FT12LowLevelDriver::FT12LowLevelDriver (const char *dev, Trace * tr)
{
struct termios t1;
t = tr;
pth_sem_init (&in_signal);
pth_sem_init (&out_signal);
pth_sem_init (&send_empty);
pth_sem_set_value (&send_empty, 1);
getwait = pth_event (PTH_EVENT_SEM, &out_signal);
TRACEPRINTF (t, 1, this, "Open");
fd = open (dev, O_RDWR | O_NOCTTY | O_NDELAY | O_SYNC);
if (fd == -1)
return;
set_low_latency (fd, &sold);
close (fd);
fd = open (dev, O_RDWR | O_NOCTTY);
if (fd == -1)
return;
if (tcgetattr (fd, &old))
{
restore_low_latency (fd, &sold);
close (fd);
fd = -1;
return;
}
if (tcgetattr (fd, &t1))
{
restore_low_latency (fd, &sold);
close (fd);
fd = -1;
return;
}
t1.c_cflag = CS8 | PARENB | CLOCAL | CREAD;
t1.c_iflag = IGNBRK | INPCK | ISIG;
t1.c_oflag = 0;
t1.c_lflag = 0;
t1.c_cc[VTIME] = 1;
t1.c_cc[VMIN] = 0;
cfsetospeed (&t1, B19200);
cfsetispeed (&t1, 0);
if (tcsetattr (fd, TCSAFLUSH, &t1))
{
restore_low_latency (fd, &sold);
close (fd);
fd = -1;
return;
}
sendflag = 0;
recvflag = 0;
repeatcount = 0;
mode = 0;
Start ();
TRACEPRINTF (t, 1, this, "Opened");
}
void
FT12LowLevelDriver::Send_Packet (CArray l)
{
CArray pdu;
uchar c;
unsigned i;
t->TracePacket (1, this, "Send", l);
assert (l () <= 32);
pdu.resize (l () + 7);
pdu[0] = 0x68;
pdu[1] = l () + 1;
pdu[2] = l () + 1;
pdu[3] = 0x68;
if (sendflag)
pdu[4] = 0x53;
else
pdu[4] = 0x73;
sendflag = !sendflag;
pdu.setpart (l.array (), 5, l ());
c = pdu[4];
for (i = 0; i < l (); i++)
c += l[i];
pdu[pdu () - 2] = c;
pdu[pdu () - 1] = 0x16;
inqueue.put (pdu);
pth_sem_set_value (&send_empty, 0);
pth_sem_inc (&in_signal, TRUE);
}
void
BCU1SerialLowLevelDriver::Send_Packet (CArray l)
{
CArray pdu;
t->TracePacket (1, this, "Send", l);
inqueue.put (l);
pth_sem_set_value (&send_empty, 0);
pth_sem_inc (&in_signal, TRUE);
}
void
FT12LowLevelDriver::SendReset ()
{
CArray pdu;
TRACEPRINTF (t, 1, this, "SendReset");
pdu.resize (4);
pdu[0] = 0x10;
pdu[1] = 0x40;
pdu[2] = 0x40;
pdu[3] = 0x16;
sendflag = 0;
recvflag = 0;
inqueue.put (pdu);
pth_sem_set_value (&send_empty, 0);
pth_sem_inc (&in_signal, TRUE);
}
BCU1SerialLowLevelDriver::BCU1SerialLowLevelDriver (const char *dev,
Trace * tr)
{
struct termios ti;
t = tr;
pth_sem_init (&in_signal);
pth_sem_init (&out_signal);
pth_sem_init (&send_empty);
pth_sem_set_value (&send_empty, 1);
getwait = pth_event (PTH_EVENT_SEM, &out_signal);
TRACEPRINTF (t, 1, this, "Open");
fd = open (dev, O_RDWR | O_NOCTTY | O_NDELAY | O_SYNC);
if (fd == -1)
return;
set_low_latency (fd, &sold);
close (fd);
fd = open (dev, O_RDWR | O_NOCTTY | O_NDELAY | O_SYNC);
if (fd == -1)
return;
if (tcgetattr (fd, &told))
{
restore_low_latency (fd, &sold);
close (fd);
fd = -1;
return;
}
if (tcgetattr (fd, &ti))
{
restore_low_latency (fd, &sold);
close (fd);
fd = -1;
return;
}
ti.c_cflag = CS8 | CLOCAL | CREAD;
ti.c_iflag = IGNBRK | INPCK | ISIG;
ti.c_oflag = 0;
ti.c_lflag = 0;
ti.c_cc[VTIME] = 1;
ti.c_cc[VMIN] = 0;
cfsetospeed (&ti, B9600);
cfsetispeed (&ti, 0);
if (tcsetattr (fd, TCSAFLUSH, &ti))
{
restore_low_latency (fd, &sold);
close (fd);
fd = -1;
return;
}
setstat (getstat () & ~(TIOCM_RTS | TIOCM_CTS));
while ((getstat () & TIOCM_CTS));
Start ();
TRACEPRINTF (t, 1, this, "Opened");
}
void
BCU1SerialLowLevelDriver::Run (pth_sem_t * stop1)
{
pth_event_t stop = pth_event (PTH_EVENT_SEM, stop1);
pth_event_t input = pth_event (PTH_EVENT_SEM, &in_signal);
pth_event_t timeout = pth_event (PTH_EVENT_RTIME, pth_time (0, 10));
while (pth_event_status (stop) != PTH_STATUS_OCCURRED)
{
int error;
timeout =
pth_event (PTH_EVENT_RTIME | PTH_MODE_REUSE, timeout,
pth_time (0, 150));
pth_event_concat (stop, input, timeout, NULL);
pth_wait (stop);
pth_event_isolate (stop);
pth_event_isolate (input);
timeout =
pth_event (PTH_EVENT_RTIME | PTH_MODE_REUSE, timeout,
pth_time (0, 200));
pth_event_concat (stop, timeout, NULL);
struct timeval v1, v2;
gettimeofday (&v1, 0);
CArray e;
CArray r;
uchar s;
if (!inqueue.isempty ())
{
const CArray & c = inqueue.top ();
e.resize (c () + 1);
s = c () & 0x1f;
s |= 0x20;
s |= 0x80 * bitcount (s);
e[0] = s;
e.setpart (c, 1);
}
else
{
e.resize (1);
e[0] = 0xff;
}
if (!startsync ())
{
error = 1;
goto err;
}
if (!exchange (e[0], s, stop))
{
error = 3;
goto err;
}
if (!endsync ())
{
error = 2;
goto err;
}
if (s == 0xff && e[0] != 0xff)
{
for (unsigned i = 1; i < e (); i++)
{
if (!startsync ())
{
error = 1;
goto err;
}
if (!exchange (e[i], s, stop))
{
error = 3;
goto err;
}
if (endsync ())
{
error = 2;
goto err;
}
}
if (s != 0x00)
{
error = 10;
goto err;
}
inqueue.get ();
TRACEPRINTF (t, 0, this, "Sent");
pth_sem_dec (&in_signal);
if (inqueue.isempty ())
pth_sem_set_value (&send_empty, 1);
}
else if (s != 0xff)
{
r.resize ((s & 0x1f));
for (unsigned i = 0; i < (s & 0x1f); i++)
{
if (!startsync ())
{
error = 1;
goto err;
}
if (!exchange (0, r[i], stop))
{
error = 3;
goto err;
}
if (!endsync ())
{
error = 2;
goto err;
}
}
TRACEPRINTF (t, 0, this, "Recv");
outqueue.put (new CArray (r));
pth_sem_inc (&out_signal, 1);
}
gettimeofday (&v2, 0);
TRACEPRINTF (t, 1, this, "Recvtime: %d",
v2.tv_sec * 1000000L + v2.tv_usec -
(v1.tv_sec * 1000000L + v1.tv_usec));
if (0)
{
err:
gettimeofday (&v2, 0);
TRACEPRINTF (t, 1, this, "ERecvtime: %d",
v2.tv_sec * 1000000L + v2.tv_usec -
(v1.tv_sec * 1000000L + v1.tv_usec));
setstat (getstat () & ~(TIOCM_RTS | TIOCM_CTS));
pth_usleep (2000);
while ((getstat () & TIOCM_CTS));
TRACEPRINTF (t, 0, this, "Restart %d", error);
}
pth_event_isolate (timeout);
}
pth_event_free (timeout, PTH_FREE_THIS);
pth_event_free (stop, PTH_FREE_THIS);
pth_event_free (input, PTH_FREE_THIS);
}
void
FT12LowLevelDriver::Run (pth_sem_t * stop1)
{
CArray last;
int i;
uchar buf[255];
pth_event_t stop = pth_event (PTH_EVENT_SEM, stop1);
pth_event_t input = pth_event (PTH_EVENT_SEM, &in_signal);
pth_event_t timeout = pth_event (PTH_EVENT_RTIME, pth_time (0, 100000));
while (pth_event_status (stop) != PTH_STATUS_OCCURRED)
{
pth_event_isolate (input);
pth_event_isolate (timeout);
if (mode == 0)
pth_event_concat (stop, input, NULL);
if (mode == 1)
pth_event_concat (stop, timeout, NULL);
i = pth_read_ev (fd, buf, sizeof (buf), stop);
if (i > 0)
{
t->TracePacket (0, this, "Recv", i, buf);
akt.setpart (buf, akt (), i);
}
while (akt.len () > 0)
{
if (akt[0] == 0xE5 && mode == 1)
{
pth_sem_dec (&in_signal);
inqueue.get ();
if (inqueue.isempty ())
pth_sem_set_value (&send_empty, 1);
akt.deletepart (0, 1);
mode = 0;
repeatcount = 0;
}
else if (akt[0] == 0x10)
{
if (akt () < 4)
break;
if (akt[1] == akt[2] && akt[3] == 0x16)
{
uchar c1 = 0xE5;
t->TracePacket (0, this, "Send Ack", 1, &c1);
write (fd, &c1, 1);
if ((akt[1] == 0xF3 && !recvflag) ||
(akt[1] == 0xD3 && recvflag))
{
//right sequence number
recvflag = !recvflag;
}
if ((akt[1] & 0x0f) == 0)
{
const uchar reset[1] = { 0xA0 };
CArray *c = new CArray (reset, sizeof (reset));
t->TracePacket (0, this, "RecvReset", *c);
outqueue.put (c);
pth_sem_inc (&out_signal, TRUE);
}
}
akt.deletepart (0, 4);
}
else if (akt[0] == 0x68)
{
int len;
uchar c1;
if (akt () < 7)
break;
if (akt[1] != akt[2] || akt[3] != 0x68)
{
//receive error, try to resume
akt.deletepart (0, 1);
continue;
}
if (akt () < akt[1] + 6)
break;
c1 = 0;
for (i = 4; i < akt[1] + 4; i++)
c1 += akt[i];
if (akt[akt[1] + 4] != c1 || akt[akt[1] + 5] != 0x16)
{
len = akt[1] + 6;
//Forget wrong short frame
akt.deletepart (0, len);
continue;
}
c1 = 0xE5;
t->TracePacket (0, this, "Send Ack", 1, &c1);
i = write (fd, &c1, 1);
if ((akt[4] == 0xF3 && recvflag) ||
(akt[4] == 0xD3 && !recvflag))
{
if (CArray (akt.array () + 5, akt[1] - 1) != last)
{
TRACEPRINTF (t, 0, this, "Sequence jump");
recvflag = !recvflag;
}
else
TRACEPRINTF (t, 0, this, "Wrong Sequence");
}
if ((akt[4] == 0xF3 && !recvflag) ||
(akt[4] == 0xD3 && recvflag))
{
recvflag = !recvflag;
CArray *c = new CArray;
len = akt[1] + 6;
c->setpart (akt.array () + 5, 0, len - 7);
last = *c;
outqueue.put (c);
pth_sem_inc (&out_signal, TRUE);
}
akt.deletepart (0, len);
}
else
//Forget unknown byte
akt.deletepart (0, 1);
}
if (mode == 1 && pth_event_status (timeout) == PTH_STATUS_OCCURRED)
mode = 0;
if (mode == 0 && !inqueue.isempty ())
{
const CArray & c = inqueue.top ();
t->TracePacket (0, this, "Send", c);
repeatcount++;
i = pth_write_ev (fd, c.array (), c (), stop);
if (i == c ())
{
mode = 1;
timeout =
pth_event (PTH_EVENT_RTIME | PTH_MODE_REUSE, timeout,
pth_time (0, 100000));
}
}
}
pth_event_free (stop, PTH_FREE_THIS);
pth_event_free (timeout, PTH_FREE_THIS);
pth_event_free (input, PTH_FREE_THIS);
}
