void load(state_t *state){
state->data = receive_port(LPT_DATA);
state->state = receive_port(LPT_STATE);
state->control = receive_port(LPT_CONTROL);
state->ir_left = norm_to_bool(state->control & IR_LEFT);
state->ir_right = norm_to_bool(state->control & IR_RIGHT);
state->cny_left = norm_to_bool(state->state & CNY_LEFT);
state->cny_mid = norm_to_bool(state->state & CNY_MID);
state->cny_right = norm_to_bool(state->state & CNY_RIGHT);
state->echo = norm_to_bool(state->state & HC_SR04);
}
/**
\fn uint32_t send_port(HANDLE fpCom, uint32_t lenTx, char *Tx)
\brief send data via comm port
\param[in] fpCom handle to comm port
\param[in] lenTx number of bytes to send
\param[in] Tx array of bytes to send
\return number of sent bytes
send data via comm port. Use this function to facilitate serial communication
on different platforms, e.g. Win32 and Posix.
If g_UARTmode==1 (1-wire interface), read back LIN echo
*/
uint32_t send_port(HANDLE fpCom, uint32_t lenTx, char *Tx) {
// for reading back LIN echo
char Rx[1000];
uint32_t lenRx;
/////////
// Win32
/////////
#ifdef WIN32
DWORD numChars;
// send data & return number of sent bytes
PurgeComm(fpCom, PURGE_RXABORT | PURGE_RXCLEAR | PURGE_TXABORT | PURGE_TXCLEAR);
WriteFile(fpCom, Tx, lenTx, &numChars, NULL);
#endif // WIN32
/////////
// Posix
/////////
#if defined(__APPLE__) || defined(__unix__)
uint32_t numChars;
// send data & return number of sent bytes
numChars = write(fpCom, Tx, lenTx);
#endif // __APPLE__ || __unix__
// for 1-wire interface, read back LIN echo and ignore
if (g_UARTmode == 1) {
lenRx = receive_port(fpCom, numChars, Rx);
if (lenRx != numChars) {
setConsoleColor(PRM_COLOR_RED);
fprintf(stderr, "\n\nerror in 'send_port()': read 1-wire echo failed, exit!\n\n");
Exit(1, g_pauseOnExit);
}
//fprintf(stderr,"received echo %dB 0x%02x\n", (int) lenRx, Rx[0]);
}
// return number of sent bytes
return((uint32_t) numChars);
} // send_port
