Haskino Firmware Protocol Definition

General Frame Format

The Haskino Firmware protocol uses the following frame format for messages between the host computer and the Arduino:

Frame Flag	Command Type	Command Bytes	Checksum	Frame Flag
0x7E	0xXX	0xXX .. 0xXX	0xXX	0x7E

The frame flag at the start of the frame is optional, but may be used on the first frame to clear any partial frames that may have been left over from a previous conection. The checksum used is a simple additive checksum over the Command Type byte and the Command bytes (the entire frame except for the frame flags and the checksum itself). The checksum is also calculated over the original frame, and does not include escape characters. A checksum calculation was chosen over a CRC due to limited storage and processing power on the Arduino, and the low noise environment of the USB serial connection from the host to the board. The checksum is mainly used to detect partial frames that might be left over by an interrupted communications.

If the body of the frame contains any Frame Flag (0x7E) characters they are escaped by transforming them into a Frame Escape character (0x7D) and the Frame Flag xor'ed with 0x20 (which results in a two byte sequence of 0x7D 5E). If the Frame Escape character appears in the body, it is also escape, replaced with a Frame Escape followed by the Escape xor'ed with 0x20, resulting in a two byte sequence of (0x7D 0x5D).

Command Type

Board Control Commands (0x2x)

https://github.com/ku-fpg/haskino/wiki/Board-Control-Commands

Command Type	Command Name	Command Description
0x10	Set Pin Mode	Set the Pin Mode (INPUT/OUTPUT/INPUT_PULLUP of a pin)
0x11	Delay Milliseconds	Delay by a number of milliseconds
0x12	Delay Microseconds	Delay by a number of microseconds
0x13	System Reset	Command a reset of the board

Board Status Commands (0x2x)

https://github.com/ku-fpg/haskino/wiki/Board-Status-Commands

Command Type	Command Name	Command Description
0x20	Request Version	Request the Haskino Firmware version from the board
0x21	Request Type	Request the type of Arduino board from the board
0x22	Request Micros	Request the number of microseconds elapsed since reboot of the board
0x23	Request Millis	Request the number of milliseconds elapsed since reboot of the board
0x28	Response Version	Response from board with the Haskino Firmware version
0x29	Response Type	Response from board with the type of Arduino board
0x2A	Response Micros	Response from board with the number of microseconds elapsed since reboot of the board
0x2B	Response Millis	Response from board with the number of milliseconds elapsed since reboot of the board
0x2C	Response String	Response from the board with a string (Useful for debuging of the firmware code

Digital Commands (0x3x)

https://github.com/ku-fpg/haskino/wiki/Digital-Commands

Command Type	Command Name	Command Description
0x30	Digital Read Pin	Request a read of the digital pin
0x31	Digital Write Pin	Write a digital value to a pin
0x32	Response Digital Read Pin	Response with the digital value of a pin

Analog Commands (0x4x)

https://github.com/ku-fpg/haskino/wiki/Analog-Commands

Command Type	Command Name	Command Description
0x40	Analog Read	Request a read of the digital pin
0x41	Analog Write	Write a digital value to a pin
0x42	Tone	Output a tone on a pin of specified frequency and optionally duration
0x43	NoTone	Stop tone output on a pin
0x48	Response Analog Read	Response with the analog value of a pin

I2C Commands (0x5x)

https://github.com/ku-fpg/haskino/wiki/I2C-Commands

Command Type	Command Name	Command Description
0x50	I2C Read	Request a read of bytes from an I2C device
0x51	I2C Write	Write bytes to an I2C device
0x58	Response I2C Read	Response with the values from an I2C device

One Wire Commands (0x6x)

Command Type	Command Name	Command Description
0x6x	TBD

Servo Commands (0x8x)

Command Type	Command Name	Command Description
0x8x	TBD

Stepper Commands (0x9x)

Command Type	Command Name	Command Description
0x9x	TBD

Scheduler Commands (0xAx)

https://github.com/ku-fpg/haskino/wiki/Scheduler-Commands

Command Type	Command Name	Command Description
0xA0	Create Task	Create a scheduler task
0xA1	Delete Task	Delete a scheduler task
0xA2	Add To Task	Add commands to a scheduler task
0xA3	Schedule Task	Schedule a task for execution
0xA4	Query Task	Query a Task stats
0xA5	Query All Tasks	Query for a list of tasks
0xA6	Reset Scheduler	Reset scheduler, deleting all tasks
0xA8	Response Query Task	Response with status of a task
0xA9	Response Query All Tasks	Response with a list of tasks