Initial commit

.gitattributes

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+# Auto detect text files and perform LF normalization
+* text=auto
+
+# Custom for Visual Studio
+*.cs     diff=csharp
+*.sln    merge=union
+*.csproj merge=union
+*.vbproj merge=union
+*.fsproj merge=union
+*.dbproj merge=union
+
+# Standard to msysgit
+*.doc	 diff=astextplain
+*.DOC	 diff=astextplain
+*.docx diff=astextplain
+*.DOCX diff=astextplain
+*.dot  diff=astextplain
+*.DOT  diff=astextplain
+*.pdf  diff=astextplain
+*.PDF	 diff=astextplain
+*.rtf	 diff=astextplain
+*.RTF	 diff=astextplain

.gitignore

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+#################
+## Eclipse
+#################
+
+*.pydevproject
+.project
+.metadata
+bin/
+tmp/
+*.tmp
+*.bak
+*.swp
+*~.nib
+local.properties
+.classpath
+.settings/
+.loadpath
+
+# External tool builders
+.externalToolBuilders/
+
+# Locally stored "Eclipse launch configurations"
+*.launch
+
+# CDT-specific
+.cproject
+
+# PDT-specific
+.buildpath
+
+
+#################
+## Visual Studio
+#################
+
+## Ignore Visual Studio temporary files, build results, and
+## files generated by popular Visual Studio add-ons.
+
+# User-specific files
+*.suo
+*.user
+*.sln.docstates
+
+# Build results
+[Dd]ebug/
+[Rr]elease/
+*_i.c
+*_p.c
+*.ilk
+*.meta
+*.obj
+*.pch
+*.pdb
+*.pgc
+*.pgd
+*.rsp
+*.sbr
+*.tlb
+*.tli
+*.tlh
+*.tmp
+*.vspscc
+.builds
+*.dotCover
+
+## TODO: If you have NuGet Package Restore enabled, uncomment this
+#packages/
+
+# Visual C++ cache files
+ipch/
+*.aps
+*.ncb
+*.opensdf
+*.sdf
+
+# Visual Studio profiler
+*.psess
+*.vsp
+
+# ReSharper is a .NET coding add-in
+_ReSharper*
+
+# Installshield output folder
+[Ee]xpress
+
+# DocProject is a documentation generator add-in
+DocProject/buildhelp/
+DocProject/Help/*.HxT
+DocProject/Help/*.HxC
+DocProject/Help/*.hhc
+DocProject/Help/*.hhk
+DocProject/Help/*.hhp
+DocProject/Help/Html2
+DocProject/Help/html
+
+# Click-Once directory
+publish
+
+# Others
+[Bb]in
+[Oo]bj
+sql
+TestResults
+*.Cache
+ClientBin
+stylecop.*
+~$*
+*.dbmdl
+Generated_Code #added for RIA/Silverlight projects
+
+# Backup & report files from converting an old project file to a newer
+# Visual Studio version. Backup files are not needed, because we have git ;-)
+_UpgradeReport_Files/
+Backup*/
+UpgradeLog*.XML
+
+
+
+############
+## Windows
+############
+
+# Windows image file caches
+Thumbs.db
+
+# Folder config file
+Desktop.ini
+
+
+#############
+## Python
+#############
+
+*.py[co]
+
+# Packages
+*.egg
+*.egg-info
+dist
+build
+eggs
+parts
+bin
+var
+sdist
+develop-eggs
+.installed.cfg
+
+# Installer logs
+pip-log.txt
+
+# Unit test / coverage reports
+.coverage
+.tox
+
+#Translations
+*.mo
+
+#Mr Developer
+.mr.developer.cfg
+
+# Mac crap
+.DS_Store

Blink/Blink.ino

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+/*
+  Blink
+  Turns on an LED on for one second, then off for one second, repeatedly.
+ 
+  This example code is in the public domain.
+ */
+
+// Pin 13 has an LED connected on most Arduino boards.
+// give it a name:
+int led = 22;
+
+// the setup routine runs once when you press reset:
+void setup() {                
+  // initialize the digital pin as an output.
+  pinMode(led, OUTPUT);     
+}
+
+// the loop routine runs over and over again forever:
+void loop() {
+  digitalWrite(led, HIGH);   // turn the LED on (HIGH is the voltage level)
+  delay(1000);               // wait for a second
+  digitalWrite(led, LOW);    // turn the LED off by making the voltage LOW
+  delay(1000);               // wait for a second
+}

BlinkPwm/BlinkPwm.ino

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+#include <pwm_pin.h>
+
+PwmPin ledPin(2);
+
+
+
+#pragma pack(1)
+const uint32_t packetSize = 16;
+
+struct ArduinoMessage {
+    uint8_t type;
+    ArduinoMessage( char type ) : type(type) {}
+};
+
+struct PwmOut : public ArduinoMessage {
+    enum {messageType = 0x1, freeSize = packetSize - sizeof(ArduinoMessage) - 3};
+    uint8_t pin;
+    uint8_t value;
+    uint8_t zero;
+    uint8_t dummy[freeSize];
+    PwmOut( uint8_t pin, uint8_t value ) : ArduinoMessage(messageType), pin(pin), value(value), zero(0) {}
+};
+
+struct MoveDriveTo : public ArduinoMessage {
+    enum {messageType = 0x2, freeSize = packetSize - sizeof(ArduinoMessage) - 7};
+    uint8_t drive;
+    uint8_t speed;
+    int32_t x;
+    uint8_t zero;
+    uint8_t dummy[freeSize];
+    MoveDriveTo(uint8_t drive, uint8_t speed, int32_t x)
+    : ArduinoMessage(messageType), drive(drive), speed(speed), x(x), zero(0) {}
+};
+
+struct ArduinoResponse {
+    uint8_t result;
+    ArduinoResponse(uint8_t result = 0) : result(result) {}
+};
+
+#pragma pack()
+
+char inBuf[packetSize];
+uint8_t outBuf[packetSize];
+
+void lightOn() {
+  for( int i=0; i!=255; ++i ) {
+    ledPin.value(i);
+    delay(1);
+  }
+}
+
+void lightOff(){
+  for( int i=255; i!=0; --i ) {
+    ledPin.value(i);
+    delay(1);
+  }
+}
+// the setup routine runs once when you press reset:
+void setup() {                
+  Serial.begin(115200);
+  Serial.flush();
+  while( Serial.available() )
+    Serial.read();
+
+  for( int i=0; i!=packetSize; ++i ) {
+    inBuf[i]=0x1;
+    outBuf[i]=0x1;
+  }
+  lightOn();
+  lightOff();
+  lightOn();
+  lightOff();
+  Serial.write(0x22);
+}
+
+
+// the loop routine runs over and over again forever:
+void loop() {
+  if (Serial.available() >= packetSize) {  //если есть доступные данные
+    // считываем байт
+    for( int i = 0; i!= packetSize; ++i )
+      inBuf[i]= Serial.read();
+      //if( inBuf[0] == 0xF ) {
+    switch( ((ArduinoMessage*)inBuf)->type ) {
+      case PwmOut::messageType:
+      {
+        const PwmOut & msg(*((PwmOut*)inBuf));
+        PwmPin pin(msg.pin);
+        pin.value(msg.value);
+        ArduinoResponse & response(*((ArduinoResponse*)outBuf));
+        response.result = 0;
+      }
+      default:;
+    }
+    //ledPin.value(inBuf[1]);
+    Serial.flush();
+      //lightOn();
+    Serial.write((uint8_t*)outBuf, packetSize);
+      //lightOff();
+  }
+}

libraries/pwm/pwm_driver.h

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+#ifndef PWM_DRIVER_H_031220122303
+  #define PWM_DRIVER_H_031220122303
+
+  #include <Arduino.h> 
+  #include "pwm_pin.h"
+  #include "ttlout_pin.h"
+
+class PwmDriver {
+public:
+  PwmDriver(byte cwPinNumber, byte ccwPinNumber, byte pwmPinNumber)
+   : cwP(cwPinNumber), ccw(ccwPinNumber), pwm(pwmPinNumber) {
+    stop();
+  }
+  inline void stop() {
+    cw.low();
+    ccw.low();
+  }
+  inline void start( byte speed, bool ccwDirection ) {
+    pwm.value(speed);
+    cw.state(!ccwDirection);
+    ccw.state(ccwDirection);
+  }
+private:
+  TtlOutPin cw;
+  TtlOutPin ccw;
+  PwmPin pwm;
+}
+#endif

libraries/pwm/pwm_pin.cpp

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+#include "pwm_pin.h"

libraries/pwm/pwm_pin.h

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+#ifndef PWM_PIN_H_031220122303
+  #define PWM_PIN_H_031220122303
+#include <Arduino.h> 
+
+class PwmPin {
+public:
+  PwmPin( byte pinNumber ) : pin(pinNumber) {
+    pinMode(pin, OUTPUT);
+  }
+  inline void value(byte v) {
+    analogWrite(number(), v);
+  }
+  inline byte number() const {
+    return pin;
+  }
+  inline void reset() {
+    digitalWrite(number(),0);
+  }
+private:
+  const byte pin;
+};
+
+#endif //PWM_PIN_H_031220122303

libraries/pwm/ttlin_pin.h

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+#ifndef TTL_IN_PIN_H_031220122303
+  #define TTL_IN_PIN_H_031220122303
+
+  #include <Arduino.h> 
+
+class TtlInPin {
+public:
+  TtlInPin( byte pinNumber ) : pin(pinNumber) {
+    pinMode(pin, INPUT);
+  }
+  inline bool high() const {
+    return digitalRead(number()) == HIGH;
+  }
+  inline bool low() const {
+    return !high();
+  }
+  inline byte number() const {
+    return pin;
+  }
+private:
+  const byte pin;
+};
+
+#endif //TTL_IN_PIN_H_031220122303