void setup() {
Wire.begin();
if (debugSerial){
Serial.begin(115200);
Serial.println(F("=================== SETUP ================="));
}
// initialize device
if (debugSerial && debugMPU6050) Serial.println(F("Initializing I2C devices..."));
accelgyro.initialize();
// verify connection
if (debugSerial && debugMPU6050) {
Serial.println("Testing device connections...");
boolean OK = accelgyro.testConnection() ;
( OK )?
Serial.println(F("MPU6050 connection successful")):
Serial.println(F("MPU6050 connection failed"));
}
if (debugSerial){
Serial.println(F("=============== FIM SETUP ================="));
}
}
/***
* Read [pin1] [pin2] ...
*
* Read pin values
* Pins are given in the following way: A0 A1 ... for analog pins
* D0 D1 ... for digital pins
* Answer is: val1 val2 ...
*/
void cmdRead(int argC, char **argV) {
char pinType[2];
int pin;
int value;
for (int i = 1; i <= argC; i++) {
pinType[0] = argV[i][0];
pinType[1] = NULL;
pin = strtol(&(argV[i][1]), NULL, 10);
if (strcasecmp(pinType, "D") == 0) {
value = digitalRead(pin);
} else if (strcasecmp(pinType, "A") == 0) {
value = analogRead(pin);
} else {
return;
}
// Add read values to answer string
Serial.print(value);
if (i < argC) {
Serial.print(' ');
}
}
}
//! Test function to validate that the fifo works as expected.
//! It is always a good idea to validate your data structures. Languages like
//! Python or Perl have such validation built in, while C++ does not. This function
//! can be used in a special build to run through some test cases and make sure
//! that the fifo behaves as we exect, especially in the edge cases, such as when
//! it gets full, wraps around, etc.
void FifoTest(HardwareSerial& ds)
{
Fifo f1(20);
Fifo::FifoType x;
char buffer[128];
for (x=1;x<25;x++) {
f1.push(&x);
sprintf(buffer,"Fifo push %d count %d\n",x,f1.count());
ds.print(buffer);
}
f1.clear();
sprintf(buffer,"Fifo count %d\n",f1.count());
ds.print(buffer);
for (x=0;x<10;x++) {
f1.push(&x);
}
sprintf(buffer,"Fifo count %d. Expected 10\n",f1.count());
ds.print(buffer);
Fifo::FifoType y;
for (x=1;x<15;x++) {
f1.pop(&y);
sprintf(buffer,"Fifo pop %d count %d\n",y,f1.count());
ds.print(buffer);
}
}
void setup()
{
// Set up serial port for debugging
Serial.begin(9600);
while (!Serial)
{
; // wait for serial port to connect. Needed for Leonardo only
}
// Fullfil the data array
createDataArray();
// Read and set the key from the EEPROM
readKey(KEYLENGTH);
// Inicialization of the key
time = micros(); // time start
aes192_init(key, &key_init);
emit = micros(); // time start
Serial.print(F("Inicialisation total takes: "));
Serial.print(emit - time);
Serial.println(F(" [us]"));
// initialize the digital pin as an output.
// Pin 13 has an LED connected on most Arduino boards:
pinMode(ledPin, OUTPUT);
}
File create_gps_file() {
int year;
unsigned long age;
byte month, day, hour, minute, second, hundredth;
gps.crack_datetime(&year, &month, &day, &hour, &minute, &second, &hundredth, &age);
String filename;
filename.concat(GPS_DIR);
filename.concat('/');
filename.concat(year);
filename.concat('/');
filename.concat(month);
filename.concat('/');
filename.concat(day);
filename.concat('/');
filename.concat(hour);
filename.concat(minute);
filename.concat(second);
filename.concat(".GPS");
char buf[filename.length() + 1];
filename.toCharArray(buf, sizeof(buf));
Serial.print("Criando arquivo... ");
Serial.println(buf);
return create_file(buf);
}
void setup() {
Serial.begin(115200);
nss.begin(9600);
pinMode(10, OUTPUT);
pinMode(GREEN_LED, OUTPUT);
pinMode(RED_LED, OUTPUT);
Serial.println("Iniciando...");
if (!SD.begin())
Serial.println("SD Erro!");
}
/***
* SerSend [hard | soft] [port]
*
* After this command, each character sent is mirrored to the chosen serial
* port until the NULL character (0x00) is sent (also mirrored)
*/
void cmdSerSend(char **argV) {
boolean isSoftSerial = (strcasecmp(argV[1], "soft") == 0);
int currPort = strtol(argV[2], NULL, 10);
Serial.println(doneString);
if (currPort < 1 || currPort > ((isSoftSerial)? SOFT_SER_MAX_PORTS : HARD_SER_MAX_PORTS)) {
return;
}
if (isSoftSerial) {
#ifdef USE_SOFTWARE_SERIAL
softSerDescs[currPort-1].txMsgLen = 0;
#endif
}
// mirror the hardware serial and the software serial
while (true) {
if (Serial.available()) {
char c = Serial.read();
if (isSoftSerial) {
#ifdef USE_SOFTWARE_SERIAL
softSerDescs[currPort-1].txMsg[softSerDescs[currPort-1].txMsgLen++] = c;
#endif
} else {
#if HARD_SER_MAX_PORTS > 0
hardSerHandler[currPort-1]->write(c);
#else
return;
#endif
}
if (c == '\0') {
// acknowledge
Serial.println(doneString);
delay(10);
#ifdef USE_SOFTWARE_SERIAL
if (isSoftSerial) {
// send the message, and remember the answer
for (int i = 0; i < softSerDescs[currPort-1].txMsgLen; i++) {
softSerDescs[currPort-1].handler->write(softSerDescs[currPort-1].txMsg[i]);
}
softSerDescs[currPort-1].rxMsgLen = 0;
while (!Serial.available()) {
if (softSerDescs[currPort-1].handler->available() && softSerDescs[currPort-1].rxMsgLen < SOFT_SER_MSG_SIZE) {
softSerDescs[currPort-1].rxMsg[softSerDescs[currPort-1].rxMsgLen++] = softSerDescs[currPort-1].handler->read();
}
}
}
#endif
return;
}
}
}
}
void loop2()
{
vw_wait_rx();
if (vw_get_message(buf, &buflen)) // Non-blocking
{
int port=parse();
switchState(port);
Serial.print(port);
Serial.println();
}
}
// get next byte from serial stream
byte Comm::serial_get(bool block)
{
if (block) {
while (true) {
if (Serial.available() > 0) {
break;
}
}
}
return Serial.read();
}
void Node::ajuste_pinos(){
if (sizeof(this->comandos) > 0 ){
if(this->_debug) Serial.println("Ajustando pinagem: ");
for (int i = 0; i < sizeof(this->comandos)-1; i++){
pinMode(this->comandos[i].pino, OUTPUT);
if(this->_debug) Serial.print(this->comandos[i].pino+" ");
};
if(this->_debug) Serial.println("Fim de Ajuste.");
}
}
void setup() {
Serial.begin(9600);
Serial.println("setup");
relays[0] = createRelay(PORT_0);
relays[1] = createRelay(PORT_1);
relays[2] = createRelay(PORT_2);
relays[3] = createRelay(PORT_3);
vw_set_rx_pin(PORT_RF);
vw_setup(4000); // Bits per sec
vw_rx_start(); // Start the receiver PLL running
}
int calcDeltaT(){
lastLoopUsefulTime = millis()-loopStartTime;
if(lastLoopUsefulTime<STD_LOOP_TIME) {
delay(STD_LOOP_TIME-lastLoopUsefulTime);
if (debugSerial && debugLoopTime){
Serial.print(" Esperei: ");
Serial.println(STD_LOOP_TIME-lastLoopUsefulTime);
}
}
lastLoopTime = millis() - loopStartTime;
loopStartTime = millis();
return lastLoopTime;
}
void serialEventRun(void) {
#ifdef serialEvent_implemented
if (Serial.available())
serialEvent();
#endif
#ifdef serialEvent1_implemented
if (Serial1.available()) serialEvent1();
#endif
#ifdef serialEvent2_implemented
if (Serial2.available()) serialEvent2();
#endif
#ifdef serialEvent3_implemented
if (Serial3.available()) serialEvent3();
#endif
}
template<class T> int writeObject(HardwareSerial ser, T& value, char name) {
unsigned char* p = (unsigned char*) (void*) &value;
unsigned int i;
char checksum = '0';
ser.write('@');
ser.write(name);
for (i = 0; i < sizeof(value); i++) {
ser.write(*p++);
checksum = checksum ^ *p;
}
ser.write(checksum);
ser.write('\n');
return i;
}
void loop() {
bool newData = false;
unsigned long start = millis();
while (millis() - start < 1000) {
while (nss.available()) {
if (gps.encode(nss.read()))
newData = true;
}
}
if (newData) {
if (gps.hdop() < MAX_HDOP)
signal_fixed_status();
else
signal_instable_status();
if (!gps_filename) {
gps_filename = create_gps_file();
}
String line = create_gps_line();
gps_filename.println(line);
gps_filename.flush();
Serial.println(line);
} else {
signal_unavailable_status();
}
}
void GetDataSpace::execute (HardwareSerial& stream, McuState&) const {
unsigned char* ptr = (unsigned char*)address;
unsigned char value = *ptr;
char response[MAX_NUMBER_LENGTH];
Utils::toDecimal (response, sizeof (response), value);
stream.println (response);
}
Stream* digitalPinToSerial(int pin, unsigned long baud){
#if defined(__AVR_ATmega328P__)
return NULL;
#elif defined(__AVR_ATmega2560__)
if(pin==19 || pin==18){
Serial1.begin(baud);
return &Serial1;
}
if(pin==17 || pin==16){
Serial2.begin(baud);
return &Serial2;
}
if(pin==15 || pin==14){
Serial3.begin(baud);
return &Serial3;
}
return NULL;
#elif defined(__AVR_AT90USB1286__)
if(pin==2 || pin==3){
UART.begin(baud);
return &UART;
}
return NULL;
#endif
}
//call like : serialRead (Serial1, buffer, 12, 5)
uint8_t serialRead (HardwareSerial theSerial,
uint8_t *buf, uint8_t leng, uint8_t timeout) {
int sub;
if (theSerial.available ()) {
for (sub=0; sub<leng; sub++) {
uint32_t start_time = millis ();
while (!theSerial.available ()) {
if (millis () - start_time > timeout)
return sub;
}
buf[sub] = theSerial.read ();
}
return sub;
}
return 0;
}
void loop() {
if (debugSerial && debugLoopTime) Serial.println(lastLoopTime);
atualizaSensors(deltaT);
// *********************** loop timing control **************************
deltaT = calcDeltaT();
}
void createDataArray()
{
Serial.println(F("Creating array of data"));
time = micros(); // time start
int i, j;
for (i = j = 0; i < DATALENGTH; i++, j++)
{
if (j <= 25)
plain[i] = (65 + j);
else
{
plain[i] = char('-');
plain[i + 1] = 65;
i++;
j = 0;
}
}
// emit = micros(); // time end
//
// Serial.print(F("Total takes: "));
// Serial.print(emit - time);
// Serial.println(F(" [us]"));
//
// if (beVerbose)
// {
// Serial.println(F("Printing array data:"));
// for (int i = 0; i < DATALENGTH; i++)
// Serial.print(plain[i]);
// Serial.println();
// }
}
/***
* The setup function is called once at startup of the sketch
*/
void setup() {
Serial.begin(SERIAL0_BAUD);
pMsg = msg;
#ifdef USE_WIRE
// Connect to the I2C bus
Wire.begin();
#endif
// Init hardware serial ports if they exist
for (int i = 0; i < HARD_SER_MAX_PORTS; i++)
{
switch (i + 1) {
#if HARD_SER_MAX_PORTS >= 1
case 1:
hardSerHandler[i] = &Serial1;
break;
#endif
#if HARD_SER_MAX_PORTS >= 2
case 2:
hardSerHandler[i] = &Serial2;
break;
#endif
#if HARD_SER_MAX_PORTS >= 3
case 3:
hardSerHandler[i] = &Serial3;
break;
#endif
}
}
}
template<class T> int readObject(HardwareSerial ser, T& value, char name) {
unsigned char* p = (unsigned char*) (void*) &value;
unsigned int i;
char checksum = '0';
for (i = 0; i < sizeof(value); i++) {
*p++ = ser.read();
checksum = checksum ^ *p;
}
//TODO: make sure this actually works
if (ser.read() == checksum) {
Serial.print("Checksum valid");
} else {
Serial.print("Checksum invalid");
}
return i;
}
void OpenDeviceClass::begin(HardwareSerial &serial, unsigned long baud){
serial.begin(baud);
DeviceConnection *conn = new DeviceConnection(serial);
begin(*conn);
}
bool RTArduLinkHALAddHardwarePort(RTARDULINKHAL_PORT *port, long portSpeed, unsigned char hardwarePort)
{
HardwareSerial *hardPort;
switch (hardwarePort) {
case 0:
#if defined(USBCON)
/* Leonardo support */
hardPort = &Serial1;
#else
hardPort = &Serial;
#endif
break;
case 1:
#if defined(UBRR1H)
hardPort = &Serial1;
#else
return false;
#endif
break;
case 2:
#if defined(UBRR2H)
hardPort = &Serial2;
#else
return false;
#endif
break;
case 3:
#if defined(UBRR3H)
hardPort = &Serial3;
#else
return false;
#endif
break;
default:
return false;
}
port->serialPort = hardPort;
hardPort->begin(portSpeed); // start the port
return true;
}
void loop()
{
if (Dennao.available() > 0) {
read_buf_len = Dennao.recv(read_buf, DENNAO_RX_SIZE, 0);
for(int i=0;i<read_buf_len;i++){
Uart.print((char)read_buf[i]);
}
}
if (Uart.available() > 0) {
uint8_t incomingByte = Uart.read();
if(incomingByte=='\r'){
Dennao.send(out_buf, out_buf_len, 0);
}else{
out_buf[out_buf_len++] = incomingByte;
}
}
}
bool GetStack::handleExcessiveRequest (HardwareSerial& stream, McuState& state) const {
if (frameCount <= state.stackSize) {return false;}
char buf[COMMAND_BUF_SIZE];
char* p = Utils::strcpy (buf, COMMAND_BUF_SIZE, "ERR: GS");
Utils::toDecimal(p, COMMAND_BUF_SIZE - 7, frameCount);
stream.println (buf);
return true;
}
void HAL_UART_ErrorCallback(UART_HandleTypeDef *UartHandle)
{
error_count++;
/* Reset the UART. The begin() method only takes effect if */
/* the baud rate changes, so force a change here. */
uint32_t baud = huart6.Init.BaudRate;
huart6.Init.BaudRate = 0;
Serial6.begin(baud);
}
void Node::executa(String mensagem){
//serializa
// mensagem "C-S0-01-1"
String comando[] = {mensagem.substring(0,3),mensagem.substring(5,6), mensagem.substring(8,8)};
if(this->id == comando[0]){
for(int i=0; i < sizeof(this->comandos) +1 ;i++){
if (this->comandos[i].id_objeto == comando[1]){
if(this->comandos[i].seq_ir_code == NULL){
// executa ação
digitalWrite(this->comandos[i].pino,this->comandos[i].acao);
if(_debug) Serial.println("enviar código infra red para o pino "+this->comandos[i].pino);
}else
if(_debug) Serial.println("enviar código infra red para o pino "+this->comandos[i].pino);
}
}
}else if(_debug) Serial.println("Node::executa - comando não é para este node /n Node: "+id+"/n Destinatario: "+comando[0] );
}
void setup() {
Serial.begin(9600);
// Affectation des servos pour chaque pattes
for(int i = 0; i < 4; i++){
servos[i].attach(servoPins[i]);
}
}
void Utils::readUntil (HardwareSerial& stream, char terminator, char* buf, int bufLen) {
int idx = 0;
while (idx < bufLen - 1) {
int c = stream.read ();
if (c == terminator) {break;}
if (c < 0) {continue;}
buf[idx++] = c;
}
buf[idx++] = 0;
}
