diff options
Diffstat (limited to 'api_layers/firmware/arduinoUno/arduinoUno.ino')
| -rw-r--r-- | api_layers/firmware/arduinoUno/arduinoUno.ino | 218 |
1 files changed, 218 insertions, 0 deletions
diff --git a/api_layers/firmware/arduinoUno/arduinoUno.ino b/api_layers/firmware/arduinoUno/arduinoUno.ino new file mode 100644 index 0000000..8f1b252 --- /dev/null +++ b/api_layers/firmware/arduinoUno/arduinoUno.ino @@ -0,0 +1,218 @@ +/* + * LabUI Arduino Firmware v1.1 + * ───────────────────────────────────────────────────────────────────────── + * Upload this sketch to your Arduino. + * Set baud rate to 115200 in both this sketch and LabUI. + * + * WHAT IT DOES + * Continuously streams analog + digital readings to the PC. + * Listens for commands from the PC and executes them. + * + * RECEIVED COMMANDS (PC → Arduino): + * W:D13:1 digitalWrite(13, HIGH) + * W:D6:0 digitalWrite(6, LOW) + * P:D9:128 analogWrite(9, 128) → ~50% PWM + * C:SETPOINT:75.0 store named parameter + * Q:A0 reply immediately with A0 reading + * R:ALL send full data frame immediately + * X:STOP set all outputs LOW + * X:RESET reset to defaults + * + * SENT DATA (Arduino → PC): + * A0:3.142,A1:0.015,D2:0,D3:1\n (every SEND_INTERVAL ms) + * ACK:W:D13:1\n (after each command) + * ERR:Unknown command\n (on parse failure) + * ───────────────────────────────────────────────────────────────────────── + */ + +// ── Configuration ───────────────────────────────────────────────────────── +int ANALOG_PINS[6] = {A0, A1, A2, A3, A4, A5}; // actual pin numbers (reconfigured by APIN:) +int ANALOG_IDX[6] = {0, 1, 2, 3, 4, 5}; // label indices used in output (A0, A1, …) +int DIGITAL_IN[16] = {2, 3, 4}; // reconfigured at runtime via DPIN:IN: +int DIGITAL_OUT[16] = {5, 6, 7, 9, 10, 11}; // reconfigured via DPIN:OUT: +int N_ANALOG = 0; // set by APIN: command (0 = inactive until configured by PC) +int N_DIG_IN = 0; // set by DPIN:IN: command (0 = inactive until configured) +int N_DIG_OUT = 0; // set by DPIN:OUT: command (0 = inactive until configured) +const int SEND_INTERVAL = 50; // ms between data frames (50 = 20 Hz) +const long BAUD_RATE = 115200; + +// ── Named parameters (set via C: commands) ────────────────────────────── +float param_setpoint = 0.0; +float param_kp = 1.0; +float param_ki = 0.0; +float param_kd = 0.0; +int param_mode = 0; + +unsigned long lastSend = 0; + +// ── Setup ───────────────────────────────────────────────────────────────── +void setup() { + Serial.begin(BAUD_RATE); + for (int i = 0; i < N_DIG_IN; i++) pinMode(DIGITAL_IN[i], INPUT_PULLUP); + for (int i = 0; i < N_DIG_OUT; i++) pinMode(DIGITAL_OUT[i], OUTPUT); +} + +// ── Main loop ───────────────────────────────────────────────────────────── +void loop() { + handleCommands(); + sendData(); +} + +// ── Command handler ─────────────────────────────────────────────────────── +void handleCommands() { + if (!Serial.available()) return; + + String cmd = Serial.readStringUntil('\n'); + cmd.trim(); + if (cmd.length() == 0) return; + + char type = cmd.charAt(0); + + // W:Dxx:val — digital write + if (type == 'W') { + int c1 = cmd.indexOf(':', 2); + if (c1 < 0) { Serial.println("ERR:Bad W format"); return; } + String pinStr = cmd.substring(2, c1); + int val = cmd.substring(c1 + 1).toInt(); + int pin = pinStr.substring(1).toInt(); // strip 'D' + digitalWrite(pin, val ? HIGH : LOW); + Serial.print("ACK:"); Serial.println(cmd); + } + + // P:Dxx:duty — PWM write (0-255) + else if (type == 'P') { + int c1 = cmd.indexOf(':', 2); + if (c1 < 0) { Serial.println("ERR:Bad P format"); return; } + int pin = cmd.substring(2, c1).substring(1).toInt(); + int duty = constrain(cmd.substring(c1 + 1).toInt(), 0, 255); + analogWrite(pin, duty); + Serial.print("ACK:"); Serial.println(cmd); + } + + // C:NAME:value — set named parameter + else if (type == 'C') { + int c1 = cmd.indexOf(':', 2); + int c2 = cmd.indexOf(':', c1 + 1); + if (c1 < 0 || c2 < 0) { Serial.println("ERR:Bad C format"); return; } + String name = cmd.substring(2, c1); + float val = cmd.substring(c2 + 1).toFloat(); + if (name == "SETPOINT") param_setpoint = val; + else if (name == "KP") param_kp = val; + else if (name == "KI") param_ki = val; + else if (name == "KD") param_kd = val; + else if (name == "MODE") param_mode = (int)val; + // Add your own parameters here: + // else if (name == "SPEED") motor_speed = val; + Serial.print("ACK:"); Serial.println(cmd); + } + + // Q:NAME — immediate query + else if (type == 'Q') { + String name = cmd.substring(2); + if (name == "SETPOINT") { Serial.print("SETPOINT:"); Serial.println(param_setpoint, 3); } + else if (name == "KP") { Serial.print("KP:"); Serial.println(param_kp, 4); } + else { + // Try to read as analog pin Q:A0 + if (name.charAt(0) == 'A') { + int pin = name.substring(1).toInt(); + float v = analogRead(pin) * (5.0 / 1023.0); + Serial.print(name); Serial.print(":"); Serial.println(v, 3); + } + } + } + + // R:ALL — send full frame immediately + else if (type == 'R') { + sendFrame(); + } + + // X:STOP / X:RESET — emergency stop + else if (type == 'X') { + String sub = cmd.substring(2); + for (int i = 0; i < N_DIG_OUT; i++) digitalWrite(DIGITAL_OUT[i], LOW); + Serial.print("ACK:"); Serial.println(cmd); + } + + // APIN:0,1,3 — reconfigure analog inputs at runtime (indices 0–5 into A0–A5) + else if (type == 'A') { + if (!cmd.startsWith("APIN:")) { Serial.println("ERR:Bad A command"); return; } + String pinList = cmd.substring(5); // "0,1,3" + const int _APINS[] = {A0,A1,A2,A3,A4,A5}; + N_ANALOG = 0; + int start = 0; + for (int i = 0; i <= (int)pinList.length(); i++) { + if (i == (int)pinList.length() || pinList[i] == ',') { + String tok = pinList.substring(start, i); tok.trim(); + if (tok.length() > 0 && N_ANALOG < 6) { + int idx = tok.toInt(); + if (idx >= 0 && idx < 6) { + ANALOG_PINS[N_ANALOG] = _APINS[idx]; + ANALOG_IDX[N_ANALOG] = idx; + N_ANALOG++; + } + } + start = i + 1; + } + } + Serial.print("ACK:"); Serial.println(cmd); + } + + // DPIN:IN:2,3,8 or DPIN:OUT:5,6,7 — reconfigure digital I/O pins at runtime + else if (type == 'D') { + int c1 = cmd.indexOf(':', 2); + int c2 = (c1 >= 0) ? cmd.indexOf(':', c1 + 1) : -1; + if (c1 < 0 || c2 < 0) { Serial.println("ERR:Bad DPIN format"); return; } + String dir = cmd.substring(2, c1); // "IN" or "OUT" + String pinList = cmd.substring(c2 + 1); // "2,3,8" + bool isIn = (dir == "IN"); + int* arr = isIn ? DIGITAL_IN : DIGITAL_OUT; + int* cnt = isIn ? &N_DIG_IN : &N_DIG_OUT; + int mode = isIn ? INPUT_PULLUP : OUTPUT; + *cnt = 0; + int start = 0; + for (int i = 0; i <= (int)pinList.length(); i++) { + if (i == (int)pinList.length() || pinList[i] == ',') { + String tok = pinList.substring(start, i); tok.trim(); + if (tok.length() > 0 && *cnt < 16) { + arr[*cnt] = tok.toInt(); + pinMode(arr[*cnt], mode); + (*cnt)++; + } + start = i + 1; + } + } + Serial.print("ACK:"); Serial.println(cmd); + } + + else { + Serial.print("ERR:Unknown command: "); Serial.println(cmd); + } +} + +// ── Data sender ─────────────────────────────────────────────────────────── +void sendData() { + if (millis() - lastSend < SEND_INTERVAL) return; + lastSend = millis(); + sendFrame(); +} + +void sendFrame() { + String out = ""; + bool first = true; + // Analog inputs — converted to 0.0–5.0 V + for (int i = 0; i < N_ANALOG; i++) { + float v = analogRead(ANALOG_PINS[i]) * (5.0 / 1023.0); + if (!first) out += ","; + out += "A" + String(ANALOG_IDX[i]) + ":" + String(v, 3); + first = false; + } + // Digital inputs (INPUT_PULLUP — invert so pressed=1) + // These share the same output line as analog — one line per frame. + for (int i = 0; i < N_DIG_IN; i++) { + if (!first) out += ","; + out += "D" + String(DIGITAL_IN[i]) + ":" + String(!digitalRead(DIGITAL_IN[i])); + first = false; + } + Serial.println(out); + // Example combined output: A0:3.142,D2:0,D3:1 +} |