/* Checks for delays in communication from the Gumstix to Robostix 1
as well as delays in communication from Robostix 2 to Robostix 1
*/
void check_receive_delay( )
{
/* check if new motor signals have been received */
if( !flag_new_signals )
{
/* DO NOT modify motor signals in shut-down mode! */
if( !flag_shut_down )
{
if( motor_signals.front > 0 ||
motor_signals.right > 0 ||
motor_signals.rear > 0 ||
motor_signals.left > 0 )
{
/* we're possibly airborne, so reduce
motor signals to force descending */
motor_signals.front -= MOTOR_DEC;
motor_signals.right -= MOTOR_DEC;
motor_signals.rear -= MOTOR_DEC;
motor_signals.left -= MOTOR_DEC;
}
else
{
/* we're possibly grounded, so keep
motor signals set to the minimum */
motor_signals.front = 0;
motor_signals.right = 0;
motor_signals.rear = 0;
motor_signals.left = 0;
}
/* set new motor signals */
pwm_set_signals( &motor_signals );
}
/* reset Gumstix-to-Robostix-1 interface */
serial_reset( );
LED_ON( YELLOW );
///////////////////////////////////////////////////////////////////
enable_sensors( 0 );
///////////////////////////////////////////////////////////////////
}
/* check if new sensor data have been received */
if( !flag_new_sensors )
{
/* reset Robostix-2-to-Robostix-1 interface */
//parallel_reset( );
LED_ON( BLUE );
}
/* update sensor status */
//enable_sensors( flag_new_signals );
flag_check_delay = 0;
flag_new_signals = 0;
flag_new_sensors = 0;
}
int serial_int(void)
{
if(-1==sem_init(&s_sem_serial, 0, 1)){
DEBUG("s_sem_insert_insts init failed\n");
return -1;
}
g_serialfd = -1;
return serial_reset();
}
/*
兼容这样的情况，返回处的开头一段是非法值：
例1、以继电器闭合操作为例
发送：68 20 11 12 21 06 36 68 04 09 56 16 33 33 33 33 44 44 44 81 16
返回：56 7b 16 68 20 11 06 02 41 56 68 81 06 43 c3 33 33 33 33 f9 16 68 20 11 12 21 06 36 68 c5 03 e9 04 56 7b 16 68 20 11 12 21 06 36 68 c5 03 e9 04 56 7b 16 68 20 11 12 21 06 36 68 c5 03 e9 04 56 7b 16 68 20 11 12 21 06 36 68 c5 03 e9 04 56 7b 16 68 20 11 06 00 41 56 68 81 06 43 c3 33 3b 33 33 ff 16 68 20 11 12 21 06 36 68 c5 03 e9 04 56 7b 16 68 20 11 06 00 41 56 68 81 06 43 c3 33 33 33 33 f7 16 68 20 11 12 21 06 36 68 c5 03 e9 04 56 7b 16 68 20 11 12 21 06 36 68 c5 03 e9 04 56 7b 16 68 20 11 12 21 06 36 68 c5 03 e9 04 56 7b 16 68 20 11 12 21 06 36 68 c5 03 e9 04 56 7b 16 68 20 11 12 21 06 36 68 c5 03 e9 04 56 7b 16 68 20 11 12 21 06 36 68 c5 03 e9 04 56 7b 16 68 20 11 12 21 06 36 68 c5 03 e9 04 56 7b 16 68 20 11 12 21 06 36 68 c5 03 e9 04 56 7b 16 68 20 11
实际上有用的是：68 20 11 12 21 06 36 68 c5 03 e9 04 56 7b 16，表示通信错误。
例2、验证插座是否存在
发送：68 20 11 12 21 06 36 68 07 00 77 16
返回：68 99 99 99 99 99 99 68 c5 03 e9 99 99 49 16 68 20 11 12 21 06 36 68 87 06 53 44 45 54 39 69 cf 16
实际上有用的是：68 20 11 12 21 06 36 68 87 06 53 44 45 54 39 69 cf 16
完全正确的是： 68 20 11 12 21 06 36 68 87 06 33 33 33 33 33 33 cf 16
例3、继电器闭合
发送：68 20 11 12 21 09 51 68 04 09 56 16 33 33 33 33 44 44 44 9f 16
返回：68 20 11 12 21 09 51 68 c5 03 e9 04 56 99 16 68 20 11 12 21 09 51 68 84 02 89 89
第一段说明通信失败，第二段是执行成功。这有点儿操蛋，怎样才能获取到正确的命令返回？
还需要解决一个问题：如果插座连续通信失败怎么办？应该关闭串口，重启smarthome应用。
*/
static int serial_access_son(unsigned char *buf, unsigned int buf_len, unsigned int buf_size)
{
int has_read_len = -1;
int ret = -1;
if(NULL==buf || buf_len<SERIAL_CMD_SEND_LEN_MIN || buf_len>SERIAL_CMD_SEND_LEN_MAX){
DEBUG("invalid serial cmd, buf_len=%u\n", buf_len);
ret = -1;
}
else{
sem_wait(&s_sem_serial);
usleep(20000);
// 期望合法指令识别：68 a0 a1 a2 a3 a4 a5 68
unsigned char distinguish_cmd[32];
memset(distinguish_cmd, 0, sizeof(distinguish_cmd));
memcpy(distinguish_cmd, buf, 8); //识别段: 68 20 11 12 21 06 36 68
if(0!=sendto_serial(buf, buf_len)){
DEBUG("send to serial failed\n");
ret = -1;
}
else{
memset(buf, 0, buf_size);
usleep(250000);
unsigned char serial_response_buf[128000];
unsigned int start_pos = 0;
memset(serial_response_buf,0,sizeof(serial_response_buf));
has_read_len = recvfrom_serial(serial_response_buf, &start_pos, sizeof(serial_response_buf), distinguish_cmd);
if(has_read_len>10){
memset(buf,0,buf_size);
memcpy(buf,serial_response_buf+start_pos,buf_size);
ret = has_read_len;
}
else{
DEBUG("has read len: %d, perhaps failed\n", has_read_len);
ret = -1;
}
}
sem_post(&s_sem_serial);
if(s_serial_failed_count>2)
serial_reset();
}
return ret;
}
void pc_reset()
{
cpu_set();
resetx86();
mem_updatecache();
//timer_reset();
dma_reset();
fdc_reset();
pic_reset();
pit_reset();
serial_reset();
setpitclock(models[model].cpu[cpu_manufacturer].cpus[cpu].rspeed);
// sb_reset();
ali1429_reset();
// video_init();
}
void main_reset()
{
m6502_reset();
crtc_reset();
video_reset();
sysvia_reset();
uservia_reset();
serial_reset();
acia_reset(&sysacia);
wd1770_reset();
i8271_reset();
scsi_reset();
vdfs_reset();
sid_reset();
music4000_reset();
music5000_reset();
sn_init();
if (curtube != -1) tubes[curtube].reset();
else tube_exec = NULL;
tube_reset();
memset(ram, 0, 64 * 1024);
}
static int SerialOpen(const char *name, const char *arg)
{
const char *port_name = name;
#ifdef DEBUG
printf("SerialOpen: name %s arg %s\n", name, arg ? arg : "<NULL>");
#endif
#ifdef COMPILING_ON_WINDOWS
if (IsOpenSerial()) return -1;
#else
if (Unix_IsSerialInUse()) return -1;
#endif
#ifdef COMPILING_ON_WINDOWS
if (SerialMatch(name, arg) != adp_ok)
return adp_failed;
#else
port_name = Unix_MatchValidSerialDevice(port_name);
# ifdef DEBUG
printf("translated port to %s\n", port_name == 0 ? "NULL" : port_name);
# endif
if (port_name == 0) return adp_failed;
#endif
user_options_set = FALSE;
/* interpret and store the arguments */
if ( arg != NULL )
{
unsigned int target_baud_rate;
target_baud_rate = (unsigned int)strtoul(arg, NULL, 10);
if (target_baud_rate > 0)
{
#ifdef DEBUG
printf( "user selected baud rate %u\n", target_baud_rate );
#endif
process_baud_rate( target_baud_rate );
}
#ifdef DEBUG
else
printf( "could not understand baud rate %s\n", arg );
#endif
}
else if (baud_rate > 0)
{
/* If the user specified a baud rate on the command line "-b" or via
the "set remotebaud" command then try to use that one */
process_baud_rate( baud_rate );
}
#ifdef COMPILING_ON_WINDOWS
{
int port = IsValidDevice(name);
if (OpenSerial(port, FALSE) != COM_OK)
return -1;
}
#else
if (Unix_OpenSerial(port_name) < 0)
return -1;
#endif
serial_reset();
#if defined(__unix) || defined(__CYGWIN__)
Unix_ioctlNonBlocking();
#endif
Angel_RxEngineInit(&config, &rxstate);
/*
* DANGER!: passing in NULL as the packet is ok for now as it is just
* IGNOREd but this may well change
*/
Angel_TxEngineInit(&config, NULL, &wstate.txstate);
return 0;
}
/** \brief Vitual COM Port reset
The function resets the internal states of the port used
as the Virtual COM Port.
\return 0 Function failed.
\return 1 Function succeeded.
*/
int32_t USBD_CDC_ACM_PortReset (void) {
return (serial_reset ());
}
