bool cm_init(void)
{
if (io_Init() == false)
return false;
sb_Write(0xc0, sb_Read(0xc0) & 0x7fffffffL | ((unsigned long)1UL << 31));
io_Close();
//com_SetUSBPins(2, 0, 2, 1);
if ((Serial = com_Init(COM4)) == NULL)
return false;
com_SetTimeOut(Serial, 0);
com_SetBPS(Serial, COM_UARTBAUD_1000000BPS);
com_SetFormat(Serial, BYTESIZE8 + STOPBIT1 + NOPARITY);
com_SetFlowControl(Serial, NO_CONTROL);
com_EnableFIFO(Serial, FIFO_032);
return true;
}
RBAPI(bool) com_Init(int com, int duplex) {
if (com_InUse(com) == true)
{
err_SetMsg(ERROR_COM_INUSE, "COM%d was already opened", com);
return false;
}
#ifdef ROBOIO
duplex = (duplex == COM_ADUPLEX)? COM_FDUPLEX : duplex;
switch (roboio_GetRBVer())
{
case RB_100b1:
switch (com)
{
case COM_PORT1: COM_duplex[com] = (duplex != COM_HDUPLEX_TXDEN)? duplex : COM_HDUPLEX; break;
case COM_PORT2: COM_duplex[com] = COM_HDUPLEX_TXDEN; break;
case COM_PORT3: COM_duplex[com] = (duplex == COM_FDUPLEX)? duplex : COM_HDUPLEX; break;
case COM_PORT4: COM_duplex[com] = COM_HDUPLEX_RTS; break;
}
break;
case RB_100b2:
switch (com)
{
case COM_PORT1: COM_duplex[com] = COM_FDUPLEX; break;
case COM_PORT2: COM_duplex[com] = COM_HDUPLEX_TXDEN; break;
case COM_PORT3: COM_duplex[com] = (duplex == COM_FDUPLEX)? duplex : COM_HDUPLEX; break;
case COM_PORT4: COM_duplex[com] = COM_HDUPLEX_RTS; break;
}
break;
case RB_100b3:
switch (com)
{
case COM_PORT1: COM_duplex[com] = (duplex != COM_HDUPLEX_TXDEN)? duplex : COM_HDUPLEX; break;
case COM_PORT2: COM_duplex[com] = COM_HDUPLEX_TXDEN; break;
case COM_PORT3: COM_duplex[com] = (duplex == COM_FDUPLEX)? duplex : COM_HDUPLEX; break;
case COM_PORT4: COM_duplex[com] = COM_HDUPLEX; break;
}
break;
case RB_100:
case RB_100RD:
switch (com)
{
case COM_PORT1: COM_duplex[com] = COM_FDUPLEX; break;
case COM_PORT2: COM_duplex[com] = COM_HDUPLEX_TXDEN; break;
case COM_PORT3: COM_duplex[com] = (duplex == COM_FDUPLEX)? duplex : COM_HDUPLEX; break;
case COM_PORT4: COM_duplex[com] = COM_HDUPLEX; break;
}
break;
case RB_110:
case RB_050:
switch (com)
{
case COM_PORT1: COM_duplex[com] = COM_FDUPLEX; break;
case COM_PORT2: COM_duplex[com] = COM_HDUPLEX_TXDEN; break;
case COM_PORT3: COM_duplex[com] = (duplex == COM_FDUPLEX)? duplex : COM_HDUPLEX; break;
case COM_PORT4: COM_duplex[com] = (duplex == COM_FDUPLEX)? duplex : COM_HDUPLEX; break;
}
break;
default:
err_SetMsg(ERROR_RBVER_UNKNOWN, "unrecognized RoBoard");
return false;
}
#else
COM_duplex[com] = duplex;
#endif
if((COM_ioSection[com] = io_Init()) == -1) return false;
if(uart_isenabled(com) == false)
{
err_SetMsg(ERROR_COM_INVALID, "COM%d isn't enabled in BIOS", com);
goto COMINIT_FAIL;
}
COM_baseaddr[com] = uart_getbaseaddr(com);
COM_oldTMode[com] = com_IsTurboMode(com);
COM_oldFMode[com] = com_IsFIFO32Mode(com);
#if defined(RB_MSVC_WIN32) || defined(RB_MSVC_WINCE)
{
#ifdef RB_MSVC_WINCE
int idx = com;
#else
int i, idx;
// find the device name of the COM port
for (idx=0, i=0; i<com; i++) if (uart_isenabled(i) == true) idx++;
#endif
COM_info[com].fp = CreateFile(
COM_portname[idx], // device name of COM port
GENERIC_READ | GENERIC_WRITE, // access mode
0, // share mode
0, // security attributes
OPEN_EXISTING, // opens a device only if it exists
0, // non-overlapped
NULL); // NULL when opening an existing file
if (COM_info[com].fp == INVALID_HANDLE_VALUE)
{
err_SetMsg(ERROR_COM_FAIL, "cannot open COM%d device driver", com);
goto COMINIT_FAIL;
}
// backup the old DCB
if (GetCommState(COM_info[com].fp, &(COM_info[com].oldstate)) == FALSE)
{
err_SetMsg(ERROR_COM_FAIL, "fail to get DCB settings");
goto COMINIT_FAIL2;
}
memcpy(&(COM_info[com].newstate), &(COM_info[com].oldstate), sizeof(DCB));
// set new DCB
COM_info[com].newstate.fBinary = TRUE; // binary mode
COM_info[com].newstate.fOutxCtsFlow = FALSE; // no CTS output control
COM_info[com].newstate.fOutxDsrFlow = FALSE; // no DSR output control
COM_info[com].newstate.fDtrControl = DTR_CONTROL_DISABLE; // no DRT control
COM_info[com].newstate.fDsrSensitivity = FALSE; // no sensitive to DSR
COM_info[com].newstate.fOutX = FALSE; // no S/W output flow control
COM_info[com].newstate.fInX = FALSE; // no S/W input flow control
COM_info[com].newstate.fErrorChar = FALSE; // no replace parity-error byte
COM_info[com].newstate.fNull = FALSE; // no discard NULL byte
COM_info[com].newstate.fRtsControl = RTS_CONTROL_DISABLE; // no S/W input flow control
COM_info[com].newstate.fAbortOnError = FALSE; // no terminate on errors
if (SetCommState(COM_info[com].fp, &(COM_info[com].newstate)) == FALSE)
{
err_SetMsg(ERROR_COM_FAIL, "fail to set DCB settings");
goto COMINIT_FAIL2;
}
// get old timeout parameters
if (GetCommTimeouts(COM_info[com].fp, &(COM_info[com].oldtimeouts)) == FALSE)
{
err_SetMsg(ERROR_COM_FAIL, "fail to get TIMEOUTS settings");
goto COMINIT_FAIL3;
}
// set timeout parameters (no waiting on read/write)
COM_info[com].newtimeouts.ReadIntervalTimeout = MAXDWORD;
COM_info[com].newtimeouts.ReadTotalTimeoutConstant = 0;
COM_info[com].newtimeouts.ReadTotalTimeoutMultiplier = 0;
COM_info[com].newtimeouts.WriteTotalTimeoutConstant = 0;
COM_info[com].newtimeouts.WriteTotalTimeoutMultiplier = 0;
if (SetCommTimeouts(COM_info[com].fp, &(COM_info[com].newtimeouts)) == FALSE)
{
err_SetMsg(ERROR_COM_FAIL, "fail to set TIMEOUT parameters");
goto COMINIT_FAIL3;
}
ClearCommBreak(COM_info[com].fp);
ClearCommError(COM_info[com].fp, NULL, NULL); // clear all communication errors
SetupComm(COM_info[com].fp, 8192, 8192); // set read/write FIFO to 8KB
PurgeComm(COM_info[com].fp, PURGE_RXABORT | PURGE_RXCLEAR | PURGE_TXABORT | PURGE_TXCLEAR); // clear all communication buffers
}
#elif defined(RB_LINUX)
if ((COM_info[com].fp = open(COM_portname[com], O_RDWR | O_NOCTTY | O_NONBLOCK)) < 0)
{
err_SetMsg(ERROR_COM_FAIL, "cannot open COM%d device driver", com);
goto COMINIT_FAIL;
}
// backup the old termios settings
if (tcgetattr(COM_info[com].fp, &(COM_info[com].oldstate)) < 0)
{
err_SetMsg(ERROR_COM_FAIL, "fail to get termios settings");
goto COMINIT_FAIL2;
}
memcpy(&(COM_info[com].newstate), &(COM_info[com].oldstate), sizeof(termios));
// set new termios settings
COM_info[com].newstate.c_cflag |= CLOCAL | CREAD;
COM_info[com].newstate.c_cflag &= ~CRTSCTS; // disable H/W flow control
COM_info[com].newstate.c_lflag &= ~(ICANON | // raw mode
ISIG | // disable SIGxxxx signals
IEXTEN | // disable extended functions
ECHO | ECHOE); // disable all auto-echo functions
COM_info[com].newstate.c_iflag &= ~(IXON | IXOFF | IXANY); // disable S/W flow control
COM_info[com].newstate.c_oflag &= ~OPOST; // raw output
COM_info[com].newstate.c_cc[VTIME] = 0; // no waiting to read
COM_info[com].newstate.c_cc[VMIN] = 0;
if(tcsetattr(COM_info[com].fp, TCSANOW, &(COM_info[com].newstate)) < 0)
{
err_SetMsg(ERROR_COM_FAIL, "fail to set termios settings");
goto COMINIT_FAIL2;
}
// clear input/output buffers
tcflush(COM_info[com].fp, TCIOFLUSH);
#else
// TODO ...
err_SetMsg(ERROR_COM_INVALID, "unsupported platform");
goto COMINIT_FAIL;
#endif
if (COM_duplex[com] == COM_HDUPLEX_RTS) clear_rts(com); // set COM direction as input
com_SetFormat(com, COM_BYTESIZE8, COM_STOPBIT1, COM_NOPARITY); // default data format: 8 bits, 1 stop bit, no parity
com_SetBaud(com, COMBAUD_115200BPS); // default baudrate: 115200 bps
com_EnableFIFO32(com); // set Vortex86DX's UART FIFO as 32 bytes
return true;
#if defined(RB_MSVC_WIN32) || defined(RB_MSVC_WINCE)
COMINIT_FAIL3:
SetCommState(COM_info[com].fp, &(COM_info[com].oldstate));
COMINIT_FAIL2:
CloseHandle(COM_info[com].fp);
#elif defined(RB_LINUX)
COMINIT_FAIL2:
close(COM_info[com].fp);
#endif
COMINIT_FAIL:
io_Close(COM_ioSection[com]);
COM_ioSection[com] = -1;
return false;
}
