Arduino HAL Mapping

//cartesian bot pins
#define X_STEP_PIN 3
#define X_DIR_PIN 4
#define X_ENABLE_PIN 5
#define X_MIN_PIN 6
#define X_MAX_PIN 7

#define Y_STEP_PIN 8
#define Y_DIR_PIN 9
#define Y_ENABLE_PIN 10
#define Y_MIN_PIN 11
#define Y_MAX_PIN 12

#define Z_STEP_PIN 14
#define Z_DIR_PIN 15
#define Z_ENABLE_PIN 16
#define Z_MIN_PIN 17
#define Z_MAX_PIN 18

loadusr -W arduino /dev/ttyUSB0 3
loadusr -Wn arduino-vcp pyvcp arduino-vcp.xml

show pin arduino-vcp

net ain0 arduino.analog-in-00 => arduino-vcp.analog-in-00 arduino-vcp.analog-in-00b
net ain1 arduino.analog-in-01 => arduino-vcp.analog-in-01 arduino-vcp.analog-in-01b
net ain2 arduino.analog-in-02 => arduino-vcp.analog-in-02 arduino-vcp.analog-in-02b
net ain3 arduino.analog-in-03 => arduino-vcp.analog-in-03 arduino-vcp.analog-in-03b
net ain4 arduino.analog-in-04 => arduino-vcp.analog-in-04 arduino-vcp.analog-in-04b
net ain5 arduino.analog-in-05 => arduino-vcp.analog-in-05 arduino-vcp.analog-in-05b

net din0 arduino.digital-in-08 => arduino-vcp.digital-in-08
net din1 arduino.digital-in-12 => arduino-vcp.digital-in-12
net din2 arduino.digital-in-13 => arduino-vcp.digital-in-13

net aout0 arduino.analog-out-03 => arduino-vcp.analog-out-03-f
net aout1 arduino.analog-out-05 => arduino-vcp.analog-out-05-f
net aout2 arduino.analog-out-06 => arduino-vcp.analog-out-06-f
net aout3 arduino.analog-out-09 => arduino-vcp.analog-out-09-f
net aout4 arduino.analog-out-10 => arduino-vcp.analog-out-10-f
net aout5 arduino.analog-out-11 => arduino-vcp.analog-out-11-f

net dout0 arduino.digital-out-02 <= arduino-vcp.digital-out-02
net dout1 arduino.digital-out-04 <= arduino-vcp.digital-out-04
net dout2 arduino.digital-out-07 <= arduino-vcp.digital-out-07

setp arduino.digital-in-08-pullup 1
setp arduino.digital-in-12-pullup 1
setp arduino.digital-in-13-pullup 1

waitusr arduino-vcp

void setup() {
    Serial.begin(9600);
}   

uint8_t adc=0;
uint8_t firstbyte=0;
uint8_t pinmap[6] = {2,4,7,8,12,13};
uint8_t dacpinmap[6] = {3,5,6,9,10,11};
void loop() {
  while(Serial.available()) {
        uint8_t byte = Serial.read();
        if(((firstbyte & 0x80) == 0x80) && ((byte & 0x80) == 0)) {
            // got a packet
            uint16_t payload = (firstbyte << 7) | byte;
            uint8_t address = (firstbyte >> 4) & 7;
            uint8_t dac = payload & 0xff;
            uint8_t dir = (payload & 0x100) == 0x100;
            uint8_t out = (payload & 0x200) == 0x200;
            if(address < 6) {
                analogWrite(dacpinmap[address], dac);
                digitalWrite(pinmap[address], out);
                pinMode(pinmap[address], dir);
            }
        }
        firstbyte = byte;
    }
    uint16_t v = analogRead(adc) | (adc << 11);
    if(digitalRead(pinmap[adc])) v |= (1<<10);
    Serial.print((v >> 7) | 0x80, BYTE);
    Serial.print(v & 0x7f, BYTE);
    adc = (adc + 1) % 6;
}
]

analogWrite(dacpinmap[address], dac);
digitalWrite(pinmap[address], out);
pinMode(pinmap[address], dir);

uint16_t v = analogRead(adc) | (adc << 11);
    if(digitalRead(pinmap[adc])) v |= (1<<10);
    Serial.print((v >> 7) | 0x80, BYTE);
    Serial.print(v & 0x7f, BYTE);
    adc = (adc + 1) % 6;