RASCII documentation as used in WIO.

RASCII:

$060C2101

Binary:

type=$
nid=31 (0x21)
opc=12 (0x0C)
dlc=1  (6/2 - 2)
data[0]=1

#define PREFIX_CMD '@'
#define PREFIX_EVT '$'
#define PREFIX_INF '#'
#define PREFIX_RSP '&'
#define PREFIX_TXT '/'

#define CMD_INFO        0
#define CMD_START       1
#define CMD_STOP        2
#define CMD_GETCONF     3
#define CMD_SETCONF     4
#define CMD_RESETCONF   5
#define CMD_GETCV       6
#define CMD_SETCV       7
#define CMD_DOUT        10
#define CMD_AOUT        11
#define CMD_ACCESSORY   12
#define CMD_MOBILE_DIRV 13
#define CMD_MOBILE_FUN  14
#define CMD_MOBILE_DISPATCH 15
#define CMD_MOBILE_RELEASE  16
#define CMD_EBREAK          17
#define CMD_SOD             18
#define CMD_QUERY           19
#define CMD_SETIDTYPE       20
#define CMD_SETWIO          21

#define CMD_SERVO           23
#define CMD_TEXT            24
#define CMD_CLOCK           25
#define CMD_SIGNAL          26
#define CMD_SWITCH          27
#define CMD_BINSTATE        28
#define CMD_MOBILE_SHORTID  29
#define CMD_CLEAR_SHORTIDS  30
#define CMD_END_SHORTIDS    31
#define CMD_SHUTDOWN        32
#define CMD_MOBILE_STATE    33
#define CMD_SOUND_PLAY      34
#define CMD_OTA             35
#define CMD_REBOOT          36
#define CMD_PT_ON           37
#define CMD_PT_OFF          38

#define EVT_ALIVE 0
#define EVT_OCC   1
#define EVT_RFID  2
#define EVT_DIN   3
#define EVT_AIN   4
#define EVT_DSEN  5
#define EVT_ASEN  6
#define EVT_DOUT  7
#define EVT_ACCESSORY    8
#define EVT_SHORTCIRCUIT 9
#define EVT_BIDI         10
#define EVT_SENSORID     11
#define EVT_STATE        12
#define EVT_MOBILE_STATE 13
#define EVT_GOODBYE      255

#define BIDI_SETCV   0 // POM
#define BIDI_GETCV   1 // POM
#define BIDI_ADDRESS 2
#define BIDI_DYN     3
#define BIDI_EXT     4

#define PORTTYPE_DOUT  0
#define PORTTYPE_AOUT  1
#define PORTTYPE_SERVO 2

typedef struct RASCIIFrame {
  char type;
  byte opc;
  byte nid;
  byte dlc;
  byte data[120];
} *iRASCIIFrame;
 
static byte _HEXA2Byte( const char* s ) {
  /*                    0  1  2  3  4  5  6  7  8  9  :  ;  <  =  >  ?  @  A   B   C   D   E   F */
  static char hexb[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 0, 0, 0, 0, 0, 0, 0, 10, 11, 12, 13, 14, 15};
  return (hexb[s[0] - 0x30] << 4) + hexb[s[1] - 0x30];
}
 
 
static char* _Byte2HEXA(byte b, char* c) {
  static char cHex[] = {'0','1','2','3','4','5','6','7','8','9','A','B','C','D','E','F'};
  c[0] = cHex[(b&0xF0)>>4];
  c[1] = cHex[ b&0x0F    ];
  c[2] = '\0';
  return c;
}
 
 
static int _encode( iRASCIIFrame frame, char* rascii) {
  int idx = 0;
 
  // Type @,#,$,&,/
  rascii[0] = frame->type;
  idx++;
 
  if( frame->dlc > 120 ) {
    TraceOp.trc( "RASCII", TRCLEVEL_WARNING, __LINE__, 9999, "encode: invalid length of %d (max. 120)", frame->dlc );
    return -1;
  }
 
  // Length = opc + rid + data
  _Byte2HEXA((frame->dlc + 1 + 1) * 2, rascii + idx);
  idx+=2;
 
  // Command, Event
  _Byte2HEXA(frame->opc, rascii+idx);
  idx+=2;
 
  // Recipioent ID
  _Byte2HEXA(frame->nid, rascii+idx);
  idx+=2;
 
  // Data
  if( frame->dlc <= 120 ) {
    for( int i = 0; i < frame->dlc; i++ ) {
      _Byte2HEXA(frame->data[i], rascii+idx);
      idx+=2;
    }
  }
  rascii[idx+0] = '\n';
  rascii[idx+1] = '\0';
  idx++;
 
  return idx;
}
 
 
static char _decode( const char* rascii, iRASCIIFrame frame ) {
  int idx = 0;
  frame->type = rascii[0];
  idx += 1;
  frame->dlc  = (RASCIIOp.HEXA2Byte(rascii+idx) / 2 );
 
  if( frame->dlc < 2 ) {
    TraceOp.trc( "RASCII", TRCLEVEL_WARNING, __LINE__, 9999, "decode: invalid length of %d", frame->dlc );
    return '\0';
  }
  idx += 2;
 
  frame->dlc -= 2; // dlc = len - opc - nid
 
  if( frame->dlc > 120 ) {
    TraceOp.trc( "RASCII", TRCLEVEL_WARNING, __LINE__, 9999, "decode: invalid length of %d", frame->dlc );
    return '\0';
  }
 
  frame->opc  = RASCIIOp.HEXA2Byte(rascii+idx);
  idx += 2;
  frame->nid  = RASCIIOp.HEXA2Byte(rascii+idx);
  idx += 2;
 
  for( int i = 0; i < frame->dlc; i++ ) {
    frame->data[i] = RASCIIOp.HEXA2Byte(rascii + idx + (i * 2) );
  }
 
  return rascii[0];
}
 
 
 
#ifndef __RASCII_CODES_H__
#define __RASCII_CODES_H__
 
#define PREFIX_CMD '@'
#define PREFIX_EVT '$'
#define PREFIX_INF '#'  // Text must be also escaped in HEXA.
#define PREFIX_RSP '&'
 
#define CMD_INFO        0
#define CMD_START       1
#define CMD_STOP        2
#define CMD_GETCONF     3
#define CMD_SETCONF     4
#define CMD_RESETCONF   5
#define CMD_GETCV       6
#define CMD_SETCV       7
#define CMD_DOUT        10
#define CMD_AOUT        11
#define CMD_ACCESSORY   12
#define CMD_MOBILE_DIRV 13
#define CMD_MOBILE_FUN  14
#define CMD_MOBILE_DISPATCH 15
#define CMD_MOBILE_RELEASE  16
#define CMD_EBREAK          17
#define CMD_SOD             18
#define CMD_QUERY           19
#define CMD_SETIDTYPE       20
#define CMD_SETWIO          21
 
#define CMD_SERVO           23
#define CMD_TEXT            24
#define CMD_CLOCK           25
#define CMD_SIGNAL          26
#define CMD_SWITCH          27
#define CMD_BINSTATE        28
#define CMD_MOBILE_SHORTID  29
#define CMD_CLEAR_SHORTIDS  30
#define CMD_END_SHORTIDS    31
#define CMD_SHUTDOWN        32
#define CMD_MOBILE_STATE    33
#define CMD_SOUND_PLAY      34
#define CMD_OTA             35
#define CMD_REBOOT          36
#define CMD_PT_ON           37
#define CMD_PT_OFF          38
#define CMD_ACC_GETCV       39
#define CMD_ACC_SETCV       40
#define CMD_ACC_PAIR        41
#define CMD_MOTOR           42
#define CMD_SLEEP           43
#define CMD_SHOW            44 // Identify by flashing LED(s)
#define CMD_STARTCAM        45
#define CMD_STOPCAM         46
 
#define EVT_ALIVE 0
#define EVT_OCC   1
#define EVT_RFID  2
#define EVT_DIN   3
#define EVT_AIN   4
#define EVT_DSEN  5
#define EVT_ASEN  6
#define EVT_DOUT  7
#define EVT_ACCESSORY    8
#define EVT_SHORTCIRCUIT 9
#define EVT_BIDI         10
#define EVT_SENSORID     11
#define EVT_STATE        12
#define EVT_MOBILE_STATE 13
#define EVT_PT           14
#define EVT_IO           15
#define EVT_GOODBYE      255
 
#define BIDI_SETCV   0 // POM
#define BIDI_GETCV   1 // POM
#define BIDI_ADDRESS 2
#define BIDI_DYN     3
#define BIDI_EXT     4
#define BIDI_PT      5
#define BIDI_SC      6 // Short circuit
 
#define PROGOPT_PT     0x01
#define PROGOPT_ACC    0x02
#define PROGOPT_SET    0x04 // GET if not set
 
#define PORTTYPE_DOUT  0
#define PORTTYPE_AOUT  1
#define PORTTYPE_SERVO 2
#define PORTTYPE_PAIR  3
#define PORTTYPE_MOTOR 4
#define PORTTYPE_DIN   5
#define PORTTYPE_ACC   6
#define PORTTYPE_LED   7
 
#define STATEFLAG_POWER 0x01
 
#define PORT_STATE_STRAIGHT 0
#define PORT_STATE_TURNOUT  1
 
#define RFID_LENGTH_MASK  0x0F
#define RFID_STATE_OFF    0x80
#define RFID_STATE_ERROR  0x40
 
#define SUBIOTYPE_NONE     0
#define SUBIOTYPE_LED      1
#define SUBIOTYPE_SERVO    2
#define SUBIOTYPE_RFID     3
#define SUBIOTYPE_DCC      4
#define SUBIOTYPE_MOBILE   5
#define SUBIOTYPE_CAM      6
#define SUBIOTYPE_CANBUS   7
#define SUBIOTYPE_THROTTLE 8
 
#define MOBILE_STATE_LOWBATTERY 1
 
 
#endif