C_RESULT run_com_server(COM_PROTOCOL protocol)
{
srv.socket = COM_SERVER;
srv.protocol = protocol;
if(protocol == COM_RFCOMM)
{
srv.scn = BTADDR_SCN;
}
else if(protocol == COM_BNEP)
{
srv.port = BTADDR_PORT;
srv.serverHost = SERVERHOST;
}
else
return C_FAIL;
if(FAILED(com_open(&srv,&read,&write)))
return C_FAIL;
com_passKey(PIN_CODE);
if(FAILED(com_accept(&srv,&clt)))
return C_FAIL;
return C_OK;
}
STATUS_E download_images(const struct image *download_agent,
const struct image *download_agent_TCM,
const struct image *nor_flash_table,
const struct image *nand_flash_table,
const struct image *download_EPP,
const struct image *bootLoader,
const struct image *extBootLoader,
const struct image *dspBootLoader,
const struct image *rom,
const struct image *secondRom,
const struct image *dspRom,
const struct image *demand_paging_rom,
struct image *linux_images,
const struct ExternalMemorySetting *externalMemorySetting,
unsigned int num_linux_images,
unsigned int bmt_address,
int isUSB,
int isNFB)
{
COM_HANDLE com_handle = INVALID_COM_HANDLE;
STATUS_E status;
if(isUSB){
int retry = 0;
while(1)
{
Sleep(100);
//if (com_open(&com_handle, 19200) == COM_STATUS_DONE)
if (com_open(&com_handle, 115200) == COM_STATUS_DONE)
{
log_output("handle (%d)\n", com_handle);
log_feedback("SUCCESS:handle port (%d)\n",com_handle);
break;
}else{
log_output("faile handle (%d)\n", com_handle);
log_feedback("FAIL:handle port (%d)\n",com_handle);
com_close(&com_handle);
if (++retry > 10)
return S_COM_PORT_OPEN_FAIL;
}
}
}else{
if (com_open(&com_handle, 115200) != COM_STATUS_DONE)
{
log_output("Failed to open the communication port\n");
return S_COM_PORT_OPEN_FAIL;
}
}
status = bootrom_stage(com_handle, download_agent,download_agent_TCM, download_EPP, externalMemorySetting, isUSB, isNFB);
if (status != S_DONE)
{
log_output("Download failed in BootROM stage: error=%u\n", status);
//com_close(&com_handle);
return status;
}
status = da_stage(com_handle, nor_flash_table, nand_flash_table,
bootLoader,extBootLoader,dspBootLoader, rom, secondRom, dspRom, demand_paging_rom,
linux_images,
num_linux_images,
isUSB,
isNFB,
bmt_address);
if (status != S_DONE)
{
log_output("Download failed in DA stage: error=%u\n", status);
//com_close(&com_handle);
//Sleep(5000);
return status;
}
log_feedback("FINISHED UPDATE");
log_output("FINISHED UPDATAE!\n");
if (com_close(&com_handle) != COM_STATUS_DONE)
{
log_output("Failed to close the communication port\n");
//Sleep(5000);
}
//Sleep(5000);
return S_DONE;
}
void main()
{
int e_flag; /* event flag */
int rc; /* function return code */
char buffer[BUFLEN+2]; /* general buffer */
char prompt[BUFLEN+2]; /* prompt buffer */
int prlen;
int length;
long tstart;
/* open com port */
rc = com_open( (int*) &e_flag, 1200);
if ( rc != 0) {
printf("\nOPEN failed!\n");
printf("error code = %d\n",rc);
abort_test();
}
/* setup prompt string */
strcpy(prompt, "\r\nEnter string: ");
prlen = strlen(prompt);
/* prompt and read until "quit" is typed */
buffer[0] = NULCH;
while (strcmp(buffer,"quit\r\n") != 0) {
/* display the prompt */
e_flag = 0;
rc = com_write((char*) prompt, (int*) &prlen);
if (rc != 0) {
printf("\nerror displaying prompt!\n");
printf("error code = %d\n",rc);
abort_test();
}
/* loop until output is done */
tstart = time(NULL);
while (e_flag == 0) {
if ((time(NULL) - tstart) > WR_TIME_LIMIT) {
printf("\ntimeout on prompt\n");
printf("event flag not set\n");
exit();
}
}
/* read a string */
length = BUFLEN-1;
e_flag = 0;
rc = com_read((char*) buffer, (int*) &length);
if (rc != 0) {
printf("\nerror reading string!\n");
printf("error code = %d\n",rc);
abort_test();
}
/* loop until input is done */
tstart = time(NULL);
while (e_flag == 0) {
if ((time(NULL) - tstart) > RD_TIME_LIMIT) {
printf("\ntimeout on input\n");
printf("event flag not set\n");
abort_test();
}
}
/* display the input string */
e_flag = 0;
if (buffer[length-1] == '\n') {
buffer[length-1] = NULCH;
length--;
}
strcat(buffer,"\r\n");
length = length + 2;
printf("%s",buffer);
rc = com_write((char*) buffer, (int*) &length);
if (rc != 0) {
printf("\nerror displaying string!\n");
printf("error code = %d\n",rc);
abort_test();
}
/* loop until output is done */
tstart = time(NULL);
while (e_flag == 0) {
if ((time(NULL) - tstart) > WR_TIME_LIMIT) {
printf("\ntimeout on output\n");
printf("event flag not set\n");
abort_test();
}
}
} /* end of while loop */
/* print final message */
e_flag = 0;
length = 29;
printf("\nEnd of Com Driver IO Test\n");
rc = com_write((char*) "\r\nEnd of Com Driver IO Test\r\n",
(int*) &length);
if (rc != 0) {
printf("\nWRITE error on final message!\n");
printf("error code = %d\n",rc);
abort_test();
}
/* loop until output is done */
tstart = time(NULL);
while (e_flag == 0) {
if ((time(NULL) - tstart) > WR_TIME_LIMIT) {
printf("\ntimeout on final message\n");
printf("event flag not set\n");
abort_test();
}
}
/* close the com port */
rc = com_close();
if ( rc != 0) {
printf("\nCLOSE failed!\n");
printf("error code = %d\n",rc);
exit();
}
printf("Test completed successfully!\n");
}
int main(int argc,char* argv[])
{
com_config_t cfg;
vp_com_connection_t conn;
printf("---------- Network Adapter Inquiry ----------\n");
com_networkAdapterLookUp(COM_BLUETOOTH,adapterinquiry_df);
printf("---------------------------------------------\n");
cfg.connection = COM_BLUETOOTH;
cfg.localAdapterName = DEVICENAME;
cfg.localIpAddress = LOCALHOST;
cfg.localIpSubmask = "255.255.255.0";
printf("--------------- INITIALISATION --------------\n");
if(FAILED(com_init(&cfg)))
{
printf("Failed to init\n");
com_shutdown();
return -1;
}
/*
printf("----------- Remote Device Inquiry -----------\n");
com_inquire(deviceinquiry,60000);
printf("---------------------------------------------\n");
*/
printf("---------- Tentative de connection ----------\n");
com_strToAddress(BTADDR_SERVER,&conn.address);
com_passKey("1234");
if(FAILED(com_connect(&conn,1)))
{
printf("Failed to connect\n");
com_shutdown();
return -1;
}
printf("Connected to BTT\n");
printf("---------- BNEP Connection ----------\n");
{// Test d'execution bnep
com_socket_t socket;
Read read;
socket.socket = VP_COM_CLIENT;
socket.protocol = COM_BNEP;
socket.serverHost = SERVERHOST;
socket.port = BTADDR_PORT;
if(SUCCEED(com_open(&socket,&read,0)))
{
char buffer[10];
int r = 10;
printf("Connection BNEP succeeded\n");
if(SUCCEED(read((void*)&socket,buffer,&r)))
printf("Read succeed\n");
printf("socket closed\n");
com_close(&socket);
}
}
sleep(1);
printf("---------- RFCOMM Connection ----------\n");
{// Test d'execution rfcomm
com_socket_t socket;
Write write;
socket.socket = VP_COM_CLIENT;
socket.protocol = COM_RFCOMM;
socket.scn = BTADDR_SCN;
if(SUCCEED(com_open(&socket,0,&write)))
{
char buffer[10];
int r = 10;
printf("Connection RFCOMM succeeded\n");
if(SUCCEED(write((void*)&socket,buffer,&r)))
printf("Write succeed\n");
printf("socket closed\n");
com_close(&socket);
}
}
sleep(1);
printf("Deconnection\n");
com_disconnect();
printf("End of program\n");
com_shutdown();
return 0;
}
void main(void)
{
int e_flag; /* event flag */
int ix; /* loop index */
int rc; /* function return code */
char buffer[BUFLEN]; /* output buffer */
int length;
long tstart;
/* open com port */
rc = com_open( (int *) &e_flag, 1200);
if ( rc != 0) {
printf("\nOPEN failed!\n");
printf("error code = %d\n",rc);
abort_test();
}
/* fill buffer with Xs */
for (ix=0; ix<BUFLEN; ix++) buffer[ix] = 'X';
/* insert test string */
strcpy(buffer,"This is a test of com driver output ");
strcat(buffer,"abcdefghijklmnopqrstuvwxyz 0123456789\012\015");
length = strlen(buffer);
/* output test string the specified number of times */
for (ix=1; ix<=REPEAT_COUNT; ix++) {
e_flag = 0;
rc = com_write((char *) buffer, (int *) &length);
if (rc != 0) {
printf("\nWRITE error!\n");
printf("error code = %d\n",rc);
abort_test();
}
/* loop until output is done */
tstart = time(NULL);
while (e_flag == 0) {
if ((time(NULL) - tstart) > TIME_LIMIT) {
printf("\nTIMEOUT: event flag not set\n");
abort_test();
}
}
}
/* output final message */
e_flag = 0;
length = 31;
rc = com_write((char *) "End of Com Driver Output Test\012\015",
(int *) &length);
if (rc != 0) {
printf("\nWRITE error on final message!\n");
printf("error code = %d\n",rc);
abort_test();
}
/* loop until output is done */
tstart = time(NULL);
while (e_flag == 0) {
if ((time(NULL) - tstart) > TIME_LIMIT) {
printf("\nTIMEOUT: event flag not set\n");
abort_test();
}
}
/* close the com port */
rc = com_close();
if ( rc != 0) {
printf("\nCLOSE failed!\n");
printf("error code = %d\n",rc);
exit();
}
printf("Test completed successfully!\n");
}
/**
* Main, startup
*/
int main(int argc, char *argv[]) {
// Filename of the HEX File
const char * hexfile = NULL;
// 1 if verify, 2 if programm
char verify = 0;
// Serial device
const char * device = "/dev/ttyS0";
// Baudrate
int baud = 4800;
int baudid = -1;
// if crc is supported (not supportet if 2)
int crc_on;
// The path to the binary (for finding devices.txt)
readlink("/proc/self/exe", devices_file_p, 255); // symlink to this binary
chp = strrchr (devices_file_p,'/'); // get the last path separator
if (chp) strcpy (chp+1,DEVICES_FILE); // copy the device filename after the path separator
// print header
printf("\n");
printf("=================================================\n");
printf("| BOOTLOADER, Target: V2.1 |\n");
printf("=================================================\n");
// Parsing / checking parameter
int i;
int type = 0;
for(i = 1; i < argc; i++) {
if(*argv[i] == '-') {
type = argv[i][1];
}
else {
switch(type) {
case 'd':
device = argv[i];
break;
case 'b':
baud = atoi(argv[i]);
break;
case 'v':
verify = 1;
hexfile = argv[i];
break;
case 'p':
verify = 2;
hexfile = argv[i];
break;
default:
printf("Wrong parameter!\n");
usage();
}
type = 0;
}
}
if(hexfile == NULL) {
printf("No hexfile specified!\n");
usage();
}
if(verify == 0) {
printf("No Verify / Programm specified!\n");
usage();
}
// Checking baudrate
for(i = 0; i < BAUD_CNT; i++) {
if (baud_value[i] == baud) {
baudid = i;
break;
}
}
if(baudid == -1) {
printf("Unknown baudrate (%i)!\n", baud);
usage();
}
printf("Device : %s\n", device);
printf("Baudrate : %i\n", baud);
printf("%s: %s\n", (verify == 1 ? "Verify " : "Program "), hexfile);
printf("-------------------------------------------------\n");
if(!com_open(device, baud_const[baudid])) {
printf("Open com port failed!\n");
exit(2);
}
connect_device();
crc_on = check_crc();
read_info();
/*if(read_info()) {
}
else {
printf("Reading device information failed!\n");
}*/
if(crc_on != 2) {
crc_on = check_crc();
switch(crc_on) {
case 2:
printf("No CRC support.\n");
break;
case 0:
printf("CRC enabled and OK.\n");
break;
case 3:
printf("CRC check failed!\n");
break;
default:
printf("Checking CRC Error (%i)!\n", crc_on);
break;
}
}
else {
printf("No CRC support.\n");
}
flash(verify==1, hexfile);
if( crc_on != 2 ) {
if( check_crc() )
printf( "CRC-Error !\n");
else
printf("CRC: o.k.\n");
}
#ifdef SHOW_TIME_MS
//time @ ms
printf("Elapsed time: %d s\n", elapsed_msecs (&t_start));
#endif
#ifdef SHOW_TIME_S
printf("Elapsed time: %.3f seconds\n", elapsed_secs (&t_start));
#endif
printf("...starting application\n\n");
sendcommand(START);//start application
sendcommand(START);
com_close();//close opened com port
return 0;
}
void CreateIOCB(){
TerminalQueue = sys_alloc_mem(sizeof(IOCB));
Com_PortQueue = sys_alloc_mem(sizeof(IOCB));
trm_open(&TerminalQueue->event_flag);
com_open(&Com_PortQueue->event_flag,1200);
}
int main(void)
{
com_config_t config;
vp_com_connection_t connection;
config.connection = VP_COM_WIFI;
config.localAdapterName = "rausb0";
connection.essid = "Drone";
connection.channel = 10;
if(FAILED(com_init(&config)))
PRINT("com_init failed\n");
if(FAILED(com_passKey("9F1C3EE11CBA230B27BF1C1B6F")))
PRINT("com_passKey failed\n");
if(FAILED(com_connect(&connection,1)))
PRINT("com_connect failed\n");
clt.socket = VP_COM_CLIENT;
clt.port = DRONE_PORT;
clt.serverHost = DRONE_HOST;
if(SUCCEED(com_open(&clt,&my_read,&my_write)))
{
int32_t i = 0;
float st = timeGetTime();
float et = timeGetTime();
float db = 0.0f;
float d = 0.0f;
for(i=0; i < TIME_TO_SEND;i++)
{
int32_t received;
PRINT("\r reception n° %d... ",i);
received = 0;
size = SIZE_TO_SEND;
while(received != SIZE_TO_SEND)
{
my_read(&clt,buffer,&size);
received += size;
size = SIZE_TO_SEND - received;
}
PRINT("%d bytes ",received);
}
et = timeGetTime();
d = (et - st) / 1000.0f;
if(d > 0)
{
float tx = SIZE_TO_SEND * TIME_TO_SEND / 1024.0f;
db = tx / d;
}
PRINT("\n---------------\n");
PRINT("Start Time : %f\n",st);
PRINT("End Time : %f\n",et);
PRINT("%d Kbytes sent in %f time\n",SIZE_TO_SEND * TIME_TO_SEND / 1024,d);
PRINT("Debit: %f\n",db);
PRINT("\n---------------\n");
}
else
{
PRINT("snif... pas connecte a la socket\n");
}
PRINT("Waiting for disconnection\n");
vp_delay(5000);
com_disconnect();
PRINT("Disconnected\n");
com_shutdown();
return 0;
}
int main(int argc, char *argv[])
{
int it = 0;
int done = 0;
nmeaINFO info;
nmeaPARSER parser;
int select_result = -1; // value returned frome select()
struct timeval select_timeout;
int nfds = 0;
fd_set rset;
char rs232_device;
int bytes_read;
char rs232_buffer[1024];
char *token;
char nmea_message[256];
rs232_device = com_open("/dev/ttyO2", 4800, 'N', 8, 1);
if(rs232_device < 0)
perror("com_open");
// Select UART2_TX and set it as output
printf("Setting tx. . .\n");
sprintf(rs232_buffer, "echo 11 > /sys/kernel/debug/omap_mux/spi0_d0");
if(system(rs232_buffer) < 0)
perror("setting tx");
// Select UART1_RX and set it as input pulled up
printf("Setting rx. . .\n");
sprintf(rs232_buffer, "echo 39 > /sys/kernel/debug/omap_mux/spi0_sclk");
if(system(rs232_buffer) < 0)
perror("setting rx");
const char *buff[] = {
"$GPRMC,173843,A,3349.896,N,11808.521,W,000.0,360.0,230108,013.4,E*69\r\n",
"$GPGGA,111609.14,5001.27,N,3613.06,E,3,08,0.0,10.2,M,0.0,M,0.0,0000*70\r\n",
"$GPGSV,2,1,08,01,05,005,80,02,05,050,80,03,05,095,80,04,05,140,80*7f\r\n",
"$GPGSV,2,2,08,05,05,185,80,06,05,230,80,07,05,275,80,08,05,320,80*71\r\n",
"$GPGSA,A,3,01,02,03,04,05,06,07,08,00,00,00,00,0.0,0.0,0.0*3a\r\n",
"$GPRMC,111609.14,A,5001.27,N,3613.06,E,11.2,0.0,261206,0.0,E*50\r\n",
"$GPVTG,217.5,T,208.8,M,000.00,N,000.01,K*4C\r\n"
};
select_timeout.tv_sec = 1;
select_timeout.tv_usec = 0;
nmea_zero_INFO(&info);
nmea_parser_init(&parser);
while(!done)
{
fflush(stdout);
FD_ZERO(&rset);
if(rs232_device > 0)
{
FD_SET(rs232_device, &rset);
nfds = max(nfds, rs232_device);
}
select_result = select(nfds + 1, &rset, NULL, NULL, NULL);
if(select_result == -1 && errno == EAGAIN)
{
perror("select");
continue;
}
if(select_result == -1)
{
perror("main:");
return 1;
}
if(rs232_device > 0)
{
if(FD_ISSET(rs232_device, &rset))
{
//bytes_read = read(rs232_device, rs232_buffer, sizeof(rs232_buffer));
bytes_read = rs232_read(rs232_device);
if(bytes_read > 0)
{
if(rs232_check_last_char('\n'))
{
bytes_read = rs232_unload_rx(rs232_buffer);
if(bytes_read > 0)
{
rs232_buffer[bytes_read] = 0;
token = strtok(rs232_buffer, "\n");
while(token != NULL)
{
sprintf(nmea_message, "%s\n", token);
nmea_parse(&parser, nmea_message, (int)strlen(nmea_message), &info);
if(it > 0)
{
printf("\033[21A");
}
else
it++;
printf("Time: %i/%i/%i %i:%i:%i.%i \n", info.utc.day, info.utc.mon + 1, info.utc.year + 1900, info.utc.hour, info.utc.min, info.utc.sec, info.utc.hsec);
if(info.smask == GPGGA)
{
switch(info.sig)
{
case 0:
printf("Signal: INVALID \n");
break;
case 1:
printf("Signal: FIX \n");
break;
case 2:
printf("Signal: DIFFERENTIAL \n");
break;
case 3:
printf("Signal: SENSITIVE \n");
break;
default:
printf("Signal: INVALID \n");
break;
}
}
else
printf("Signal: NOT AVAILABLE \n");
if(info.smask == GPGGA)
{
switch(info.fix)
{
case 1:
printf("Operating mode: FIX NOT AVAILABLE \n");
break;
case 2:
printf("Operating mode: 2D \n");
break;
case 3:
printf("Operating mode: 3D \n");
break;
default:
printf("Operating mode: UNKNOWN \n");
break;
}
}
else
printf("Opearating mode: NOT AVAILABLE \n");
printf("Position Diluition of Precision: %f \n", info.PDOP);
printf("Horizontal Diluition of Precision: %f \n", info.HDOP);
printf("Vertical Diluition of Precisione: %f \n", info.VDOP);
printf("Latitude: %f \n", info.lat);
printf("Longitude: %f \n", info.lon);
printf("Elevation: %f m \n", info.elv);
printf("Speed: %f km/h \n", info.speed);
printf("Direction: %f degrees \n", info.direction);
printf("Magnetic variation degrees: %f \n", info.declination);
printf("Magnetic sensor heading: %f \n", info.magnetic_sensor_heading);
printf("Magnetic sensor deviation: %f \n", info.magnetic_sensor_deviation);
printf("Magnetic sensor variation: %f \n", info.magnetic_sensor_variation);
printf("Rate turn: %f \n", info.rate_turn);
printf("Pitch oscillation: %f \n", info.pitch_osc);
printf("Roll oscillation: %f \n", info.roll_osc);
printf("\nSatellite: \tin view: %i\n\t\tin use: %i \n", info.satinfo.inview, info.satinfo.inuse);
token = strtok(NULL, "\n");
}
}
}
}
}
}
//int smask; /**< Mask specifying types of packages from which data have been obtained */
//nmeaTIME utc; /**< UTC of position */
//int sig; /**< GPS quality indicator (0 = Invalid; 1 = Fix; 2 = Differential, 3 = Sensitive) */
//int fix; /**< Operating mode, used for navigation (1 = Fix not available; 2 = 2D; 3 = 3D) */
//double PDOP; /**< Position Dilution Of Precision */
//double HDOP; /**< Horizontal Dilution Of Precision */
//double VDOP; /**< Vertical Dilution Of Precision */
//double lat; /**< Latitude in NDEG - +/-[degree][min].[sec/60] */
//double lon; /**< Longitude in NDEG - +/-[degree][min].[sec/60] */
//double elv; /**< Antenna altitude above/below mean sea level (geoid) in meters */
//double speed; /**< Speed over the ground in kilometers/hour */
//double direction; /**< Track angle in degrees True */
//double declination; /**< Magnetic variation degrees (Easterly var. subtracts from true course) */
//nmeaSATINFO satinfo; /**< Satellites information */
/*it++;
if(it > 6)
done = 1;
select_timeout.tv_sec = 1;
select_timeout.tv_usec = 0;*/
}
nmea_parser_destroy(&parser);
return 0;
}
