Arm firmware implementation

.gitignore

@@ -32,3 +32,10 @@ src/external_pkgs/
 src/mapping_urc/multi_resolution_graph
 /.project
 phidgetlog.log
+
+# arm firmware ignores
+
+src/firmware/arm_firmware/SerialCom1/.vs/
+src/firmware/arm_firmware/SerialCom1/SerialCom/bin
+src/firmware/arm_firmware/SerialCom1/SerialCom/obj
+src/firmware/arm_firmware/SerialCom1/SerialCom/Form1.resx

src/firmware/arm_firmware/SerialCom1/SerialCom.sln

@@ -0,0 +1,25 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Version 16
+VisualStudioVersion = 16.0.31624.102
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "SerialCom", "SerialCom\SerialCom.csproj", "{293C7DFD-2AF8-4E61-927A-46072A9F6182}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Any CPU = Debug|Any CPU
+		Release|Any CPU = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{293C7DFD-2AF8-4E61-927A-46072A9F6182}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{293C7DFD-2AF8-4E61-927A-46072A9F6182}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{293C7DFD-2AF8-4E61-927A-46072A9F6182}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{293C7DFD-2AF8-4E61-927A-46072A9F6182}.Release|Any CPU.Build.0 = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {D52D6B80-3854-499E-8028-35CA40DD7D18}
+	EndGlobalSection
+EndGlobal

src/firmware/arm_firmware/SerialCom1/SerialCom/Form1.cs

@@ -0,0 +1,257 @@
+#define CRT_SECURE_NO_WARNINGS
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Windows.Forms;
+using System.IO.Ports;
+using System.IO;
+
+
+
+
+namespace SerialCom
+{
+
+    public partial class Form1 : Form
+    {
+
+        bool inc_flag;
+        bool abs_flag;
+
+        const int a1_max = 360;
+        const int a2_max = 360;
+        const int a3_max = 90;
+        const int a4_max = 90;
+        const int a5_max = 90;
+        const int a6_max = 90;
+
+        string dataOUT;
+        string homeOUT = "H";
+        string moveOUT = "M";
+        string inc = "I";
+        string abs = "A";
+        string dataIN;
+
+        string A1; //angles
+        string A2;
+        string A3;
+        string A4;
+        string A5;
+        string A6;
+
+        public Form1()
+        {
+            InitializeComponent();
+        }
+
+        private void label1_Click(object sender, EventArgs e)
+        {
+
+        }
+
+        private void progressBar1_Click(object sender, EventArgs e)
+        {
+
+        }
+
+
+
+        private void button1_Click(object sender, EventArgs e)
+        {
+
+        }
+
+
+        private void webBrowser1_DocumentCompleted(object sender, WebBrowserDocumentCompletedEventArgs e)
+        {
+
+        }
+
+        private void groupBox1_Enter(object sender, EventArgs e)
+        {
+
+        }
+
+        private void tBoxDATAOUT_TextChanged(object sender, EventArgs e)
+        {
+
+        }
+
+        private void Form1_Load_1(object sender, EventArgs e)
+        {
+            string[] ports = SerialPort.GetPortNames();
+            cBoxCOMPORT.Items.AddRange(ports);
+        }
+
+        private void btnOPEN_Click(object sender, EventArgs e)
+        {
+
+            try
+            {
+                serialPort1.PortName = cBoxCOMPORT.Text;
+                serialPort1.BaudRate = Convert.ToInt32(cBoxBAUDRATE.Text);
+                serialPort1.DataBits = Convert.ToInt32(cBoxDATABITS.Text);
+                serialPort1.StopBits = (StopBits)Enum.Parse(typeof(StopBits), cBoxSTOPBITS.Text);
+                serialPort1.Parity = (Parity)Enum.Parse(typeof(Parity), cBoxPARITYBITS.Text);
+
+                serialPort1.Open();
+                progressBar1.Value = 100;
+            }
+            catch (Exception err)
+            {
+                MessageBox.Show(err.Message, "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
+            }
+        }
+
+        private void button2_Click(object sender, EventArgs e) /* Close button */
+        {
+            if(serialPort1.IsOpen)
+            {
+                serialPort1.Close();
+                progressBar1.Value = 0;
+            }
+        }
+
+
+        private void button3_Click(object sender, EventArgs e) /* send data button*/
+        {
+            if (serialPort1.IsOpen)
+            {
+                dataOUT = tBoxDATAOUT.Text;
+
+                if (abs_flag)
+                {
+                    dataOUT = abs + dataOUT;
+                }
+
+                else if(inc_flag)
+                {
+                    dataOUT = inc + dataOUT;
+                }
+
+                serialPort1.WriteLine(inc+dataOUT);
+                tBoxDATAOUT.Text = "";
+            }    
+        }
+
+        private void label7_Click(object sender, EventArgs e)
+        {
+
+        }
+
+        private void label6_Click(object sender, EventArgs e)
+        {
+
+        }
+
+        private void absPosition_TextChanged(object sender, EventArgs e)
+        {
+
+        }
+
+
+
+        private void label10_Click(object sender, EventArgs e)
+        {
+
+        }
+
+        private void label11_Click(object sender, EventArgs e)
+        {
+
+        }
+
+        private void serialPort1_DataReceived(object sender, SerialDataReceivedEventArgs e)
+        {
+            if (serialPort1.ReadLine().Contains('r'))
+            {
+                A1 = serialPort1.ReadLine();
+                A2 = serialPort1.ReadLine();
+                A3 = serialPort1.ReadLine();
+                A4 = serialPort1.ReadLine();
+                A5 = serialPort1.ReadLine();
+                A6 = serialPort1.ReadLine();
+            }
+        }
+
+        private void timer1_Tick(object sender, EventArgs e)
+        {
+            label11.Text = A1;
+            label14.Text = A2;
+            label16.Text = A3;
+            label22.Text = A4;
+            label20.Text = A5;
+            label18.Text = A6;
+
+            if (A1 != null)
+            {
+                a1prog.Value = (int)((100 * Int64.Parse(A1)) / a1_max);
+            }
+            if (A2 != null)
+            {
+                a2prog.Value = (int)((100 * Int64.Parse(A2)) / a2_max);
+            }
+            if (A3 != null)
+            {
+                a3prog.Value = (int)((100 * Int64.Parse(A3)) / a3_max);
+            }
+            if (A4 != null)
+            {
+                a4prog.Value = (int)((100 * Int64.Parse(A4)) / a4_max);
+            }
+            if (A5 != null)
+            {
+                a5prog.Value = (int)((100 * Int64.Parse(A5)) / a5_max);
+            }
+            if (A6 != null)
+            {
+                a6prog.Value = (int)((100 * Int64.Parse(A6)) / a6_max);
+            }
+
+        }
+
+        private void button1_Click_1(object sender, EventArgs e)
+        {
+
+        }
+
+        private void button1_Click_2(object sender, EventArgs e)
+        {
+
+        }
+
+        private void label15_Click(object sender, EventArgs e)
+        {
+
+        }
+
+        private void label16_Click(object sender, EventArgs e)
+        {
+
+        }
+
+        private void button1_Click_3(object sender, EventArgs e) // HOME BUTTON // 
+        {
+            serialPort1.WriteLine(homeOUT);
+        }
+
+        private void btnMOVE_Click(object sender, EventArgs e) // MOTION DEMO BUTTON // 
+        {
+            serialPort1.WriteLine(moveOUT);
+        }
+
+        private void btnINC_CheckedChanged(object sender, EventArgs e)
+        {
+            inc_flag = !inc_flag;
+        }
+
+        private void btnABS_CheckedChanged(object sender, EventArgs e)
+        {
+            abs_flag = !abs_flag;
+        }
+    }
+}

src/firmware/arm_firmware/SerialCom1/SerialCom/Program.cs

@@ -0,0 +1,21 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Windows.Forms;
+
+namespace SerialCom
+{
+    static class Program
+    {
+        /// <summary>
+        /// The main entry point for the application.
+        /// </summary>
+        [STAThread]
+        static void Main()
+        {
+            Application.EnableVisualStyles();
+            Application.SetCompatibleTextRenderingDefault(false);
+            Application.Run(new Form1());
+        }
+    }
+}

src/firmware/arm_firmware/SerialCom1/SerialCom/Properties/AssemblyInfo.cs

@@ -0,0 +1,36 @@
+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+// General Information about an assembly is controlled through the following
+// set of attributes. Change these attribute values to modify the information
+// associated with an assembly.
+[assembly: AssemblyTitle("SerialCom")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("HP Inc.")]
+[assembly: AssemblyProduct("SerialCom")]
+[assembly: AssemblyCopyright("Copyright © HP Inc. 2021")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// Setting ComVisible to false makes the types in this assembly not visible
+// to COM components.  If you need to access a type in this assembly from
+// COM, set the ComVisible attribute to true on that type.
+[assembly: ComVisible(false)]
+
+// The following GUID is for the ID of the typelib if this project is exposed to COM
+[assembly: Guid("293c7dfd-2af8-4e61-927a-46072a9f6182")]
+
+// Version information for an assembly consists of the following four values:
+//
+//      Major Version
+//      Minor Version
+//      Build Number
+//      Revision
+//
+// You can specify all the values or you can default the Build and Revision Numbers
+// by using the '*' as shown below:
+// [assembly: AssemblyVersion("1.0.*")]
+[assembly: AssemblyVersion("1.0.0.0")]
+[assembly: AssemblyFileVersion("1.0.0.0")]