int rcmIfSendPacketSerial(void *pkt, unsigned size)
{
int i;
unsigned short val;
// send sync bytes
i = serWrite("\xa5\xa5", 2);
if (i < 0)
return ERR;
// send size bytes
val = htons(size);
i = serWrite(&val, sizeof(val));
if (i < 0)
return ERR;
// send packet
i = serWrite(pkt, size);
if (i < 0)
return ERR;
// send CRC for serial port
if (rcmIf == rcmIfSerial)
{
val = crc16(pkt, size);
val = htons(val);
if (serWrite(&val, sizeof(val)) < 0)
return ERR;
}
return OK;
}
void_t vt_raw(virtualtouch_s* vt)
{
dbg_function();
if ( vt->eamflags & VT_EAMF_TIME )
{
sensor_s m;
uint_t alpha = mm_alpha(vt->countalpha);
uint_t ahpla = 1000 - mm_alpha(vt->countalpha);
serWrite(vt, PROTO_READ);
m.sx = serRead16(vt);
m.dx = serRead16(vt);
m.up = serRead16(vt);
m.dw = serRead16(vt);
vt->time.dx = (alpha * m.dx + ahpla * vt->time.dx)/1000;
vt->time.dw = (alpha * m.dw + ahpla * vt->time.dw)/1000;
vt->time.sx = (alpha * m.sx + ahpla * vt->time.sx)/1000;
vt->time.up = (alpha * m.up + ahpla * vt->time.up)/1000;
}
else
{
serWrite(vt, PROTO_READ);
vt->time.sx = serRead16(vt);
vt->time.dx = serRead16(vt);
vt->time.up = serRead16(vt);
vt->time.dw = serRead16(vt);
}
dbg_info("time: sx(%5u) dx(%5u) up(%5u) dw(%5u)", vt->time.sx, vt->time.dx, vt->time.up, vt->time.dw);
dbg_return(0);
}
int serWriteLine (int fd, int flags, const char *line) {
char buf[256];
int written=0;
written = serWrite (fd, strlen(line), (const uint8_t *) line);
if (written > 0 && (flags & 1))
serReadLine(fd, sizeof(buf), buf);
return written;
}
int serWriteChar (int fd, const uint8_t c) {
return serWrite (fd, 1, &c);
}
