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extern crate serial; pub const ENCODER_DATA: u8 = 0x61; pub const ANALOG_MAPPING_QUERY: u8 = 0x69; pub const ANALOG_MAPPING_RESPONSE: u8 = 0x6A; pub const CAPABILITY_QUERY: u8 = 0x6B; pub const CAPABILITY_RESPONSE: u8 = 0x6C; pub const PIN_STATE_QUERY: u8 = 0x6D; pub const PIN_STATE_RESPONSE: u8 = 0x6E; pub const EXTENDED_ANALOG: u8 = 0x6F; pub const SERVO_CONFIG: u8 = 0x70; pub const STRING_DATA: u8 = 0x71; pub const STEPPER_DATA: u8 = 0x72; pub const ONEWIRE_DATA: u8 = 0x73; pub const SHIFT_DATA: u8 = 0x75; pub const I2C_REQUEST: u8 = 0x76; pub const I2C_REPLY: u8 = 0x77; pub const I2C_CONFIG: u8 = 0x78; pub const I2C_MODE_WRITE: u8 = 0x00; pub const I2C_MODE_READ: u8 = 0x01; pub const REPORT_FIRMWARE: u8 = 0x79; pub const PROTOCOL_VERSION: u8 = 0xF9; pub const SAMPLEING_INTERVAL: u8 = 0x7A; pub const SCHEDULER_DATA: u8 = 0x7B; pub const SYSEX_NON_REALTIME: u8 = 0x7E; pub const SYSEX_REALTIME: u8 = 0x7F; pub const START_SYSEX: u8 = 0xF0; pub const END_SYSEX: u8 = 0xF7; pub const PIN_MODE: u8 = 0xF4; pub const REPORT_DIGITAL: u8 = 0xD0; pub const REPORT_ANALOG: u8 = 0xC0; pub const DIGITAL_MESSAGE: u8 = 0x90; pub const ANALOG_MESSAGE: u8 = 0xE0; pub const INPUT: u8 = 0; pub const OUTPUT: u8 = 1; pub const ANALOG: u8 = 2; pub const PWM: u8 = 3; pub const SERVO: u8 = 4; pub const I2C: u8 = 6; pub const ONEWIRE: u8 = 7; pub const STEPPER: u8 = 8; pub const ENCODER: u8 = 9; use std::str; use std::io; use std::io::Read; use std::path::Path; use std::thread; use serial::*; fn write<T: SerialPort>(port: &mut T, buf: &mut [u8]) -> io::Result<(usize)> { return port.write(buf); } fn read<T: SerialPort>(port: &mut T, len: i32) -> io::Result<(Vec<u8>)> { use std::io::ErrorKind; let mut vec: Vec<u8> = vec![]; let mut len = len; loop { let buf: &mut [u8; 1] = &mut [0u8]; match port.read(buf) { Ok(_) => { vec.push(buf[0]); len = len - 1; if len == 0 { break; } } Err(e) => { if e.kind() == ErrorKind::TimedOut { thread::sleep_ms(1); continue } } } } return Ok(vec); } #[derive(Debug)] pub struct I2CReply { pub address: i32, pub register: i32, pub data: Vec<u8>, } #[derive(Debug)] pub struct Mode { pub mode: u8, pub resolution: u8 } #[derive(Debug)] pub struct Pin { pub modes: Vec<Mode>, pub analog: bool, pub value: i32, pub mode: u8, } pub struct Board { sp: Box<posix::TTYPort>, pub pins: Vec<Pin>, pub i2c_data: Vec<I2CReply>, pub protocol_version: String, pub firmware_name: String, pub firmware_version: String, } impl Board { pub fn new(port: &str) -> Self { let mut sp = Box::new(posix::TTYPort::open(&Path::new(port)).unwrap()); sp.reconfigure(&|settings| { settings.set_baud_rate(Baud57600).unwrap(); settings.set_char_size(Bits8); settings.set_parity(ParityNone); settings.set_stop_bits(Stop1); settings.set_flow_control(FlowNone); Ok(()) }).unwrap(); let mut b = Board { sp: sp, firmware_name: String::new(), firmware_version: String::new(), protocol_version: String::new(), pins: vec![], i2c_data: vec![], }; b.query_firmware(); b.decode(); b.decode(); b.query_capabilities(); b.decode(); b.query_analog_mapping(); b.decode(); b.report_digital(0, 1); b.report_digital(1, 1); return b; } pub fn query_analog_mapping(&mut self) { write(&mut *self.sp, &mut [START_SYSEX, ANALOG_MAPPING_QUERY, END_SYSEX]).unwrap(); } pub fn query_capabilities(&mut self) { write(&mut *self.sp, &mut [START_SYSEX, CAPABILITY_QUERY, END_SYSEX]).unwrap(); } pub fn query_firmware(&mut self) { write(&mut *self.sp, &mut [START_SYSEX, REPORT_FIRMWARE, END_SYSEX]).unwrap(); } pub fn i2c_config(&mut self, delay: i32) { write(&mut *self.sp, &mut [ START_SYSEX, I2C_CONFIG, (delay & 0xFF) as u8, (delay >> 8 & 0xFF) as u8, END_SYSEX ] ).unwrap(); } pub fn i2c_read(&mut self, address: i32, size: i32) { write(&mut *self.sp, &mut [ START_SYSEX, I2C_REQUEST, address as u8, (I2C_MODE_READ << 3), ((size as u8) & 0x7F), (((size) >> 7) & 0x7F) as u8, END_SYSEX ] ).unwrap(); } pub fn i2c_write(&mut self, address: i32, data: &[u8]) { let mut buf = vec![]; buf.push(START_SYSEX); buf.push(I2C_REQUEST); buf.push(address as u8); buf.push(I2C_MODE_WRITE << 3); for i in data.iter() { buf.push(i & 0x7F); buf.push((((*i as i32) >> 7) & 0x7F) as u8); } buf.push(END_SYSEX); write(&mut *self.sp, &mut buf[..]).unwrap(); } pub fn report_digital(&mut self, pin: i32, state: i32) { write(&mut *self.sp, &mut [ REPORT_DIGITAL | pin as u8, state as u8 ] ).unwrap(); } pub fn report_analog(&mut self, pin: i32, state: i32) { write(&mut *self.sp, &mut [ REPORT_ANALOG | pin as u8, state as u8 ] ).unwrap(); } pub fn analog_write(&mut self, pin: i32, level: i32) { self.pins[pin as usize].value = level; write(&mut *self.sp, &mut [ ANALOG_MESSAGE | pin as u8, (level & 0x7f) as u8, ((level >> 7) & 0x7f) as u8 ] ).unwrap(); } pub fn digital_write(&mut self, pin: i32, level: i32) { let port = (pin as f64 / 8f64).floor() as usize; let mut value = 0i32; let mut i = 0; self.pins[pin as usize].value = level; while i < 8 { if self.pins[8*port+i].value != 0 { value = value | (1 << i) } i += 1; } write(&mut *self.sp, &mut [ DIGITAL_MESSAGE | port as u8, (value & 0x7f) as u8, ((value >> 7) & 0x7f) as u8 ] ).unwrap(); } pub fn set_pin_mode(&mut self, pin: i32, mode: u8) { self.pins[pin as usize].mode = mode; write(&mut *self.sp, &mut [PIN_MODE, pin as u8, mode as u8]).unwrap(); } pub fn decode(&mut self) { let mut buf = read(&mut *self.sp, 3).unwrap(); match buf[0] { PROTOCOL_VERSION => { self.protocol_version = format!("{:o}.{:o}", buf[1], buf[2]); }, ANALOG_MESSAGE...0xEF => { let value = buf[1] as i32 | ((buf[2] as i32) << 7); let pin = ((buf[0] as i32) & 0x0F) + 14; if self.pins.len() as i32 > pin { self.pins[pin as usize].value = value; } }, DIGITAL_MESSAGE...0x9F => { let port = (buf[0] as i32) & 0x0F; let value = (buf[1] as i32) | ((buf[2] as i32) << 7); for i in 0..8 { let pin = (8 * port) + i; if self.pins.len() as i32 > pin { if self.pins[pin as usize].mode == INPUT { self.pins[pin as usize].value = (value >> (i & 0x07)) & 0x01; } } } }, START_SYSEX => { loop { let message = read(&mut *self.sp, 1).unwrap(); buf.push(message[0]); if message[0] == END_SYSEX { break; } } match buf[1] { ANALOG_MAPPING_RESPONSE => { if self.pins.len() > 0 { let mut i = 2; while i < buf.len()-1 { if buf[i] != 127u8 { self.pins[i-2].analog = true; } i += 1; } } }, CAPABILITY_RESPONSE => { let mut pin = 0; let mut i = 2; self.pins = vec![]; self.pins.push(Pin{ modes: vec![], analog: false, value: 0, mode: 0, }); while i < buf.len()-1 { if buf[i] == 127u8 { pin += 1; i += 1; self.pins.push(Pin{ modes: vec![], analog: false, value: 0, mode: 0, }); continue; } self.pins[pin].modes.push(Mode { mode: buf[i], resolution: buf[i+1] }); i += 2; } }, REPORT_FIRMWARE => { self.firmware_version = format!("{:o}.{:o}", buf[2], buf[3]); self.firmware_name = str::from_utf8(&buf[4..buf.len()-1]).unwrap().to_string(); }, I2C_REPLY => { let len = buf.len(); let mut reply = I2CReply{ address: (buf[2] as i32) | ((buf[3] as i32) << 7), register: (buf[4] as i32) | ((buf[5] as i32) << 7), data: vec![buf[6] | buf[7]<<7], }; let mut i = 8; while i < len-1 { if buf[i] == 0xF7 { break } if i+2 > len { break } reply.data.push(buf[i] | buf[i+1] << 7); i += 2; } self.i2c_data.push(reply); }, _ => println!("unknown sysex code"), } }, _ => println!("bad byte"), } } }