amtec: amtec_io.c Source File

00001 /*********************************************************************
00002  *
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2008, Robert Bosch LLC.
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/or other materials provided
00017  *     with the distribution.
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00020  *     from this software without specific prior written permission.
00021  *
00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00032  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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00035  *********************************************************************/
00036  
00037 #include <stdio.h>
00038 #include <stdlib.h>
00039 #include <math.h>
00040 #include <termios.h>
00041 #include <unistd.h>
00042 #include <fcntl.h>
00043 #include <errno.h>
00044 #include <string.h>
00045 #include <sys/types.h>
00046 #include <sys/stat.h>
00047 #include <sys/ioctl.h>
00048 #include <sys/time.h>
00049 #include <linux/serial.h>
00050 #include "amtec_io.h"
00051 
00052 //#define IO_DEBUG
00053 
00054 int iParity(enum PARITY_TYPE par)
00055 {
00056   if (par == N)
00057     return (IGNPAR);
00058   else
00059     return (INPCK);
00060 }
00061 
00062 int iSoftControl(int flowcontrol)
00063 {
00064   if (flowcontrol)
00065     return (IXON);
00066   else
00067     return (IXOFF);
00068 }
00069 
00070 int cDataSize(int numbits)
00071 {
00072   switch (numbits) {
00073   case 5:
00074     return (CS5);
00075     break;
00076   case 6:
00077     return (CS6);
00078     break;
00079   case 7:
00080     return (CS7);
00081     break;
00082   case 8:
00083     return (CS8);
00084     break;
00085   default:
00086     return (CS8);
00087     break;
00088   }
00089 }
00090 
00091 int cStopSize(int numbits)
00092 {
00093   if (numbits == 2)
00094     return (CSTOPB);
00095   else
00096     return (0);
00097 }
00098 
00099 int cFlowControl(int flowcontrol)
00100 {
00101   if (flowcontrol)
00102     return (CRTSCTS);
00103   else
00104     return (CLOCAL);
00105 }
00106 
00107 int cParity(enum PARITY_TYPE par)
00108 {
00109   if (par != N) {
00110     if (par == O)
00111       return (PARENB | PARODD);
00112     else
00113       return (PARENB);
00114   } else
00115     return (0);
00116 }
00117 
00118 int cBaudrate(int baudrate)
00119 {
00120   switch (baudrate) {
00121   case 0:
00122     return (B0);
00123     break;
00124   case 300:
00125     return (B300);
00126     break;
00127   case 600:
00128     return (B600);
00129     break;
00130   case 1200:
00131     return (B1200);
00132     break;
00133   case 2400:
00134     return (B2400);
00135     break;
00136   case 4800:
00137     return (B4800);
00138     break;
00139   case 9600:
00140     return (B9600);
00141     break;
00142   case 19200:
00143     return (B19200);
00144     break;
00145   case 38400:
00146     return (B38400);
00147     break;
00148   case 57600:
00149     return (B57600);
00150     break;
00151   case 115200:
00152     return (B115200);
00153     break;
00154   case 500000:
00155     /* to use 500k you have to change the entry of B460800 in you kernel:
00156      /usr/src/linux/drivers/usb/serial/ftdi_sio.h:
00157      ftdi_8U232AM_48MHz_b460800 = 0x0006    */
00158     return (B460800);
00159     break;
00160   default:
00161     return (B9600);
00162     break;
00163   }
00164 }
00165 
00166 long bytesWaiting(int sd)
00167 {
00168   long available = 0;
00169   if (ioctl(sd, FIONREAD, &available) == 0)
00170     return available;
00171   else
00172     return -1;
00173 }
00174 
00175 void amtecDeviceSetParams(amtec_powercube_device_p dev)
00176 {
00177   struct termios ctio;
00178 
00179   tcgetattr(dev->fd, &ctio); /* save current port settings */
00180 
00181   ctio.c_iflag = iSoftControl(dev->swf) | iParity(dev->parity);
00182   ctio.c_oflag = 0;
00183   ctio.c_cflag = CREAD | cFlowControl(dev->hwf || dev->swf)
00184                        | cParity(dev->parity)
00185                        | cDataSize(dev->databits)
00186                        | cStopSize(dev->stopbits);
00187   ctio.c_lflag = 0;
00188   ctio.c_cc[VTIME] = 0; /* inter-character timer unused */
00189   ctio.c_cc[VMIN] = 0; /* blocking read until 0 chars received */
00190 
00191   cfsetispeed(&ctio, (speed_t) cBaudrate(dev->baud));
00192   cfsetospeed(&ctio, (speed_t) cBaudrate(dev->baud));
00193 
00194   tcflush(dev->fd, TCIFLUSH);
00195   tcsetattr(dev->fd, TCSANOW, &ctio);
00196 }
00197 
00198 void amtecDeviceSetBaudrate(amtec_powercube_device_p dev, int brate)
00199 {
00200   struct termios ctio;
00201 
00202   tcgetattr(dev->fd, &ctio); /* save current port settings */
00203 
00204   cfsetispeed(&ctio, (speed_t) cBaudrate(brate));
00205   cfsetospeed(&ctio, (speed_t) cBaudrate(brate));
00206 
00207   tcflush(dev->fd, TCIFLUSH);
00208   tcsetattr(dev->fd, TCSANOW, &ctio);
00209 }
00210 
00211 int amtecDeviceConnectPort(amtec_powercube_device_p dev)
00212 {
00213   fprintf(stderr, "\nset device:\n");
00214   fprintf(stderr, "   port   = %s\n", dev->ttyport);
00215   fprintf(stderr, "   baud   = %d\n", dev->baud);
00216   fprintf(stderr, "   params = %d%s%d\n", dev->databits,
00217                                           dev->parity == N ? "N": dev->parity == O ? "O" : "E",
00218                                           dev->stopbits);
00219   if ((dev->fd = open((dev->ttyport), (O_RDWR | O_NOCTTY), 0)) < 0)
00220     return (-1);
00221   amtecDeviceSetParams(dev);
00222   return (dev->fd);
00223 }
00224 
00225 int waitForETX(int fd, unsigned char *buf, int *len)
00226 {
00227   static int pos, loop, val;
00228 #ifdef IO_DEBUG
00229   int i;
00230 #endif
00231   pos = 0;
00232   loop = 0;
00233   while (loop < MAX_NUM_LOOPS) {
00234     val = bytesWaiting(fd);
00235     if (val > 0) {
00236       if(pos + val >= MAX_ACMD_SIZE) return (0);
00237       read(fd, &(buf[pos]), val);
00238 #ifdef IO_DEBUG
00239       for(i=0;i<val;i++)
00240       fprintf(stderr, "[0x%s%x]", buf[pos+i]<16?"0":"", buf[pos+i]);
00241 #endif
00242       if (buf[pos + val - 1] == B_ETX) {
00243         *len = pos + val - 1;
00244 #ifdef IO_DEBUG
00245         fprintf(stderr, "\n");
00246 #endif
00247         return (1);
00248       }
00249       pos += val;
00250     } else {
00251       usleep(1000);
00252       loop++;
00253     }
00254   }
00255 #ifdef IO_DEBUG
00256   fprintf(stderr, "\n");
00257 #endif
00258   return (0);
00259 }
00260 
00261 int waitForAnswer(int fd, unsigned char *buf, int *len)
00262 {
00263   int loop = 0;
00264   *len = 0;
00265 #ifdef IO_DEBUG
00266   fprintf(stderr, "<--- ");
00267 #endif
00268   while (loop < MAX_NUM_LOOPS) {
00269     if (bytesWaiting(fd)) {
00270       read(fd, &(buf[0]), 1);
00271 #ifdef IO_DEBUG
00272       fprintf(stderr, "(0x%s%x)", buf[0]<16?"0":"", buf[0]);
00273 #endif
00274       if (buf[0] == B_STX) {
00275         return (waitForETX(fd, buf, len));
00276       }
00277     } else {
00278       usleep(1000);
00279       loop++;
00280     }
00281   }
00282 #ifdef IO_DEBUG
00283   fprintf(stderr, "\n");
00284 #endif
00285   return (0);
00286 }
00287 
00288 int writeData(int fd, unsigned char *buf, int nChars)
00289 {
00290   int written = 0;
00291   while (nChars > 0) {
00292     written = write(fd, buf, nChars);
00293     if (written < 0) {
00294       return 0;
00295     } else {
00296       nChars -= written;
00297       buf += written;
00298     }
00299     usleep(1000);
00300   }
00301   return 1;
00302 }
00303 
00304 int amtecSendCommand(amtec_powercube_device_p dev, int id, unsigned char *cmd, int len)
00305 {
00306   static int i, ctr, add;
00307   static unsigned char rcmd[MAX_ACMD_SIZE];
00308   static unsigned char bcc;
00309   static unsigned char umnr;
00310   static unsigned char lmnr;
00311 
00312 #ifdef IO_DEBUG
00313   fprintf(stderr, "\n---> ");
00314   for(i=0;i<len;i++) {
00315     fprintf(stderr, "(0x%s%x)", cmd[i]<16?"0":"", cmd[i]);
00316   }
00317   fprintf(stderr, "\n");
00318 #endif
00319 
00320   add = 0;
00321   lmnr = id & 7;
00322   lmnr = lmnr << 5;
00323   umnr = id >> 3;
00324   umnr = umnr | 4;
00325   for (i = 0; i < len; i++) {
00326     if ((cmd[i] == 0x02) || (cmd[i] == 0x03) || (cmd[i] == 0x10)) {
00327       add++;
00328     }
00329   }
00330   lmnr = lmnr + len;
00331   rcmd[0] = B_STX;
00332   rcmd[1] = umnr;
00333   rcmd[2] = lmnr;
00334   ctr = 3;
00335   for (i = 0; i < len; i++) {
00336     switch (cmd[i]) {
00337     case 0x02:
00338       rcmd[ctr] = 0x10;
00339       rcmd[++ctr] = 0x82;
00340       break;
00341     case 0x03:
00342       rcmd[ctr] = 0x10;
00343       rcmd[++ctr] = 0x83;
00344       break;
00345     case 0x10:
00346       rcmd[ctr] = 0x10;
00347       rcmd[++ctr] = 0x90;
00348       break;
00349     default:
00350       rcmd[ctr] = cmd[i];
00351     }
00352     ctr++;
00353   }
00354   bcc = id;
00355   for (i = 0; i < len; i++) {
00356     bcc += cmd[i];
00357   }
00358   bcc = bcc + (bcc >> 8);
00359   switch (bcc) {
00360   case 0x02:
00361     rcmd[ctr++] = 0x10;
00362     rcmd[ctr++] = 0x82;
00363     break;
00364   case 0x03:
00365     rcmd[ctr++] = 0x10;
00366     rcmd[ctr++] = 0x83;
00367     break;
00368   case 0x10:
00369     rcmd[ctr++] = 0x10;
00370     rcmd[ctr++] = 0x90;
00371     break;
00372   default:
00373     rcmd[ctr++] = bcc;
00374   }
00375   rcmd[ctr++] = B_ETX;
00376 
00377 #ifdef IO_DEBUG
00378   fprintf(stderr, "-*-> ");
00379   for(i=0;i<ctr;i++) {
00380     fprintf(stderr, "(0x%s%x)", rcmd[i]<16?"0":"", rcmd[i]);
00381   }
00382   fprintf(stderr, "\n");
00383 #endif
00384 
00385   if (writeData(dev->fd, rcmd, ctr)) {
00386     return (1);
00387   } else {
00388     return (0);
00389   }
00390 }
00391 
00392 void convertBuffer(unsigned char *cmd, int *len)
00393 {
00394   int i, j;
00395   for (i = 0; i < *len; i++) {
00396     if (cmd[i] == B_DLE) {
00397       switch (cmd[i + 1]) {
00398       case 0x82:
00399         cmd[i] = 0x02;
00400         for (j = i + 2; j < *len; j++)
00401           cmd[j - 1] = cmd[j];
00402         (*len)--;
00403         break;
00404       case 0x83:
00405         cmd[i] = 0x03;
00406         for (j = i + 2; j < *len; j++)
00407           cmd[j - 1] = cmd[j];
00408         (*len)--;
00409         break;
00410       case 0x90:
00411         cmd[i] = 0x10;
00412         for (j = i + 2; j < *len; j++)
00413           cmd[j - 1] = cmd[j];
00414         (*len)--;
00415         break;
00416       }
00417     }
00418   }
00419 }
00420 
00421 int amtecGetAnswer(amtec_powercube_device_p dev, unsigned char *cmd, int *len)
00422 {
00423 #ifdef IO_DEBUG
00424   int i;
00425 #endif
00426   if (waitForAnswer(dev->fd, cmd, len)) {
00427 #ifdef IO_DEBUG
00428     fprintf(stderr, "<=== ");
00429     for(i=0;i<*len;i++)
00430     fprintf(stderr, "[0x%s%x]", cmd[i]<16?"0":"", cmd[i]);
00431     fprintf(stderr, "\n");
00432 #endif
00433     convertBuffer(cmd, len);
00434 #ifdef IO_DEBUG
00435     fprintf(stderr, "<=p= ");
00436     for(i=0;i<*len;i++)
00437     fprintf(stderr, "[0x%s%x]", cmd[i]<16?"0":"", cmd[i]);
00438     fprintf(stderr, "\n");
00439 #endif
00440     return (1);
00441   } else {
00442     return (0);
00443   }
00444 }