin();
value = char2bin(read_chr());
pinMode(pin, value);
#if REPORT
Serial.print("m");
print_pin_sep(pin);
Serial.println(value);
#endif
break;
case 'd':
value = read_num();
delay(value);
#if REPORT
Serial.println("d");
Serial.println(value);
#endif
break;
case 'D':
value = read_num();
delayMicroseconds(value);
#if REPORT
Serial.println("D");
Serial.println(value);
#endif
break;
#if MONITOR
case 'M':
pin = read_pin();
value = read_num(4);
if(pin >= MONITOR_FIRST and pin <= MONITOR_LAST) monitor_pin[pin] = value;
#if REPORT
Serial.print("M");
print_pin_sep(pin);
Serial.println(value, DEC);
#endif
break;
#endif
#if EPROM
case 'e':
Serial.println("e");
for (int address = 0; address < EPROM; ++address) {
#if defined(BINARY)
Serial.print(EEPROM.read(address));
#else
byte v = EEPROM.read(address);
//remove !v for binary
if ( !v or v == 'E' ) break;
Serial.print(v);
#endif
}
Serial.println("E");
break;
case 'E':
for (int address = 0; address < EPROM; ++address) {
int r = read_chr();
//!!!remove 0 for binarydata
if (r <= 0 )
break;
EEPROM.write(address, r);
if (r == 'E') {
break;
}
}
#if REPORT
Serial.println("E");
#endif
read_eprom = 0;
break;
#endif
case 's':
read_src = read_src_want = 1;
//read_eprom = 0;
#if REPORT
Serial.println("s");
#endif
break;
case 'S':
read_src = read_src_want = 0;
#if REPORT
Serial.println("S");
#endif
break;
#if TONE
case 't':
pin = read_pin();
value = read_num(5);
if (!value) {
noTone(pin);
} else {
tone(pin, value);
}
#if REPORT
Serial.print("t");
print_pin_sep(pin);
Serial.println(value);
#endif
break;
case 'T':
pin = read_pin();
value = read_num(5, 1);
value_ul = read_num(5);
if (!value) {
noTone(pin);
} else {
tone(pin, value, value_ul);
}
#if REPORT
Serial.print("T");
print_pin_sep(pin);
Serial.print(value);
Serial.print(READ_SEPARATOR);
Serial.println(value_ul);
#endif
#endif
break;
/* bad idea case 'T':
pin = read_pin();
noTone(pin);
#if REPORT
Serial.print("T");
print_pin_sep(pin);
Serial.println(0);
#endif
break;
*/
#if defined(PIN_SRC)
case 'o':
read_src_pin = 0;
#if REPORT
Serial.println("o");
#endif
break;
case 'O':
read_src_pin = 1;
#if REPORT
Serial.println("O");
#endif
break;
#endif
//write your commands here
// Example:
#if TEST
// l = led on
// L = led off
case 'l':
pinMode(13, OUTPUT);
digitalWrite(13, HIGH);
#if REPORT
Serial.println("l");
#endif
break;
case 'L':
pinMode(13, OUTPUT);
digitalWrite(13, LOW);
#if REPORT
Serial.println("L");
#endif
break;
#endif
#if PULSE
case 'p':
pin = read_pin();
//pinMode(pin, INPUT);
#if AUTO_MODE
pinMode(pin, INPUT);
#endif
Serial.print("p");
print_pin_sep(pin);
value_ul = pulseIn(pin, HIGH);
//Serial.println( pulseIn(pin, HIGH), DEC);
Serial.println( value_ul, DEC);
// Serial.println( (value_ul/(147*2.54))*10, DEC);
break;
case 'P':
pin = read_pin();
value = read_num(4);
//pinMode(pin, INPUT);
#if AUTO_MODE
pinMode(pin, OUTPUT);
#endif
pulseOut(pin, value);
#if REPORT
Serial.print("P");
print_pin_sep(pin);
Serial.println(value);
#endif
break;
#endif
case 'x': //modules
cmd = read_chr();
switch (cmd) {
#if SERVO
case 's': //servo
cmd = read_chr();
switch (cmd) {
case 'a':
pin = read_pin();
servo_attach(pin);
#if REPORT
Serial.print("xsa");
print_pin_sep(pin);
Serial.print(servo[servon[pin]].attached(), DEC);
Serial.println(servon[pin], DEC);
// Serial.println(servos[pin]->attached(), DEC);
#endif
break;
case 'd':
pin = read_pin();
if (servo[servon[pin]].attached()) servo[servon[pin]].detach();
#if REPORT
Serial.print("xsd");
print_pin_sep(pin);
Serial.println(servo[servon[pin]].attached(), DEC);
//Serial.println(servon[pin], DEC);
// Serial.println(servos[pin]->attached(), DEC);
#endif
break;
case 'w':
pin = read_pin();
value = read_num(3);
servo[servon[pin]].write(value);
#if REPORT
Serial.print("xsw");
print_pin_sep(pin);
Serial.println(value, DEC);
//Serial.println(servon[pin], DEC);
#endif
break;
case 'W':
pin = read_pin();
value = read_num(3);
servo[servon[pin]].writeMicroseconds(value);
#if REPORT
Serial.print("xsW");
print_pin_sep(pin);
Serial.println(value, DEC);
//Serial.println(servon[pin], DEC);
#endif
break;
case 'r':
pin = read_pin();
value = servo[servon[pin]].read();
#if REPORT
Serial.print("xsr");
// Serial.print(servon[pin], DEC);
print_pin_sep(pin);
Serial.print(servon[pin], DEC);
Serial.println(servo[servon[pin]].read(), DEC);
// Serial.println(servos[pin]->read(), DEC);
#endif
break;
}
break;
#endif //SERVO
}
break;
default:
return cmd;
}
return 0;
}
/// todo unfinished
#if SRC_STRING
int run_string(char * s)
{
read_src = read_src_want = 2;
read_string = s;
cmd_parse( read_chr());
}
#endif
int sp_loop()
{
#if MONITOR
monitor();
#endif
if (!Serial.available()) {
read_src = read_src_want;
} else if (read_src != 0) {
read_src_want = read_src;
read_src = 0;
}
return cmd_parse( read_chr(READ_TIMEOUT_FIRST));
}
#endif