void init_rs232()
{
//printf("UART Initialization\n");
uart = alt_up_rs232_open_dev("/dev/rs232");
clear_fifo();
}
/*
* Initialization of Serail communication
*/
struct RS232 initRS232() {
struct RS232 com_local;
com_local.receivePackets = initQueue();
com_local.sendPackets = initQueue();
com_local.pendingPacketSize = initQueue();
com_local.client_ack = 0;
com_local.host_ack = 0;
com_local.isRdySend = 0;
com_local.failReceive = 0;
com_local.stateMachine = (enum States*)malloc(sizeof(enum States));
com_local.pastState = (enum States*)malloc(sizeof(enum States));
*com_local.stateMachine = startInit;
*com_local.pastState = startInit;
com_local.num_packets = com_local.index_packets = 0;
com_local.num_send_packets = com_local.index_send_packets = 0;
com_local.packetBuf = NULL;
printf("UART Initialization\n");
alt_up_rs232_dev* uart = alt_up_rs232_open_dev(RS232_0_NAME);
up_dev.RS232_dev = uart;
printf("Clearing read buffer to start\n");
while (alt_up_rs232_get_used_space_in_read_FIFO(uart)) {
alt_up_rs232_read_data(uart, &com.data[0], &com.parity);
}
alt_alarm_start(&alarm, alt_ticks_per_second(), RS232_ISR, (void*)&up_dev);
printf("UART Initialization finished\n");
return com_local;
}
/**
* Creates a new motor handler.
* @throw UARTOpenException if the handler cannot open the UART device used to talk to the motors
*/
MotorHandler::MotorHandler() {
// Enable the motor controller.
IOWR_ALTERA_AVALON_PIO_DATA(PIO_MOTOR_RESET_N_BASE, MOTOR_ENABLE);
// Open the serial device to send commands to the motor controller.
motor_dev = alt_up_rs232_open_dev(UART_MOTOR_NAME);
if (motor_dev == NULL) {
throw new UARTOpenException();
}
}
alt_up_rs232_dev* init_clear_uart(Comm_data* cd) {
printf("UART Initialization\n");
alt_up_rs232_dev* uart = alt_up_rs232_open_dev("/dev/rs232");
printf("Clearing read buffer to start\n");
while (alt_up_rs232_get_used_space_in_read_FIFO(uart)) {
alt_up_rs232_read_data(uart, &(cd->data), &(cd->parity));
}
return uart;
}
/* UART task: read and write */
void taskRS232(void* pdata) {
alt_u32 write_FIFO_space;
alt_u16 read_FIFO_used;
alt_u8 data_W8;
alt_u8 data_R8;
int enter = 0;
unsigned p_error;
alt_up_rs232_dev* rs232_dev;
// open the RS232 UART port
rs232_dev = alt_up_rs232_open_dev("/dev/rs232_0");
if (rs232_dev == NULL)
alt_printf("Error: could not open RS232 UART\n");
else
alt_printf("Opened RS232 UART device\n");
alt_up_rs232_enable_read_interrupt(rs232_dev);
while (1) {
int sw = OSQPend(SWQ, 0, &err);
if (sw == SW_WRITE) {
alt_up_rs232_disable_read_interrupt(rs232_dev);
if (enter == 0) {
data_W8 = 'A';
enter = 1;
} else if (enter == 1) {
data_W8 = '\n';
enter = 0;
}
write_FIFO_space = alt_up_rs232_get_available_space_in_write_FIFO(
rs232_dev);
if (write_FIFO_space >= WRITE_FIFO_EMPTY) {
alt_up_rs232_write_data(rs232_dev, data_W8);
alt_printf("write %c to RS232 UART\n", data_W8);
}
OSTimeDlyHMSM(0, 0, 1, 0);
alt_up_rs232_enable_read_interrupt(rs232_dev);
}
if (sw == SW_READ) {
read_FIFO_used = alt_up_rs232_get_used_space_in_read_FIFO(
rs232_dev);
if (read_FIFO_used > READ_FIFO_EMPTY) {
alt_printf("char stored in read_FIFO: %x\n", read_FIFO_used);
alt_up_rs232_read_data(rs232_dev, &data_R8, &p_error);
alt_printf("read %x from RS232 UART\n", data_R8);
}
OSTimeDlyHMSM(0, 0, 0, 5);
}
}
}
int main() {
int i;
//1 for receiving file from middleman, 2 for sending to middleman
int mode;
//Num char in filename array
int numFileName;
//Num bytes in file
int numBytesFile;
//Num characters in file array
int numFile;
char* listName;
//File to send or receive (likely a piece of it)
unsigned char fileName[MAX_FILENAME];
//variable to hold data received from uart
unsigned char data;
//parity bit for reading (not using parity atm, but still need the bit)
unsigned char parity;
short int handle;
//handle for the file to create/access
int connected = 0;
//Variable to keep track of whether the SD CARD is connected or not.
while (1) {
alt_up_sd_card_dev *device_reference = NULL;
device_reference = alt_up_sd_card_open_dev(ALTERA_UP_SD_CARD_AVALON_INTERFACE_0_NAME);
printf("UART Initialization\n");
alt_up_rs232_dev* uart = alt_up_rs232_open_dev("/dev/rs232_0");
if(!alt_up_sd_card_is_FAT16()){
printf("SD CARD is not FAT16 Format\n");
}
if (device_reference != NULL) {
while (alt_up_sd_card_is_Present()) {
printf("Clearing read buffer to start\n");
while (alt_up_rs232_get_used_space_in_read_FIFO(uart)) {
alt_up_rs232_read_data(uart, &data, &parity);
}
// Now receive the instruction from the Middleman
printf("Waiting for instruction to come from the Middleman\n");
while (alt_up_rs232_get_used_space_in_read_FIFO(uart) == 0)
;
// First byte is the mode, 1 for receiving file from middleman, 2 for sending to middleman
alt_up_rs232_read_data(uart, &data, &parity);
mode = (int) data;
//mode -= 48;
printf("Mode:%d\n", mode);
//Receive file from middleman and save to SD
if (mode == 1) {
printf("Waiting for num char:\n");
// The second byte is the number of characters in the file name
while (alt_up_rs232_get_used_space_in_read_FIFO(uart) == 0);
alt_up_rs232_read_data(uart, &data, &parity);
numFileName = (int) data;
//numFileName -= 48;
//Now receive the file name
printf("About to receive %d characters:\n\n", numFileName);
printf("Filename received:");
for (i = 0; i < numFileName; i++) {
while (alt_up_rs232_get_used_space_in_read_FIFO(uart)== 0);
alt_up_rs232_read_data(uart, &data, &parity);
fileName[i] = data;
printf("%c", data);
}
printf("\n");
fileName[i] = '.';
fileName[i+1] = 't';
fileName[i+2] = 'x';
fileName[i+3] = 't';
fileName[i+4]= '\0';
//
// TODO:
// USE THAT FILENAME TO MAKE A NEW FILE ON SD CARD HERE
handle = alt_up_sd_card_fopen(fileName, 1);
if(handle < 0){
//TODO: File can't be opened, do something about it
printf("send had a neg handle \n\n");
}
else{
// The 4 bytes after filename is the number of bytes in the file
//
// SHIFT BYTES LEFT AND CONCATENATE TO ACCOUNT FOR SEVERAL BYTES WORTH OF FILE
// WRITE FIRST 4 BYTES OF FILE AS SIZE OF FILE IN BYTES
while (alt_up_rs232_get_used_space_in_read_FIFO(uart) == 0);
alt_up_rs232_read_data(uart, &data, &parity);
alt_up_sd_card_write(handle, data);
numBytesFile = (int) data;
numBytesFile = numBytesFile << 8;
while (alt_up_rs232_get_used_space_in_read_FIFO(uart) == 0);
alt_up_rs232_read_data(uart, &data, &parity);
alt_up_sd_card_write(handle, data);
numBytesFile += (int) data;
numBytesFile = numBytesFile << 8;
while (alt_up_rs232_get_used_space_in_read_FIFO(uart) == 0);
alt_up_rs232_read_data(uart, &data, &parity);
alt_up_sd_card_write(handle, data);
numBytesFile += (int) data;
numBytesFile = numBytesFile << 8;
while (alt_up_rs232_get_used_space_in_read_FIFO(uart) == 0);
alt_up_rs232_read_data(uart, &data, &parity);
alt_up_sd_card_write(handle, data);
numBytesFile += (int) data;
//WRITE BYTES TO SD CARD
printf("About to receive %d file chars:\n\n",numBytesFile);
for (i = 0; i < numBytesFile; i++) {
while (alt_up_rs232_get_used_space_in_read_FIFO(uart)== 0);
alt_up_rs232_read_data(uart, &data, &parity);
alt_up_sd_card_write(handle, data);
}
printf("File done\n");
alt_up_sd_card_fclose(handle);
}
//This bracket ends receiving a file
}
//Send file to middleman from SD
else if (mode == 2) {
printf("Waiting for num char:\n");
// The second byte is the number of characters in the file name
while (alt_up_rs232_get_used_space_in_read_FIFO(uart) == 0)
;
alt_up_rs232_read_data(uart, &data, &parity);
numFileName = (int) data;
//numFileName -= 48;
//Now receive the file name
printf("About to receive %d characters:\n\n", numFileName);
printf("Filename received:");
for (i = 0; i < numFileName; i++) {
while (alt_up_rs232_get_used_space_in_read_FIFO(uart)
== 0)
;
alt_up_rs232_read_data(uart, &data, &parity);
fileName[i] = data;
printf("%c", data);
}
printf("\n");
fileName[i] = '.';
fileName[i+1] = 't';
fileName[i+2] = 'x';
fileName[i+3] = 't';
fileName[i+4]= '\0';
handle = alt_up_sd_card_fopen(fileName, 0);
if (handle == -1) {
//SEND ANDROID AN ASCII 2 TO LET THEM KNOW TO RECEIVE FILE NAME
alt_up_rs232_write_data(uart, 50);
printf("neg handle");
if(alt_up_sd_card_find_first(".",listName) ==-1){
//SEND ANDROID AN ASCII 2 TO LET THEM KNOW THERES NO FILE NAMES
alt_up_rs232_write_data(uart, 50);
printf("no files");
}
else{
//SEND ANDROID LIST OF FILE NAMES
printf("some files");
i=0;
for(i = 0; listName[i] != '.'; i++){
alt_up_rs232_write_data(uart, listName[i]);
}
alt_up_rs232_write_data(uart, 32);
while(alt_up_sd_card_find_next(listName)!=-1){
i=0;
for(i = 0; listName[i] != '.'; i++){
alt_up_rs232_write_data(uart, listName[i]);
}
alt_up_rs232_write_data(uart, 32);
}
alt_up_rs232_write_data(uart, 1);
printf("done files");
}
} else {
//SEND ANDROID AN ASCII 1 TO LET THEM KNOW TO RECEIVE A FILE
alt_up_rs232_write_data(uart, 49);
// SHIFT BYTES LEFT AND CONCATENATE TO ACCOUNT FOR SEVERAL BYTES WORTH OF FILE
// WRITE FIRST 4 BYTES OF FILE AS SIZE OF FILE IN BYTES
data = alt_up_sd_card_read(handle);
alt_up_rs232_write_data(uart, data);
numFile = (int) data;
numFile = numFile << 8;
data = (int) alt_up_sd_card_read(handle);
alt_up_rs232_write_data(uart, data);
numFile += (int) data;
numFile = numFile << 8;
data = (int) alt_up_sd_card_read(handle);
alt_up_rs232_write_data(uart, data);
numFile += (int) data;
numFile = numFile << 8;
data = (int) alt_up_sd_card_read(handle);
alt_up_rs232_write_data(uart, data);
numFile += (int) data;
printf("About to send %d file bytes\n", numFile);
while (numFile > 0) {
while(alt_up_rs232_get_available_space_in_write_FIFO(uart) == 0);
data = alt_up_sd_card_read(handle);
alt_up_rs232_write_data(uart, data);
numFile--;
}
// WRITE A "FILE DONE" STRING OR WHATEVER WE DECIDE
printf("sending end bits\n");
// alt_up_rs232_write_data(uart, 1);
//
//
//
alt_up_sd_card_fclose(handle);
}
//This bracket ends sending a file
}
//Something broke
else {
printf("Wrong mode, something broke, starting over\n");
}
}
}
else {
printf("Card Reader is not working\n");
}
}
return 0;
//end main
}
void initUART(){
uart = alt_up_rs232_open_dev(RS232_0_NAME);
}
