const float pi=3.14159265358979;
// file name udpLCNCMEGA.ino edit for using pin 10 or not.  I modded my ethernet W5100 to use pin 53 instead of pin10
// I can't find in the arduino source if that matters.
// look below for 
// file udpioMEGA.hal      edit for your IP numbers
// file udpioMEGA.py       edit for your IP numbers
// file define.h for Arduino edit your IP numbers






//#include <Encoder.h>
#include <SPI.h>         // needed for Arduino versions later than 0018
#include <Ethernet.h>
#include <EthernetUdp.h>         // UDP library from: bjoern@cs.stanford.edu 12/30/2008
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include <ctype.h>
#include "defines.h"

#define UDP_TX_PACKET_MAX_SIZE 1506

// Enter a MAC address and IP address for your controller below.
// The IP address will be dependent on your local network:
byte mac[] = {  
  0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED 
};

IPAddress ip(ARDUINOIP);
IPAddress remoteIp(COMPUTERIP);

unsigned int localPort = IPPORT;      // local port to listen on
unsigned int remotePort = IPPORT;
// buffers for receiving and sending data
char packetBuffer[UDP_TX_PACKET_MAX_SIZE]; //buffer to hold incoming packet,
char  ReplyBuffer[20];// = "acknowledged";       // a string to send back
uint16_t adcresult;
// An EthernetUDP instance to let us send and receive packets over UDP
EthernetUDP Udp;

byte adc=0;
byte firstbyte=0x0;
byte miscpins=0; // output data for MISCPORT pins

// offsets in buffers
#define PACKETDATA 2
#define REPLYDATA  2
#define USEPIN10 0
// have to figure out which end is lsb
// output Pins
//                   Bits   0   1   2   3   4   5   6   7
#define STEPPORTDATA PACKETDATA + 1
#define STEPPORT PORTA // 22x 23y 24z 25a 26b 27c 28w 29u
#define STEPPORTBITS 8
const byte stepportArrray[STEPPORTBITS] = {22,23,24,25,26,27,28,29};

#define DIRPORTDATA PACKETDATA + 2
#define DIRPORT  PORTC // 37x 36y 35z 34a 33b 32c 31w 30u
const byte dirportArrray[STEPPORTBITS] = {37,36,35,34,33,32,31,30};// inverted to PortA

#define XTRPORTDATA PACKETDATA + 3
#define XTRPORT  PORTL // 49  48  47  46  45  44  43  42
const byte xtrportArrray[STEPPORTBITS] = {49,48,47,46,45,44,43,42};// inverted to PortA

// using Analog pins as digitals
// digital pins                 54  55  56  57  58  59  60  61
#define HOMESPORT     PORTF //  A0  A1  A2  A3  A4  A5  A6  A7
#define HOMESPORTDATA REPLYDATA + 0
const byte homesportArrray[STEPPORTBITS] = {54,55,56,57,58,59,60,61};

//        digital pins        62  63  64  65  66  67  68  69
#define LIMITSPORT  PORTK //  A8  A9 A10 A11 A12 A13 A14 A15
#define LIMITSPORTDATA REPLYDATA + 1
const byte limitsportArrray[STEPPORTBITS] = {62,63,64,65,66,67,68,69};


//#Find a use for these pins, something that needs speed or timing.
#define PWMDATA XTRPORTDATA + 1
#if USEPIN10 == 1
  //#Find a use for these pins, something that needs speed or timing.
#define PWMCOUNT 10
#define PWMDATA4 PWMDATA + 0 
#define PWMDATA5 PWMDATA + 1
#define PWMDATA6 PWMDATA + 2 
#define PWMDATA7 PWMDATA + 3 
#define PWMDATA8 PWMDATA + 4 
#define PWMDATA9 PWMDATA + 5
#define PWMDATA10 PWMDATA + 6   
#define PWMDATA11 PWMDATA + 7  
#define PWMDATA12 PWMDATA + 8  
#define PWMDATA13 PWMDATA + 9  
const byte pwmpinmap[PWMCOUNT] = {4,5,6,7,8,9,10,11,12,13};
#define ENDOFPWM PWMDATA+10
#endif
#if USEPIN10 == 0
#define PWMCOUNT 9
const byte pwmpinmap[PWMCOUNT] = {4,5,6,7,8,9,11,12,13};
  //#Find a use for these pins, something that needs speed or timing.
#define PWMDATA4 PWMDATA+0 
#define PWMDATA5 PWMDATA+1
#define PWMDATA6 PWMDATA+2
#define PWMDATA7 PWMDATA+3
#define PWMDATA8 PWMDATA+4
#define PWMDATA9 PWMDATA+5
          //#define PWMDATA10 PACKETDATA +10  
#define PWMDATA11 PWMDATA+6
#define PWMDATA12 PWMDATA+7 
#define PWMDATA13 PWMDATA+8
#define ENDOFPWM PWMDATA + 9
  
#endif

//#define SERIAL0
//#define SERIAL1
#define SERIAL2
#define SERIAL3

#define SERIALCOUNT 0

#define SERIALDATA ENDOFPWM
#ifdef SERIAL0
#define SERIALCOUNT 1
#define SERIALTX0DATA SERIALDATA + 0
#define SERIALTX0 Serial0out
#define SERIALRX0 Serial0in
#define ENDSERIAL SERIALTX0DATA + 1 
#endif
#ifdef SERIAL1
#define SERIALCOUNT SERIALCOUNT + 1
#define SERIALTX1DATA ENDSERIAL
#define SERIALTX1 Serial1out
#define SERIALRX1 Serial1in
#define ENDSERIAL SERIALTX1DATA + 1 
#endif
#ifdef SERIAL2
#define SERIALCOUNT SERIALCOUNT + 1
#define SERIALTX2DATA ENDSERIAL
#define SERIALTX2 Serial2out
#define SERIALRX2 Serial2in
#define ENDSERIAL SERIALTX2DATA + 1 
#endif
#ifdef SERIAL3
#define SERIALCOUNT SERIALCOUNT + 1
#define SERIALTX3DATA ENDSERIAL
#define SERIALTX3 Serial3out
#define SERIALRX3 Serial3in
#define ENDSERIAL SERIALTX3DATA + 1 
#endif


#define MISCPORTDATA ENDSERIAL 

#define MISCPORT  miscpins // 38, 39, 40 ,41

#define ISRDATA REPLYDATA + 2 // bits of InterruptPins

volatile byte InterruptPins = 0;

// input pins via interrupt;
#define INTMAPCOUNT 6 //# Int    4  5  3  2  1  0
const byte intmap[INTMAPCOUNT] = {2, 3, 18,19,20,21};


#define PULLUP INPUT_PULLUP
#define LIMITSPULL PULLUP
#define HOMESPULL PULLUP

void setup() 
{
  // start the Ethernet and UDP:
  Ethernet.begin(mac,ip);
  Udp.begin(localPort);

  Serial.begin(9600);
  for(int i=0; i< PWMCOUNT; i++) {
      pinMode(pwmpinmap[i] ,OUTPUT);  // PWM
  }
SetPWMdividers ();
//Output pins for step and Dir

for(int i=0; i < STEPPORTBITS; i++) {
  pinMode(stepportArrray[i],OUTPUT);
  pinMode(dirportArrray[i],OUTPUT);
  pinMode(xtrportArrray[i],OUTPUT);
 // this may be need to be edited if you have sensors (induction, optical, or hall effect) or switches
  pinMode(homesportArrray[i],HOMESPULL);
  pinMode(limitsportArrray[i],LIMITSPULL);
}


// Input pins using ISR Interrupts

 attachInterrupt(0,Int0Reader,CHANGE); // pin 21
 attachInterrupt(1,Int1Reader,CHANGE); // pin 20
 attachInterrupt(2,Int2Reader,CHANGE); // pin 19 
 attachInterrupt(3,Int3Reader,CHANGE); // pin 18
 attachInterrupt(4,Int4Reader,CHANGE); // pin 2
 attachInterrupt(5,Int5Reader,CHANGE); // pin 3
 
}

// ISR's for reading pins

void Int0Reader (void) {
  if (PORTD & B00000001) {
    InterruptPins = InterruptPins & B11111110;
  } else {
    InterruptPins = InterruptPins | B00000001;
  }
}
void Int1Reader (void){
  if (PORTD & B00000010) {
    InterruptPins = InterruptPins & B11111101;
  } else {
    InterruptPins = InterruptPins | B00000010;
  }
}
void Int2Reader (void){
  if (PORTD & B00000100) {
    InterruptPins = InterruptPins & B11111011;
  } else {
    InterruptPins = InterruptPins | B00000100;
  }
}
void Int3Reader (void){
  if (PORTD & B00000001) {
    InterruptPins = InterruptPins & B11110111;
  } else {
    InterruptPins = InterruptPins | B00001000;
  }
}
void Int4Reader (void){
  if (PORTE & B00010000) {
    InterruptPins = InterruptPins & B11101111;
  } else {
    InterruptPins = InterruptPins | B00010000;
  }
}
void Int5Reader (void){
  if (PORTE & B00100000) {
    InterruptPins = InterruptPins & B11011111;
  } else {
    InterruptPins = InterruptPins | B00100000;
  }
}




char *skip_spaces(const char *str)
{
  while (isspace(*str))
    ++str;
  return (char *)str;
}


char rxbyte;
char workbuf[100];
char rxtokens[5];
char *newtoken;
const char s[2] = ",";
char *token;


// decodeRx is gonna completely change...  
// going to make it binary not text to int.
// less over head faster processing.  and add a CRC32 for error checking...

void decodeRx(char* rxbuffer, int buflen)
{

  if(rxbuffer[0] == 'D') {
  STEPPORT = atoi(rxbuffer[STEPPORTDATA]);
  DIRPORT  = atoi(rxbuffer[DIRPORTDATA]);
  XTRPORT  = atoi(rxbuffer[XTRPORTDATA]);
  for(int i=0; i< PWMCOUNT; i++) {
    analogWrite(pwmpinmap[i],atoi(rxbuffer[PWMDATA + i]));
  }
  return;
  }
}


void encodeTx()
{
  Udp.beginPacket(remoteIp, remotePort);
  byte v = 0;
  //;byte PORTA, PORTC,PORTL;
//  byte PortBuffer[65];

  ReplyBuffer[0]=1;
  ReplyBuffer[1]=char(HOMESPORT);
  ReplyBuffer[2]=char(LIMITSPORT);
  if (InterruptPins>0)  ReplyBuffer[3]=char(InterruptPins); else InterruptPins=0;
  Udp.write(ReplyBuffer);
  Udp.endPacket();

}


void loop() 
{

  encodeTx();

  // if there's data available, read a packet
  int packetSize = Udp.parsePacket();
  if(packetSize)
  {
    Udp.read(packetBuffer,UDP_TX_PACKET_MAX_SIZE);
    decodeRx(packetBuffer,packetSize);   
  }

/*  long newPosition = myEnc.read();
  if (newPosition != oldPosition) {
    counters[0] = oldPosition;
    counters[1] = newPosition;
    oldPosition = newPosition;
    //Serial.println(newPosition);
  }
*/
  delay(1);

}

void SetPWMdividers () {
  //For Arduino Mega1280, Mega2560, MegaADK, Spider or any other board using ATmega1280 or ATmega2560**
 
//---------------------------------------------- Set PWM frequency for D4 & D13 ------------------------------
 
//TCCR0B = TCCR0B & B11111000 | B00000001;    // set timer 0 divisor to     1 for PWM frequency of 62500.00 Hz
//TCCR0B = TCCR0B & B11111000 | B00000010;    // set timer 0 divisor to     8 for PWM frequency of  7812.50 Hz
  TCCR0B = TCCR0B & B11111000 | B00000011;    // set timer 0 divisor to    64 for PWM frequency of   976.56 Hz (Default)
//TCCR0B = TCCR0B & B11111000 | B00000100;    // set timer 0 divisor to   256 for PWM frequency of   244.14 Hz
//TCCR0B = TCCR0B & B11111000 | B00000101;    // set timer 0 divisor to  1024 for PWM frequency of    61.04 Hz
 
 
//---------------------------------------------- Set PWM frequency for D11 & D12 -----------------------------
 
//TCCR1B = TCCR1B & B11111000 | B00000001;    // set timer 1 divisor to     1 for PWM frequency of 31372.55 Hz
//TCCR1B = TCCR1B & B11111000 | B00000010;    // set timer 1 divisor to     8 for PWM frequency of  3921.16 Hz
  TCCR1B = TCCR1B & B11111000 | B00000011;    // set timer 1 divisor to    64 for PWM frequency of   490.20 Hz
//TCCR1B = TCCR1B & B11111000 | B00000100;    // set timer 1 divisor to   256 for PWM frequency of   122.55 Hz
//TCCR1B = TCCR1B & B11111000 | B00000101;    // set timer 1 divisor to  1024 for PWM frequency of    30.64 Hz
 
//---------------------------------------------- Set PWM frequency for D9 & D10 ------------------------------
 
//TCCR2B = TCCR2B & B11111000 | B00000001;    // set timer 2 divisor to     1 for PWM frequency of 31372.55 Hz
//TCCR2B = TCCR2B & B11111000 | B00000010;    // set timer 2 divisor to     8 for PWM frequency of  3921.16 Hz
  TCCR2B = TCCR2B & B11111000 | B00000011;    // set timer 2 divisor to    32 for PWM frequency of   980.39 Hz
//TCCR2B = TCCR2B & B11111000 | B00000100;    // set timer 2 divisor to    64 for PWM frequency of   490.20 Hz
//TCCR2B = TCCR2B & B11111000 | B00000101;    // set timer 2 divisor to   128 for PWM frequency of   245.10 Hz
//TCCR2B = TCCR2B & B11111000 | B00000110;    // set timer 2 divisor to   256 for PWM frequency of   122.55 Hz
//TCCR2B = TCCR2B & B11111000 | B00000111;    // set timer 2 divisor to  1024 for PWM frequency of    30.64 Hz
 
 
//---------------------------------------------- Set PWM frequency for D2, D3 & D5 ---------------------------
 
//TCCR3B = TCCR3B & B11111000 | B00000001;    // set timer 3 divisor to     1 for PWM frequency of 31372.55 Hz
//TCCR3B = TCCR3B & B11111000 | B00000010;    // set timer 3 divisor to     8 for PWM frequency of  3921.16 Hz
  TCCR3B = TCCR3B & B11111000 | B00000011;    // set timer 3 divisor to    64 for PWM frequency of   490.20 Hz
//TCCR3B = TCCR3B & B11111000 | B00000100;    // set timer 3 divisor to   256 for PWM frequency of   122.55 Hz
//TCCR3B = TCCR3B & B11111000 | B00000101;    // set timer 3 divisor to  1024 for PWM frequency of    30.64 Hz
 
 
//---------------------------------------------- Set PWM frequency for D6, D7 & D8 ---------------------------
 
//TCCR4B = TCCR4B & B11111000 | B00000001;    // set timer 4 divisor to     1 for PWM frequency of 31372.55 Hz
//TCCR4B = TCCR4B & B11111000 | B00000010;    // set timer 4 divisor to     8 for PWM frequency of  3921.16 Hz
  TCCR4B = TCCR4B & B11111000 | B00000011;    // set timer 4 divisor to    64 for PWM frequency of   490.20 Hz
//TCCR4B = TCCR4B & B11111000 | B00000100;    // set timer 4 divisor to   256 for PWM frequency of   122.55 Hz
//TCCR4B = TCCR4B & B11111000 | B00000101;    // set timer 4 divisor to  1024 for PWM frequency of    30.64 Hz
 
 
//---------------------------------------------- Set PWM frequency for D44, D45 & D46 ------------------------
 
//TCCR5B = TCCR5B & B11111000 | B00000001;    // set timer 5 divisor to     1 for PWM frequency of 31372.55 Hz
//TCCR5B = TCCR5B & B11111000 | B00000010;    // set timer 5 divisor to     8 for PWM frequency of  3921.16 Hz
  TCCR5B = TCCR5B & B11111000 | B00000011;    // set timer 5 divisor to    64 for PWM frequency of   490.20 Hz
//TCCR5B = TCCR5B & B11111000 | B00000100;    // set timer 5 divisor to   256 for PWM frequency of   122.55 Hz
//TCCR5B = TCCR5B & B11111000 | B00000101;    // set timer 5 divisor to  1024 for PWM frequency of    30.64 Hz
 
}



/*
#udpioMEGA.hal


# Include your customized HAL commands here
# The commands in this file are run after the AXIS GUI (including PyVCP panel) starts

loadusr -W ~/bin/udpioMEGA 192.168.16.10 8888 192.168.16.200 8888 1

sets spindle-at-speed true
# Comment Outputs, The Inputs need the pullup
net test-bit udpioMEGA.digital-out-04 motion.in-position
setp udpioMEGA.digital-in-02-pullup 1#  INT4
setp udpioMEGA.digital-in-03-pullup 1#  INT5
#setp udpioMEGA.digital-in-04-pullup 1#  PWM
#setp udpioMEGA.digital-in-05-pullup 1#  PWM
#setp udpioMEGA.digital-in-06-pullup 1#  PWM
#setp udpioMEGA.digital-in-07-pullup 1#  PWM
#setp udpioMEGA.digital-in-08-pullup 1#  PWM
#setp udpioMEGA.digital-in-09-pullup 1#  PWM
#setp udpioMEGA.digital-in-10-pullup 1#  PWM ethernet Shield select
#setp udpioMEGA.digital-in-11-pullup 1#  PWM ethernet Shield uno#    PWM on Mega2560
#setp udpioMEGA.digital-in-12-pullup 1#  PWM ethernet Shield uno#    PWM on Mega2560
#setp udpioMEGA.digital-in-13-pullup 1#  PWM ethernet Shield uno#    PWM on Mega2560
#setp udpioMEGA.digital-in-14-pullup 1#  serial 3 TX
setp udpioMEGA.digital-in-15-pullup 1#  serial 3 RX 
#setp udpioMEGA.digital-in-16-pullup 1#  serial 2 TX
setp udpioMEGA.digital-in-17-pullup 1#  serial 2 RX 
setp udpioMEGA.digital-in-18-pullup 1#  serial 1 TX INT3
setp udpioMEGA.digital-in-19-pullup 1#  serial 1 RX INT2
setp udpioMEGA.digital-in-20-pullup 1#  TWI SDA     INT1
setp udpioMEGA.digital-in-21-pullup 1#  TWI SCL     INT0
#setp udpioMEGA.digital-in-22-pullup 1#  X Step Port A bit 0
#setp udpioMEGA.digital-in-23-pullup 1#  Y Step
#setp udpioMEGA.digital-in-24-pullup 1#  Z Step
#setp udpioMEGA.digital-in-25-pullup 1#  A Step
#setp udpioMEGA.digital-in-26-pullup 1#  B Step
#setp udpioMEGA.digital-in-27-pullup 1#  C Step
#setp udpioMEGA.digital-in-28-pullup 1#  W Step
#setp udpioMEGA.digital-in-29-pullup 1#  U Step Port A Bit 7
#setp udpioMEGA.digital-in-30-pullup 1#  U Dir Port C Bit 7
#setp udpioMEGA.digital-in-31-pullup 1#  W Dir
#setp udpioMEGA.digital-in-32-pullup 1#  C Dir
#setp udpioMEGA.digital-in-33-pullup 1#  B Dir
#setp udpioMEGA.digital-in-34-pullup 1#  A Dir
#setp udpioMEGA.digital-in-35-pullup 1#  Z Dir
#setp udpioMEGA.digital-in-36-pullup 1#  Y Dir
#setp udpioMEGA.digital-in-37-pullup 1#  X Dir Port C bit 0
#setp udpioMEGA.digital-in-38-pullup 1
#setp udpioMEGA.digital-in-39-pullup 1
#setp udpioMEGA.digital-in-40-pullup 1
#setp udpioMEGA.digital-in-41-pullup 1
#setp udpioMEGA.digital-in-42-pullup 1#  PORTL
#setp udpioMEGA.digital-in-43-pullup 1#  PORTL
#setp udpioMEGA.digital-in-44-pullup 1#  PWM#  PORTL
#setp udpioMEGA.digital-in-45-pullup 1#  PWM#  PORTL
#setp udpioMEGA.digital-in-46-pullup 1#  PWM#  PORTL
#setp udpioMEGA.digital-in-47-pullup 1#  PORTL
#setp udpioMEGA.digital-in-48-pullup 1#  PORTL
#setp udpioMEGA.digital-in-49-pullup 1#  PORTL
setp udpioMEGA.digital-in-50-pullup 1#  SPI MISO
setp udpioMEGA.digital-in-51-pullup 1#  SPI MOSI
setp udpioMEGA.digital-in-52-pullup 1#  SPI SCK
setp udpioMEGA.digital-in-53-pullup 1#  SPI SS
setp udpioMEGA.digital-in-54-pullup 1#  SPI SS
setp udpioMEGA.digital-in-55-pullup 1#  SPI SS
setp udpioMEGA.digital-in-56-pullup 1#  SPI SS
setp udpioMEGA.digital-in-57-pullup 1#  SPI SS
setp udpioMEGA.digital-in-58-pullup 1#  SPI SS
setp udpioMEGA.digital-in-59-pullup 1#  SPI SS
setp udpioMEGA.digital-in-60-pullup 1#  SPI SS
setp udpioMEGA.digital-in-61-pullup 1#  SPI SS
setp udpioMEGA.digital-in-62-pullup 1#  SPI SS
setp udpioMEGA.digital-in-63-pullup 1#  SPI SS
setp udpioMEGA.digital-in-64-pullup 1#  SPI SS
setp udpioMEGA.digital-in-65-pullup 1#  SPI SS
setp udpioMEGA.digital-in-66-pullup 1#  SPI SS
setp udpioMEGA.digital-in-67-pullup 1#  SPI SS
setp udpioMEGA.digital-in-68-pullup 1#  SPI SS
setp udpioMEGA.digital-in-69-pullup 1#  SPI SS

#ethernet shield UNO use pins 10,11,12,13
# on Mega 2560 10,50,51,52,53

#setp udpioMEGA.analog-out-03-scale 10#  PWM Interrupt 5
setp udpioMEGA.analog-out-04-scale 10#  PWM Spindle
setp udpioMEGA.analog-out-05-scale 10#  PWM Spinde
setp udpioMEGA.analog-out-06-scale 10#  PWM 
setp udpioMEGA.analog-out-07-scale 10#  PWM 
setp udpioMEGA.analog-out-08-scale 10#  PWM 
setp udpioMEGA.analog-out-09-scale 10#  PWM 
setp udpioMEGA.analog-out-10-scale 10#  PWM Ethernet Select on Uno and Mega
setp udpioMEGA.analog-out-11-scale 10#  PWM 
setp udpioMEGA.analog-out-12-scale 10#  PWM 
setp udpioMEGA.analog-out-13-scale 10#  PWM 
#setp udpioMEGA.analog-out-44-scale 10#  PWM#  PORTL Better off using as digital
#setp udpioMEGA.analog-out-45-scale 10#  PWM#  PORTL "
#setp udpioMEGA.analog-out-46-scale 10#  PWM#  PORTL "

setp udpioMEGA.digital-out-22 1#  X Step
setp udpioMEGA.digital-out-37 1#  X Dir 
setp udpioMEGA.digital-out-23 1#  Y Step
setp udpioMEGA.digital-out-36 1#  Y Dir 
setp udpioMEGA.digital-out-24 1#  Z Step
setp udpioMEGA.digital-out-35 1#  Z Dir 
setp udpioMEGA.digital-out-25 1#  A Step
setp udpioMEGA.digital-out-34 1#  A Dir 
setp udpioMEGA.digital-out-26 1#  B Step
setp udpioMEGA.digital-out-33 1#  B Dir 
setp udpioMEGA.digital-out-27 1#  C Step
setp udpioMEGA.digital-out-32 1#  C Dir
setp udpioMEGA.digital-out-28 1#  W Step
setp udpioMEGA.digital-out-31 1#  W Dir
setp udpioMEGA.digital-out-29 1#  U Step
setp udpioMEGA.digital-out-30 1#  U Dir
setp udpioMEGA.digital-out-31 1#  U Dir
setp udpioMEGA.digital-out-32 1#  U Dir
setp udpioMEGA.digital-out-33 1#  U Dir
setp udpioMEGA.digital-out-34 1#  U Dir
setp udpioMEGA.digital-out-35 1#  U Dir
setp udpioMEGA.digital-out-36 1#  U Dir
setp udpioMEGA.digital-out-37 1#  U Dir


#  PORTL like PORTA and PORTC all 8 bits are digital out pins.
#  This could be 4 more step ports or other combinations.
setp udpioMEGA.digital-out-42 1#  PORTL Bit 7#  V Dir
setp udpioMEGA.digital-out-43 1#  PORTL Bit 6# 10th Dir
setp udpioMEGA.digital-out-44 1#  PORTL Bit 5 Brake?
setp udpioMEGA.digital-out-45 1#  PORTL Bit 4 Brake on another axis?
setp udpioMEGA.digital-out-46 1#  PORTL Bit 3#  V Step 
setp udpioMEGA.digital-out-47 1#  PORTL Bit 2# 10th Step
setp udpioMEGA.digital-out-48 1#  PORTL Bit 1 Enable?
setp udpioMEGA.digital-out-49 1#  PORTL Bit 0 Power relay for resetting drivers after alarm?

net spindle-cmd => udpioMEGA.analog-out-09#  PWM Spindle
#net spindle-cmd => udpioMEGA.analog-out-10#  PWM Spindle#  XX==XX  Add code for 16 bit resolution of spindle speed.



*/



/*
#!/usr/bin/python
#udpioMEGA.py
#    HAL userspace component to interface with Arduino board
#    Copyright (C) 2015 Marius Liebenberg <marius@bluearccnc.com>
#        Mods to use Mega2560 Robi Akerley-mcKee <kf6pqz@gmail.com>
#    
#    This program and accompanied works are provided as is and the 
#    author will not be liable for anything whatsoever related to 
#    this software or not.
#
#    This user space program will allow you to connect to an Arduino
#    UNO, or the likes of, that is fitted with a network shield. I am 
#    other boards will work as well with a bit of adaptation to the embedded
#    code.
#
#    The arduino configuration is as follows:
#        O    Analog Outputs     - 1 at pin 3
#        B    Analog Inputs      - 6 at pins A0 to A5
#        S    Digtal pins:       - 6 in total configured as In or OUT at startup
#        O    Encoder            - pins 8 and 9 are used for the MPG encoder. Make 
#        L                        sure the pins are set as inputs. That means you 
#        E                        cannot have six outputs if you use the encoder.
#        T    
#        E    
#
#             Analog Inputs      -  16 at pins A0-15
#             Analog Outputs PWM -   9 at pins 4,5,6,7,8,9, 11,12,13
#             Interrupt Inputs   -   6 at pins 2,3,18,19,20,21
#             Polled Pins        -   2 at pins 17, 17
#             BitBanged using 
#                  PORT?         -  24 at PORTA pins 22-29, PORTC pins 30-37, PORTL pins 42-49
#             SerialPorts        -   4 (3 unique) Serial0 pins 0,1 is also USB, Serial1,2,3 is pins 14,15,16,17,18,19
#             
#             If you want encoder, you'll have to add it back in, use the interrupt pins though
#
#
#    Note: The mpg-count-00 is the previous count and mpg-count-01 is the new count
#
#    Usage:    loadusr -W /yourdir/udps NIC_IP NIC_PORT REMOTE_IP REMOTE_PORT number_of_ouputs 
#              loadusr -W ~/bin/udps 192.168.3.10 8888 192.168.3.200 8888 1
#
#    I have used this on a second network interface as well as a USB plugin ethernet
#    adapter hence the need to provide the local IP details.
#
#    Use the Arduino code udpcomms.ino in conjunction with this program.
#
#
#    This program is free software; you can redistribute it and/or modify
#    it under the terms of the GNU General Public License as published by
#    the Free Software Foundation; either version 2 of the License, or
#    (at your option) any later version.
#
#    This program is distributed in the hope that it will be useful,
#    but WITHOUT ANY WARRANTY; without even the implied warranty of
#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
#    GNU General Public License for more details.
#
#    You should have received a copy of the GNU General Public License
#    along with this program; if not, write to the Free Software
#    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

#import serial
import os
import hal
import sys
import time
import socket
from gwibber.microblog.can import RECEIVE
from _socket import SOL_SOCKET
from IN import SO_BINDTODEVICE


data = " "
REMOTE, R_PORT = "192.168.3.199", 8888

if len(sys.argv) > 4:
    HOST = sys.argv[1]
    H_PORT = int(sys.argv[2])
    REMOTE = sys.argv[3]
    R_PORT = int(sys.argv[4])
    
    print ("HOST = ", HOST)
    print ("PORT = ", H_PORT)
    print ("REMOTE = ", REMOTE)
    print ("PORT = ", R_PORT)
#// this changes cuz were hard coded now    
#//if len(sys.argv) > 4:
#//    nout = int(sys.argv[5])
#//else:
#//    nout = 6
#//print ("Number of digital outputs = ", nout)
#//if nout > 6 or nout < 0:
#//    print "##########################################################################################"
#//    print "Usage:    loadusr -W /yourdir/udpsMEGA NIC_IP NIC_PORT REMOTE_IP REMOTE_PORT "
#//    print "##########################################################################################"
#//    raise SystemExit, "Number of digital outputs must be from 0 to 6"


#//pinmap  = [4,5,6,7,8,9]#  Encoder can be connected to 8 and 9
pwmrange   =  10
pwmpinmap  = [4,5,6,7,8,9,10,11,12,13]#   DAC fixed
#pwmrange  =   9
#pwmpinmap = [4,5,6,7,8,9,11,12,13]#   DAC fixed

pinmap  = [22,23,24,25,26,27,28,29]
pinmap2 = [37,36,35,34,33,32,31,30]
pinmap3 = [49,48,47,46,45,44,43,42]
inpmap  = [54,55,56,57,58,59,60,61]
inpmap2 = [62,63,64,65,66,67,68,69]
inpmap3 = [21,20,19,18,2,3,1,0]

c = hal.component("udpioMEGA")

#old code for the one pwm pin
#c.newpin("analog-out-%02d" % pwmpinmap[0], hal.HAL_FLOAT, hal.HAL_IN)
#c.newparam("analog-out-%02d-offset" % pwmpinmap[0], hal.HAL_FLOAT, hal.HAL_RW)
#c.newparam("analog-out-%02d-scale" % pwmpinmap[0], hal.HAL_FLOAT, hal.HAL_RW)
#c['analog-out-%02d-scale' % pwmpinmap[0]] = 1.0
#new code for the 9 or 10 pwm pins if pin 10 is used for ethernet 
for port in range(pwmrange):
    c.newpin("analog-out-%02d" % pwmpinmap[port], hal.HAL_FLOAT, hal.HAL_IN)
    c.newparam("analog-out-%02d-offset" % pwmpinmap[port], hal.HAL_FLOAT, hal.HAL_RW)
    c.newparam("analog-out-%02d-scale" % pwmpinmap[port], hal.HAL_FLOAT, hal.HAL_RW)
    c['analog-out-%02d-scale' % pwmpinmap[port]] = 1.0

#    c.newpin("analog-in-%02d" % port, hal.HAL_FLOAT, hal.HAL_OUT)
#    c.newparam("analog-in-%02d-offset" % port, hal.HAL_FLOAT, hal.HAL_RW)
#    c.newparam("analog-in-%02d-gain" % port, hal.HAL_FLOAT, hal.HAL_RW)
#    
#    c['analog-in-%02d-gain' % port] = 1.0
    
for port in range(8):
    c.newpin("digital-out-%02d" % pinmap[port], hal.HAL_BIT, hal.HAL_OUT)
    c.newparam("digital-out-%02d-invert" % pinmap[port], hal.HAL_BIT, hal.HAL_RW)
    c.newpin("digital-out-%02d" % pinmap2[port], hal.HAL_BIT, hal.HAL_OUT)
    c.newparam("digital-out-%02d-invert" % pinmap2[port], hal.HAL_BIT, hal.HAL_RW)
    c.newpin("digital-out-%02d" % pinmap3[port], hal.HAL_BIT, hal.HAL_OUT)
    c.newparam("digital-out-%02d-invert" % pinmap3[port], hal.HAL_BIT, hal.HAL_RW)
    c.newpin("digital-in-%02d" % inpmap[port], hal.HAL_BIT, hal.HAL_OUT)
    c.newpin("digital-in-%02d-not" % inpmap[port], hal.HAL_BIT, hal.HAL_OUT)
    c.newparam("digital-in-%02d-pullup" % inpmap[port], hal.HAL_BIT, hal.HAL_RW)
    c.newpin("digital-in-%02d" % inpmap2[port], hal.HAL_BIT, hal.HAL_OUT)
    c.newpin("digital-in-%02d-not" % inpmap2[port], hal.HAL_BIT, hal.HAL_OUT)
    c.newparam("digital-in-%02d-pullup" % inpmap2[port], hal.HAL_BIT, hal.HAL_RW)

c.newpin("network-error", hal.HAL_BIT, hal.HAL_IN)
    
    
#for i in range(2):
#    c.newpin("mpg-count-%02d" % i, hal.HAL_FLOAT, hal.HAL_IN)
c.ready()
    
data = " ".join(sys.argv[3:])

firstbyte = 0
state = 0
txbuf = range(6)
rxbyte = 0
analogout = range(10)
analogin = range(8)
dout = 0
invert = 0
din = 0
pullup = 0
v = 0
count = 0
soh = "#"


service = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
service.bind((HOST, H_PORT))
service.settimeout(1)
print "listening on port", R_PORT

###############################################################
#                         RECEIVE                     #        
############################################################### 
def doRx():
# reading from Arduino Mega2560
    try:
        received = service.recv(150)
    except IOError:
        c['network-error'] = 1
    else:    
        c['network-error'] = 0
        workbuf = (received)
        # change following to strip bits and put to proper pin
        # pins 30-37,42-49 are inverted bit wise
#        tokens = [int(x) for x in workbuf.split(',') if x.strip()]  
#        for i in range(8):
#            gain = c['analog-in-%02d-gain' % i+22]
#            offset = c['analog-in-%02d-offset' % i=22]
#            value = ((int(workbuf[i+]) & (1 >> i))<<i) * 5.0 * gain + offset
#            c['analog-in-%02d' % i] = value
#            gain = c['analog-in-%02d-gain' % i+30]
#            offset = c['analog-in-%02d-offset' % i=30]
#            value = ((int(workbuf[i+]) & (1 >> (7-i)))<<(7-i)) * 5.0 * gain + offset
#            c['analog-in-%02d' % i] = value
                
 #       dig = int(tokens[6])
	digh=workbuf[0]
	digl=workbuf[1]
	digi=workbuf[2]
        for i in range(8):
            msk = (1 << i)
            v = (digh & msk)
            if(v > 0):
                c['digital-in-%02d' % inpmap[i]] = 1
                c['digital-in-%02d-not' % inpmap[i]] = 0
            else:
                c['digital-in-%02d' % inpmap[i]] = 0
                c['digital-in-%02d-not' % inpmap[i]] = 1
            v = (digl & msk)
            if(v > 0):
                c['digital-in-%02d' % inpmap2[i]] = 1
                c['digital-in-%02d-not' % inpmap2[i]] = 0
            else:
                c['digital-in-%02d' % inpmap2[i]] = 0
                c['digital-in-%02d-not' % inpmap2[i]] = 1
        for i in range(6):
            msk = (1 << i)
            v = (digi & msk)
            if(v > 0):
                c['digital-in-%02d' % inpmap3[i]] = 1
                c['digital-in-%02d-not' % inpmap3[i]] = 0
            else:
                c['digital-in-%02d' % inpmap3[i]] = 0
                c['digital-in-%02d-not' % inpmap3[i]] = 1
            
    return        
    
################################################################
#                    TRANSMIT                          #        
################################################################
def doTx():
    for state in range(10):
        scale = c['analog-out-%02d-scale' % pwmpinmap[state]] or 1.
        offset = c['analog-out-%02d-offset' % pwmpinmap[state]]
        data = int((c['analog-out-%02d' % pwmpinmap[state]] - offset) / scale) 
        if data < 0: data = 0
        if data > 255: data = 255
        
        analogout[state] = data #  10 bytes of analog out data
        data = 0
        sout = 0
        dout = 0
        xout = 0
        pullup = 0
    for state in range(8):    
            if ( c['digital-out-%02d' % pinmap[state]]) == 1:
                if (not c['digital-out-%02d-invert' % pinmap[state]]):
                    sout |= (1 << state)
                else:
                    sout |= (0 << state)
            else:
                if (not c['digital-out-%02d-invert' % pinmap[state]]):
                    sout |= (0 << state)
                else:
                    sout |= (1 << state)
            if ( c['digital-out-%02d' % pinmap2[state]]) == 1:
                if (not c['digital-out-%02d-invert' % pinmap2[state]]):
                    dout |= (1 << state)
                else:
                    dout |= (0 << state)
            else:
                if (not c['digital-out-%02d-invert' % pinmap2[state]]):
                    dout |= (0 << state)
                else:
                    dout |= (1 << state)
            if ( c['digital-out-%02d' % pinmap3[state]]) == 1:
                if (not c['digital-out-%02d-invert' % pinmap3[state]]):
                    xout |= (1 << state)
                else:
                    xout |= (0 << state)
            else:
                if (not c['digital-out-%02d-invert' % pinmap3[state]]):
                    xout |= (0 << state)
                else:
                    xout |= (1 << state)
#            if ((c['digital-in-%02d-pullup' % pinmap[state]]) == 1):
#                pullup |= (1 << state)

    txbuf[0] = "D"
    txbuf[1] = (sout)
    txbuf[2] = (dout)
    txbuf[3] = (xout)
        txbuf[4] = analogout[state]
#    txbuf[5] = '~'    
#    txbuf[0] = soh
    service.sendto(format(txbuf), (REMOTE, R_PORT))
#    time.sleep(0.02)
    
    
################################################################
#                    MAIN LOOP                         #        
################################################################    
if __name__ == "__main__":
    try:
        while 1:
            doTx()
            doRx()
    except (KeyboardInterrupt,):
        raise SystemExit, 0






*/

/*
// defines.h 

#ifndef ETHERMEGADEFINES
#define ETHERMEGADEFINES


#define COMPUTERIP 192, 168, 3, 31
#define ARDUINOIP 192, 168, 3, 199

#define IPPORT 8888

// Mega 2560 ports

//  Pin Port Bit

//  22  PORTA 0 // STEPPORT
//  23  PORTA 1
//  24  PORTA 2
//  25  PORTA 3
//  26  PORTA 4
//  27  PORTA 5
//  28  PORTA 6
//  29  PORTA 7



//  53  PORTB 0
//  52  PORTB 1
//  51  PORTB 2
//  50  PORTB 3
//  10  PORTB 4  pwm  // Ethernet Shield
//  11  PORTB 5  pwm  // Ethernet Shield
//  12  PORTB 6  pwm  // Ethernet Shield
//  13  PORTB 7  pwm  // Ethernet Shield



//  37  PORTC 0 // DIRPORT
//  36  PORTC 1
//  35  PORTC 2
//  34  PORTC 3
//  33  PORTC 4
//  32  PORTC 5
//  31  PORTC 6
//  30  PORTC 7



//  21  PORTD 0  // INT 0
//  20  PORTD 1  // INT 1
//  19  PORTD 2  // INT 2
//  18  PORTD 3  // INT 3

//  38  PORTD 7



//  0   PORTE 0
//  1   PORTE 1

//  5   PORTE 3 
//  2   PORTE 4 // INT 4
//  3   PORTE 5 // INT 5

//  54      PORTF 0 // Analog Pin  0  // Digital Pin 54  // HOMES
//  55      PORTF 1 // Analog Pin  1  // Digital Pin 55
//  56      PORTF 2 // Analog Pin  2  // Digital Pin 56
//  57      PORTF 3 // Analog Pin  3  // Digital Pin 57
//  58      PORTF 4 // Analog Pin  4  // Digital Pin 58
//  59      PORTF 5 // Analog Pin  5  // Digital Pin 59
//  60      PORTF 6 // Analog Pin  6  // Digital Pin 60
//  61      PORTF 7 // Analog Pin  7  // Digital Pin 61

//  62      PORTK 0 // Analog Pin  8  // Digital Pin 62  // LIMITS
//  63      PORTK 1 // Analog Pin  9  // Digital Pin 63
//  64      PORTK 2 // Analog Pin 10  // Digital Pin 64
//  65      PORTK 3 // Analog Pin 11  // Digital Pin 65
//  66      PORTK 4 // Analog Pin 12  // Digital Pin 66
//  67      PORTK 5 // Analog Pin 13  // Digital Pin 67
//  68      PORTK 6 // Analog Pin 14  // Digital Pin 68
//  69      PORTK 7 // Analog Pin 15  // Digital Pin 69

//  41  PORTG 0
//  40  PORTG 1
//  39  PORTG 2

//  4   PORTG 5



//  17  PORTH 0
//  16  PORTH 1
//  6   PORTH 3
//  7   PORTH 4
//  8   PORTH 5
//  9   PORTH 6



//  15  PORTJ 0
//  14  PORTJ 1



//  49  PORTL 0 // XTRPORT
//  48  PORTL 1
//  47  PORTL 2
//  46  PORTL 3 pwm
//  45  PORTL 4 pwm
//  44  PORTL 5 pwm
//  43  PORTL 6
//  42  PORTL 7

///////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////

//  Pin Port Bit
//  22  PORTA 0 //   Step X
//  23  PORTA 1 //   Step Y
//  24  PORTA 2 //   Step Z
//  25  PORTA 3 //   Step A
//  26  PORTA 4 //   Step B
//  27  PORTA 5 //   Step C
//  28  PORTA 6 //   Step W
//  29  PORTA 7 //   Step U
//  53  PORTB 0 //   SS
//  52  PORTB 1 //   SCK        // Ethernet Shield Mega
//  51  PORTB 2 //   MOSI       // Ethernet Shield Mega
//  50  PORTB 3 //   MISO       // Ethernet Shield Mega
//  10  PORTB 4 //   ethernet shield
//  11  PORTB 5 //   ethernet shield
//  12  PORTB 6 //   ethernet shield
//  13  PORTB 7 //   ethernet shield
//  37  PORTC 0 //   Dir X
//  36  PORTC 1 //   Dir Y
//  35  PORTC 2 //   Dir Z
//  34  PORTC 3 //   Dir A
//  33  PORTC 4 //   Dir B
//  32  PORTC 5 //   Dir C
//  31  PORTC 6 //   Dir W
//  30  PORTC 7 //   Dir U
//  21  PORTD 0 //   SCL  //int
//  20  PORTD 1 //   SCA  //int
//  19  PORTD 2 //   RX1  //int
//  18  PORTD 3 //   TX1  //int
//  38  PORTD 7 //  
//  0   PORTE 0 //   RX0
//  1   PORTE 1 //   TX0
//  5   PORTE 3 //   pwm
//  2   PORTE 4 //   pwm  //int
//  3   PORTE 5 //   pwm  //int
//  41  PORTG 0 //  
//  40  PORTG 1 //  
//  39  PORTG 2 //  
//  4   PORTG 5 //   pwm
//  17  PORTH 0 //   RX2
//  16  PORTH 1 //   TX2
//  6   PORTH 3 //   pwm
//  7   PORTH 4 //   pwm
//  8   PORTH 5 //   pwm
//  9   PORTH 6 //   pwm
//  15  PORTJ 0 //   RX3
//  14  PORTJ 1 //   TX3
//  49  PORTL 0 //   
//  48  PORTL 1 //   
//  47  PORTL 2 //   
//  46  PORTL 3 //   pwm 
//  45  PORTL 4 //   pwm
//  44  PORTL 5 //   pwm
//  43  PORTL 6 //   
//  42  PORTL 7 //   
#endif

*/