void loop()
{
sendMsg = "";
recvMsg = "";
while (Serial.available()) {
sendMsg += (char)Serial.read();
delay(2);
}
if(sendMsg.length() > 0)
{
mySerial1.println(sendMsg);
Serial.print("I send: ");
Serial.println(sendMsg);
}
while (mySerial2.available()) {
recvMsg += (char)mySerial2.read();
delay(2);
}
if(recvMsg.length() > 0)
{
Serial.print("I recv: ");
Serial.println(recvMsg);
}
//delay(20);
}
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;
}
int
main(int argc,char **argv) {
pinMode(led_pin, OUTPUT);
digitalWrite(led_pin, led_off);
digitalWrite(reset_pin, HIGH);
pinMode(reset_pin, OUTPUT);
Serial.begin(baud); // USB, communication to PC or Mac
Uart.begin(baud); // UART, communication to Dorkboard
for (;;) {
unsigned char c, dtr;
static unsigned char prev_dtr = 0;
if (Serial.available()) {
c = Serial.read();
Uart.write(c);
digitalWrite(led_pin, led_on);
led_on_time = millis();
continue;
}
if (Uart.available()) {
c = Uart.read();
Serial.write(c);
digitalWrite(led_pin, led_on);
led_on_time = millis();
continue;
}
dtr = Serial.dtr();
if (dtr && !prev_dtr) {
digitalWrite(reset_pin, LOW);
delayMicroseconds(250);
digitalWrite(reset_pin, HIGH);
}
prev_dtr = dtr;
if (millis() - led_on_time > 3) {
digitalWrite(led_pin, led_off);
}
if (Serial.baud() != baud) {
baud = Serial.baud();
if (baud == 57600) {
// This ugly hack is necessary for talking
// to the arduino bootloader, which actually
// communicates at 58824 baud (+2.1% error).
// Teensyduino will configure the UART for
// the closest baud rate, which is 57143
// baud (-0.8% error). Serial communication
// can tolerate about 2.5% error, so the
// combined error is too large. Simply
// setting the baud rate to the same as
// arduino's actual baud rate works.
Uart.begin(58824);
} else {
Uart.begin(baud);
}
}
}
}
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;
}
/***
* 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;
}
}
}
}
// get next byte from serial stream
byte Comm::serial_get(bool block)
{
if (block) {
while (true) {
if (Serial.available() > 0) {
break;
}
}
}
return Serial.read();
}
//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 (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;
}
}
}
void updateSerialReader()
{
while(Serial.available() > 0 && parserReadyDelegate())
{
(*lineBuffer) = Serial.read();
if(*lineBuffer == '\n')
{
lineBuffer = &buffer[0];
if(readingRequest)
parseRequest(lineBuffer);
else
parseGCodeDelegate(lineBuffer);
}
else if(*lineBuffer == '@')
readingRequest = true;
else if(*lineBuffer != 32)
lineBuffer++;
}
}
int main()
{
int incomingByte = 0; // for incoming serial data
setup();
// register Ctrl-C signal
signal(SIGINT, &trap);
while(execute)
{
//numc = Serial.available();
// bytedata = Serial.read();
//printf("0x%d\n", data);
// send data only when you receive data:
if (Serial.available() > 0)
{
for(int ii=0; ii<Serial.available(); ii++){
//cout << "Serial.available() returned: " << Serial.available() << endl;
// read the incoming byte:
incomingByte = Serial.read();
// say what you got:
printf("%c", incomingByte);
}
}
boost::this_thread::sleep(boost::posix_time::milliseconds(10));
}
Serial.end();
return(0);
}
void loop() // run over and over again
{
Modes();
char c;
if (Uart.available())
{
c = Uart.read();
if(c == '<') // Start of packet
{
started = 1;
ended = 0;
}
else if(c == '>') // End of packet
{
ended = 1;
}
else
{
buffer[serialIn] = c;
serialIn++;
buffer[serialIn] = '\0';
}
}
if(started && ended) // complete packet
{
if(buffer[0] == 'H' && buffer[1] == 'M' && buffer[2] == 'G') //header
{
Serial.println("RECEIVED HEADER");
parseSerialData(); // sorts data based on channel
}
serialIn = 0;
buffer[serialIn] = '\0';
started = 0;
ended = 0;
}
}
void loop() {
// Get serial input from Processing
if (Serial.available()) {
char ch = Serial.read();
switch(ch){
case '0'...'9':
rawSerial = rawSerial * 10 + ch - '0';
Serial.println(rawSerial);
break;
case 'x':
//pulsewidth = map(rawSerial, 0,100, 0,180);
servos[3].write(rawSerial);
rawSerial = 0;
break;
case 'y':
//pulsewidth = map(rawSerial, 0,100, 0,180);
servos[3].write(rawSerial);
rawSerial = 0;
break;
}
}
/***
* The loop function is called in an endless loop
*/
void loop() {
char c, argC;
char *argV[ARGV_MAX];
int i, pin;
unsigned long curMs;
// Take care of blinking LED
if (startBlinking == true) {
curMs = millis();
if (curMs > blinkLastChangeMs + blinkingDelayMs) {
blinkLastChangeMs = curMs;
if (digitalRead(blinkingPin) == HIGH) {
digitalWrite(blinkingPin, LOW);
} else {
digitalWrite(blinkingPin, HIGH);
}
}
}
#ifdef USE_PID
// Take care PID-relay variables
for (i = 0; i < PID_RELAY_MAX_VARS; i++) {
if (pidRelayDescs[i].isOn) {
pidRelayDescs[i].inputVar = analogRead(pidRelayDescs[i].pinAnalIn);
pidRelayDescs[i].handler->Compute();
// turn relay on/off according to the PID output
curMs = millis();
if (curMs - pidRelayDescs[i].windowStartTime > pidRelayDescs[i].windowSize) {
//time to shift the Relay Window
pidRelayDescs[i].windowStartTime += pidRelayDescs[i].windowSize;
}
if (pidRelayDescs[i].outputVar > curMs - pidRelayDescs[i].windowStartTime) {
digitalWrite(pidRelayDescs[i].pinDigiOut, HIGH);
}
else {
digitalWrite(pidRelayDescs[i].pinDigiOut, LOW);
}
}
}
#endif
// Read characters from the control serial port and act upon them
if (Serial.available()) {
c = Serial.read();
switch (c) {
case '\n':
break;
case '\r':
// end the string and init pMsg
Serial.println("");
*(pMsg++) = NULL;
pMsg = msg;
// parse the command line statement and break it up into space-delimited
// strings. the array of strings will be saved in the argV array.
i = 0;
argV[i] = strtok(msg, " ");
do {
argV[++i] = strtok(NULL, " ");
} while ((i < ARGV_MAX) && (argV[i] != NULL));
// save off the number of arguments
argC = i;
pin = strtol(argV[1], NULL, 10);
if (strcasecmp(argV[0], "Set") == 0) {
cmdSet(argV);
} else if (strcasecmp(argV[0], "Reset") == 0) {
cmdReset();
} else if (strcasecmp(argV[0], "BlinkPin") == 0) {
cmdBlinkPin(argV);
} else if (strcasecmp(argV[0], "Read") == 0) {
cmdRead(argC, argV);
} else if (strcasecmp(argV[0], "Write") == 0) {
cmdWrite(argV);
} else if (strcasecmp(argV[0], "SetPwmFreq") == 0) {
cmdSetPwmFreq(argV);
#ifdef USE_PID
} else if (strcasecmp(argV[0], "PidRelayCreate") == 0) {
cmdPidRelayCreate(argV);
} else if (strcasecmp(argV[0], "PidRelaySet") == 0) {
cmdPidRelaySet(argV);
} else if (strcasecmp(argV[0], "PidRelayTune") == 0) {
cmdPidRelayTune(argV);
} else if (strcasecmp(argV[0], "PidRelayEnable") == 0) {
cmdPidRelayEnable(argV);
#endif
} else if (strcasecmp(argV[0], "HardSerConnect") == 0) {
cmdHardSerConnect(argV);
} else if (strcasecmp(argV[0], "SoftSerConnect") == 0) {
cmdSoftSerConnect(argV);
} else if (strcasecmp(argV[0], "SerSend") == 0) {
cmdSerSend(argV);
} else if (strcasecmp(argV[0], "SerReceive") == 0) {
cmdSerReceive(argV);
#ifdef USE_WIRE
} else if (strcasecmp(argV[0], "I2cWrite") == 0) {
cmdI2cWrite(argC, argV);
#endif
} else {
// Wrong command
return;
}
// Acknowledge the command
Serial.println(doneString);
break;
default:
// Record the received character
if (isprint(c) && pMsg < msg + sizeof(msg)) {
*(pMsg++) = c;
}
break;
}
}
}