kopia lustrzana https://github.com/ozarchie/EQMOD-ETX
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// Pin definitions for HBX interface
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// =================================
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#define HDA1 8 // Pin2, 4, 6 on HBX interface
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#define HDA2 10 // Not used
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#define HCL1 2 // Pin3 on HBX interface
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#define HCL2 3 // Pin5 on HBX interface
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#define H2X_INPUTPU INPUT_PULLUP // Set pin data input mode
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#define H2X_INPUT INPUT // Set pin data input mode
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#define H2X_OUTPUT OUTPUT // Set pin data output
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// Jumpers to run monitor or test
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// ==============================
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#define TESTHBX 9 // Mega2560 D2
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#define MONITORHBX 11 // Mega2560 D3
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#define CR 0x0d
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#define LF 0x0a
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#define H2XLEN 256
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#define H2XMASK H2XLEN - 1
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// ETX ISR States
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#define START 0x01
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#define ACK 0x02
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#define COMMAND 0x03
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#define DATA 0x04
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// ETX Known Commands
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#define RotateSlow 0x00 // Output "8.16" speed
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#define RotateFast 0x01 // Output "16.8" ? speed
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#define SetOffset 0x02 // Output "16" correction offset
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#define SetLEDI 0x03 // Output "8" LED current
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#define CalibrateLED 0x04 // None
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#define Stop 0x05 // None
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#define SlewReverse 0x06 // None
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#define SlewForward 0x07 // None
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#define GetStatus 0x08 // Input "16.8.1" ticks.pwm.error
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#define GetLEDI 0x09 // Input "8" LED current
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#define GetMotorType 0x0B // Input "8" Motor type
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#define ResetH2X 0xE4 // None
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unsigned long timeout;
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char BitCountArray[16] =
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{ 24,24,16,8,0,0,0,0,25,8,8,0,0,0,0,0 };
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volatile unsigned char isr_state;
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volatile unsigned long isr_timeout;
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volatile unsigned char sFlag;
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volatile unsigned char BitCountIndex;
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volatile unsigned char HexData;
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volatile unsigned char HBXCmnd;
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volatile unsigned char HBXData;
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volatile unsigned char HBXByteCount;
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volatile unsigned char HBXBitCount;
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volatile unsigned char H2XRxBuffer[H2XLEN]; // Hold data from H2X
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volatile unsigned char H2XRxiPtr = 0; // Pointer for input from H2X
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volatile unsigned char H2XRxoPtr = 0; // Pointer for output from H2X Rx buffer
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void setup() {
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Serial.begin(115200);
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Serial.println("H2X-Monitor");
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attachInterrupt(digitalPinToInterrupt(HCL1), hcl1_isr, FALLING);
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Serial.print ("Az on Pin ");
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Serial.println(HCL1);
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attachInterrupt(digitalPinToInterrupt(HCL2), hcl2_isr, FALLING);
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Serial.print ("Alt on Pin ");
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Serial.println(HCL2);
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HBXMonitorMode();
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sFlag = 0;
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isr_state = START;
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isr_timeout = micros();
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interrupts();
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}
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void loop() {
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if (H2XRxoPtr != H2XRxiPtr) {
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Serial.write(H2XRxBuffer[H2XRxoPtr]);
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H2XRxoPtr++;
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H2XRxoPtr &= H2XMASK;
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}
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}
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void HBXMonitorMode(void) {
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HDAListen(); // HDA as input
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HCL1Listen(); // HCLs as inputs
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HCL2Listen();
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}
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void hcl1_isr() {
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if ((micros() - isr_timeout) > 5000)
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isr_state = START;
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isr_timeout = micros();
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if (isr_state == START) {
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HBXBitCount = 8;
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isr_state = COMMAND;
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H2XRxBuffer[H2XRxiPtr] = '1'; // Finish off with a CRLF
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H2XRxiPtr += 1;
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H2XRxiPtr &= H2XMASK;
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H2XRxBuffer[H2XRxiPtr] = ','; // Finish off with a CRLF
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H2XRxiPtr += 1;
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H2XRxiPtr &= H2XMASK;
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}
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else if (isr_state == COMMAND) {
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if (HBXBitCount > 0) { // Read the command
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HBXCmnd = (HBXCmnd << 1);
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HBXBitCount -= 1;
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if (digitalRead(HDA1) == HIGH)
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HBXCmnd |= 0x01;
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}
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else {
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HexData = HBXCmnd >> 4; // Get high nibble
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if (HexData <= 9) HexData += '0'; // convert to hex
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else HexData += '7';
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H2XRxBuffer[H2XRxiPtr] = HexData; // Put the (hex) data in the buffer
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H2XRxiPtr += 1;
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H2XRxiPtr &= H2XMASK;
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HexData = HBXCmnd & 0x0F; // Get low nibble
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if (HexData <= 9) HexData += '0'; // convert to hex
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else HexData += '7';
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H2XRxBuffer[H2XRxiPtr] = HexData; // Put the (hex) data in the buffer
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H2XRxiPtr += 1;
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H2XRxiPtr &= H2XMASK;
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H2XRxBuffer[H2XRxiPtr] = ','; // Finish off with a CRLF
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H2XRxiPtr += 1;
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H2XRxiPtr &= H2XMASK;
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BitCountIndex = HBXCmnd & 0x0F; // Only 11 known commands
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HBXBitCount = BitCountArray[BitCountIndex]; // Get number of data bits
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if (HBXBitCount > 0) { // Check bitcount associated with command
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isr_state = DATA;
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HBXBitCount--; // This is the first data bit
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HBXByteCount = 1; // ditto
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if (digitalRead(HDA1) == HIGH) // Read the first data bit
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HBXData |= 0x01;
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}
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else { // Nothing to do - all finished - back to start
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isr_state = START;
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H2XRxBuffer[H2XRxiPtr] = CR; // Finish off with a CRLF
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H2XRxiPtr += 1;
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H2XRxiPtr &= H2XMASK;
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H2XRxBuffer[H2XRxiPtr] = LF; // Finish off with a CRLF
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H2XRxiPtr += 1;
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H2XRxiPtr &= H2XMASK;
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}
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}
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}
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else if (isr_state == DATA) {
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if (HBXBitCount > 0) { // Read the data
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HBXData = (HBXData << 1);
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HBXBitCount -= 1;
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HBXByteCount += 1;
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if (digitalRead(HDA1) == HIGH)
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HBXData |= 0x01;
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if ((HBXByteCount == 8) || (HBXBitCount == 0)) { // Full byte or last bit
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HexData = HBXData >> 4; // Get high nibble
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if (HexData <= 9) HexData += '0'; // convert to hex
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else HexData += '7';
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H2XRxBuffer[H2XRxiPtr] = HexData; // Put the (hex) data in the buffer
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H2XRxiPtr += 1;
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H2XRxiPtr &= H2XMASK;
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HexData = HBXData & 0x0F; // Get low nibble
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if (HexData <= 9) HexData += '0'; // convert to hex
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else HexData += '7';
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H2XRxBuffer[H2XRxiPtr] = HexData; // Put the (hex) data in the buffer
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H2XRxiPtr += 1;
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H2XRxiPtr &= H2XMASK;
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if (HBXBitCount != 0) {
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H2XRxBuffer[H2XRxiPtr] = ','; // Finish off with a CRLF
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H2XRxiPtr += 1;
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H2XRxiPtr &= H2XMASK;
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}
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HBXData = 0; // For the last data bit
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HBXByteCount = 0;
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}
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}
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if (HBXBitCount == 0) { // All data received - back to start
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isr_state = START;
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H2XRxBuffer[H2XRxiPtr] = CR; // Finish off with a CRLF
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H2XRxiPtr += 1;
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H2XRxiPtr &= H2XMASK;
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H2XRxBuffer[H2XRxiPtr] = LF; // Finish off with a CRLF
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H2XRxiPtr += 1;
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H2XRxiPtr &= H2XMASK;
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}
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}
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}
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void hcl2_isr() {
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if ((micros() - isr_timeout) > 5000)
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isr_state = START;
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isr_timeout = micros();
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if (isr_state == START) {
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HBXBitCount = 8;
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isr_state = COMMAND;
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H2XRxBuffer[H2XRxiPtr] = '2'; // Finish off with a CRLF
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H2XRxiPtr += 1;
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H2XRxiPtr &= H2XMASK;
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H2XRxBuffer[H2XRxiPtr] = ','; // Finish off with a CRLF
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H2XRxiPtr += 1;
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H2XRxiPtr &= H2XMASK;
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}
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else if (isr_state == COMMAND) {
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if (HBXBitCount > 0) { // Read the command
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HBXCmnd = (HBXCmnd << 1);
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HBXBitCount -= 1;
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if (digitalRead(HDA1) == HIGH)
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HBXCmnd |= 0x01;
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}
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else {
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HexData = HBXCmnd >> 4; // Get high nibble
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if (HexData <= 9) HexData += '0'; // convert to hex
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else HexData += '7';
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H2XRxBuffer[H2XRxiPtr] = HexData; // Put the (hex) data in the buffer
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H2XRxiPtr += 1;
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H2XRxiPtr &= H2XMASK;
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HexData = HBXCmnd & 0x0F; // Get low nibble
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if (HexData <= 9) HexData += '0'; // convert to hex
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else HexData += '7';
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H2XRxBuffer[H2XRxiPtr] = HexData; // Put the (hex) data in the buffer
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H2XRxiPtr += 1;
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H2XRxiPtr &= H2XMASK;
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BitCountIndex = HBXCmnd & 0x0F; // Only 11 known commands
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HBXBitCount = BitCountArray[BitCountIndex]; // Get number of data bits
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if (HBXBitCount > 0) { // Check bitcount associated with command
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isr_state = DATA;
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HBXBitCount--; // This is the first data bit
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HBXByteCount = 1; // ditto
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if (digitalRead(HDA1) == HIGH) // Read the first data bit
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HBXData |= 0x01;
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H2XRxBuffer[H2XRxiPtr] = ','; // Data to follow
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H2XRxiPtr += 1;
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H2XRxiPtr &= H2XMASK;
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}
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else { // Nothing to do - all finished - back to start
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isr_state = START;
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H2XRxBuffer[H2XRxiPtr] = CR; // Finish off with a CRLF
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H2XRxiPtr += 1;
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H2XRxiPtr &= H2XMASK;
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H2XRxBuffer[H2XRxiPtr] = LF; // Finish off with a CRLF
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H2XRxiPtr += 1;
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H2XRxiPtr &= H2XMASK;
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}
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}
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}
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else if (isr_state == DATA) {
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if (HBXBitCount > 0) { // Read the data
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HBXData = (HBXData << 1);
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HBXBitCount -= 1;
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HBXByteCount += 1;
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if (digitalRead(HDA1) == HIGH)
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HBXData |= 0x01;
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if ((HBXByteCount == 8) || (HBXBitCount == 0)) { // Full byte or last bit
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HexData = HBXData >> 4; // Get high nibble
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if (HexData <= 9) HexData += '0'; // convert to hex
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else HexData += '7';
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H2XRxBuffer[H2XRxiPtr] = HexData; // Put the (hex) data in the buffer
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H2XRxiPtr += 1;
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H2XRxiPtr &= H2XMASK;
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HexData = HBXData & 0x0F; // Get low nibble
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if (HexData <= 9) HexData += '0'; // convert to hex
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else HexData += '7';
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H2XRxBuffer[H2XRxiPtr] = HexData; // Put the (hex) data in the buffer
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H2XRxiPtr += 1;
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H2XRxiPtr &= H2XMASK;
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if (HBXBitCount != 0) {
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H2XRxBuffer[H2XRxiPtr] = ','; // Finish off with a CRLF
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H2XRxiPtr += 1;
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H2XRxiPtr &= H2XMASK;
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}
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HBXData = 0; // For the last data bit
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HBXByteCount = 0;
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}
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}
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if (HBXBitCount == 0) { // All data received - back to start
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isr_state = START;
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H2XRxBuffer[H2XRxiPtr] = CR; // Finish off with a CRLF
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H2XRxiPtr += 1;
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H2XRxiPtr &= H2XMASK;
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H2XRxBuffer[H2XRxiPtr] = LF; // Finish off with a CRLF
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H2XRxiPtr += 1;
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H2XRxiPtr &= H2XMASK;
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}
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}
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}
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// H2X Low level Functions
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// -----------------------
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void HDAListen() {
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pinMode(HDA1, H2X_INPUT);
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// digitalWrite(HDA1, HIGH);
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}
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void HDAFloat() {
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pinMode(HDA1, H2X_INPUT);
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}
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void HDATalk() {
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digitalWrite(HDA1, HIGH);
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pinMode(HDA1, H2X_OUTPUT);
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}
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void HCL1Listen() {
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pinMode(HCL1, H2X_INPUT);
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}
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void HCL1Talk() {
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digitalWrite(HCL1, HIGH);
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pinMode(HCL1, H2X_OUTPUT);
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}
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void HCL2Listen() {
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pinMode(HCL2, H2X_INPUT);
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}
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void HCL2Talk() {
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digitalWrite(HCL2, HIGH);
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pinMode(HCL2, H2X_OUTPUT);
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}
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void H2XReset() {
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HCL1Talk();
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HCL2Talk();
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HDATalk();
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/* digitalWrite(HDA1, LOW);
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TimerDelayuS(H2XRESETTIME);
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digitalWrite(HDA1, HIGH);
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TimerDelayuS(H2XRESETTIME);
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HDAListen();
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*/
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}
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