void sio_cleanup(sio_s *sio)
{
if (sio_isopen(sio)){
sio_flush(sio, SIO_IN | SIO_OUT );
sio_close(sio);
}
}
//初始化端口
BOOL CComm_Thread::Init_ComPort()
{
COApp* pApp=(COApp*)AfxGetApp();
unsigned int x_Baud[]= {B300,B600,B1200,B2400,B4800,B9600,B19200,B38400,B57600};
if(CommLink)
return false;
if(sio_open(pApp->x_Port)!=0)
return false;
sio_ioctl(pApp->x_Port,x_Baud[pApp->x_Order],P_NONE|BIT_8|STOP_1);
sio_SetReadTimeouts(pApp->x_Port,200,200);
sio_flush(pApp->x_Port,2);
return true;
}
/***************************************************************
【函数功能】： 关闭串口
【输 入】： 无
【输 出】： 执行结果：0正确
【说 明】：
***************************************************************/
int CGyro::Close()
{
if (m_bPortOpened)
{
if (m_bOutEnabled)
{
Enable(false);
m_bOutEnabled = false;
}
sio_flush(m_iPort,0); // 仅清空Input缓冲区
sio_close(m_iPort); // 等待发送缓冲区为空后close
}
m_bPortOpened = false;
//m_iErrCnt = 0;
cout<<"[-] Gyro: Stoped!"<<endl;
return 0;
}
void
fob_autoconfig(char *hemisphere)
{
int i;
unsigned char axis = 0, sign = 0;
sio_putc(0x50); // Change Value
sio_putc(0x32); // FBB Auto-Configuration p.131
sio_putc(fob_num_birds);
//sio_putc(3);
sio_flush();
if (hemisphere) {
switch (hemisphere[0]) {
case 'f':
break;
case 'l':
axis = 6; sign = 1;
break;
default:
break;
}
}
usleep(700000);
for (i = 0; i < fob_num_sensors; ++i) {
fob_RS232toFOB(fob_sensors[i]);
sio_putc(0x59); // Position/Angles (FoBman p.90)
fob_RS232toFOB(fob_sensors[i]);
fob_hemisphere(axis, sign);
}
sio_putc(0x50); // Change Value
sio_putc(0x23); // Group mode (p.129);
sio_putc(1);
}
/***************************************************************
【函数功能】： 关闭串口
【输 入】： 无
【输 出】： 执行结果：0正确
【说 明】：
***************************************************************/
int CSensor::Close()
{
if (m_bPortOpened)
{
// 关闭定时器
// EnableTimer(false);
// 关闭发送线程
if(m_hSendThreadHandle != INVALID_HANDLE_VALUE)
{
m_bSendThreadStopFlag = true;
Sleep(1);
WaitForSingleObject(m_hSendThreadHandle,INFINITE);
//CloseHandle(m_hSendThreadHandle);
m_hSendThreadHandle = INVALID_HANDLE_VALUE;
}
// 清空发送缓冲
sio_flush(m_iPort,0); // 仅清空Input缓冲区
sio_close(m_iPort); // 等待发送缓冲区为空后close
}
m_bPortOpened = false;
cout<<"[-] Sensor: Stoped !"<<endl;
// 复位错误统计变量值
//m_sErr_USensor.err = RESULT_ERR_SENSOR_OK;
//m_sErr_USensor.err_cnt = 0;
//m_sErr_USensor.cmd = 0;
//m_sErr_Voltage.err = RESULT_ERR_SENSOR_OK;
//m_sErr_Voltage.err_cnt = 0;
//m_sErr_Voltage.cmd = 0;
//m_sErr_Current.err = RESULT_ERR_SENSOR_OK;
//m_sErr_Current.err_cnt = 0;
//m_sErr_Current.cmd = 0;
//m_sErr_IOconfig.err = RESULT_ERR_SENSOR_OK;
//m_sErr_IOconfig.err_cnt = 0;
//m_sErr_IOconfig.cmd = 0;
return 0;
}
int
main(void)
{
int autoboot;
ino_t ino;
dmadat = (void *)(roundup2(__base + (int32_t)&_end, 0x10000) - __base);
v86.ctl = V86_FLAGS;
dsk.drive = *(uint8_t *)PTOV(ARGS);
dsk.type = dsk.drive & DRV_HARD ? TYPE_AD : TYPE_FD;
dsk.unit = dsk.drive & DRV_MASK;
dsk.slice = *(uint8_t *)PTOV(ARGS + 1) + 1;
bootinfo.bi_version = BOOTINFO_VERSION;
bootinfo.bi_size = sizeof(bootinfo);
bootinfo.bi_basemem = 0; /* XXX will be filled by loader or kernel */
bootinfo.bi_extmem = memsize();
bootinfo.bi_memsizes_valid++;
/* Process configuration file */
autoboot = 1;
if ((ino = lookup(PATH_CONFIG)))
fsread(ino, cmd, sizeof(cmd));
if (*cmd) {
printf("%s: %s", PATH_CONFIG, cmd);
if (parse())
autoboot = 0;
/* Do not process this command twice */
*cmd = 0;
}
/*
* Try to exec stage 3 boot loader. If interrupted by a keypress,
* or in case of failure, try to load a kernel directly instead.
*/
if (autoboot && !*kname) {
memcpy(kname, PATH_BOOT3, sizeof(PATH_BOOT3));
if (!keyhit(3*SECOND)) {
load();
memcpy(kname, PATH_KERNEL, sizeof(PATH_KERNEL));
}
}
/* Present the user with the boot2 prompt. */
for (;;) {
printf("\nFreeBSD/i386 boot\n"
"Default: %u:%s(%u,%c)%s\n"
"boot: ",
dsk.drive & DRV_MASK, dev_nm[dsk.type], dsk.unit,
'a' + dsk.part, kname);
if (ioctrl & IO_SERIAL)
sio_flush();
if (!autoboot || keyhit(5*SECOND))
getstr();
else
putchar('\n');
autoboot = 0;
if (parse())
putchar('\a');
else
load();
}
}
int
main(void)
{
uint8_t autoboot;
ufs_ino_t ino;
size_t nbyte;
dmadat = (void *)(roundup2(__base + (int32_t)&_end, 0x10000) - __base);
v86.ctl = V86_FLAGS;
v86.efl = PSL_RESERVED_DEFAULT | PSL_I;
dsk.drive = *(uint8_t *)PTOV(ARGS);
dsk.type = dsk.drive & DRV_HARD ? TYPE_AD : TYPE_FD;
dsk.unit = dsk.drive & DRV_MASK;
dsk.slice = *(uint8_t *)PTOV(ARGS + 1) + 1;
bootinfo.bi_version = BOOTINFO_VERSION;
bootinfo.bi_size = sizeof(bootinfo);
/* Process configuration file */
autoboot = 1;
if ((ino = lookup(PATH_CONFIG)) ||
(ino = lookup(PATH_DOTCONFIG))) {
nbyte = fsread(ino, cmd, sizeof(cmd) - 1);
cmd[nbyte] = '\0';
}
if (*cmd) {
memcpy(cmddup, cmd, sizeof(cmd));
if (parse())
autoboot = 0;
if (!OPT_CHECK(RBX_QUIET))
printf("%s: %s", PATH_CONFIG, cmddup);
/* Do not process this command twice */
*cmd = 0;
}
/*
* Try to exec stage 3 boot loader. If interrupted by a keypress,
* or in case of failure, try to load a kernel directly instead.
*/
if (!kname) {
kname = PATH_BOOT3;
if (autoboot && !keyhit(3*SECOND)) {
load();
kname = PATH_KERNEL;
}
}
/* Present the user with the boot2 prompt. */
for (;;) {
if (!autoboot || !OPT_CHECK(RBX_QUIET))
printf("\nFreeBSD/x86 boot\n"
"Default: %u:%s(%u,%c)%s\n"
"boot: ",
dsk.drive & DRV_MASK, dev_nm[dsk.type], dsk.unit,
'a' + dsk.part, kname);
if (DO_SIO)
sio_flush();
if (!autoboot || keyhit(3*SECOND))
getstr();
else if (!autoboot || !OPT_CHECK(RBX_QUIET))
putchar('\n');
autoboot = 0;
if (parse())
putchar('\a');
else
load();
}
}
/*
---------------------------------------
打开 RS232 通讯接口
---------------------------------------
*/
static bool_t
qst_com_rs232 (
__CR_IN__ void_t* parm,
__CR_IN__ uint_t argc,
__CR_IN__ ansi_t** argv
)
{
int32u baud;
uint_t port, bits;
uint_t stop, parity;
/* --------------- */
const ansi_t* sstop;
const ansi_t* sparity;
/* 参数解析 <串口号> [波特率] [数据位] [校验位] [停止位] */
if (argc < 2)
return (FALSE);
bits = 8;
baud = 115200UL;
stop = CR_SIO_STOP10;
parity = CR_SIO_NOP;
sstop = "1";
sparity = "no";
port = str2intxA(argv[1]);
if (argc > 2) {
baud = str2intx32A(argv[2]);
if (argc > 3) {
bits = str2intxA(argv[3]);
if (argc > 4) {
sparity = argv[4];
if (str_cmpA(argv[4], "no") == 0)
parity = CR_SIO_NOP;
else
if (str_cmpA(argv[4], "odd") == 0)
parity = CR_SIO_ODD;
else
if (str_cmpA(argv[4], "even") == 0)
parity = CR_SIO_EVEN;
else
if (str_cmpA(argv[4], "mark") == 0)
parity = CR_SIO_MARK;
else
if (str_cmpA(argv[4], "space") == 0)
parity = CR_SIO_SPCE;
else
sparity = "no";
if (argc > 5) {
sstop = argv[5];
if (str_cmpA(argv[5], "1") == 0)
stop = CR_SIO_STOP10;
else
if (str_cmpA(argv[5], "1.5") == 0)
stop = CR_SIO_STOP15;
else
if (str_cmpA(argv[5], "2") == 0)
stop = CR_SIO_STOP20;
else
sstop = "1";
}
}
}
}
sQstComm* ctx = (sQstComm*)parm;
/* 关闭当前接口并打开串口 */
if (!sio_open(port))
return (FALSE);
sio_setup(port, baud, bits, parity, stop);
sio_set_buffer(port, 1024, 1024);
sio_set_rd_timeout(port, 0, 0, QCOM_CUTDOWN);
sio_set_wr_timeout(port, 0, QCOM_SNDTOUT);
sio_clear_error(port);
sio_flush(port, CR_SIO_FLU_RT);
/* 设置工作参数 */
qst_com_close(parm, argc, argv);
ctx->comm.obj.port = port;
ctx->comm.send = qst_rs232_send;
/* 启动接收线程 */
ctx->comm.thrd = thread_new(0, qst_rs232_main, parm, FALSE);
if (ctx->comm.thrd == NULL) {
sio_close(port);
return (FALSE);
}
TRY_FREE(ctx->comm.title);
ctx->comm.title = str_fmtA(" - COM%u, %u, %u, %s, %s",
port, baud, bits, sparity, sstop);
qst_update_title(ctx);
return (TRUE);
}
void
fob_flush(void)
{
sio_flush();
}
int
main(u_int argc, const char *argv[], const char *envv[], uint64_t memsize)
{
uint8_t autoboot;
ufs_ino_t ino;
size_t nbyte;
/* Arguments from Miniboot. */
beri_argc = argc;
beri_argv = argv;
beri_envv = envv;
beri_memsize = memsize;
dmadat = &__dmadat;
#if 0
/* XXXRW: more here. */
v86.ctl = V86_FLAGS;
v86.efl = PSL_RESERVED_DEFAULT | PSL_I;
dsk.drive = *(uint8_t *)PTOV(ARGS);
#endif
dsk.type = TYPE_DEFAULT;
#if 0
dsk.unit = dsk.drive & DRV_MASK;
dsk.slice = *(uint8_t *)PTOV(ARGS + 1) + 1;
#endif
bootinfo.bi_version = BOOTINFO_VERSION;
bootinfo.bi_size = sizeof(bootinfo);
/* Process configuration file */
autoboot = 1;
if ((ino = lookup(PATH_CONFIG)) ||
(ino = lookup(PATH_DOTCONFIG))) {
nbyte = fsread(ino, cmd, sizeof(cmd) - 1);
cmd[nbyte] = '\0';
}
if (*cmd) {
memcpy(cmddup, cmd, sizeof(cmd));
if (parse())
autoboot = 0;
if (!OPT_CHECK(RBX_QUIET))
printf("%s: %s", PATH_CONFIG, cmddup);
/* Do not process this command twice */
*cmd = 0;
}
/*
* Try to exec stage 3 boot loader. If interrupted by a keypress,
* or in case of failure, try to load a kernel directly instead.
*/
if (!kname) {
kname = PATH_LOADER;
if (autoboot && !keyhit(3*SECOND)) {
boot_fromfs();
kname = PATH_KERNEL;
}
}
/* Present the user with the boot2 prompt. */
for (;;) {
if (!autoboot || !OPT_CHECK(RBX_QUIET))
printf("\nFreeBSD/mips boot\n"
"Default: %s%ju:%s\n"
"boot: ",
dev_nm[dsk.type], dsk.unitptr, kname);
#if 0
if (ioctrl & IO_SERIAL)
sio_flush();
#endif
if (!autoboot || keyhit(3*SECOND))
getstr();
else if (!autoboot || !OPT_CHECK(RBX_QUIET))
putchar('\n');
autoboot = 0;
if (parse())
putchar('\a');
else
load();
}
}
//嗅探模式读取应答通讯报文
int CComm_Thread::CommRecv(unsigned char *m_data)
{
COApp * pApp = (COApp *)AfxGetApp();
unsigned char x_ucLength;
unsigned char x_ucDataR[100],x_ucCrc[2];
//数据缓存初始化
x_ucLength = 0;
memset(x_ucCrc,0,sizeof(x_ucCrc));
memset(x_ucDataR,0,sizeof(x_ucDataR));
//开始进行嗅探读取数据
for(int k1=0; k1<10; k1++)
{
if(sio_read(pApp->x_Port,(char *)x_ucDataR,1) > 0)
break;
Sleep(10);
}
//嗅探失败退出
if(k1 >=10)
{
pApp->test.Format("嗅探失败!");
SendMessage(pApp->m_pMainWnd->m_hWnd,WM_MSGCOMMANS,0x10,0x00);
return x_ucLength;
}
//提取应答命令中的命令码，判断数据长度
if(sio_read(pApp->x_Port,(char *)&x_ucDataR[1],1) != 1)
return x_ucLength;
//根据命令码的不同，读取相应的后续内容数据
switch(x_ucDataR[1])
{
case 0x03: //数据提取
//读取数据长度
if(sio_read(pApp->x_Port,(char *)&x_ucDataR[2],1) == 1)
{
//判断数据是否超界
if(x_ucDataR[2] > 100)
{
sio_flush(pApp->x_Port,2);
return 0;
}
//读取后续数据
x_ucLength = x_ucDataR[2]+2;
if(sio_read(pApp->x_Port,(char *)&x_ucDataR[3],x_ucLength) == x_ucLength)
{ //应答长度合法
x_ucLength += 3;
//数据读取完毕，校验数据
CRC16(x_ucDataR,x_ucLength-2,x_ucCrc);
if((x_ucDataR[x_ucLength-2] != x_ucCrc[0]) || (x_ucDataR[x_ucLength-1] != x_ucCrc[1]))
{
pApp->test.Format("校验错误!");
SendMessage(pApp->m_pMainWnd->m_hWnd,WM_MSGCOMMANS,0x10,0x00);
x_ucLength = 0;
}
}
else
{ //应答长度非法
x_ucLength = 0;
}
}
break;
case 0x10: //参数设定
if(sio_read(pApp->x_Port,(char *)&x_ucDataR[2],6) == 6)
{ //长度合法
x_ucLength = 8;
//数据读取完毕，校验数据
CRC16(x_ucDataR,x_ucLength-2,x_ucCrc);
if((x_ucDataR[x_ucLength-2] != x_ucCrc[0]) || (x_ucDataR[x_ucLength-1] != x_ucCrc[1]))
{
pApp->test.Format("校验错误!");
SendMessage(pApp->m_pMainWnd->m_hWnd,WM_MSGCOMMANS,0x10,0x00);
x_ucLength = 0;
}
}
break;
default:
x_ucLength = 0;
break;
}
//拷贝输出应答报文
memcpy(m_data,x_ucDataR,x_ucLength);
//TEST
//pApp->test.Format("收到报文: ← %02X %02X %02X %02X %02X %02X %02X %02X",x_ucDataR[0],x_ucDataR[1],x_ucDataR[2],x_ucDataR[3],x_ucDataR[4],x_ucDataR[5],x_ucDataR[6],x_ucDataR[7]);
//SendMessage(pApp->m_pMainWnd->m_hWnd,WM_MSGCOMMANS,0x17,0x00);
//TEST
//清除缓冲区内的垃圾
sio_flush(pApp->x_Port,2);
return x_ucLength;
}
int
main(void)
{
char cmd[512], cmdtmp[512];
int autoboot, dskupdated;
ufs_ino_t ino;
dmadat = (void *)(roundup2(__base + (int32_t)&_end, 0x10000) - __base);
v86.ctl = V86_FLAGS;
v86.efl = PSL_RESERVED_DEFAULT | PSL_I;
dsk.drive = *(uint8_t *)PTOV(ARGS);
dsk.type = dsk.drive & DRV_HARD ? TYPE_AD : TYPE_FD;
dsk.unit = dsk.drive & DRV_MASK;
dsk.part = -1;
dsk.start = 0;
bootinfo.bi_version = BOOTINFO_VERSION;
bootinfo.bi_size = sizeof(bootinfo);
bootinfo.bi_basemem = 0; /* XXX will be filled by loader or kernel */
bootinfo.bi_extmem = memsize();
bootinfo.bi_memsizes_valid++;
/* Process configuration file */
if (gptinit() != 0)
return (-1);
autoboot = 1;
*cmd = '\0';
for (;;) {
*kname = '\0';
if ((ino = lookup(PATH_CONFIG)) ||
(ino = lookup(PATH_DOTCONFIG)))
fsread(ino, cmd, sizeof(cmd));
if (*cmd != '\0') {
memcpy(cmdtmp, cmd, sizeof(cmdtmp));
if (parse(cmdtmp, &dskupdated))
break;
if (dskupdated && gptinit() != 0)
break;
if (!OPT_CHECK(RBX_QUIET))
printf("%s: %s", PATH_CONFIG, cmd);
*cmd = '\0';
}
if (autoboot && keyhit(3)) {
if (*kname == '\0')
memcpy(kname, PATH_BOOT3, sizeof(PATH_BOOT3));
break;
}
autoboot = 0;
/*
* Try to exec stage 3 boot loader. If interrupted by a
* keypress, or in case of failure, try to load a kernel
* directly instead.
*/
if (*kname != '\0')
load();
memcpy(kname, PATH_BOOT3, sizeof(PATH_BOOT3));
load();
memcpy(kname, PATH_KERNEL, sizeof(PATH_KERNEL));
load();
gptbootfailed(&dsk);
if (gptfind(&freebsd_ufs_uuid, &dsk, -1) == -1)
break;
dsk_meta = 0;
}
/* Present the user with the boot2 prompt. */
for (;;) {
if (!OPT_CHECK(RBX_QUIET)) {
printf("\nFreeBSD/x86 boot\n"
"Default: %u:%s(%up%u)%s\n"
"boot: ",
dsk.drive & DRV_MASK, dev_nm[dsk.type], dsk.unit,
dsk.part, kname);
}
if (ioctrl & IO_SERIAL)
sio_flush();
*cmd = '\0';
if (keyhit(0))
getstr(cmd, sizeof(cmd));
else if (!OPT_CHECK(RBX_QUIET))
putchar('\n');
if (parse(cmd, &dskupdated)) {
putchar('\a');
continue;
}
if (dskupdated && gptinit() != 0)
continue;
load();
}
/* NOTREACHED */
}
static void * sior_rpc_server(u32 funcno, void * data, int size) {
int res = 0, c;
size_t s;
char * p;
struct init_arguments_t * i;
switch(funcno) {
case SIOR_INIT:
i = (struct init_arguments_t *) data;
sio_init(i->baudrate, i->lcr_ueps, i->lcr_upen, i->lcr_usbl, i->lcr_umode);
break;
case SIOR_PUTC:
c = *((int *) data);
res = sio_putc(c);
break;
case SIOR_GETC:
res = sio_getc();
break;
case SIOR_GETCBLOCK:
res = sio_getc_block();
break;
case SIOR_WRITE:
p = *((char **) data) + IOP_MEM;
s = *(((size_t *) data) + 1);
DI();
ee_kmode_enter();
res = sio_write(p, s);
ee_kmode_exit();
EI();
break;
case SIOR_READ:
p = *((char **) data) + IOP_MEM;
s = *(((size_t *) data) + 1);
DI();
ee_kmode_enter();
res = sio_read(p, s);
ee_kmode_exit();
EI();
break;
case SIOR_PUTS:
p = *((char **) data) + IOP_MEM;
DI();
ee_kmode_enter();
res = sio_puts(p);
ee_kmode_exit();
EI();
break;
case SIOR_PUTSN:
p = *((char **) data) + IOP_MEM;
DI();
ee_kmode_enter();
res = sio_putsn(p);
ee_kmode_exit();
EI();
break;
case SIOR_GETS:
p = *((char **) data) + IOP_MEM;
DI();
ee_kmode_enter();
(char*)res = sio_gets(p);
ee_kmode_exit();
EI();
break;
case SIOR_FLUSH:
sio_flush();
break;
}
*((int *) data) = res;
return data;
}