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Fix in firmware for Uno and Mega
* Fixed errors in variable size that were generating errors in the firmware command parsing
1 parent dbc0784 commit 3c05b60

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3 files changed

+47
-49
lines changed

3 files changed

+47
-49
lines changed

‎MLC/arduino/Firmware/Firmware.ino‎

Lines changed: 3 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -1,20 +1,18 @@
11
#define DEBUG 0
22
#include "GenericArduinoController.h"
33

4-
GenericArduinoController controller(Serial);
4+
GenericArduinoController controller(SerialUSB);
55

66
void setup() {
7-
//SerialUSB.begin(115200);
8-
9-
Serial.begin(115200);
7+
SerialUSB.begin(115200);
8+
109
#if DEBUG
1110
Serial.begin(115200);
1211
#endif
1312

1413
}
1514

1615
void loop() {
17-
1816
controller.handle_commands();
1917

2018
/**

‎MLC/arduino/Firmware/GenericArduinoController.cpp‎

Lines changed: 32 additions & 32 deletions
Original file line numberDiff line numberDiff line change
@@ -63,9 +63,9 @@ void GenericArduinoController::handle_commands()
6363
if (stream_.available() > 0)
6464
{
6565
LOG("Data available ", stream_.available());
66-
char input[128]; // Esto se reserva en el stack, tal vez hacerlo global consume menos recursos...
66+
uint8_t input[128]; // Esto se reserva en el stack, tal vez hacerlo global consume menos recursos...
6767

68-
byte b_read = 0;
68+
uint8_t b_read = 0;
6969

7070
if (stream_.available() >= 5)
7171
{
@@ -76,9 +76,9 @@ void GenericArduinoController::handle_commands()
7676

7777
uint32_t data_len = (uint32_t(input[1]) << 24) + (uint32_t(input[2]) << 16) + (uint32_t(input[3]) << 8) + uint32_t(input[4]);
7878

79-
LOG("Command: ", int(input[0]));
80-
LOG("Command of length: ", data_len);
81-
79+
LOG("Command: ", uint8_t(input[0]));
80+
LOG("Command of length: ", static_cast<unsigned long>(data_len));
81+
8282
while (b_read - 5 < data_len)
8383
{
8484
b_read += stream_.readBytes(&input[b_read], data_len + 5 - b_read);
@@ -93,13 +93,13 @@ void GenericArduinoController::handle_commands()
9393

9494
}
9595

96-
void GenericArduinoController::add_handler(uint8_t handler_id, int (*handler)(GenericArduinoController* this_, uint32_t &buff_len, const char*))
96+
void GenericArduinoController::add_handler(uint8_t handler_id, int (*handler)(GenericArduinoController* this_, uint32_t &buff_len, const uint8_t*))
9797
{
9898
executor[handler_id] = handler;
9999
}
100100

101101
// NULL operation
102-
int GenericArduinoController::not_implemented(GenericArduinoController* this_, uint32_t &buff_len, const char* data)
102+
int GenericArduinoController::not_implemented(GenericArduinoController* this_, uint32_t &buff_len, const uint8_t* data)
103103
{
104104
LOG("Unknown command received!! Operation: ", data[0]);
105105
return 1 + buff_len; //Breaks the loop
@@ -108,7 +108,7 @@ int GenericArduinoController::not_implemented(GenericArduinoController* this_, u
108108
/**
109109
PROTOCOL_VERSION 0x07 0x00 0x00 0x00 0x03 X . Y
110110
*/
111-
int GenericArduinoController::protocol_version(GenericArduinoController* this_, uint32_t &buff_len, const char* data)
111+
int GenericArduinoController::protocol_version(GenericArduinoController* this_, uint32_t &buff_len, const uint8_t* data)
112112
{
113113
char response[] = { char(VERSION_RESPONSE), char(0), char(0), char(0), char(0x03)};
114114
this_->stream_.write(response, 5);
@@ -120,7 +120,7 @@ int GenericArduinoController::protocol_version(GenericArduinoController* this_,
120120
/**
121121
ANALOG_WRITE: 0x06 0x00 0x00 0x00 0x03 [PIN] [H_VALUE][L_VALUE]
122122
*/
123-
int GenericArduinoController::analog_write(GenericArduinoController* this_, uint32_t &buff_len, const char* data)
123+
int GenericArduinoController::analog_write(GenericArduinoController* this_, uint32_t &buff_len, const uint8_t* data)
124124
{
125125
uint16_t value = (data[7] << 8) + data[8];
126126
analogWrite(data[6], value);
@@ -130,7 +130,7 @@ int GenericArduinoController::analog_write(GenericArduinoController* this_, uint
130130
/**
131131
ANALOG_PRECISION: 0x01 0x00 0x00 0x00 0x01 [BITS]
132132
*/
133-
int GenericArduinoController::set_analog_precision(GenericArduinoController* this_, uint32_t &buff_len, const char* data)
133+
int GenericArduinoController::set_analog_precision(GenericArduinoController* this_, uint32_t &buff_len, const uint8_t* data)
134134
{
135135
int i = byte(data[5]);
136136
// Tal vez conviene separar estas funciones ya que hay boards con resoluciones distintas...
@@ -148,7 +148,7 @@ int GenericArduinoController::set_analog_precision(GenericArduinoController* thi
148148
/**
149149
PIN_MODE: 0x04 0x00 0x00 0x00 0x02 [PIN] [MODE]
150150
*/
151-
int GenericArduinoController::set_pin_mode(GenericArduinoController* this_, uint32_t &buff_len, const char* data)
151+
int GenericArduinoController::set_pin_mode(GenericArduinoController* this_, uint32_t &buff_len, const uint8_t* data)
152152
{
153153
pinMode(data[5], data[6]);
154154
LOG("Changed pin mode on pin ", uint8_t(data[5]));
@@ -160,11 +160,11 @@ int GenericArduinoController::set_pin_mode(GenericArduinoController* this_, uint
160160
/**
161161
REPORT_MODE: 0x05 0x00 0x00 0x00 0x03 [MODE] [READ_COUNT] [READ_DELAY]
162162
*/
163-
int GenericArduinoController::set_report_mode(GenericArduinoController* this_, uint32_t &buff_len, const char* data)
163+
int GenericArduinoController::set_report_mode(GenericArduinoController* this_, uint32_t &buff_len, const uint8_t* data)
164164
{
165165
this_->REPORT_MODE = (ReportModes)(data[5]);
166-
this_->REPORT_READ_COUNT = byte(data[6]);
167-
this_->REPORT_READ_DELAY = byte(data[7]);
166+
this_->REPORT_READ_COUNT = uint8_t(data[6]);
167+
this_->REPORT_READ_DELAY = uint8_t(data[7]);
168168
LOG("Report mode changed", "");
169169
LOG("Report mode: ", this_->REPORT_MODE);
170170
LOG("New Read count: ", this_->REPORT_READ_COUNT);
@@ -176,7 +176,7 @@ int GenericArduinoController::set_report_mode(GenericArduinoController* this_, u
176176
/**
177177
ANALOG_INPUT: 0x02 0x00 0x00 0x00 0x01 [PORT]
178178
*/
179-
int GenericArduinoController::set_analog_input(GenericArduinoController* this_, uint32_t &buff_len, const char* data)
179+
int GenericArduinoController::set_analog_input(GenericArduinoController* this_, uint32_t &buff_len, const uint8_t* data)
180180
{
181181
this_->INPUT_PORTS[0] += 1;
182182
this_->INPUT_PORTS[this_->INPUT_PORTS[0]] = byte(data[5]);
@@ -197,7 +197,7 @@ int GenericArduinoController::set_analog_input(GenericArduinoController* this_,
197197
/**
198198
RESET: 0xFF 0x00 0x00 0x00 0x00
199199
*/
200-
int GenericArduinoController::reset(GenericArduinoController* this_, uint32_t &buff_len, const char* data)
200+
int GenericArduinoController::reset(GenericArduinoController* this_, uint32_t &buff_len, const uint8_t* data)
201201
{
202202
for ( int i = 1; i <= byte(this_->INPUT_PORTS[0]); i++)
203203
{
@@ -217,7 +217,7 @@ int GenericArduinoController::reset(GenericArduinoController* this_, uint32_t &b
217217
/**
218218
ANALOG_OUTPUT: 0x03 0x00 0x00 0x00 0x01 [PORT]
219219
*/
220-
int GenericArduinoController::set_analog_output(GenericArduinoController* this_, uint32_t &buff_len, const char* data)
220+
int GenericArduinoController::set_analog_output(GenericArduinoController* this_, uint32_t &buff_len, const uint8_t* data)
221221
{
222222
// No se si vale la pena guardar registro de pines de salida...
223223
LOG("Added as output the pin", data[5]);
@@ -227,32 +227,32 @@ int GenericArduinoController::set_analog_output(GenericArduinoController* this_,
227227
/**
228228
ACTUATE: 0xF0 [DATA_LEN] [PIN_A] [VALUE_PIN_A] ... [PIN_N] [VALUE_PIN_N]
229229
*/
230-
int GenericArduinoController::actuate(GenericArduinoController* this_, uint32_t &buff_len, const char* data)
230+
int GenericArduinoController::actuate(GenericArduinoController* this_, uint32_t &buff_len, const uint8_t* data)
231231
{
232232
uint32_t offset = 0;
233233

234234
uint8_t digital_input_buffer[this_->DIGITAL_PINS_COUNT][this_->REPORT_READ_COUNT / 8 + 2]; // 255 lectures of 1 bit for every digital pin -- 1 extra byte for the port address
235235
uint8_t analog_input_buffer[this_->ANALOG_PINS_COUNT][(2 * this_->REPORT_READ_COUNT) + 3]; // 255 lectures of 2 bytes for every analog pin -- 1 extra byte for the port address
236236

237-
LOG("Actutating over payload of size: ", buff_len);
237+
LOG("Actuating over payload of size: ", buff_len);
238238

239239
// ACTUATION ZONE
240240
while (offset < buff_len)
241241
{
242242
//Se aplica la acción a cada puerto indicado
243-
int port = byte(data[5 + offset]);
243+
uint8_t port = byte(data[5 + offset]);
244244

245245
//Detects an analog port
246246
if ( port >= A0 )
247247
{
248-
int value = (data[6 + offset] << 8) + data[7 + offset];
248+
uint8_t value = (data[6 + offset] << 8) + data[7 + offset];
249249
analogWrite(port, value);
250250
offset += 3;
251251

252252
LOG("Analog pin written", port);
253253
} else
254254
{
255-
int value = data[6 + offset] > 0 ? HIGH : LOW; // Creo que da igual si pongo el entero directamente
255+
uint8_t value = data[6 + offset] > 0 ? HIGH : LOW; // Creo que da igual si pongo el entero directamente
256256
digitalWrite(port, value);
257257
offset += 2;
258258

@@ -262,7 +262,7 @@ int GenericArduinoController::actuate(GenericArduinoController* this_, uint32_t
262262

263263
delayMicroseconds(this_->REPORT_READ_DELAY); // FIXME: Usamos variable de 8 bits cuando la precisión de esta función llega a 16 bits.
264264

265-
char response[130];
265+
uint8_t response[130];
266266
response[0] = '\xF1';
267267
uint32_t len = 0; // Inicia en 1 para evitar pisar el id de comando
268268

@@ -271,23 +271,23 @@ int GenericArduinoController::actuate(GenericArduinoController* this_, uint32_t
271271

272272
// Tracks count of digital and analog ports
273273
LOG("Number of lectures to report: ", this_->REPORT_READ_COUNT);
274-
for (int lecture = 0; lecture <= this_->REPORT_READ_COUNT; lecture++)
274+
for (uint8_t lecture = 0; lecture <= this_->REPORT_READ_COUNT; lecture++)
275275
{
276276
uint8_t current_digital = 0;
277277
uint8_t current_analog = 0;
278278
LOG("Input ports count: ", this_->INPUT_PORTS[0]);
279-
for (int i = 1; i <= byte(this_->INPUT_PORTS[0]); i++)
279+
for (uint8_t i = 1; i <= uint8_t(this_->INPUT_PORTS[0]); i++)
280280
{
281281
//response[len + 1] = INPUT_PORTS[i];
282282
if ( this_->INPUT_PORTS[i] >= A0 )
283283
{
284284
LOG("Reading analog port A", this_->INPUT_PORTS[i] - A0);
285-
int data = analogRead(this_->INPUT_PORTS[i] - A0);
285+
uint16_t data = analogRead(this_->INPUT_PORTS[i] - A0);
286286
//response[len + 2] = byte((data & 0xFF00) >> 8); // Se guarda el msb en el buffer
287287
//response[len + 3] = byte(data & 0xFF); // Se guarda el lsb en el buffer
288288
analog_input_buffer[current_analog][0] = this_->INPUT_PORTS[i];
289-
analog_input_buffer[current_analog][(lecture * 2) + 1] = byte((data & 0xFF00) >> 8);
290-
analog_input_buffer[current_analog][(lecture * 2) + 2] = byte(data & 0xFF);
289+
analog_input_buffer[current_analog][(lecture * 2) + 1] = uint8_t((data & 0xFF00) >> 8);
290+
analog_input_buffer[current_analog][(lecture * 2) + 2] = uint8_t(data & 0xFF);
291291

292292
//len += 3; // Cada lectura de un recurso analógico ocupa dos bytes. FIXME: se puede optimizar con bajas resoluciones
293293
LOG("=====================================", "");
@@ -297,19 +297,19 @@ int GenericArduinoController::actuate(GenericArduinoController* this_, uint32_t
297297
current_analog++;
298298
} else
299299
{
300-
int data = digitalRead(this_->INPUT_PORTS[i]);
300+
uint8_t data = digitalRead(this_->INPUT_PORTS[i]);
301301
//response[len + 2] = byte(data);
302302
digital_input_buffer[current_digital][0] = this_->INPUT_PORTS[i];
303-
digital_input_buffer[current_digital][(lecture / 8) + 1] += (byte(data) & 0x01) << (lecture % 8); // Just keep first bit
303+
digital_input_buffer[current_digital][(lecture / 8) + 1] += (data & 0x01) << (lecture % 8); // Just keep first bit
304304
current_digital++;
305305
//len += 2;
306306
LOG("=====================================", "");
307307
LOG("Digital pin read: ", this_->INPUT_PORTS[i]);
308308
LOG("Raw read: ", data);
309309
LOG("Lecture: ", lecture);
310-
LOG("Filtered read: ", (byte(data) & 0x01));
310+
LOG("Filtered read: ", (data & 0x01));
311311
LOG("Left padding: ", (lecture % 8));
312-
LOG("Added: ", (byte(data) & 0x01) << (lecture % 8));
312+
LOG("Added: ", (data & 0x01) << (lecture % 8));
313313
LOG("Digital read value: ", digital_input_buffer[current_digital - 1][(lecture / 8) + 1]);
314314
}
315315
};

‎MLC/arduino/Firmware/GenericArduinoController.h‎

Lines changed: 12 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -29,7 +29,7 @@ class GenericArduinoController
2929

3030
void handle_commands();
3131

32-
void add_handler(uint8_t handler_id, int (*handler)(GenericArduinoController* this_, uint32_t &buff_len, const char*));
32+
void add_handler(uint8_t handler_id, int (*handler)(GenericArduinoController* this_, uint32_t &buff_len, const uint8_t*));
3333

3434
private:
3535
Stream &stream_;
@@ -41,55 +41,55 @@ class GenericArduinoController
4141
uint8_t ANALOG_PINS_COUNT;
4242
uint8_t DIGITAL_PINS_COUNT;
4343

44-
int (*executor[255])(GenericArduinoController*, uint32_t &buff_len, const char*);
44+
int (*executor[255])(GenericArduinoController*, uint32_t &buff_len, const uint8_t*);
4545

4646
// NULL operation
47-
static int not_implemented(GenericArduinoController* this_, uint32_t &buff_len, const char* data);
47+
static int not_implemented(GenericArduinoController* this_, uint32_t &buff_len, const uint8_t* data);
4848

4949
/**
5050
* PROTOCOL_VERSION 0x07 0x00 0x00 0x00 0x03 X . Y
5151
*/
52-
static int protocol_version(GenericArduinoController* this_, uint32_t &buff_len, const char* data);
52+
static int protocol_version(GenericArduinoController* this_, uint32_t &buff_len, const uint8_t* data);
5353

5454
/**
5555
* ANALOG_WRITE: 0x06 0x00 0x00 0x00 0x03 [PIN] [H_VALUE][L_VALUE]
5656
*/
57-
static int analog_write(GenericArduinoController* this_, uint32_t &buff_len, const char* data);
57+
static int analog_write(GenericArduinoController* this_, uint32_t &buff_len, const uint8_t* data);
5858

5959
/**
6060
* ANALOG_PRECISION: 0x01 0x00 0x00 0x00 0x01 [BITS]
6161
*/
62-
static int set_analog_precision(GenericArduinoController* this_, uint32_t &buff_len, const char* data);
62+
static int set_analog_precision(GenericArduinoController* this_, uint32_t &buff_len, const uint8_t* data);
6363

6464
/**
6565
* PIN_MODE: 0x04 0x00 0x00 0x00 0x02 [PIN] [MODE]
6666
*/
67-
static int set_pin_mode(GenericArduinoController* this_, uint32_t &buff_len, const char* data);
67+
static int set_pin_mode(GenericArduinoController* this_, uint32_t &buff_len, const uint8_t* data);
6868

6969
/**
7070
* REPORT_MODE: 0x05 0x00 0x00 0x00 0x03 [MODE] [READ_COUNT] [READ_DELAY]
7171
*/
72-
static int set_report_mode(GenericArduinoController* this_, uint32_t &buff_len, const char* data);
72+
static int set_report_mode(GenericArduinoController* this_, uint32_t &buff_len, const uint8_t* data);
7373

7474
/**
7575
* ANALOG_INPUT: 0x02 0x00 0x00 0x00 0x01 [PORT]
7676
*/
77-
static int set_analog_input(GenericArduinoController* this_, uint32_t &buff_len, const char* data);
77+
static int set_analog_input(GenericArduinoController* this_, uint32_t &buff_len, const uint8_t* data);
7878

7979
/**
8080
* RESET: 0xFF 0x00 0x00 0x00 0x00
8181
*/
82-
static int reset(GenericArduinoController* this_, uint32_t &buff_len, const char* data);
82+
static int reset(GenericArduinoController* this_, uint32_t &buff_len, const uint8_t* data);
8383

8484
/**
8585
* ANALOG_OUTPUT: 0x03 0x01 0x00 0x00 0x00 [PORT]
8686
*/
87-
static int set_analog_output(GenericArduinoController* this_, uint32_t &buff_len, const char* data);
87+
static int set_analog_output(GenericArduinoController* this_, uint32_t &buff_len, const uint8_t* data);
8888

8989
/**
9090
* ACTUATE: 0xF0 [DATA_LEN] [PIN_A] [VALUE_PIN_A] ... [PIN_N] [VALUE_PIN_N]
9191
*/
92-
static int actuate(GenericArduinoController* this_, uint32_t &buff_len, const char* data);
92+
static int actuate(GenericArduinoController* this_, uint32_t &buff_len, const uint8_t* data);
9393

9494
};
9595

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