void shell_mode() {
char arriving_char;
char c;
print_initial_prompt_lines();
while (1) {
if (current_vt == CHAT_VT && serial_received()) {
arriving_char = read_serial();
parse_arriving_char(arriving_char);
}
while ((c = getc()) == -1)
;
if (current_vt == CHAT_VT) {
parse_departing_char(c);
} else {
parse_command_char(c);
}
refresh_screen();
}
}
int serial_getc(int port)
{
if (!serial_received(port))
return (-1);
else
return (inb(port));
}
char serial_readbyte()
{
if (!serial_initialized) {
serial_init();
}
while (serial_received() == 0);
return in8(PORT);
}
void SRCA::on_pushButton_clicked() // Conectar dispositivo
{
//select name for our serial port from combobox
if (serial->portName() != ui->comboBox->currentText())
{
serial->close();
serial->setPortName(ui->comboBox->currentText());
}
//setup COM port
serial->setBaudRate(QSerialPort::Baud9600);
serial->setDataBits(QSerialPort::Data8);
serial->setParity(QSerialPort::NoParity);
serial->setStopBits(QSerialPort::OneStop);
serial->setFlowControl(QSerialPort::NoFlowControl);
serial->open(QSerialPort::ReadWrite);
connect(serial,SIGNAL(readyRead()),this,SLOT(serial_received()));
if(serial->portName() != NULL)
ui->label->setText("Conectado em " + serial->portName());
}
char mirus::read_serial()
{
while (serial_received() == 0);
return mirus::inb(PORT);
}
//Byte empfangen
unsigned int serial_read(unsigned char comport) {
unsigned short base = getSerialPort(comport);
while (!serial_received(base)) { }
return inb(base);
}
char read_serial() {
while (serial_received() == 0);
return inb(PORT);
}
/** read_serial
* returns the last char in the serial read buffer
DOES NOT WORK CORRECTLY YET
WE OUTPUT ALL PRINTF TO SERIAL
SO WHEN WE READ SERIAL, WE SEE WHAT WE'VE OUTPUT
*/
char read_serial(unsigned short com){
while(serial_received(com) == 0);
return inb(com);
}
char serial_read(uint16_t serial_port) {
while (serial_received(serial_port) == 0);
return inb(serial_port);
}
char serial::read_serial()
{
while (serial_received() == 0);
return inportb(COM1_PORT);
}
static void tc_event(struct serial *serial)
{
if (serial->dmaEvent) {
serial_received(serial);
}
}
/**
* Ticking
*/
static void dxl_serial_tick(volatile struct dxl_device *self)
{
struct serial *serial = (struct serial*)self->data;
static int baudrate = DXL_DEFAULT_BAUDRATE;
// Timeout on sending packet, this should never happen
if (!serial->txComplete && ((millis() - serial->packetSent) > 3)) {
serial_received(serial);
}
/*
if (!serial->txComplete) {
if (serial->dmaEvent) {
// DMA completed
serial->dmaEvent = false;
serial->txComplete = true;
//serial->port->waitDataToBeSent();
receiveMode(serial);
serial->syncReadStart = syncReadTimer.getCount();
}
}
*/
if (serial->txComplete) {
if (syncReadMode) {
bool processed = false;
if (syncReadDevices <= 0 && syncReadResponse == &self->packet) {
// The process is over, no devices are currently trying to get packet and we
// are the device that will respond
syncReadResponse->process = true;
syncReadMode = false;
} else if (serial->syncReadCount) {
if (serial->syncReadCurrent == 0xff) {
// Sending the first packet
serial->syncReadCurrent = 0;
syncReadSendPacket(serial);
} else {
// Reading available data from the port
while (serial->port->available() && !serial->syncReadPacket.process) {
dxl_packet_push_byte(&serial->syncReadPacket, serial->port->read());
}
if (serial->syncReadPacket.process && serial->syncReadPacket.parameter_nb == syncReadLength) {
// The packet is OK, copying data to the response at correct offset
ui8 i;
ui8 off = serial->syncReadOffsets[serial->syncReadCurrent]*(syncReadLength+1);
syncReadResponse->parameters[off] = serial->syncReadPacket.error;
for (i=0; i<syncReadLength; i++) {
syncReadResponse->parameters[off+1+i] = serial->syncReadPacket.parameters[i];
}
processed = true;
} else if (syncReadTimer.getCount()-serial->syncReadStart > 65) {
// The timeout is reached, answer with code 0xff
ui8 off = serial->syncReadOffsets[serial->syncReadCurrent]*(syncReadLength+1);
syncReadResponse->parameters[off] = 0xff;
processed = true;
}
if (processed) {
serial->syncReadCurrent++;
if (serial->syncReadCurrent >= serial->syncReadCount) {
// The process is over for this bus
syncReadDevices--;
serial->syncReadCount = 0;
} else {
// Sending the next packet
syncReadSendPacket(serial);
}
}
}
}
} else {
if (self->redirect_packets == NULL && baudrate != usb_cdcacm_get_baud()) {
// baudrate = usb_cdcacm_get_baud();
// initSerial(serial, baudrate);
}
// Reading data that come from the serial bus
while (serial->port->available() && !self->packet.process) {
dxl_packet_push_byte(&self->packet, serial->port->read());
if (self->packet.process) {
// A packet is coming from our bus, noting it in the devices allocation
// table
devicePorts[self->packet.id] = serial->index;
}
}
}
}
}
