void Cedrus::XIDDevice::ConnectToMpod(unsigned char mpod, unsigned char action)
{
    if (!m_config->IsXID2())
        return;

    int rate = 4;

    if (action > 0)
    {
        m_baudRatePriorToMpod = GetBaudRate();
        // m-pods operate at 19200 only
        SetBaudRate(1);
    }
    else
    {
        switch (m_baudRatePriorToMpod)
        {
        case 9600:
            rate = 0;
            break;
        case 19200:
            rate = 1;
            break;
        case 38400:
            rate = 2;
            break;
        case 57600:
            rate = 3;
            break;
        case 115200:
            rate = 4;
            break;
        default:
            break;
        }
    }

    static unsigned char ctm_cmd[4] = {'a','q'};
    ctm_cmd[2] = '0' + mpod;
    ctm_cmd[3] = '0' + action;

    DWORD bytes_written = 0;
    m_xidCon->Write(ctm_cmd, 4, &bytes_written);

    SLEEP_FUNC(150 * SLEEP_INC);

    m_podHostConfig = (action == 0 ? nullptr : m_config);
    MatchConfigToModel(-1);

    m_curMinorFwVer = GetMinorFirmwareVersion();

    if (action == 0)
        SetBaudRate(rate);
}
Ejemplo n.º 2
0
void SPI::Initialize(bool isMaster, bool isFullDuplex, SPI_BAUD_RATE baudRate, bool isClockPhase2,
        bool isClockPolarity1,  bool isLSBFirst, bool isSetSSM, bool is16Bit)
{
    if (is16Bit) SetDFF_16bit();

    Enable(true);

    isClockPhase2 ? SetClockPhaseSecond() : SetClockPhaseFirst();
    isClockPolarity1 ? SetClockPolarity1() : SetClockPolarity0();
    isLSBFirst ? SetFrameFormatLSBFirst() : SetFrameFormatMSBFirst();
    SetSSM (isSetSSM);
    if (isMaster)
    {
        SetBaudRate (baudRate);
        if (isSetSSM)
        {
            SetSSI(true);
        }
    }
    else
    {
        SetSSI(false);
    }


    SetFullDuplex(isFullDuplex);
    SetMaster(isMaster);
}
Ejemplo n.º 3
0
/*
 * NextHeadFinderSetting
 */
void NextHeadFinderSetting()
{
    struct tagSetting
    {
        BYTE HeadFinderPort;
        DWORD BaudRate;
    } Setting[4] = { 1, 19200, 2, 19200, 1, 115200, 2, 115200 };
    //
    int CurrentSetting;
    //
    for (int i = 0; i < 4; i++)
    {
        if (Setting[i].HeadFinderPort == HeadFinderPort && Setting[i].BaudRate == BaudRate)
        {
            CurrentSetting = i;
            break;
        }
    }
    //
    CurrentSetting++;
    CurrentSetting = CurrentSetting % 4;
    //
    SetHeadFinderPort(Setting[CurrentSetting].HeadFinderPort);
    SetBaudRate(Setting[CurrentSetting].BaudRate);
}
Ejemplo n.º 4
0
bool
CAI302Device::EnableBulkMode(OperationEnvironment &env)
{
  /* this operation should not be cancellable, because we don't know
     what to do with a partial result */
  NoCancelOperationEnvironment env2(env);

  return !config.UsesSpeed() || config.bulk_baud_rate == 0 ||
    config.bulk_baud_rate == config.baud_rate ||
    SetBaudRate(config.bulk_baud_rate, env2);
}
Ejemplo n.º 5
0
bool
CAI302Device::DisableBulkMode(OperationEnvironment &env)
{
  /* even if the operation was cancelled, switch back to the normal
     baud rate safely */
  NoCancelOperationEnvironment env2(env);

  return !config.UsesSpeed() || config.bulk_baud_rate == 0 ||
    config.bulk_baud_rate == config.baud_rate ||
    SetBaudRate(config.baud_rate, env2);
}
Ejemplo n.º 6
0
void CSerialPDD::SetDefaultConfiguration()
{
    // Default Value. Can be altered.
    m_CommPorp.wPacketLength       = 0xffff;
    m_CommPorp.wPacketVersion      = 0xffff;
    m_CommPorp.dwServiceMask       = SP_SERIALCOMM;
    m_CommPorp.dwReserved1         = 0;
    m_CommPorp.dwMaxTxQueue        = 16;
    m_CommPorp.dwMaxRxQueue        = 16;
    m_CommPorp.dwMaxBaud           = BAUD_115200;
    m_CommPorp.dwProvSubType       = PST_RS232;
    m_CommPorp.dwProvCapabilities  =
        PCF_DTRDSR | PCF_RLSD | PCF_RTSCTS |
        PCF_SETXCHAR |
        PCF_INTTIMEOUTS |
        PCF_PARITY_CHECK |
        PCF_SPECIALCHARS |
        PCF_TOTALTIMEOUTS |
        PCF_XONXOFF;
    m_CommPorp.dwSettableBaud      =
        BAUD_075 | BAUD_110 | BAUD_150 | BAUD_300 | BAUD_600 |
        BAUD_1200 | BAUD_1800 | BAUD_2400 | BAUD_4800 |
        BAUD_7200 | BAUD_9600 | BAUD_14400 |
        BAUD_19200 | BAUD_38400 | BAUD_56K | BAUD_128K |
        BAUD_115200 | BAUD_57600 | BAUD_USER;
    m_CommPorp.dwSettableParams    =
        SP_BAUD | SP_DATABITS | SP_HANDSHAKING | SP_PARITY |
        SP_PARITY_CHECK | SP_RLSD | SP_STOPBITS;
    m_CommPorp.wSettableData       =
        DATABITS_5 | DATABITS_6 | DATABITS_7 | DATABITS_8;
    m_CommPorp.wSettableStopParity =
        STOPBITS_10 | STOPBITS_20 |
        PARITY_NONE | PARITY_ODD | PARITY_EVEN | PARITY_SPACE |
        PARITY_MARK;
    // Setup m_DCB.
    
    // Set Detault Parameter.
    SetOutputMode(FALSE, TRUE );    // No IR.
    // For DCB. The PDD only need to take care BaudRate, ByteSize Parity & StopBit
    m_DCB.DCBlength  = sizeof(DCB);
    SetBaudRate(m_DCB.BaudRate   = 9600,FALSE);
    SetByteSize(m_DCB.ByteSize   = 8);
    SetParity(m_DCB.Parity     = NOPARITY);
    SetStopBits(m_DCB.StopBits   = ONESTOPBIT);
    
}
Ejemplo n.º 7
0
/*
 * initHeadFinder
 */
int initHeadFinder(void *hWnd)
{
    SetHeadFinderPort(HeadFinderPort);
    SetBaudRate(BaudRate);
    //
    hHEFDCOMWnd = (HWND)hWnd;
    useHeadFinder = FALSE;
    isHeadFinder = FALSE;
    fifoPos = 0;
    //
    CreateHEFDCOMInfo((HWND)hWnd);
    if (!OpenConnection((HWND)hWnd))
        return (0);
    //
    isHeadFinder = TRUE;
    WriteCommBlock((HWND)hWnd, "0", 1);
    //WriteCommBlock((HWND)hWnd,"Q",1);
    useHF(TRUE);
    return (1);
}
Ejemplo n.º 8
0
BOOL CSerialPDD::SetDCB(LPDCB lpDCB)
{
    BOOL bReturn = TRUE;
    if (IsOpen() && lpDCB && lpDCB->DCBlength == sizeof(DCB)) {
        
        m_HardwareLock.Lock();
        DCB LocalDCB = *lpDCB;
        if (lpDCB->BaudRate != m_DCB.BaudRate) {
            if (lpDCB->BaudRate == 0 || !SetBaudRate(lpDCB->BaudRate, m_fIREnable)) {
                LocalDCB.BaudRate = m_DCB.BaudRate ;
                bReturn = FALSE;
            }
        }
        if (lpDCB->ByteSize != m_DCB.ByteSize ) {
            if (!SetByteSize(lpDCB->ByteSize))  {
                LocalDCB.ByteSize = m_DCB.ByteSize;
                bReturn = FALSE;
            }
        }
        if (lpDCB->Parity != m_DCB.Parity) {
            if (!SetParity(lpDCB->Parity)) {
                LocalDCB.Parity = m_DCB.Parity ;
                bReturn=FALSE;
            }
        }
        if (lpDCB->StopBits != m_DCB.StopBits) {
            if (!SetStopBits(lpDCB->StopBits)) {
                LocalDCB.StopBits = m_DCB.StopBits;
                bReturn = FALSE;
            }
        }
        m_DCB = LocalDCB;
        m_HardwareLock.Unlock();        
    }
    else
        bReturn = FALSE;
    return bReturn;
};
Ejemplo n.º 9
0
int main(int argc, char **argv)
{
  int fd, res, baud_rate, rv, binary_mode;
  FILE *fp;
  struct termios newtio;
  unsigned char in_c;  
  char sbuf[1];
    
  if(argc < 3) {
    printf("Serial port transmit program\n");
    printf("Usage 1: %s device name baud rate file name\n", argv[0]);
    printf("Usage 2: %s device baud file \"binary\"\n", argv[0]);
    return 1;
  }

  fd = open(argv[1], O_WRONLY | O_NOCTTY | O_NDELAY);

  if(fd < 0){
    printf("Cannot write to the specified device!\n");
    printf("Exiting...\n");
    return 1;
  }
  
  if(argc > 2 && atoi(argv[2])) baud_rate = SetBaudRate(atoi(argv[2]));
  else baud_rate = SetBaudRate(9600);

  if(argc > 4) {
    rv = strcmp(argv[4], "binary");
    if(rv == 0) binary_mode = 1; else binary_mode = 0;
  }

  bzero(&newtio, sizeof(newtio));
  newtio.c_cflag = baud_rate | CS8 | CREAD;
  newtio.c_iflag = IGNBRK;

  if(binary_mode ==  1) {
    newtio.c_oflag = 0;
  }
  else {
    /* Postprocess the output: */
    /* Map chars to upper case and map NL (linefeed) to CR-NL on output */
    newtio.c_oflag = OPOST | OLCUC | ONLCR;    
  }
  
  newtio.c_lflag = 0;

  newtio.c_cc[VTIME] = 0;
  newtio.c_cc[VMIN] = 1;


#if defined (FASYNC) /* ASYNC I/O is a BDS feature */
  /* Make the file descriptor asynchronous */
  fcntl(fd, F_SETFL, FASYNC);
#endif

  tcflush(fd, TCIFLUSH);
  tcsetattr(fd, TCSANOW, &newtio);  

  fp = fopen(argv[3], "r+b");
  if(fp == 0) {
    printf("Could not open the %s file\n", argv[3]);
    printf("Exiting...\n");
    return 1;
  }

  printf("Sending file...\n");
  
  while(feof(fp) == 0) {
    in_c = fgetc(fp);
    sbuf[0] = in_c;
    sbuf[1] = 0;
    res = write(fd, sbuf, 1);  
    if(res < 0) {
      printf("Error writing to %s\n", argv[1]);
      exit(1);
    }
  }

  printf("%s was sent with no errors reported\n", argv[3]); 
  printf("Exiting...\n");
  fclose(fp);
  close(fd);
  return 0;
}
Ejemplo n.º 10
0
void SPI::SetBaudRateDiv128()
{
    SetBaudRate (SPI_BAUD_RATE_128);
}
Ejemplo n.º 11
0
void SPI::SetBaudRateDiv64()
{
    SetBaudRate (SPI_BAUD_RATE_64);
}
Ejemplo n.º 12
0
void SPI::SetBaudRateDiv32()
{
    SetBaudRate (SPI_BAUD_RATE_32);
}
Ejemplo n.º 13
0
void SPI::SetBaudRateDiv16()
{
    SetBaudRate (SPI_BAUD_RATE_16);
}
Ejemplo n.º 14
0
void SPI::SetBaudRateDiv8()
{
    SetBaudRate (SPI_BAUD_RATE_8);
}
Ejemplo n.º 15
0
MRESULT EXPENTRY fnwpHdwBaudRateDlg(HWND hwnd,USHORT msg,MPARAM mp1,MPARAM mp2)
  {
  LONG lBaud;
  char szBaud[12];
  int iIndex;
  int iCurrentBaudIndex;
  BYTE byTemp;
  static bAllowClick;
  static COMCTL *pstComCtl;
  ULONG *pulBaudTable;
  LONG lMaxBaud;
  BAUDST stBaudRates;

  switch (msg)
    {
    case WM_INITDLG:
//      CenterDlgBox(hwnd);
//      WinSetFocus(HWND_DESKTOP,hwnd);
      bAllowClick = FALSE;
      pstComCtl = PVOIDFROMMP(mp2);
      if (GetBaudRates(pstComCtl->pstIOctl,pstComCtl->hCom,&stBaudRates))
        {
        WinDismissDlg(hwnd,FALSE);
        return(FALSE);
        }
      if (pstComCtl->pszPortName != NULL)
        WinSetWindowText(hwnd,pstComCtl->pszPortName);
      lBaud = stBaudRates.stCurrentBaud.lBaudRate;
      lMaxBaud = stBaudRates.stHighestBaud.lBaudRate;
      if (lMaxBaud > 469800)
        pulBaudTable = (ULONG *)aul12xBaudTable;
      else
        if (lMaxBaud > 115200)
          pulBaudTable = (ULONG *)aul4xBaudTable;
        else
          pulBaudTable = (ULONG *)aulStdBaudTable;
      if (lBaud == 0)
        lBaud = DEF_BAUD;
      WinSendDlgItemMsg(hwnd,HWB_BAUD,EM_SETTEXTLIMIT,MPFROMSHORT(6),(MPARAM)NULL);
      iCurrentBaudIndex = -1;
      iIndex = 0;
      while (pulBaudTable[iIndex] != 0)
        {
        ltoa(pulBaudTable[iIndex],szBaud,10);
        WinSendDlgItemMsg(hwnd,HWB_BAUD,LM_INSERTITEM,MPFROM2SHORT(LIT_END,0),MPFROMP(szBaud));
        if (pulBaudTable[iIndex] == lBaud)
          iCurrentBaudIndex = iIndex;
        iIndex++;
        }
      if (iCurrentBaudIndex >= 0)
        WinSendDlgItemMsg(hwnd,HWB_BAUD,LM_SELECTITEM,MPFROMSHORT((SHORT)iCurrentBaudIndex),(MPARAM)TRUE);
      ltoa(lBaud,szBaud,10);
      WinSetDlgItemText(hwnd,HWB_BAUD,szBaud);
      WinPostMsg(hwnd,UM_INITLS,(MPARAM)0L,(MPARAM)0L);
      break;
    case UM_INITLS:
      bAllowClick = TRUE;
      break;
    case WM_CONTROL:
      if (SHORT2FROMMP(mp1) == BN_CLICKED)
        if (bAllowClick)
          if (!TCHdwProtocolDlg(hwnd,SHORT1FROMMP(mp1)))
            return(FALSE);
      break;
    case WM_COMMAND:
      switch( SHORT1FROMMP( mp1 ) )
        {
        case DID_OK:
          WinQueryDlgItemText(hwnd,HWB_BAUD,sizeof(szBaud),szBaud);
          SetBaudRate(pstComCtl->pstIOctl,pstComCtl->hCom,atol(szBaud));
          WinDismissDlg(hwnd,TRUE);
          break;
        case DID_CANCEL:
          WinDismissDlg(hwnd,FALSE);
          break;
        case DID_HELP:
          DisplayHelpPanel(pstComCtl);
          return((MRESULT)TRUE);
        default:
          return WinDefDlgProc(hwnd,msg,mp1,mp2);
        }
      break;
    default:
      return(WinDefDlgProc(hwnd,msg,mp1,mp2));
    }
  return(FALSE);
  }
Ejemplo n.º 16
0
void SPI::SetBaudRateDiv256()
{
    SetBaudRate (SPI_BAUD_RATE_256);
}
Ejemplo n.º 17
0
int main()
{
    // Initialize PortHandler Structs
    // Set the port path
    // Get methods and members of PortHandlerLinux or PortHandlerWindows
    int port_num = PortHandler(DEVICENAME);

    // Initialize PacketHandler Structs 
    PacketHandler();

    int dxl_comm_result = COMM_TX_FAIL;             // Communication result

    UINT8_T dxl_error = 0;                          // Dynamixel error
    UINT8_T dxl_baudnum_read;                       // Read baudnum

    // Open port
    if (OpenPort(port_num))
    {
        printf("Succeeded to open the port!\n");
    }
    else
    {
        printf("Failed to open the port!\n");
        printf("Press any key to terminate...\n");
        _getch();
        return 0;
    }

    // Set port baudrate
    if (SetBaudRate(port_num, BAUDRATE))
    {
        printf("Succeeded to change the baudrate!\n");
    }
    else
    {
        printf("Failed to change the baudrate!\n");
        printf("Press any key to terminate...\n");
        _getch();
        return 0;
    }

    // Read present baudrate of the controller
    printf("Now the controller baudrate is : %d\n", GetBaudRate(port_num));

    // Try factoryreset
    printf("[ID:%03d] Try factoryreset : ", DXL_ID);
    FactoryReset(port_num, PROTOCOL_VERSION, DXL_ID, OPERATION_MODE);
    if ((dxl_comm_result = GetLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
    {
        printf("Aborted\n");
        PrintTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
        return 0;
    }
    else if ((dxl_error = GetLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
        PrintRxPacketError(PROTOCOL_VERSION, dxl_error);

    // Wait for reset
    printf("Wait for reset...\n");
    msecSleep(2000);

    printf("[ID:%03d] FactoryReset Success!\n", DXL_ID);

    // Set controller baudrate to Dynamixel default baudrate
    if (SetBaudRate(port_num, FACTORYRST_DEFAULTBAUDRATE))
    {
        printf("Succeed to change the controller baudrate to : %d\n", FACTORYRST_DEFAULTBAUDRATE);
    }
    else
    {
        printf("Failed to change the controller baudrate\n");
        printf("Press any key to terminate...\n");
        _getch();
        return 0;
    }

    // Read Dynamixel baudnum
    dxl_baudnum_read = Read1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_BAUDRATE);
    if ((dxl_comm_result = GetLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
        PrintTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
    else if ((dxl_error = GetLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
        PrintRxPacketError(PROTOCOL_VERSION, dxl_error);
    else
        printf("[ID:%03d] DXL baudnum is now : %d\n", DXL_ID, dxl_baudnum_read);

    // Write new baudnum
    Write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_BAUDRATE, NEW_BAUDNUM);
    if ((dxl_comm_result = GetLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
        PrintTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
    else if ((dxl_error = GetLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
        PrintRxPacketError(PROTOCOL_VERSION, dxl_error);
    else
        printf("[ID:%03d] Set Dynamixel baudnum to : %d\n", DXL_ID, NEW_BAUDNUM);

    // Set port baudrate to BAUDRATE
    if (SetBaudRate(port_num, BAUDRATE))
    {
        printf("Succeed to change the controller baudrate to : %d\n", BAUDRATE);
    }
    else
    {
        printf("Failed to change the controller baudrate\n");
        printf("Press any key to terminate...\n");
        _getch();
        return 0;
    }

    msecSleep(200);

    // Read Dynamixel baudnum
    dxl_baudnum_read = Read1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_BAUDRATE);
    if ((dxl_comm_result = GetLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
        PrintTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
    else if ((dxl_error = GetLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
        PrintRxPacketError(PROTOCOL_VERSION, dxl_error);
    else
        printf("[ID:%03d] Dynamixel Baudnum is now : %d\n", DXL_ID, dxl_baudnum_read);

    // Close port
    ClosePort(port_num);

    return 0;
}
Ejemplo n.º 18
0
int main(int argc, char **argv)
{
  int fd, baud_rate, res, bytesmoved, echo_on, rv;
  struct termios newtio;
  char buf[255];
  char *dumpfile = "datafile";
  FILE *fp;

    
  if(argc < 2) {
    printf("Serial port receive program\n");
    printf("Usage 1: %s device name [baud rate]\n", argv[0]);
    printf("Usage 2: %s device name baud echo\n", argv[0]);
    return 1;
  }

  /* Open the serial port without waiting for the requested modem connection */
  fd = open(argv[1], O_RDWR | O_NOCTTY | O_NONBLOCK);
  if (fd <0) {perror(argv[1]); exit(-1); }

  if(argc > 2 && atoi(argv[2])) baud_rate = SetBaudRate(atoi(argv[2]));
  else baud_rate = SetBaudRate(9600);

  if(argc > 3) {
    rv = strcmp(argv[3], "echo");
    if(rv == 0) echo_on = 1; else echo_on = 0;
  }

  bzero(&newtio, sizeof(newtio));

  /* Ignore the modem control lines with the CLOCAL flag */
  newtio.c_cflag = baud_rate | CS8 | CREAD | CLOCAL; 
  newtio.c_iflag = IGNPAR;
  newtio.c_oflag = 0;

  /* Set input mode (non-canonical, no echo,...) */
  newtio.c_lflag = 0;

  newtio.c_cc[VTIME] = 0;
  newtio.c_cc[VMIN] = 1;

  tcflush(fd, TCIFLUSH);
  tcsetattr(fd, TCSANOW, &newtio); 

  printf("%s open for read/write access\n", argv[1]);
  printf("Wating to receive...\n");
  printf("\n");

  fp = fopen(dumpfile, "w+b");
  if(fp == 0) {
    printf("Could not open %s for writting", dumpfile);
    return 1;
  }

  while(STOP==FALSE) {
    res = read(fd, buf, 255); /* Returns after 1 char has been input */
    buf[res] = 0;             /* Ensure null termination */
    if(res > 0) {
      bytesmoved = fwrite(buf, sizeof(char), res, fp); 
      if(bytesmoved < 0) { 
	printf("Errorr writing to %s", dumpfile);
	break;
      }
      fflush(fp);
      if(echo_on == 1) printf("%s", buf);
      fflush(stdout);
    }
  }

  fclose(fp);
  close(fd);
  return 0;
}