int InitDXL(int deviceIndex, int baudnum ) {
if(dxl_hal_open(deviceIndex, GetBaudRate(baudnum)) == 0) {
return 0;
}
return 1;
}
void CSerialConfig::OnApply485()
{
if (!UpdateData(TRUE))
{
return;
}
m_nChanSel = m_chlnosel.GetCurSel();
if(bGet485Serial[m_nChanSel])
{
decodercfg[m_nChanSel].dwSize = sizeof(NET_DEV_DECODERCFG);
decodercfg[m_nChanSel].dwBaudRate = GetBaudRate(m_baud485sel.GetCurSel());
decodercfg[m_nChanSel].byDataBit = GetDatabit(m_databit485sel.GetCurSel());
decodercfg[m_nChanSel].byStopBit = m_stopbit485sel.GetCurSel();
decodercfg[m_nChanSel].byParity = m_checkbit485sel.GetCurSel();
decodercfg[m_nChanSel].byFlowcontrol = m_flow485sel.GetCurSel();
decodercfg[m_nChanSel].wDecoderType = m_decodetypesel.GetCurSel();
decodercfg[m_nChanSel].wDecoderAddress = m_decodeAddress;
TRACE("m_nChanSel = %d m_decodeaddr = %d", m_nChanSel, m_decodeAddress);
bSetSerial485[m_nChanSel] = TRUE;
}
for(int i=0; i < int(m_Device->Info.byChanNum); i++)
{
if (bSetSerial485[m_nChanSel])
{
int m_nChanNum = i;
if(!CLIENT_SetDevConfig(m_Device->LoginID, DEV_SET_DECODERCFG, m_nChanNum,&decodercfg[i], sizeof(NET_DEV_DECODERCFG), CONFIG_WAITTIME))
{
AfxMessageBox(ConvertString("rs485 config save failed!"));
return;
}
}
}
}
void Cedrus::XIDDevice::ConnectToMpod(unsigned char mpod, unsigned char action)
{
if (!m_config->IsXID2())
return;
int rate = 4;
if (action > 0)
{
m_baudRatePriorToMpod = GetBaudRate();
// m-pods operate at 19200 only
SetBaudRate(1);
}
else
{
switch (m_baudRatePriorToMpod)
{
case 9600:
rate = 0;
break;
case 19200:
rate = 1;
break;
case 38400:
rate = 2;
break;
case 57600:
rate = 3;
break;
case 115200:
rate = 4;
break;
default:
break;
}
}
static unsigned char ctm_cmd[4] = {'a','q'};
ctm_cmd[2] = '0' + mpod;
ctm_cmd[3] = '0' + action;
DWORD bytes_written = 0;
m_xidCon->Write(ctm_cmd, 4, &bytes_written);
SLEEP_FUNC(150 * SLEEP_INC);
m_podHostConfig = (action == 0 ? nullptr : m_config);
MatchConfigToModel(-1);
m_curMinorFwVer = GetMinorFirmwareVersion();
if (action == 0)
SetBaudRate(rate);
}
int CommSetSpeed(int handle, unsigned long speed)
{
struct termios tio;
if (handle < 0 || handle >= MAX_PORTS)
return -1;
tcgetattr(HANDLE(handle).fd, &tio);
cfsetospeed(&tio, GetBaudRate(speed));
tcsetattr(HANDLE(handle).fd, TCSANOW, &tio);
return 0;
}
int CConfig::GetVarAsBaudRate( const char * p_szVarName, int * p_pnValue, int p_nPos )
{
char szBaudRate[16];
if( !GetVar( p_szVarName, szBaudRate, sizeof(szBaudRate), p_nPos ) )
return 0;
int nBaudRate = GetBaudRate( szBaudRate );
if( nBaudRate == -1 )
return 0;
*p_pnValue = nBaudRate;
return 1;
}
void CSerialConfig::OnApply232()
{
if (!UpdateData(TRUE))
{
return;
}
if(bGet232Serial)
{
rs232cfg.dwSize = sizeof(NET_DEV_RS232CFG);
rs232cfg.dwBaudRate = GetBaudRate(m_baud232sel.GetCurSel());
rs232cfg.byDataBit = GetDatabit(m_databit232sel.GetCurSel());
rs232cfg.byStopBit = m_stopbit232sel.GetCurSel();
rs232cfg.byParity = m_checkbit232sel.GetCurSel();
rs232cfg.byFlowcontrol = m_flow232sel.GetCurSel();
rs232cfg.dwWorkMode = m_operatemodesel.GetCurSel();
if(0 == m_operatemodesel.GetCurSel())
{
if(m_verifypsw != m_userpsw)
{
AfxMessageBox(MSG_SERIALCFG_PSWCHECKERROR);
return ;
}
rs232cfg.struPPPConfig.byPPPMode = m_PPPmodesel.GetCurSel();
rs232cfg.struPPPConfig.byRedialMode = m_dbmodesel.GetCurSel();
rs232cfg.struPPPConfig.byRedial = (BYTE)m_bDialBack;
rs232cfg.struPPPConfig.byDataEncrypt = (BYTE)m_bEncrypt;
memcpy(rs232cfg.struPPPConfig.sUsername,m_username,NAME_LEN);
memcpy(rs232cfg.struPPPConfig.sPassword, m_userpsw, PASSWD_LEN);
memcpy(rs232cfg.struPPPConfig.sRemoteIP, m_remoteIP, 16);
memcpy(rs232cfg.struPPPConfig.sLocalIP, m_localIP, 16);
memcpy(rs232cfg.struPPPConfig.sLocalIPMask, m_IPmask, 16);
memcpy(rs232cfg.struPPPConfig.sTelephoneNumber, m_phoneNo, PHONENUMBER_LEN);
}
}
// bSetSerial232 = TRUE;
if(!CLIENT_SetDevConfig(m_Device->LoginID, DEV_SET_RS232CFG, 0, &rs232cfg, sizeof(NET_DEV_RS232CFG), CONFIG_WAITTIME))
{
AfxMessageBox(ConvertString("rs232 config save failed!"));
return;
}
}
/// Entry point for a CANLibDemo application
/// @param[in] hInstance Handle to current instance
/// @param[in] hPrevInstance Handle to previous instance
/// @param[in] lpCmdLine Pointer to command line
/// @param[in] nCmdShow Show state of window
/// @retval 0 Successful exit
int WINAPI WinMain(HINSTANCE hInstance, HINSTANCE hPrevInstance, LPWSTR lpCmdLine, int nCmdShow)
{
DWORD gpioInterruptNumber = 0; ///< Interrupt GPIO
DWORD device = 0; ///< Instance number
DWORD versionMajor, versionMinor, buildNumber; ///< Major, minor, build number
DWORD procType = 0; ///< Processer type
UINT32 canBaudRate = 0; ///< Keeps CAN baud rate
BOOL successStatus = TRUE; ///< Keeps success status
DWORD selectedDevice = 0 ; ///< Select the CAN1/2 in Apalis, In colibri it is always CAN (i.e device=0).
UNREFERENCED_PARAMETER(hInstance);
UNREFERENCED_PARAMETER(hPrevInstance);
UNREFERENCED_PARAMETER(lpCmdLine);
UNREFERENCED_PARAMETER(nCmdShow);
CANLibMCP2515GetLibVersion(&versionMajor, &versionMinor, &buildNumber);
printf("Start CAN Test using CanLib V%d.%d.%d \n\r", versionMajor, versionMinor, buildNumber);
printf("***************************************** \n\r");
fflush(stdin);
// choosing Apalis CAN0 or CAN1
if(getModuleFamily()==MODULE_FAMILY_APALIS)
{
printf("Select CAN you want to use:\n");
printf("1 ----> CAN1(Upper Connector) \n" );
printf("2 ----> CAN2(Bottom Connector) \n" );
printf("Choose the option(1/2) and press enter:");
scanf_s("%d", &selectedDevice);
printf("\n");
switch (selectedDevice){
case 1:
device = 0; ///< choose the CAN 1
break;
case 2:
device = 1; ///< choose the CAN 2
break;
default:
printf("Wrong entry, selecting CAN1 !\n");
device = 0;
}
}
else
{
device = 0; // In case of Colibri
}
successStatus = GetInterruptGpio(device, &gpioInterruptNumber, &procType);
if (successStatus)
{
/// Initalizes CAN Chip
if (0 != CANLibMCP2515Init(device, gpioInterruptNumber, WATER_MARK, BUFFER_SIZE, 0))
{
printf("InitMcp2515() failed (See serial debug output for details)\r\n");
successStatus = FALSE;
}
}
if (successStatus)
{
successStatus = CANLibMCP2515WriteDescriptor(device, CAN_DESCRIPTOR, CAN_MASK);
}
if (successStatus)
{
GetBaudRate(&canBaudRate);
}
if (successStatus)
{
successStatus = CANLibMCP2515SetBaudrate(device, canBaudRate);
}
if (successStatus)
{
GetMode(device);
}
fflush(stdin);
if (!successStatus)
{
printf("\nError!!!\n");
}
printf("\nPress Enter key to exit!\n\n");
getchar();
/// De initialises CAN Chip
CANLibMCP2515DeInit(device);
return 0;
}
int main()
{
// Initialize PortHandler Structs
// Set the port path
// Get methods and members of PortHandlerLinux or PortHandlerWindows
int port_num = PortHandler(DEVICENAME);
// Initialize PacketHandler Structs
PacketHandler();
int dxl_comm_result = COMM_TX_FAIL; // Communication result
UINT8_T dxl_error = 0; // Dynamixel error
UINT8_T dxl_baudnum_read; // Read baudnum
// Open port
if (OpenPort(port_num))
{
printf("Succeeded to open the port!\n");
}
else
{
printf("Failed to open the port!\n");
printf("Press any key to terminate...\n");
_getch();
return 0;
}
// Set port baudrate
if (SetBaudRate(port_num, BAUDRATE))
{
printf("Succeeded to change the baudrate!\n");
}
else
{
printf("Failed to change the baudrate!\n");
printf("Press any key to terminate...\n");
_getch();
return 0;
}
// Read present baudrate of the controller
printf("Now the controller baudrate is : %d\n", GetBaudRate(port_num));
// Try factoryreset
printf("[ID:%03d] Try factoryreset : ", DXL_ID);
FactoryReset(port_num, PROTOCOL_VERSION, DXL_ID, OPERATION_MODE);
if ((dxl_comm_result = GetLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
{
printf("Aborted\n");
PrintTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
return 0;
}
else if ((dxl_error = GetLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
PrintRxPacketError(PROTOCOL_VERSION, dxl_error);
// Wait for reset
printf("Wait for reset...\n");
msecSleep(2000);
printf("[ID:%03d] FactoryReset Success!\n", DXL_ID);
// Set controller baudrate to Dynamixel default baudrate
if (SetBaudRate(port_num, FACTORYRST_DEFAULTBAUDRATE))
{
printf("Succeed to change the controller baudrate to : %d\n", FACTORYRST_DEFAULTBAUDRATE);
}
else
{
printf("Failed to change the controller baudrate\n");
printf("Press any key to terminate...\n");
_getch();
return 0;
}
// Read Dynamixel baudnum
dxl_baudnum_read = Read1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_BAUDRATE);
if ((dxl_comm_result = GetLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
PrintTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
else if ((dxl_error = GetLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
PrintRxPacketError(PROTOCOL_VERSION, dxl_error);
else
printf("[ID:%03d] DXL baudnum is now : %d\n", DXL_ID, dxl_baudnum_read);
// Write new baudnum
Write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_BAUDRATE, NEW_BAUDNUM);
if ((dxl_comm_result = GetLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
PrintTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
else if ((dxl_error = GetLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
PrintRxPacketError(PROTOCOL_VERSION, dxl_error);
else
printf("[ID:%03d] Set Dynamixel baudnum to : %d\n", DXL_ID, NEW_BAUDNUM);
// Set port baudrate to BAUDRATE
if (SetBaudRate(port_num, BAUDRATE))
{
printf("Succeed to change the controller baudrate to : %d\n", BAUDRATE);
}
else
{
printf("Failed to change the controller baudrate\n");
printf("Press any key to terminate...\n");
_getch();
return 0;
}
msecSleep(200);
// Read Dynamixel baudnum
dxl_baudnum_read = Read1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_BAUDRATE);
if ((dxl_comm_result = GetLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
PrintTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
else if ((dxl_error = GetLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
PrintRxPacketError(PROTOCOL_VERSION, dxl_error);
else
printf("[ID:%03d] Dynamixel Baudnum is now : %d\n", DXL_ID, dxl_baudnum_read);
// Close port
ClosePort(port_num);
return 0;
}
int CommOpen(const char *device_name,
unsigned long speed,
unsigned data_bits,
char parity,
unsigned stop_bits)
{
struct termios tio;
int i = -1, fd = -1;
Trapdoor();
if (!CheckParity(parity) || !CheckBaudRate(speed) || !CheckStopBits(stop_bits))
return -1;
/* open port */
fd = open(device_name, O_RDWR|O_NOCTTY|O_NONBLOCK);
if (fd < 0)
{
#if defined(_DEBUG_SERIAL_)
CsDebug(1, (1, "CommOpen: open failed"));
#endif
return -1;
}
#if defined(_DEBUG_SERIAL_)
CsDebug(1, (1, "CommOpen: opened %s (fd:%d)", device_name, fd));
#endif
/* find a handle */
for (i = 0; i < MAX_PORTS; i++)
{
if (HANDLE(i).fd == -1)
break;
}
if (i == MAX_PORTS)
return -1;
HANDLE(i).fd = fd;
/* don't wory about these for now */
//HANDLE(i).baud = GetBaudRate(speed);
//HANDLE(i).parity = GetParity(parity);
//HANDLE(i).stop_bits = GetStopBits(stop_bits);
//HANDLE(i).data_bits = GetWordLen(data_bits);
/* setup baudrate and other communication port configuration */
//newtio.c_cflag = HANDLE(i).baud |
// HANDLE(i).parity |
// HANDLE(i).stop_bits |
// HANDLE(i).data_bits |
// CLOCAL|CREAD|PARENB;
/* setup baudrate and other communication port configuration */
/* get current attributes */
tcgetattr(fd, &tio);
/* set input/ouput baud rate */
cfsetispeed(&tio, GetBaudRate(speed));
cfsetospeed(&tio, GetBaudRate(speed));
/* reset current databits, parity and stopbits settings */
tio.c_cflag &= ~(CSIZE | PARENB | PARODD | CSTOPB);
/* set new settings */
tio.c_cflag |= (GetWordLen(data_bits) | GetParity(parity) | GetStopBits(stop_bits) | CREAD | CLOCAL);
tio.c_iflag = 0;
tio.c_oflag = 0;
tio.c_lflag = 0;
tio.c_cc[VMIN] = 1;
tio.c_cc[VTIME] = 0;
/* write out the attributes */
tcsetattr(fd, TCSAFLUSH, &tio);
CsDebug(1, (1, "CommOpen: opened handle %d(%d)", i, fd));
return i;
}
