RBAPI(bool) com_ServoTRX(int com, unsigned char* cmd, int csize, unsigned char* buf, int bsize) {
com_ClearRFIFO(com);
if (com_Send(com, cmd, csize) == false) return false;
if (COM_duplex[com] == COM_HDUPLEX) // discard the first-received csize bytes in case of TX/RX-short
{
int i; unsigned int tmpbyte;
for (i=0; i<csize; i++)
{
if ((tmpbyte = com_Read(com)) == 0xffff) return false;
if ((unsigned char)tmpbyte != cmd[i])
{
err_SetMsg(ERROR_COM_FAIL, "receive a wrong self-feedback byte");
return false;
}
}
} // end if (COM_duplex[com] ...
if (buf != NULL) //&&
if (com_Receive(com, buf, bsize) == false) return false;
return true;
}
RBAPI(void) com_Close(int com) {
if(com_InUse(com) == false) return;
com_FlushWFIFO(com);
com_ClearRFIFO(com);
#if defined(RB_MSVC_WIN32) || defined(RB_MSVC_WINCE)
SetCommTimeouts(COM_info[com].fp, &COM_info[com].oldtimeouts);
SetCommState(COM_info[com].fp, &(COM_info[com].oldstate));
CloseHandle(COM_info[com].fp);
#elif defined(RB_LINUX)
tcsetattr(COM_info[com].fp, TCSANOW, &(COM_info[com].oldstate));
close(COM_info[com].fp);
#endif
if (COM_oldTMode[com] == true) com_EnableTurboMode(com); else com_DisableTurboMode(com);
if (COM_oldFMode[com] == true) com_EnableFIFO32(com); else com_DisableFIFO32(com);
io_Close(COM_ioSection[com]);
COM_ioSection[com] = -1;
}
void FlushReceiveBuffer(void)
{
com_ClearRFIFO(Serial);
com_FlushRxQueue(Serial);
}
